Medical manipulator and method of controlling the same
AssigneeTerumo Kabushiki Kaisha
InventorsMakoto Jinno, Hiroaki Sano
Life of this patent
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Abstract
A medical manipulator is disclosed, which includes a multiple-degree freedom arm which can be mounted with a medical instrument, an insertion port position which indicates a spatial position of an insertion port for inserting the medical instrument mounted in the multiple-degree freedom arm into a human body is retained. An insertion posture of the medical instrument is determined so as to cause an extended line of a major axis of the medical instrument to pass through the spatial position indicated by the retained insertion port position, outside the human body. The multiple-degree freedom arm is controlled so as to realize the determined insertion posture.
Claims20
A medical manipulator including a multiple-degree freedom arm, which can be mounted with a medical instrument, the manipulator comprising:
- retention means for retaining an insertion port position which indicates a spatial position of an insertion port for inserting the medical instrument mounted in the multiple-degree freedom arm into a human body;
- determination means for determining an insertion posture of the medical instrument so as to cause an extended line of a major axis of the medical instrument to pass through the spatial position indicated by the insertion port position, outside the human body;
- and
- control means for controlling the multiple-degree freedom arm so as to realize the insertion posture determined by the determination means.
A method of controlling a medical manipulator including a multiple-degree freedom arm, which can be mounted with a medical instrument, the method comprising:
- retaining an insertion port position which indicates a spatial position of an insertion port for inserting the medical instrument mounted in the multiple-degree freedom arm into a human body, in a memory;
- determining an insertion posture of the medical instrument so as to cause an extended line of a major axis of the medical instrument to pass through the spatial position indicated by the insertion port position, outside the human body;
- and
- controlling the multiple-degree freedom arm so as to realize the determined insertion posture.
Dependencies are inferred from the claim text.