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Title:
MEDICAL MANIPULATOR SYSTEM
Document Type and Number:
Japanese Patent JP2000316872
Kind Code:
A
Abstract:

To rapidly avoid interference between manipulators by easily detecting the overloaded condition of each manipulator without providing any special devices.

This medical manipulator system includes a manipulator 68 for controlling the position of an observation means for observing the subject of inspection or the position of a treatment apparatus used for treating the subject of inspection; an operation control part 6 for operating the manipulator; a drive means 3 which forms a drive signal for moving the working part of the manipulator by a predetermined amount of movement in accordance with a command from the operating part; a variation detecting means 4 for detecting variations in position of the working part of the manipulator displaced according to the drive signal from the drive means; and a determining means 5 for determining the working condition of the manipulator by comparing the result of detection by the variation detecting means with either the command issued by the operating part or an output value of the drive signal from the drive means.


Inventors:
ONISHI JUNICHI
SUZUTA TOSHIHIKO
SASAKI KATSUMI
AKUI NOBUAKI
TAKAHASHI YASUSHI
KIMURA KENICHI
IKEDA YUICHI
ADACHI HIDEYUKI
NAKAMURA TAKEAKI
Application Number:
JP12846899A
Publication Date:
November 21, 2000
Filing Date:
May 10, 1999
Export Citation:
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Assignee:
OLYMPUS OPTICAL CO
International Classes:
A61B19/00; B25J3/00; B25J7/00; (IPC1-7): A61B19/00; B25J3/00; B25J7/00
Attorney, Agent or Firm:
鈴江 武彦 (外4名)