SURGICAL ASSIST ROBOT AND METHOD OF CONTROLLING THE SAME

Abstract: a surgical robot includes: a surgical instrument including a base disposed at a proximal end of the surgical instrument, a tool disposed at a distal end of the surgical instrument, and a shaft extending in an axial direction between the base and the tool; a manipulator configured to support the surgical instrument, the manipulator including an instrument interface to which the base of the surgical instrument is attached, an arm including rotational joints, and a prismatic joint coupling the instrument interface to a distal end of the arm; and a controller. including a memory that stores a remote center that is a center of motion of the surgical instrument. the controller is configured to control the motion of the manipulator such that with the shaft inserted through a trocar retained at a body wall of a patient and the tool located in a body cavity of the patient, a relationship (l−�)≥t≥(l+�) is established in a case of l≤t, wherein: l represents an intra-body cavity length of the surgical instrument, the intra-body cavity length l being a length from the remote center to the distal end of the surgical instrument; t represents a maximum possible linear movement amount of the prismatic joint, the maximum possible linear movement amount t being an amount of movement from an origin position to an end point position; t represents a first linear movement amount of the prismatic joint, the first linear movement amount t being an amount of movement from the origin position to a current position; � represents a distance from the remote center to an inlet of the trocar; and � represents a distance from the remote center to an outlet of the trocar.

Inventor(s): Tsuyoshi TOJO, Nobuyasu SHIMOMURA, Tetsuo ICHII

CPC Classification: A61B34/37 (Master-slave robots ( takes precedence))

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