ARM DEVICE, CONTROL METHOD, AND PROGRAM

Title:

ARM DEVICE, CONTROL METHOD, AND PROGRAM

Document Type and Number:

WIPO Patent Application WO/2020/050314

Kind Code:

A1

Abstract:

This arm device is provided with: a joint unit that rotates to change the position and/or the orientation of a surgical instrument; and an actuator unit that generates drive power for rotating the joint unit and allows the joint unit to rotate according to an external force applied. The arm device estimates the external force applied to the surgical instrument, determines the value of the drive power of the actuator unit on the basis of the weight of the surgical instrument and the external force, and controls the actuator unit on the basis of the value of the drive power.

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Inventors:

TADANO KOTARO (JP)

Application Number:

PCT/JP2019/034771

Publication Date:

March 12, 2020

Filing Date:

September 04, 2019

Export Citation:

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Assignee:

RIVERFIELD INC (JP)

International Classes:

A61B34/37; A61B17/29; B25J13/08

Foreign References:

JP2017104914A	2017-06-15
JP2015100677A	2015-06-04
JP2010035768A	2010-02-18

Other References:

J. M. SADDERY. WANG: "Surg Endosc", vol. 8, 1994, SPRINGER-VERLAG, article "Robotically assisted laparoscopic surgery", pages: 63 - 66
ULRICH HAGN ET AL.: "International Journal of Computer Assisted Radiology and Surgery", vol. 5, 2010, SPRINGER, article "DLR MiroSurge: a versatile system for research in endscopic telesurgery", pages: 183 - 193
See also references of EP 3725255A4