US 12,343,099 B2
Robotic surgical system, operator-side apparatus, and control method of robotic surgical system
Masataka Tanabe, Kobe (JP); Yusuke Takano, Kobe (JP); Takeshi Kurihara, Kobe (JP); and Shinji Kajihara, Kobe (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Filed by KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Filed on Jun. 6, 2022, as Appl. No. 17/832,759.
Claims priority of application No. 2021-096094 (JP), filed on Jun. 8, 2021.
Prior Publication US 2022/0387120 A1, Dec. 8, 2022
Int. Cl. A61B 34/00 (2016.01); A61B 34/37 (2016.01); B25J 9/16 (2006.01); A61B 34/30 (2016.01)
CPC A61B 34/37 (2016.02) [A61B 34/77 (2016.02); B25J 9/1633 (2013.01); A61B 2034/254 (2016.02); A61B 2034/306 (2016.02)] 16 Claims
OG exemplary drawing
 
1. A robotic surgical system comprising:
a patient-side apparatus including a manipulator arm to which a surgical instrument is attached to a tip end of the manipulator arm;
an operator-side apparatus including an operation unit to receive an operation of an operator; and
a controller: wherein
the operation unit includes a drive to assist the operation;
the controller is configured or programmed to control the drive to exert a braking force when the operation on the operation unit is decelerated and/or accelerated;
the controller is configured or programmed to determine a braking parameter of the drive according to an operation speed at which the operation unit is operated, and to control the drive to exert the braking force using the determined braking parameter; and
the controller is configured or programmed to increase a maximum of an absolute value of the braking parameter during deceleration of the operation to greater than the maximum of the absolute value of the braking parameter during acceleration of the operation.