US 12,245,832 B2
Surgical assist robot and method of controlling the same
Tsuyoshi Tojo, Kobe (JP); Nobuyasu Shimomura, Kobe (JP); and Tetsuo Ichii, Kobe (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Appl. No. 17/782,216
Filed by KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP); and MEDICAROID CORPORATION, Kobe (JP)
PCT Filed Dec. 4, 2020, PCT No. PCT/JP2020/045270
§ 371(c)(1), (2) Date Jun. 3, 2022,
PCT Pub. No. WO2021/112229, PCT Pub. Date Jun. 10, 2021.
Claims priority of application No. 2019-220758 (JP), filed on Dec. 5, 2019.
Prior Publication US 2023/0014033 A1, Jan. 19, 2023
Int. Cl. A61B 34/37 (2016.01); A61B 17/34 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01)
CPC A61B 34/37 (2016.02) [A61B 17/34 (2013.01); A61B 34/75 (2016.02); A61B 2034/302 (2016.02)] 18 Claims
OG exemplary drawing
 
1. A surgical robot comprising:
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 without holding a trocar retained at a body wall of a patient, 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, wherein the controller is configured to control a motion of the manipulator such that a relationship (L−β)≤T1≤(L+α) is established in a case of L≤T0,
L represents an intra-body cavity length of the surgical instrument, the intra-body cavity length being a length from the remote center to the distal end of the surgical instrument; T0 represents a maximum possible linear movement amount of the prismatic joint, the maximum possible linear movement amount being an amount of movement from an origin position to an end point position; and T1 represents a first linear movement amount of the prismatic joint, the first linear movement amount being an amount of movement from the origin position to a current position, and
the controller is configured to control the motion of the manipulator such that the relationship (L−β)≤T1≤(L+α) is established among the intra-body cavity length L, the first linear movement amount T1, a distance α from the remote center to an inlet of the trocar, and a distance β from the remote center to an outlet of the trocar.