Surgical robot, surgical system, and control method
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsTsuyoshi Tojo, Nobuyasu Shimomura, Tetsuo Ichii
Life of this patent
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Abstract
A surgical robot (10) includes robot arms (130), an arm base (120), and a control device (30). Each of the robot arms includes a base portion (138), a tip portion (137) that can hold a medical instrument (150), and links (131 to 136). The link (131) adjacent to the base portion is connected to the base portion through a rotational joint (JA1). The control device controls the robot arm having at least seven degrees of freedom among the robot arms such that when viewed from a direction parallel to an axial direction of a rotation axis of the rotational joint, a first portion (134aa) of a first link (134) is located between a second portion (138a) of the base portion and a third portion (JA7a) of the tip portion.
Claims8
A surgical robot comprising:
- a robot arm having at least seven degrees of freedom;
- and
- a control device that controls a movement of the robot arm, wherein:
- the robot arm includes
- a base portion,
- a tip portion that holds a medical instrument, and
- links that couple the base portion and the tip portion and are coupled to each other;
- the link adjacent to the base portion is connected to the base portion through a first rotational joint;
- the control device controls the robot arm such that a first portion of a first link that is one of the links is located within a restriction range that is a three-dimensional region between a base point located in the base portion and a first curved surface defined with the base point as a reference point;
- the first link has a bent shape;
- and
- the first portion is a bent portion of the first link.
A surgical robot comprising:
- a robot arm having at least seven degrees of freedom;
- and
- a control device that controls a movement of the robot arm, wherein:
- the robot arm includes
- a base portion,
- a tip portion that holds a medical instrument, and
- links that couple the base portion and the tip portion and are coupled to each other:
- the link adjacent to the base portion is connected to the base portion through a first rotational joint;
- the control device controls the robot arm such that a first portion of a first link that is one of the links is located within a restriction range that is a three-dimensional region between a base point located in the base portion and a first curved surface defined with the base point as a reference point;
- the first link is connected to the base portion through two or more of the links;
- and
- the first link is connected to the tip portion through two or more of the links.
A surgical robot comprising:
- a robot arm having at least seven degrees of freedom;
- and
- a control device that controls a movement of the robot arm, wherein:
- the robot arm includes
- a base portion,
- a tip portion that holds a medical instrument, and
- links that couple the base portion and the tip portion and are coupled to each other;
- the link adjacent to the base portion is connected to the base portion through a first rotational joint;
- the control device controls the robot arm such that a first portion of a first link that is one of the links is located within a restriction range that is a three-dimensional region between a base point located in the base portion and a first curved surface defined with the base point as a reference point;
- and
- the tip portion further includes
- a linear motion mechanism that linearly moves the medical instrument,
- a coupling portion, and
- a second rotational joint connected to the linear motion mechanism through the coupling portion.
A surgical system comprising:
- a robot arm having at least seven degrees of freedom;
- a manipulation device by which the robot arm is manipulated;
- and
- a control device that controls a movement of the robot arm based on manipulation of the manipulation device, wherein:
- the robot arm includes
- a base portion,
- a tip portion that holds a medical instrument, and
- links that couple the base portion and the tip portion and are coupled to each other;
- the link adjacent to the base portion is connected to the base portion through a first rotational joint;
- the control device moves the robot arm based on the manipulation of the manipulation device under such an operation restriction that the medical instrument is moved while maintaining a state where the medical instrument passes through a preset remote center position;
- and
- the control device controls the robot arm manipulated by the manipulation device such that a first portion of a first link that is one of the links is located within a restriction range that is a three-dimensional region between a base point located in the base portion and a first curved surface defined with the base point as a reference point.
Dependencies are inferred from the claim text.