Title:
SURGICAL ROBOT, SURGICAL SYSTEM, AND CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2021/112228
Kind Code:
A1
Abstract:
A surgical robot (10) is provided with a plurality of robot arms (130), an arm base (120), and a control device (30). The robot arms each include a base part (138), an end part (137) capable of holding a medical tool (150), and a plurality of links (131 to 136). The link (131) adjacent to the base part is coupled to the base part via a rotary joint (JA1). For the robot arms having at least seven degrees of freedom among the plurality of robot arms, the control device operates the robot arms such that a first portion (134aa) of the first link (134) is positioned between a second portion (138a) of the base part and a third portion (JA7a) of the end part, as viewed in a direction parallel with the axial direction of a rotation axis of the rotary joint.
Inventors:
TOJO TSUYOSHI
SHIMOMURA NOBUYASU
ICHII TETSUO
SHIMOMURA NOBUYASU
ICHII TETSUO
Application Number:
PCT/JP2020/045269
Publication Date:
June 10, 2021
Filing Date:
December 04, 2020
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD (JP)
MEDICAROID CORP (JP)
MEDICAROID CORP (JP)
International Classes:
B25J9/06; A61B34/37
Foreign References:
| JP2019529051A | 2019-10-17 | |||
| JP2017104453A | 2017-06-15 | |||
| US20170020615A1 | 2017-01-26 | |||
| JP2019529051W |
Other References:
See also references of EP 4070919A4
Attorney, Agent or Firm:
PATENT CORPORATE BODY ARCO PATENT OFFICE (JP)
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