Robotic surgical system and control method of robotic surgical system
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsTetsuo Ichii, Takahiro Ueno, Takuya Shitaka, Akinori Igarashi
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Abstract
In a robotic surgical system, a control device is configured or programmed to perform first scaling on at least a rotational component in a received operation amount, and calculate a rotation angle of a joint axis of a robot arm by performing an inverse kinematics calculation on a translational component and the rotational component after the first scaling is performed.
Claims17
A robotic surgical system comprising:
- a patient-side apparatus including a robot arm having a tip end to which a surgical instrument is attached;
- an operator-side apparatus including an operation unit to receive an operation amount for the surgical instrument;
- and
- a control device configured or programmed to perform operations comprising operations to control translation and rotation of the surgical instrument based on the received operation amount;
- wherein
- the control device is configured or programmed to perform operations comprising operations to:
- perform first scaling on a translational component and a rotational component of the surgical instrument in the received operation amount;
- calculate a rotation angle of a joint axis of the robot arm by performing an inverse kinematics calculation on the translational component and the rotational component after the first scaling is performed;
- perform the first scaling with a first scaling value such that a rotation speed of the joint axis of the robot arm becomes equal to or lower than a limit value;
- control translation and rotation of the surgical instrument based on the received operation amount and the first scaling value;
- calculate rotation angles of a plurality of joint axes of the robot arm;
- calculate rotation speeds of the plurality of joint axes based on the rotation angles of the plurality of joint axes;
- change the first scaling value such that the first scaling value becomes larger when a maximum rotation speed among the calculated rotation speeds of the plurality of joint axes of the robot arm is lower than the limit value;
- and
- control translation and rotation of the surgical instrument based on the received operation amount and the changed first scaling value, and the calculation of the rotation angle of the joint axis is performed by the inverse kinematics calculation using a homogenous transformation matrix including the translational component and the rotational component after the first scaling is performed.
A control method of a robotic surgical system, the robotic surgical system comprising a patient-side apparatus including a robot arm having a tip end to which a surgical instrument is attached, an operator-side apparatus including an operation unit to receive an operation amount for the surgical instrument, and a control device configured or programmed to control translation and rotation of the surgical instrument based on the received operation amount, the control method comprising:
- performing scaling on a translational component and a rotational component of the surgical instrument in the received operation amount;
- and
- calculating a rotation angle of a joint axis of the robot arm by performing an inverse kinematics calculation on the translational component and the rotational component after the scaling is performed, wherein
- the calculation of the rotation angle of the joint axis is performed by the inverse kinematics calculation using a homogenous transformation matrix including the translational component and the rotational component after the first scaling is performed,
- the scaling is performed with a scaling value such that a rotation speed of the joint axis of the robot arm becomes equal to or lower than a limit value,
- the controlling translation and rotation of the surgical instrument is performed based on the received operation amount and the scaling value,
- the calculating the rotation angle of the joint axis comprises calculating rotation angles of a plurality of joint axes of the robot arm;
- and calculating rotation speeds of the plurality of joint axes based on the rotation angles of the plurality of joint axes;
- the scaling value is changed such that the scaling value becomes larger when a maximum rotation speed among rotation speeds of the plurality of joint axes is lower than the limit value, and
- the controlling translation and rotation of the surgical instrument is performed based on the received operation amount and the changed scaling value.
Dependencies are inferred from the claim text.