Title:
OPERATION SYSTEM, SURGICAL SYSTEM, CONTROL DEVICE, DISTORTION BODY, SURGICAL INSTRUMENT, AND EXTERNAL FORCE DETECTION SYSTEM
Document Type and Number:
WIPO Patent Application WO/2018/163680
Kind Code:
A1
Abstract:
Provided are an operation system, surgical system, control device, distortion body, surgical instrument, etc. that detect a force acting on an end effector. The operation system comprises: an arm having one or more links; an end effector provided on the distal end of the arm; a first distortion detection unit that detects distortion occurring in the end effector; a second distortion detection unit that detects distortion occurring in the link; and a processing unit that computes a force acting on the end effector in vivo on the basis of the detection results from the first distortion detection unit and the second distortion detection unit.
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Inventors:
SUZUKI HIROYUKI (JP)
NAGASAKA KENICHIRO (JP)
NAGASAKA KENICHIRO (JP)
Application Number:
PCT/JP2018/003618
Publication Date:
September 13, 2018
Filing Date:
February 02, 2018
Export Citation:
Assignee:
SONY CORP (JP)
International Classes:
A61B34/37; A61B17/29; B25J15/08
Foreign References:
| US20100087835A1 | 2010-04-08 | |||
| JP2016074060A | 2016-05-12 | |||
| JPH0760683A | 1995-03-07 |
Other References:
ULRICH SEIBOLD ET AL.: "Prototype of Instrument for Minimally Invasive Surgery with 6-Axis Force Sensing Capability", PROCEEDINGS OF THE 2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION BARCELONA, SPAIN, April 2005 (2005-04-01), pages 498 - 503
Attorney, Agent or Firm:
MIYATA, Masaaki et al. (JP)
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