US 11,890,072 B2
Robotic surgical system, patient-side apparatus, and control method of robotic surgical system
Yuichi Mizohata, Akashi (JP); Nobuyasu Shimomura, Kobe (JP); and Ayataka Kobayashi, Kakogawa (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP); and MEDICAROID CORPORATION, Kobe (JP)
Filed by KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP); and MEDICAROID CORPORATION, Kobe (JP)
Filed on Oct. 13, 2021, as Appl. No. 17/500,150.
Claims priority of application No. 2020-173392 (JP), filed on Oct. 14, 2020.
Prior Publication US 2022/0110702 A1, Apr. 14, 2022
Int. Cl. A61B 34/00 (2016.01); A61B 34/37 (2016.01); B25J 9/16 (2006.01)
CPC A61B 34/70 (2016.02) [A61B 34/37 (2016.02); B25J 9/1602 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A robotic surgical system comprising:
a patient-side apparatus including a manipulator arm to which a surgical instrument is attached to a tip end side of the manipulator arm;
an operator-side apparatus including an operation unit to receive an operation on the surgical instrument; and
a controller configured or programmed to control operation of the surgical instrument based on an amount of operation corresponding to the operation; wherein
the surgical instrument includes:
an end effector;
a first support;
a second support; and
a shaft connected to the second support;
the first support supports the end effector such that the end effector is rotatable about a first axis that is orthogonal to a direction in which the shaft extends;
the second support supports the first support such that the first support is rotatable about a second axis that is spaced apart from the first axis in the direction in which the shaft extends and is orthogonal to the direction in which the shaft extends and the first axis; and
the controller is configured or programmed to change a length between the first axis and the second axis in the direction in which the shaft extends, the length serving as a control parameter, according to a rotation speed of the shaft with respect to the amount of operation to control the operation of the surgical instrument.