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US 12,496,148 B2Granted
Surgery supporting apparatus for controlling motion of robot arm
AssigneeA-Traction Inc.
InventorsKeita Awano, Takehiro Ando, Hiroyuki Miyamoto, Yoshihide Sugiura, Yuta Fukushima
Life of this patent
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Abstract
A surgery supporting apparatus is capable of controlling a posture of a surgical instrument that is inserted into a body cavity and mechanically drivable. The apparatus includes a robot arm that can control the posture of the surgical instrument, which is attached to the robot arm via a gimbal mechanism.
Claims9
A surgery supporting apparatus comprising:
- a robot arm comprising a gimbal mechanism configured to rotate around two rotational axes at a distal end portion of the robot arm, the robot arm being configured to three-dimensionally move a surgical instrument attached to the robot arm via the gimbal mechanism;
- and
- one or more processors programmed to:
- control a motion of the robot arm so as to control a posture of the surgical instrument,
- control an insertion angle and an insertion depth of the surgical instrument into a body cavity;
- and
- calculate a reference point of the insertion depth and the insertion angle based on rotation centers of the gimbal mechanism in two or more postures.
4 more elements
A surgery supporting apparatus comprising:
- a robot arm comprising a gimbal mechanism configured to rotate around two rotational axes at a distal end portion of the robot arm, the robot arm being configured to three-dimensionally move a surgical instrument attached to the robot arm via the gimbal mechanism;
- and
- one or more processors programmed to:
- control manipulation of the robot arm so as to control a posture of the surgical instrument,
- control an insertion angle and an insertion depth of the surgical instrument into a body cavity;
- and
- calculate a position of a reference point of the insertion angle and the insertion depth of the surgical instrument into the body cavity by using:
- (i) an insertion position of a distal end portion of the surgical instrument when the surgical instrument is inserted into the body cavity, and
- (ii) an angle around the two rotational axes of the gimbal mechanism when the surgical instrument is inserted into the body cavity.
6 more elements
Dependencies are inferred from the claim text.