US 12,226,113 B2
Medical manipulator and method of controlling the same
Makoto Jinno, Tokyo (JP); and Hiroaki Sano, Yamanashi (JP)
Assigned to Medicaroid Corporation, Kobe (JP); and Kawasaki Heavy Industries, Ltd., Kobe (JP)
Filed by Medicaroid Corporation, Kobe (JP); and Kawasaki Heavy Industries, Ltd., Kobe (JP)
Filed on Jul. 17, 2023, as Appl. No. 18/353,535.
Application 18/353,535 is a continuation of application No. 17/974,749, filed on Oct. 27, 2022, granted, now 11,717,309.
Application 17/974,749 is a continuation of application No. 16/937,484, filed on Jul. 23, 2020, granted, now 11,529,160, issued on Dec. 20, 2022.
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 2023/0355263 A1, Nov. 9, 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)] 18 Claims
OG exemplary drawing
 
1. A remote operation-type surgery system comprising:
a motorized multiple-degree freedom arm, which includes a plurality of motorized rotational axes and a mounting portion which is configured for detachably mounting of a surgical instrument;
an operation unit configured to output commands to control the motorized multiple-degree freedom arm to move the surgical instrument;
a memory configured to store a plurality of position information;
an input device configured to receive an input to select one of the plurality of the position information; and
a controller configured to automatically adjust a posture of the motorized multiple-degree freedom arm based on the selected one of the plurality of the position information in accordance with the input received by the input device; wherein
the controller is further configured to:
determine whether or not an in-operation signal is turned on; and
while the in-operation signal is turned on, control the motorized multiple-degree freedom arm to move the surgical instrument in accordance with the output commands from the operation unit.