Surgical support device
AssigneeOlympus Corporation
InventorsShintaro Inoue, Kosuke Kishi
Life of this patent
Estimating the term…
Abstract
A surgical support device includes: a driving member which is moved to transmit a driving force to a target; a first position detection unit and a second position detection unit configured to detect a first and a second moving amounts of the driving member; a difference calculation portion configured to detect a difference in length between the first moving amount and the second moving amount, an operating force computing portion configured to compute a magnitude of a force transmitted to the target from the driving member based on the difference in length; and a breakdown detection portion configured to detect at least one of the first position detection unit and the second position detection unit which has broken down, by use of the first moving amount and the second moving amount.
Claims29
A surgical support device comprising:
- a driving member configured to be driven to transmit a driving force to a target;
- a first sensor configured to detect a first moving amount of the driving member at a first point on the driving member;
- a second sensor configured to detect a second moving amount of the driving member at a second point on the driving member different from the first point on the driving member;
- and
- a processor comprising hardware, wherein the processor is configured to implement:
- a difference calculation portion configured to calculate a difference in length between the first moving amount and the second moving amount;
- an operating force computing portion configured to compute a magnitude of the driving force transmitted to the target from the driving member based on the difference in length;
- a breakdown detection portion configured to detect at least one of the first sensor and the second sensor has broken down based on the first moving amount and the second moving amount;
- and
- a control portion configured to control a movement of the driving member based on the detection that at least one of the first sensor and the second sensor has broken down.
A method for controlling a slave arm,
- wherein the slave arm comprises:
- a driving member configured to be driven to transmit a driving force to a target;
- a first sensor configured to detect a first moving amount of the driving member at a first point on the driving member;
- and
- a second sensor configured to detect a second moving amount of the driving member at a second point on the driving member different from the first point on the driving member, and wherein the method comprises:
- calculating a difference in length between the first moving amount and the second moving amount;
- computing a magnitude of the driving force transmitted to the target from the driving member based on the difference in length;
- detecting at least one of the first sensor and the second sensor has broken down based on the first moving amount and the second moving amount;
- and
- controlling a movement of the driving member based on the detection that at least one of the first sensor and the second sensor has broken down.
A computer-readable storage device storing instructions that when executed by a computer causes the computer to perform a process of controlling a slave arm,
- wherein the slave arm comprises:
- a driving member configured to be driven to transmit a driving force to a target;
- a first sensor configured to detect a first moving amount of the driving member at a first point on the driving member;
- and
- a second sensor configured to detect a second moving amount of the driving member at a second point on the driving member different from the first point on the driving member, and wherein the process comprises:
- calculating a difference in length between the first moving amount and the second moving amount;
- computing a magnitude of the driving force transmitted to the target from the driving member based on the difference in length;
- detecting at least one of the first sensor and the second sensor has broken down based on the first moving amount and the second moving amount;
- and
- controlling a movement of the driving member based on the detection that at least one of the first sensor and the second sensor has broken down.
Dependencies are inferred from the claim text.