Master-slave manipulator and control method therefor
AssigneeOlympus Corporation
InventorTakeshi ARAI
Life of this patent
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Abstract
A master-slave manipulator according to the present invention includes a remote operation device, serving as a master, that provides operation information corresponding to multiple degrees of freedom, a slave manipulator having a plurality of joints corresponding to multiple degrees of freedom and including a redundant joints among the joints, and a controller that controls the operation of the joints in accordance with the operation information, in which, when it is determined that a distal end of the slave manipulator operates, the controller determines, among the redundant joints, drive ratios α of a joint disposed on a base end side and a joint disposed on a distal end side within a range of 0<α<1, respectively, and drives the joints.
Claims14
A master-slave manipulator comprising:
- a remote operation device, serving as a master, that is configured to provide operation information corresponding to multiple degrees of freedom;
- a slave manipulator having a plurality of joints corresponding to multiple degrees of freedom and including a redundant joints among the joints;
- and
- a controller that is configured to control the operation of the joints in accordance with the operation information,
- wherein, when it is determined that a distal end of the slave manipulator operates, the controler determines, among the joints in a redundant relationship, drive ratios α of a joint disposed on a base end side to a joint disposed on a distal end side within a range of 0<α<1, respectively, and drives these joints.
A master-slave manipulator comprising:
- a remote operation device serving as a master that is configured to provide operation information corresponding to multiple degrees of freedom;
- a slave manipulator having a plurality of joints corresponding to multiple degrees of freedom and including a redundant joints among the joints;
- a controller that is configured to control operation of the joints according to the operation information;
- and
- an end effector provided at a distal end of the slave manipulator,
- wherein the end effector is a gripper, and
- when it is determined that the gripper is holding a suture needle or suture, the controller determines, depending on whether or not work is being performed by the slave manipulator, among the joints in a redundant relationship, drive ratios α (0<α<1) or drive amounts of a joint arranged on a base end side to a joint arranged on the distal end side, respectively, and drives these joints.
A master-slave manipulator comprising:
- a remote operation device, serving as a master, that is configured to provide operation information corresponding to multiple degrees of freedom;
- a slave manipulator having a plurality of joints corresponding to multiple degrees of freedom and including a redundant joints among the joints;
- a controller that is configured to control the operation of the joints according to the operation information;
- and
- an input unit operated by the operator,
- wherein the controller determines whether or not work is being performed by the slave manipulator according to an input by the operator to the input unit, and determines drive ratios α (0<α<1) or drive amounts of two or more of the joints in a redundant relationship and drives these joints.
Dependencies are inferred from the claim text.