US 12,285,184 B2
Surgical system and method of controlling surgical system
Kaoru Takahashi, Kobe (JP); Hiroaki Ihara, Kobe (JP); and Ayataka Kobayashi, Kobe (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Filed by KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Filed on May 24, 2022, as Appl. No. 17/752,622.
Claims priority of application No. 2021-087896 (JP), filed on May 25, 2021.
Prior Publication US 2022/0378455 A1, Dec. 1, 2022
Int. Cl. A61B 17/29 (2006.01); A61B 34/30 (2016.01); A61B 17/00 (2006.01)
CPC A61B 17/29 (2013.01) [A61B 17/2909 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/2903 (2013.01); A61B 2017/2905 (2013.01); A61B 2017/2932 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A surgical system comprising:
a patient-side apparatus including an arm to which a surgical instrument is to be attached;
an operator-side apparatus including an operation part configured to receive an operation for operating the surgical instrument;
a controller configured to control an operation of the surgical instrument based on a command from the operation part, wherein
the surgical instrument comprises:
a shaft;
a first jaw member and a second jaw member provided on a side of a distal end of the shaft;
a first elongate element for operating the first jaw member; and
a second elongate element for operating the second jaw member; wherein
the arm includes a first drive part configured to drive the first elongate element and a second drive part configured to drive the second elongate element,
the controller is configured to:
control rotation amounts of the first drive part and the second drive part such that an opening angle between the first jaw member and the second jaw member corresponds to an operating angle received by the operation part for opening and closing the first jaw member and the second jaw member; and
correct, according to a rotation angle of the shaft about a rotation axis of the shaft, the rotation amounts of the first drive part and the second drive part that correspond to the operating angle.