Title:
SURGICAL OPERATION SYSTEM AND SURGICAL OPERATION MANIPULATOR ARM CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2021/112193
Kind Code:
A1
Abstract:
A control unit (600) of a surgical operation system (100) sets a predetermined center point (RC), sets a reference point (RD) on an extension line of a turning axis (R1) of a base-end-side torsional joint (J31) or a reference line (RL) provided in an offset manner in a normal line direction of the extension line, and performs positioning of a plurality of joints of a manipulator arm such that a shaft (43) passes the predetermined center point (RC) and such that a reference plane (RP), intersecting a turning axis (R7) of a bending joint (J37) and including a turning axis (R9) of a leading-end-side torsional joint (J39) provided to the same axis as a center axis of the shaft (43), passes the reference point (RD).
Inventors:
TOJO TSUYOSHI
SHIMOMURA NOBUYASU
ICHII TETUO
SHIMOMURA NOBUYASU
ICHII TETUO
Application Number:
PCT/JP2020/045098
Publication Date:
June 10, 2021
Filing Date:
December 03, 2020
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD (JP)
MEDICAROID CORP (JP)
MEDICAROID CORP (JP)
International Classes:
A61B34/30
Domestic Patent References:
| WO2017179624A1 | 2017-10-19 | |||
| WO2019128494A1 | 2019-07-04 |
Foreign References:
| JP2017104452A | 2017-06-15 | |||
| JP2018020004A | 2018-02-08 | |||
| JP2017104452A | 2017-06-15 |
Other References:
See also references of EP 4070754A4
Attorney, Agent or Firm:
PATENT CORPORATE BODY ARCO PATENT OFFICE (JP)
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