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Title:
SHAPE ACQUISITION METHOD AND CONTROL METHOD FOR MEDICAL MANIPULATOR
Document Type and Number:
WIPO Patent Application WO/2018/122946
Kind Code:
A1
Abstract:
The medical manipulator system (1) pertaining to the present invention is provided with a manipulator (2), a manipulator channel (13), a route (A) along the manipulator channel (13), a shape sensor (4) for detecting shape information of the manipulator channel (13), a shape sensor drive unit (8) for driving the shape sensor (4), a manipulator drive unit (11) for driving the manipulator (2), a position information calculation unit (9) for calculating position information of the shape sensor (4) on the basis of a drive amount of the shape sensor drive unit (8), a shape estimation unit (6) for estimating a curvature shape of the manipulator (2) on the basis of the position information and the shape information of the manipulator channel (13), a control parameter calculation unit (10) for calculating a control parameter of the manipulator (2) from curvature shape information, and a manipulator control unit (3) for controlling the manipulator (2) on the basis of the control parameter.

Inventors:
ARAI, Takeshi (2951 Ishikawa-machi Hachioji-sh, Tokyo 07, 〒1928507, JP)
Application Number:
JP2016/088841
Publication Date:
July 05, 2018
Filing Date:
December 27, 2016
Export Citation:
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Assignee:
OLYMPUS CORPORATION (2951 Ishikawa-machi, Hachioji-shi Tokyo, 07, 〒1928507, JP)
International Classes:
A61B34/35; A61B17/29; B25J9/10
Attorney, Agent or Firm:
UEDA, Kunio et al. (37F The Landmark Tower Yokohama, 2-2-1 Minatomirai, Nishi-ku, Yokohama-sh, Kanagawa 37, 〒2208137, JP)
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