US 12,232,833 B2
Surgical robot system, external force estimation device, and computer readable storage medium
Daisuke Haraguchi, Tokyo (JP); Kotaro Tadano, Tokyo (JP); and Koki Aizawa, Tokyo (JP)
Assigned to RIVERFIELD INC., Tokyo (JP)
Filed by RIVERFIELD INC., Tokyo (JP)
Filed on Apr. 15, 2022, as Appl. No. 17/721,900.
Application 17/721,900 is a continuation of application No. PCT/JP2020/035626, filed on Sep. 18, 2020.
Claims priority of application No. 2019-190341 (JP), filed on Oct. 17, 2019.
Prior Publication US 2022/0233261 A1, Jul. 28, 2022
Int. Cl. A61B 34/30 (2016.01); A61B 90/50 (2016.01); B25J 13/08 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 90/50 (2016.02); B25J 13/085 (2013.01); A61B 2034/305 (2016.02)] 16 Claims
OG exemplary drawing
 
1. A surgical robot system comprising:
a surgical instrument including a shaft that is configured to be inserted through a trocar placed in a subject;
an arm device configured to hold the surgical instrument and to move the surgical instrument with respect to the subject;
a detector arranged at the arm device and configured to detect values of forces and torques acting on the surgical instrument; and
a controller configured to calculate a value of a first external force that the surgical instrument receives from the trocar and a value of a second external force that the surgical instrument receives from an object other than the trocar and that is abuttable on the surgical instrument, based on the values of the forces and torques, and based on a value of a resistance force acting between the trocar and the shaft, and configured to control the arm device to move the surgical instrument, based on the value of the first external force and the value of the second external force,
wherein the surgical robot system further comprises:
a treatment tool provided at a distal end of the shaft of the surgical instrument:
a drive portion configured to drive the treatment tool of the shaft of the surgical instrument; and
a distal end external force detector configured to detect a value of a distal end external force acting on the treatment tool at the distal end of the surgical instrument,
wherein the arm device comprises a holder configured to hold the surgical instrument,
wherein the detector is arranged between the drive portion and the holder, and
wherein the controller calculates a value of a shaft external force that is an external force in the shaft received from an object other than the treatment tool and the trocar and that is abuttable on the surgical instrument, based on the value of the second external force and the value of the distal end external force, and controls the arm device to move the surgical instrument, based on the value of the first external force, the value of the second external force, and the value of the shaft external force.