# US 2021/0330409 A1 · Surgical Robot and Method for Setting Pivot Position > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0330409 A1 - Document ID: US20210330409A1 - Status: Published application - Kind: A1 - Application number: 17/239,721 - Filed: 2021-04-26 - Published: 2021-10-28 - Earliest claimed: 2020-04-28 - Assignees: Kawasaki Jukogyo Kabushiki Kaisha; Medicaroid Corporation - Applicants: Kawasaki Jukogyo Kabushiki Kaisha; Medicaroid Corporation - Inventors: Hiroaki KITATSUJI; Tsuyoshi TOJO; Yusuke TANIGAKE - Web page: https://patentgrep.com/patent/US20210330409A1 ## CPC - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 34/70: {Manipulators specially adapted for use in surgery} - A61B 34/30: Surgical robots - A61B 34/74: {Manipulators with manual electric input means} - A61B 34/25: {User interfaces for surgical systems} - A61B 2034/2059: {Mechanical position encoders} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61B 2034/302: {specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities} - A61B 2034/742: {Joysticks} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract In a surgical robot, a pivot position teaching button is pressed with a tip end of a medical device moved to a position corresponding to an insertion position of a trocar inserted into a body surface of a patient such that a pivot position is stored in a storage. ## Claims ### Claim 1 A surgical robot comprising: an arm having a tip end side to which a medical device is attached; an operation unit attached to the arm, the operation unit being configured to operate the arm; and a storage, wherein the operation unit includes a pivot position teaching button configured to store in the storage a pivot position that serves as a fulcrum for movement of the medical device attached to the arm; and the pivot position teaching button is pressed with a tip end of the medical device attached to the tip end side of the arm moved to a position corresponding to an insertion position of a trocar inserted into a body surface of a patient by the operation unit such that the pivot position is stored in the storage. ### Claim 2 (depends on 1) The surgical robot according to claim 1, wherein the pivot position teaching button is pressed in a state where the tip end of the medical device attached to the tip end side of the arm is moved, by the operation unit, to a position at which an outer surface of the trocar inserted into the body surface of the patient and the body surface contact each other such that the pivot position is stored in the storage. ### Claim 3 (depends on 1) The surgical robot according to claim 1, further comprising: a second arm having a tip end side to which a second medical device is attached; and a second operation unit attached to the second arm and including a second pivot position teaching button, wherein the medical device attached to the arm is an endoscope, and the second medical device is other than the endoscope; and the pivot position is stored with the endoscope being attached to the arm to which the endoscope is to be attached, and a second pivot position is stored in the storage by the second pivot position teaching button with a pivot position teaching instrument or a medical device other than the endoscope being attached to the second arm to which the medical device other than the endoscope is to be attached. ### Claim 4 (depends on 3) The surgical robot according to claim 3, further comprising: an arm base configured to support the arm and the second arm; and an arm base mover configured to move the arm base. ### Claim 5 (depends on 3) The surgical robot according to claim 3, further comprising: a display configured to display that the pivot position of the arm and the second pivot positon of the second arm have been stored. ### Claim 6 (depends on 1) The surgical robot according to claim 1, wherein the pivot position teaching button is provided on each of opposite sides of an outer peripheral surface of the operation unit. ### Claim 7 (depends on 1) The surgical robot according to claim 1, wherein the operation unit further includes a pivot position indicator configured to indicate that the pivot position has been stored. ### Claim 8 (depends on 7) The surgical robot according to claim 7, wherein the operation unit further includes a mode switch configured to switch between a mode for translating the medical device attached to the arm and a mode for rotating the medical device attached to the arm, and a mode indicator configured to indicate a switched mode; and the mode indicator also serves as the pivot position indicator configured to indicate that the pivot position has been stored. ### Claim 9 (depends on 1) The surgical robot according to claim 1, wherein the operation unit further includes a joystick configured to operate movement of the medical device by the arm; and the joystick is operated such that the tip end of the medical device attached to the tip end side of the arm is moved to the position corresponding to the insertion position of the trocar inserted into the body surface of the patient. ### Claim 10 (depends on 1) The surgical robot according to claim 1, wherein the pivot position teaching button is pressed such that a position finely adjusted from a position of the tip end of the medical device is stored as the pivot position. ### Claim 11 (depends on 1) The surgical robot according to claim 1, wherein the arm includes no mechanism configured to hold the trocar. ### Claim 12 A method for setting a pivot position, the method comprising: moving a tip end of a medical device attached to a tip end side of an arm to a position corresponding to an insertion position of a trocar inserted into a body surface of a patient by operating the arm; and storing in a storage the pivot position that serves as a fulcrum for movement of the medical device attached to the arm by pressing a pivot position teaching button with the tip end of the medical device moved to the position corresponding to the insertion position of the trocar. ### Claim 13 (depends on 12) The method for setting the pivot position according to claim 12, wherein the storing of the pivot position includes first storing the pivot position for the arm to which an endoscope has been attached as the medical device and then storing in the storage a second pivot position for a second arm to which a medical device other than the endoscope has been attached. ### Claim 14 (depends on 13) The method for setting the pivot position according to claim 13, further comprising: displaying on a display that the pivot position of the arm and the second pivot position of the second arm have been stored. ### Claim 15 (depends on 12) The method for setting the pivot position according to claim 12, further comprising: indicating on a pivot position indicator of an operation unit that the pivot position has been stored. ### Claim 16 (depends on 12) The method for setting the pivot position according to claim 12, wherein the pivot position teaching button is pressed such that a position finely adjusted from a position of the tip end of the medical device is stored as the pivot position. ### Claim 17 A method for setting a pivot position, the method comprising: moving a tip end of a medical device attached to a tip end side of an arm to a position at which an outer surface of a trocar inserted into a body surface of a patient and the body surface contact each other by operating the arm; and storing in a storage the pivot position that serves as a fulcrum for movement of the medical device attached to the arm by receiving an instruction to store the pivot position with the tip end of the medical device moved to the position at which the outer surface of the trocar inserted into the body surface of the patient and the body surface contact each other. ### Claim 18 (depends on 17) The method for setting the pivot position according to claim 17, wherein the medical device used to store the pivot position is an endoscope, a pair of forceps, or a pivot position teaching instrument. ### Claim 19 (depends on 17) The method for setting the pivot position according to claim 17, wherein the arm includes no mechanism configured to hold the trocar. ### Claim 20 (depends on 17) The method for setting the pivot position according to claim 17, wherein a pivot position teaching button provided on the arm is pressed such that the instruction to store the pivot position in the storage is executed.