Surgical robot and controller of surgical robot
AssigneeRiverfield Inc.
InventorsMasao Kanazawa, Yasushi Tanaka
Life of this patent
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Abstract
A surgical robot includes a robot arm, an operation device that is operated by a user to perform an operation of the robot arm, an actuator that supplies a driving force to the robot arm, and hardware control logic or a processor that sets a magnitude of an operation reaction force a direction opposite to an operation direction of the operation device, and applies the operation reaction force having the magnitude set by the reaction force setter to the operation device. The magnitude of the operation reaction force is set based on change information about a change in the driving force supplied by the actuator and based on a conversion coefficient.
Claims20
A surgical robot comprising:
- a grip with which a user performs an operation;
- a robot arm that performs an action according to the operation and comprising an actuator mounted thereon that supplies a driving force to the robot arm to perform the action;
- and
- a controller configured to implement at least:
- a reaction force setter that sets a magnitude of an operation reaction force that is a force in a direction opposite to an operation direction of the grip operated by the user;
- and
- a reaction force applicator that applies the operation reaction force having the magnitude that is set by the reaction force setter to the grip,
- wherein when the robot arm performs the action according to the operation, the reaction force setter sets the operation reaction force based on change information about a change in the driving force supplied by the actuator to perform the action and a conversion coefficient that is set in advance.
A controller of a surgical robot, the controller controlling the surgical robot having a grip and a robot arm that is actuated, by an actuator of the robot arm mounted thereon, according to an operation of the grip by a user, the controller comprising at least one processor configured to at least:
- set a magnitude of an operation reaction force that is a force in a direction opposite to an operation direction of the grip that is operated by the user;
- and
- apply the operation reaction force to the grip, the operation reaction force having the magnitude that is set,
- wherein, when the robot arm performs an action according to the operation, the controller sets the operation reaction force based on change information about a change in a driving force supplied to the robot arm by the actuator that supplies the driving force to perform the action and based on a conversion coefficient that is set in advance.
A surgical robot comprising:
- a robot arm comprising an actuator mounted thereon that supplies a driving force to the robot arm to perform an action;
- a grip that is operated by a user to perform an operation of the robot arm;
- and
- hardware control logic or at least one processor configured to at least:
- set a magnitude of an operation reaction force in a direction opposite to an operation direction of the grip;
- and
- apply the operation reaction force having the magnitude, to the grip,
- wherein, when the robot arm performs the action according to the operation, the magnitude of the operation reaction force is set based on change information about a change in the driving force supplied by the actuator to perform the action and based on a conversion coefficient.
Dependencies are inferred from the claim text.