Surgical robot and controller for surgical robot
AssigneeRiverfield Inc.
InventorsKotaro TADANO, Masao KANAZAWA
Life of this patent
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Abstract
A surgical robot includes a master, a master controller, a slave, and a slave controller. The slave controller calculates a slave control value based on a target state and a surgical tool state, the slave control value being for controlling a surgical tool, the target state being a state of the surgical tool based on an operation received by the master, the slave controller controlling the slave based on the slave control value. The master controller calculates a master control value based on the surgical tool state, the target state, and the slave control value obtained from the slave controller, the master control value being for controlling the reaction force, the master controller controlling the master based on the master control value.
Claims20
A surgical robot comprising:
- a master configured to receive an operation from a user and to apply a reaction force to the user performing the operation;
- a master controller configured to control the master and to cause the reaction force to be generated;
- a slave configured to actuate a surgical tool;
- a slave controller configured to control the slave based on a target state, the target state being a state of the surgical tool based on the operation received by the master, the slave controller being configured to cause the surgical tool to be actuated;
- and
- a slave detector configured to detect a surgical tool state that is a state of the surgical tool,
- wherein the slave controller is configured to calculate a slave control value based on the surgical tool state and the target state, the slave control value being for controlling the surgical tool, the slave controller being configured to control the slave based on the slave control value, and
- wherein the master controller is configured to calculate a master control value based on the surgical tool state, the target state, and the slave control value obtained from the slave controller, the master control value being for controlling the reaction force, the master controller being configured to control the master based on the master control value.
A controller for a surgical robot, the controller comprising:
- a master controller configured to control a master, the master being configured to receive an operation from a user and to apply a reaction force to the user performing the operation and the master controller being configured to cause the reaction force to be generated;
- and
- a slave controller configured to control a slave based on a target state, the slave being configured to actuate a surgical tool, the target state being a state of the surgical tool based on the operation received by the master, and the slave controller being configured to cause the surgical tool to be actuated,
- wherein the slave controller is configured to calculate a slave control value based on a surgical tool state and the target state, the slave control value being for controlling the surgical tool, the surgical tool state being a state of the surgical tool detected by a slave detector, and the slave controller being configured to control the slave based on the slave control value, and
- wherein the master controller is configured to calculate a master control value based on the surgical tool state, the target state, and the slave control value obtained from the slave controller, the master control value being for controlling the reaction force and the master controller being configured to control the master based on the master control value.
A surgical robot comprising:
- a master configured to receive an operation from a user and to apply a reaction force to the user;
- a master controller configured to control the master;
- a slave configured to actuate a surgical tool;
- a slave controller configured to control the slave to actuate the surgical tool according to a slave driving force;
- and
- a slave detector configured to detect a surgical tool state of the surgical tool,
- wherein the master controller and the slave controller are configured to perform asymmetrical bilateral control based on both proportional control and integral control.
Dependencies are inferred from the claim text.