Title:
CONTROL METHOD OF SURGICAL OPERATION SYSTEM AND SURGICAL OPERATION SYSTEM
Document Type and Number:
WIPO Patent Application WO/2017/179624
Kind Code:
A1
Abstract:
The orientation of the manipulator arms and the surgical tools held by the manipulator arms is simulated in the case that the distal end of the surgical tools are positioned at three-dimensional positions on grid points in grid models configured for each manipulator arm; combinations of grid points in each grid model that result in the interference between the orientations are extracted; data about the interference-causing combinations is stored in a storage unit; it is determined whether or not an operation command transmitted to the control unit corresponds to an interference-causing combination; and, if it is determined that the action command corresponds to an interference-causing combination, the control unit performs interference preventing processing.
More Like This:
Inventors:
HIRATSUKA MITSUICHI
NAKANISHI TETSUYA
NAKANISHI TETSUYA
Application Number:
PCT/JP2017/014999
Publication Date:
October 19, 2017
Filing Date:
April 12, 2017
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD (JP)
International Classes:
A61B34/35
Domestic Patent References:
| WO2014146113A1 | 2014-09-18 |
Foreign References:
| JP2011206312A | 2011-10-20 |
Other References:
See also references of EP 3443927A4
Attorney, Agent or Firm:
PATENT CORPORATE BODY ARCO PATENT OFFICE (JP)
Download PDF:
Previous Patent: SPEED REDUCER
Next Patent: ALUMINUM ALLOY FIN MATERIAL, ALUMINUM ALLOY BRAZING SHEET, AND HEAT EXCHANGER
Next Patent: ALUMINUM ALLOY FIN MATERIAL, ALUMINUM ALLOY BRAZING SHEET, AND HEAT EXCHANGER