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US 12,722,305 B2Granted
Robotic surgical system, operation apparatus and robotic-surgical-system control method
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsHidenori Tani, Daisuke Yamamoto, Kazuki Kodama, Takeshi Kurihara
Life of this patent
Estimating the term…
Abstract
A robotic surgical system according to this disclosure includes a controller configured to control a driver(s) to apply a force in a direction opposite to a direction of operation of an operation unit in a three-axis Cartesian coordinate system having three axes orthogonal to each other.
Claims17
An operation apparatus for operating a surgical apparatus including a robot arm configured to support a medical instrument, the operation apparatus comprising:
- an operation unit comprising an input device and a handle configured to accept operation of an operator and includes one or more drivers configured to assist the operation of the operator;
- and
- a controller configured to perform operations further comprising operations to:
- control the one or more drivers to apply a force in a direction opposite to a direction of the operation of the operation unit in a three-axis Cartesian coordinate system having three axes orthogonal to each other, and
- control the one or more drivers so as to apply a braking force in the Cartesian coordinate system in one or more of:
- a deceleration and an acceleration of the operation of the operation unit.
3 more elements
A robotic surgical system, comprising:
- a surgical apparatus including a robot arm configured to support a medical instrument;
- an operation apparatus including an operation unit comprising an input device and a handle configured to accept operation of an operator and includes one or more drivers configured to assist the operation of the operator, and being configured to operate the surgical apparatus;
- and
- a controller configured to perform operations comprising operations to:
- control the one or more drivers to apply a force in a direction opposite to a direction of the operation of the operation unit in a three-axis Cartesian coordinate system having three axes orthogonal to each other;
- and
- control the one or more drivers so as to apply a braking force in the Cartesian coordinate system in one of:
- a deceleration and an acceleration of the operation of the operation unit.
5 more elements
A method for controlling a robotic surgical system including a surgical apparatus including a robot arm configured to support a medical instrument, and an operation apparatus including an operation unit comprising an input device and a handle configured to accept operation of an operator and includes one or more drivers configured to assist the operation of the operator, and being configured to operate the surgical apparatus, the method comprising:
- accepting the operation of the operation unit;
- controlling the one or more drivers to apply a force in a direction opposite to a direction of the operation of the operation unit in a three-axis Cartesian coordinate system having three axes orthogonal to each other;
- determining an operation parameter of the one or more drivers based on an operation velocity of the operation unit, and controlling the one or more drivers so as to apply the force based on the operation parameter determined, and
- increasing, if an absolute value of the operation velocity of the operation unit is not greater than a first threshold value, an absolute value of the operation parameter as the absolute value of the operation velocity of the operation unit increases, and fixing the absolute value of the operation parameter at a maximum value if the absolute value of the operation velocity of the operation unit is greater than the first threshold value.
1 more element
A robotic surgical system, comprising:
- a surgical apparatus including a robot arm configured to support a medical instrument;
- an operation apparatus including an operation unit comprising an input device and a handle configured to accept operation of an operator and includes one or more drivers configured to assist the operation of the operator, and being configured to operate the surgical apparatus;
- and
- a controller configured to perform operations comprising operations to:
- control the one or more drivers to apply a force in a direction opposite to a direction of the operation of the operation unit in a three-axis Cartesian coordinate system having three axes orthogonal to each other;
- determine an operation parameter of the one or more drivers based on an operation velocity of the operation unit, and to control the one or more drivers so as to apply the force based on the operation parameter determined;
- and
- increase, if an absolute value of the operation velocity of the operation unit is not greater than a first threshold value, an absolute value of the operation parameter as the absolute value of the operation velocity of the operation unit increases, and fix the absolute value of the operation parameter at a maximum value if the absolute value of the operation velocity of the operation unit is greater than the first threshold value.
5 more elements
A robotic surgical system comprising:
- a surgical apparatus including a robot arm configured to support a medical instrument;
- an operation apparatus including an operation unit comprising an input device and a handle configured to accept operation of an operator and includes one or more drivers configured to assist the operation of the operator, and being configured to operate the surgical apparatus;
- and
- a controller configured to perform operations comprising operations to control the one or more drivers to apply a force in a direction opposite to a direction of the operation of the operation unit in a three-axis Cartesian coordinate system having three axes orthogonal to each other, wherein
- the operation unit includes a plurality of joints;
- each of the one or more drivers is provided to correspond one of the plurality of joints;
- and
- the controller is configured to perform operations further comprising operations to apply the force by controlling the one or more drivers that are provided to three of the joints that are connected closer to a proximal end of the operation unit in the plurality of joints.
5 more elements
Dependencies are inferred from the claim text.