Title:
手術器具およびその制御方法
Document Type and Number:
Japanese Patent JP5841451
Kind Code:
B2
Abstract:
A surgical instrument includes an end effector, a manipulation unit, a grip detecting unit, a driving unit, and a control unit. When the control unit determines that the end effector is applying the acting force to the target based on the information acquired by the grip detecting unit, the control unit sets an acting force increasing zone of a predetermined range in a first movable range in the first direction of the manipulation unit, sets a neutral zone in a remaining area of the first movable range, controls the driving unit so that the acting force increases with a constant gradient with respect to an amount of manipulation of the manipulation unit in the acting force increasing zone, and controls the driving unit so that the acting force is kept constant regardless of the amount of manipulation of the manipulation unit in the neutral zone.
Inventors:
Shintaro Inoue
Hiroaki Kishi
Hiroaki Kishi
Application Number:
JP2012031959A
Publication Date:
January 13, 2016
Filing Date:
February 16, 2012
Export Citation:
Assignee:
Olympus Endo Technology America Inc.
International Classes:
A61B90/00; A61B17/28
Domestic Patent References:
| JP201076012A | ||||
| JP2006321027A | ||||
| JP2005511185A | ||||
| JP2010540192A |
Foreign References:
| WO2010109932A1 | ||||
| US20080046122 |
Attorney, Agent or Firm:
Sumio Tanai
Masatake Shiga
Suzuki Mitsuyoshi
Tadao Takashiba
Hiroshi Masui
Shiro Suzuki
Hiroyuki Hashimoto
Masatake Shiga
Suzuki Mitsuyoshi
Tadao Takashiba
Hiroshi Masui
Shiro Suzuki
Hiroyuki Hashimoto
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