Title:
CONTROL SYSTEM, CONTROL METHOD, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2016/051495
Kind Code:
A1
Abstract:
The purpose of the present invention is not only to make medical equipment automatically move but also to manipulate the medical equipment with intuitiveness that is almost the same as that when a user usually holds the medical equipment. Pneumatic servo control is performed, as follows, for a pneumatically-driven robot arm that holds and manipulates the medical equipment. In an active manipulation mode (No in Step S2), a pressure target is set on the basis of the result of position control using an error of the current position of the robot arm with respect to a position target, and pressure control is performed on the basis of the pressure target (Steps S3 and S6). On the other hand, in a passive manipulation mode (Yes in Step S2), a pressure target required for self-weight compensation is set from the current position of the robot arm, and pressure control is performed on the basis of the pressure target (Steps S4 to S6).
Inventors:
HARAGUCHI DAISUKE (JP)
MIKAMI KEI (JP)
MIKAMI KEI (JP)
Application Number:
PCT/JP2014/076061
Publication Date:
April 07, 2016
Filing Date:
September 30, 2014
Export Citation:
Assignee:
RIVERFIELD INC (JP)
International Classes:
A61B19/00
Foreign References:
| US20070142823A1 | 2007-06-21 | |||
| JP2009527366A | 2009-07-30 | |||
| JP2014061327A | 2014-04-10 | |||
| JP2013510632A | 2013-03-28 |
Attorney, Agent or Firm:
SHOBAYASHI, Masayuki (JP)
Right wood Masayuki (JP)
Right wood Masayuki (JP)
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