US 12,441,001 B2
Robotic surgical system and method for controlling robotic surgical system
Yuichi Mizohata, Kobe (JP); Ayataka Kobayashi, Kobe (JP); and Takaki Morimoto, Yokohama (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Filed by KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Filed on Dec. 21, 2023, as Appl. No. 18/392,568.
Claims priority of application No. 2022-211532 (JP), filed on Dec. 28, 2022.
Prior Publication US 2024/0217115 A1, Jul. 4, 2024
Int. Cl. B25J 13/06 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 34/37 (2016.01); A61B 90/00 (2016.01)
CPC B25J 13/06 (2013.01) [A61B 34/25 (2016.02); A61B 34/37 (2016.02); A61B 90/37 (2016.02); A61B 2034/301 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A robotic surgical system comprising:
a robot arm including a distal part to which a surgical instrument is attached;
a pivot position specifier configured to store a pivot position in a storage, wherein the pivot position is a pivot point of movement of the surgical instrument which is attached to the robot arm;
a display configured to display an image that is captured by an endoscope; and
a controller configured to display, on the display, a graphical user interface overlayed on the image captured by the endoscope, wherein the graphical user interface includes a correctable range indication indicating a pivot correctable range that is set based on the pivot position stored in the storage.
 
15. A method for controlling a robotic surgical system comprising:
storing a pivot position that is a pivot point of movement of a surgical instrument that is attached to a robot arm in a storage in accordance with an operating input accepted by a pivot position specifier; and
displaying, on a display, a graphical user interface overlayed on an image captured by the endoscope, wherein the graphical user interface includes a correctable range indication indicating a pivot correctable range that is set based on the pivot position stored in the storage.