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Patent Searching and Data


Title:
SURGICAL ROBOT SYSTEM, EXTERNAL FORCE ESTIMATION DEVICE, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2021/075213
Kind Code:
A1
Abstract:
Provided is a surgical robot system which is used for surgical procedures performed on a patient, and which is equipped with: an arm part; a detection unit for detecting the values of a lengthwise torque, a first intersecting-direction torque, a second intersecting-direction force, and a second intersecting-direction torque exerted around a second intersecting direction; and an arithmetic unit which calculates, on the basis of the values of a lengthwise force, a first intersecting-direction force, the second intersecting-direction force, the lengthwise torque, the first intersecting-direction torque, the second intersecting-direction torque, and a resistance force acting between a trocar and a shaft portion, the value of a first external force exerted on a surgical instrument by the trocar and the value of a second external force exerted on the surgical instrument by a device other than the trocar.

Inventors:
HARAGUCHI DAISUKE (JP)
TADANO KOTARO (JP)
AIZAWA KOKI (JP)
Application Number:
PCT/JP2020/035626
Publication Date:
April 22, 2021
Filing Date:
September 18, 2020
Export Citation:
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Assignee:
RIVERFIELD INC (JP)
International Classes:
B25J13/08; A61B34/35
Attorney, Agent or Firm:
NAGOYA INTERNATIONAL PATENT FIRM (JP)
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