Title:
SURGICAL ROBOT
Document Type and Number:
WIPO Patent Application WO/2015/079775
Kind Code:
A1
Abstract:
A surgical robot (1) comprising: an external force calculation means (32) that calculates external force such that the resultant force of forceps (10) is zero; an external force action point calculation means (34) that calculates an external force action point such that the total moment of the forceps (10) is zero; a contact determination means (35) that determines whether or not an object has come in contact with between the tip and the base of the forceps (10); and a warning means (36) that, if a determination is made by the contact determination means (35) that there has been contact, warns of forceps (10) contact.
Inventors:
MIKAMI KEI (JP)
TADANO KOTARO (JP)
TADANO KOTARO (JP)
Application Number:
PCT/JP2014/074080
Publication Date:
June 04, 2015
Filing Date:
September 11, 2014
Export Citation:
Assignee:
TOKYO INST TECH (JP)
International Classes:
A61B19/00; B25J13/08; B25J19/02
Foreign References:
| JP2008006517A | 2008-01-17 | |||
| US20130300537A1 | 2013-11-14 | |||
| JP2010533045A | 2010-10-21 |
Attorney, Agent or Firm:
ISONO Michizo (JP)
Michizo Isono (JP)
Michizo Isono (JP)
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