US 12,324,639 B2
Surgical system and method of controlling surgical manipulator arm
Tsuyoshi Tojo, Kobe (JP); Nobuyasu Shimomura, Kobe (JP); and Tetsuo Ichii, Kobe (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Appl. No. 17/782,185
Filed by KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
PCT Filed Dec. 3, 2020, PCT No. PCT/JP2020/045098
§ 371(c)(1), (2) Date Jun. 3, 2022,
PCT Pub. No. WO2021/112193, PCT Pub. Date Jun. 10, 2021.
Claims priority of application No. 2019-220284 (JP), filed on Dec. 5, 2019.
Prior Publication US 2023/0000572 A1, Jan. 5, 2023
Int. Cl. A61B 34/30 (2016.01); A61B 34/00 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 34/00 (2016.02); A61B 90/361 (2016.02)] 21 Claims
OG exemplary drawing
 
1. A surgical system comprising:
a surgical tool including a shaft and a distal end roll joint having a rotation axis coinciding with a central axis of the shaft;
a manipulator arm holding the surgical tool at a distal end thereof and having seven or more degrees of freedom, the manipulator arm including joints and actuators that drive the joints to effect positioning of the joints, the joints including a proximal end roll joint disposed at a proximal end of the manipulator arm and a pivotal joint disposed between the proximal end roll joint and the distal end roll joint, the pivotal joint having a rotation axis crossing a reference plane including the rotation axis of the distal end roll joint, the rotation axis of the pivotal joint being in a fixed orientation relative to the reference plane;
a console that receives an operation input provided by an operator to the manipulator arm; and
a controller that controls the actuators based on the operation input, wherein
the controller is configured to: set a center point; set a reference point on a reference line that is offset from an extension of a rotation axis of the proximal end roll joint in a direction normal to the extension; and position the joints such that the shaft passes through the center point and that the reference plane passes through the reference point.