US 12,765,756 B2 · Medical manipulator system and control method and processor for medical manipulator system

Abstract

A medical manipulator system includes a medical manipulator comprising a bending portion, an actuator configured to bend the bending portion, a controller comprising an interface configured to which a bending manipulation for bending the bending portion is input, and configured to detect a movement amount of the interface, and a processor configured to control the actuator. The processor calculates displacement of a bending amount of the bending portion for a reference bending amount and causes the actuator to be driven on the basis of a ratio of a second bending amount to the movement amount of the interface calculated so that a difference between a first bending amount calculated on the basis of a driving amount of the actuator and the second bending amount calculated on the basis of the movement amount of the interface is eliminated.

Claims14

Dependent claims

A medical manipulator system comprising:

a medical manipulator comprising a bending portion configured to be bent;
an actuator configured to bend the bending portion;
an interface configured to receive an input of a bending manipulation for bending the bending portion, wherein the interface is configured to be moved by the bending manipulation from an origin;
and
one or more processors configured to:
calculate an increase or a decrease in a ratio of a second angle to a rotation angle of the interface so that a difference between a first angle and the second angle is decreased, wherein:
the second angle is an angular displacement amount from a reference angle in the bending portion;
the reference angle is an angle of the bending portion when the interface is located at the origin;
and
the first angle is calculated on the basis of a driving amount of the actuator;
and
control the actuator to be driven on the basis of the calculated increase or decrease in the ratio.

9 more elements

A control method for controlling a medical manipulator system, the medical manipulator system comprising:

a medical manipulator comprising a bending portion configured to be bent;
an actuator configured to bend the bending portion;
and
an interface configured to receive an input of a bending manipulation for bending the bending portion, wherein the interface is configured to be moved by the bending manipulation from an origin,
wherein the control method comprises:
calculating an increase or a decrease in a ratio of a second angle to a rotation angle of the interface so that a difference between a first angle and the second angle is decreased, wherein:
the second angle is an angular displacement amount from a reference angle in the bending portion;
the reference angle is an angle of the bending portion when the interface is located at the origin;
and
the first angle is calculated on the basis of a driving amount of the actuator;
and
controlling the actuator to be driven on the basis of the calculated increase or decrease in the ratio.

9 more elements

An apparatus for controlling a medical manipulator system comprising:

a medical manipulator comprising a bending portion configured to be bent;
an actuator configured to bend the bending portion;
and
an interface configured to receive an input of a bending manipulation for bending the bending portion, wherein the interface is configured to be moved by the bending manipulation from an origin,
wherein the apparatus comprises one or more processors comprising hardware, wherein the one or more processors are configured to:
calculate an increase or a decrease in a ratio of a second angle to a rotation angle of the interface so that a difference between a first angle and the second angle is decreased, wherein:
the second angle is an angular displacement amount from a reference angle in the bending portion;
the reference angle is an angle of the bending portion when the interface is located at the origin;
and
the first angle is calculated on the basis of a driving amount of the actuator, and
control the actuator to be driven on the basis of the calculated increase or decrease in the ratio.

8 more elements

Dependencies are inferred from the claim text.

Medical manipulator system and control method and processor for medical manipulator system

Life of this patent

Medical manipulator system and control method and processor for medical manipulator system

Life of this patent

Abstract

Claims14