Title:
MEDICAL MANIPULATOR CONTROL DEVICE
Document Type and Number:
WIPO Patent Application WO/2016/199228
Kind Code:
A1
Abstract:
The purpose of this invention is to precisely drive a joint (4) despite fluctuation of a load applied to an end effector (3). To achieve this purpose, this medical manipulator control device (1) is provided with: a storage unit for storing a mathematical model of a medical manipulator (2) provided with a joint (4) for allowing an end effector (3) to move and a drive unit (6) for driving the joint via a tension transmission member (5); a load estimation unit for estimating the load acting on the joint (4) on the basis of the stored mathematical model, an inputted target command signal, and the tension applied to the tension transmission member (5); a displacement estimation unit for estimating the actual displacement of the joint (4) on the basis of the estimated load and the amount of driving by the drive unit (6); and a correction unit for correcting a command signal outputted to the drive unit (6) on the basis of the estimated actual displacement of the joint (4) and the target displacement of the joint (4) when there is no load.
Inventors:
IIDA MASATOSHI (JP)
WAKAI HIROSHI (JP)
WAKAI HIROSHI (JP)
Application Number:
PCT/JP2015/066637
Publication Date:
December 15, 2016
Filing Date:
June 09, 2015
Export Citation:
Assignee:
OLYMPUS CORP (JP)
International Classes:
B25J9/10; B25J17/00
Foreign References:
| JP2010035768A | 2010-02-18 | |||
| JP2009107074A | 2009-05-21 |
Attorney, Agent or Firm:
UEDA, Kunio et al. (JP)
Ueda Kunio (JP)
Ueda Kunio (JP)
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