US 12,245,836 B2
Input device of surgical manipulator, robot-assisted surgical system, and controller
Mariko Ogata, Kobe (JP); Hideki Tanaka, Nishinomiya (JP); and Takeshi Kurihara, Kobe (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Filed by KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Filed on Aug. 7, 2020, as Appl. No. 16/987,400.
Claims priority of application No. 2019-146233 (JP), filed on Aug. 8, 2019.
Prior Publication US 2021/0038336 A1, Feb. 11, 2021
Int. Cl. A61B 34/00 (2016.01); A61B 17/00 (2006.01); A61B 34/30 (2016.01); A61B 34/37 (2016.01); B25J 9/16 (2006.01); F16H 1/14 (2006.01)
CPC A61B 34/77 (2016.02) [A61B 34/25 (2016.02); A61B 34/30 (2016.02); A61B 34/76 (2016.02); B25J 9/1648 (2013.01); A61B 2017/00973 (2013.01); A61B 2034/305 (2016.02); A61B 34/37 (2016.02); A61B 34/74 (2016.02); F16H 1/14 (2013.01)] 22 Claims
OG exemplary drawing
 
1. An input device of a surgical manipulator, the input device comprising:
an arm unit having a joint;
a wrist unit including a follower link having a base end rotatably connected to a distal end of the arm unit around a follower rotation axis, a first gimbal link having a base end rotatably connected to a distal end of the follower link and rotatable with respect to a first reference rotation position around a first gimbal rotation axis orthogonal to the follower rotation axis, a second gimbal link having a base end rotatably connected to a distal end of the first gimbal link and rotatable with respect to a second reference rotation position around a second gimbal rotation axis that is orthogonal to the first gimbal rotation axis, the first reference rotation position of the first gimbal link corresponding to a position in which the second gimbal rotation axis coincides with the follower rotation axis, and an operation unit as a third gimbal link having a base end rotatably connected to a distal end of the second gimbal link around a third gimbal rotation axis that is orthogonal to the second gimbal rotation axis, the second reference rotation position of the second gimbal link corresponding to a position in which the third gimbal axis is orthogonal to the first gimbal rotation axis;
a motor that rotates the base end of the follower link around the follower rotation axis; and
a controller configured to perform interference prevention control of a rotation position of the follower link to maintain a second rotation position of the second gimbal link using a rotation position deviation between a rotation position of the second gimbal link and the second reference rotation position as a rotation position deviation of the follower link by controlling an operation of the motor, wherein
the interference prevention control is performed only when the operation unit is operated to maintain the second rotation position by maintaining orthogonality between the first gimbal rotation axis and the third gimbal rotation axis to prevent the second gimbal link from interfering with the first gimbal link, and
the interference prevention control is stopped when the operation unit is stopped.