US 2019/0175292 A1 · MEDICAL MANIPULATOR

Abstract

Embodiments of the technology disclosed herein is directed to a medical manipulator capable of detecting an instant when a tip of the medical manipulator is unexpectedly separated from a body tissue and thus avoid making contact with surrounding body tissues. The technology disclosed eliminates the needs for providing a force sensor located on the tip of the medical manipulator. The medical manipulator includes a movable unit at one end and an electric motor, a control unit, and an operation input unit at opposed end thereof. The movable unit includes a treating unit for treating the body tissue. The electric motor is configured to operate the movable unit. The electric motor includes a current sensor or a torque detecting unit for detecting the torque of the motor. The control unit includes a torque reducing unit for reducing the torque transmitted to the movable unit from the electric motor.

Claims12

Dependent claims

A medical manipulator comprising:

a movable unit having a treating unit at a distal end for treating a body tissue;
an electric motor configured to operate the movable unit;
a torque detecting unit configured to detect a torque produced by the electric motor;
and
a torque reducing unit for reducing the torque transmitted from the electric motor to the movable part when a reduction in an absolute value of the torque per unit time is equal to or is greater than a specified second threshold in a state where the absolute value of the torque detected by the torque detecting unit being continuously equal to or greater than a specified first threshold for a specified or longer period of time.

2 more elements

A medical manipulator comprising:

a movable unit having a treating unit at a distal end for treating a body tissue;
an electric motor configured to operate the movable unit;
a torque detecting unit configured to detect a torque produced by the electric motor;
and
a torque reducing unit having a storage unit for storing an angular position for the electric motor when the torque detected by the torque detecting unit is in a first threshold, and the torque being reduced by operating the electric motor toward the angular position stored in the storage unit and wherein the torque reducing unit for reducing the torque transmitted from the electric motor to the movable part when a reduction in an absolute value of the torque per unit time is equal to or is greater than a specified second threshold in a state where the absolute value of the torque detected by the torque detecting unit being continuously equal to or greater than a specified first threshold for a specified or longer period of time.

2 more elements

Dependencies are inferred from the claim text.

Medical manipulator

Life of this patent

Medical manipulator

Life of this patent

Abstract

Claims12