US 12,433,703 B2
Surgical system and controlling method
Yasuhiko Hashimoto, Kobe (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Appl. No. 17/774,857
Filed by Kawasaki Jukogyo Kabushiki Kaisha, Kobe (JP)
PCT Filed Nov. 5, 2020, PCT No. PCT/JP2020/041310
§ 371(c)(1), (2) Date May 6, 2022,
PCT Pub. No. WO2021/090868, PCT Pub. Date May 14, 2021.
Claims priority of application No. 2019-202762 (JP), filed on Nov. 7, 2019.
Prior Publication US 2022/0401166 A1, Dec. 22, 2022
Int. Cl. A61B 34/32 (2016.01); A61B 34/00 (2016.01)
CPC A61B 34/32 (2016.02) [A61B 34/74 (2016.02); A61B 34/76 (2016.02)] 15 Claims
OG exemplary drawing
 
1. A surgical system, comprising:
a robot including an instrument manipulator that has a surgical instrument;
control circuitry that controls the robot; and
a user interface that receives an input of a command and outputs the command to the control circuitry,
wherein the control circuitry generates an automatic operational command for causing the robot to automatically perform a surgical operation, and controls the surgical operation of the robot according to the automatic operational command, and the control circuitry generates the automatic operational command according to automatic operation information,
wherein the control circuitry includes a memory that stores the automatic operation information that is information for causing the robot to automatically perform the surgical operation, and the robot can perform the surgical operation in a manual operation mode, an automatic operation mode, and a corrective automatic operation mode, wherein the manual operation mode is an operation mode for operating the robot according to commands inputted by the user interface, the automatic operation mode is an operation mode for automatically operating the robot according to the automatic operation information stored in the memory and during the automatic operation mode, commands from operation of the user interface are not reflected in the operation of the robot, and the corrective automatic operation mode is an operation mode in which while the robot is controlled by the automatic operation mode, an operation to be performed automatically is corrected by using the user interface, and the corrected operation to be performed automatically is combined with automatic operation information before correction to generate new automatic operation information,
wherein the control circuitry is configured to:
receive, from the user interface, corrective manipulation information that is manipulation information for correcting operation of the robot automatically performing the surgical operation according to the automatic operational command, wherein the corrective manipulation information is generated by operating the user interface manually in the corrective automatic operation mode,
control the robot to perform a corrective operation that is an operation corrected from the operation according to the automatic operational command,
store, in the memory, information for causing the robot to perform the corrective operation as the automatic operation information, and
control the surgical operation of the robot according to the automatic operational command generated using the latest automatic operation information stored in the memory.