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US 12,690,864 B2Granted
Surgical instrument and method and device for controlling its posture
AssigneeLivsmed Inc.
InventorsWoo Jung Choi, Jin Hyuk Yoon
Life of this patent
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Abstract
According to a surgical instrument and a method and device for controlling the posture thereof, a manipulation value according to user input to change a posture of an end tool included in the surgical instrument may be obtained, first posture information about a current posture of the end tool at the time of obtaining the user input may be obtained, and a motion of the end tool based on the manipulation value and the first posture information may be controlled so that a target posture according to the user input is implemented.
Claims28
A method of controlling a posture of a surgical instrument, the method comprising:
- obtaining a manipulation value according to user input to change a posture of an end tool included in the surgical instrument;
- obtaining first posture information about a current posture of the end tool at a time of obtaining the user input;
- and
- controlling a motion of the end tool based on the manipulation value and the first posture information to implement a target posture according to the user input,
- wherein the controlling of the motion of the end tool includes:
- generating first posture difference information corresponding to a difference between the target posture information according to the user input and the first posture information;
- generating first joint difference information regarding a joint of the end tool by computing the first posture difference information;
- generating second joint information by updating first joint information, which is information about a current joint of the end tool at the time of obtaining the user input, using the first joint difference information;
- and
- generating a control value to cause the joint of the end tool to be driven according to the second joint information.
7 more elements
A device for controlling a posture of a surgical instrument, the device comprising:
- a memory configured to store at least one program;
- and
- a processor configured to execute the at least one program,
- wherein the processor is further configured to:
- obtain a manipulation value according to user input to change a posture of an end tool included in the surgical instrument;
- obtain first posture information, which is information about a current posture of the end tool at a time of obtaining the user input;
- control a motion of the end tool based on the manipulation value and the first posture information to implement a target posture according to the user input;
- generate first posture difference information corresponding to a difference between the target posture information according to the user input and the first posture information;
- generate first joint difference information regarding a joint of the end tool by computing the first posture difference information;
- generate second joint information by updating first joint information, which is information about a current joint of the end tool at the time of obtaining the user input, using the first joint difference information;
- and
- generate a control value to cause the joint of the end tool to be driven according to the second joint information.
9 more elements
A surgical instrument comprising:
- an end tool configured to perform a surgical operation;
- a manipulation part configured to receive user input to change a posture of the end tool;
- a power generation part configured to generate power to control the end tool in response to receiving the user input;
- a power transmission part configured to transmit the power to the end tool;
- a connection part connecting the manipulation part to the end tool by being coupled to the power transmission part at one end portion of the connection part and coupled to the end tool at another end portion of the connection part;
- and
- a control part configured to control a motion of the end tool based on a manipulation value according to the user input to implement a target posture,
- wherein the control part is configured to:
- obtain the manipulation value according to the user input to change the posture of the end tool included in the surgical instrument;
- obtain first posture information, which is information about a current posture of the end tool at a time of obtaining the user input;
- control the motion of the end tool based on the manipulation value and the first posture information to implement the target posture according to the user input;
- generate first posture difference information corresponding to a difference between the target posture information according to the user input and the first posture information;
- generate first joint difference information regarding a joint of the end tool by computing the first posture difference information;
- generate second joint information by updating first joint information, which is information about a current joint of the end tool at the time of obtaining the user input, using the first joint difference information;
- and
- generate a control value to cause the joint of the end tool to be driven according to the second joint information.
13 more elements
A surgical instrument comprising:
- a manipulation part configured to receive user input to change a posture of an end tool;
- a control part configured to control a motion of the end tool based on a manipulation value according to the user input to implement a target posture;
- a power generation part configured to generate power to change the posture of the end tool based on a control value of the control part;
- a power transmission part configured to transmit the power to the end tool;
- a connection part connecting the manipulation part to the end tool by being coupled to the power transmission part at one end portion of the connection part and coupled to the end tool at another end portion of the connection part;
- and
- the end tool configured to perform a motion to change a posture of the end tool by using the power,
- wherein the end tool is configured to perform a motion to implement a target posture according to the user input independently of a current posture of the end tool at a time of obtaining the user input, and
- wherein, when the end tool performs a motion according to second posture change information to implement the target posture based on the control value, an axis of the end tool before a roll rotation is performed and an axis of the end tool after the roll rotation is performed are parallel to each other.
6 more elements
Dependencies are inferred from the claim text.