US 11,717,309 B2
Medical manipulator and method of controlling the same
Makoto Jinno, Tokyo (JP); and Hiroaki Sano, Yamanashi (JP)
Assigned to MEDICAROID CORPORATION, Kobe (JP)
Filed by Medicaroid Corporation, Kobe (JP)
Filed on Oct. 27, 2022, as Appl. No. 17/974,749.
Application 17/974,749 is a continuation of application No. 16/937,484, filed on Jul. 23, 2020, granted, now 11,529,160.
Application 16/937,484 is a continuation of application No. 16/140,049, filed on Sep. 24, 2018, granted, now 11,116,533, issued on Sep. 14, 2021.
Application 16/140,049 is a continuation of application No. 14/964,696, filed on Dec. 10, 2015, granted, now 10,111,678, issued on Oct. 30, 2018.
Application 14/964,696 is a continuation of application No. PCT/JP2013/003702, filed on Jun. 13, 2013.
Prior Publication US 2023/0048197 A1, Feb. 16, 2023
Int. Cl. G06F 17/00 (2019.01); A61B 17/29 (2006.01); A61B 34/30 (2016.01); A61B 34/37 (2016.01)
CPC A61B 17/29 (2013.01) [A61B 34/30 (2016.02); A61B 34/37 (2016.02); A61B 2017/2902 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A surgery system comprising:
a multiple-degree freedom slave arm, which is able to be mounted with a surgical instrument and includes a plurality of joints and a plurality of motors corresponding the respective joints of the plurality of joints;
a first input device configured to operate the multiple-degree freedom slave arm;
a second input device configured to operate the multiple-degree freedom slave arm and different from the first input device; and
a controller configured to control the multiple-degree freedom slave arm so that the multiple-degree freedom slave arm is operated by one of the first input device and the second input device, wherein the controller is configured to:
when an in-operation signal is not turned on, allow the multiple-degree freedom slave arm to be operated by the first input device in a teaching mode that is a mode for setting a fulcrum position; and
when the in-operation signal is turned on, control the multiple-degree freedom slave arm so as to move a distal end portion of the surgical instrument to spatial coordinates instructed by the second input device while maintaining a state where the surgical instrument passes through the set fulcrum position.