Title:
ROBOT ARM CONTROLLER AND ROBOT ARM SYSTEM
Document Type and Number:
WIPO Patent Application WO/2019/003281
Kind Code:
A1
Abstract:
A robot arm controller (35) has an manipulation section (30) and a control unit (36). When an operator (Op) manipulates a master manipulator (31) of the manipulation section (30), a robot arm (42) having an electric scalpel (48) moves as a slave manipulator. The arm (42) is capable of automatic operation by the control unit (36). The vicinity of a lesion site (L) is incised in the following manner. The operator (Op) moves the electric scalpel (48) by manipulating the master manipulator (31), and cauterizes a plurality of taught points (T) in the vicinity of the lesion site (L). The control unit (36) calculates a curved line (C) that passes through all of the taught points (T), and arranges a plurality of interpolation points (P) on the curved line (C). The control unit (36) automatically moves the electric scalpel (48) close to one of the interpolation points (P). The operator (Op) adjusts the position of the electric scalpel (48) by manipulating the master manipulator (31), and cauterizes a treatment point (D) using the electric scalpel (48). The control unit (36) adopts the treatment point (D) as an additional taught point (T), recalculates the curved line (C), and rearranges the interpolation points (P). The control unit (36) automatically places the electric scalpel (48) close to the next interpolation point (P).
Inventors:
GOCHO TOMOKO (JP)
Application Number:
PCT/JP2017/023434
Publication Date:
January 03, 2019
Filing Date:
June 26, 2017
Export Citation:
Assignee:
OLYMPUS CORP (JP)
International Classes:
A61B34/30; B25J3/00
Foreign References:
| JP2008245838A | 2008-10-16 | |||
| JPH02190280A | 1990-07-26 |
Attorney, Agent or Firm:
TANAI Sumio et al. (JP)
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