US 12,472,014 B2
Surgical robot and operation method for articulated robot
Tsuyoshi Tojo, Ibaraki (JP); and Tetsuo Ichii, Kobe (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Filed by KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Filed on May 23, 2022, as Appl. No. 17/750,438.
Claims priority of application No. 2021-087197 (JP), filed on May 24, 2021.
Prior Publication US 2022/0370158 A1, Nov. 24, 2022
Int. Cl. A61B 34/30 (2016.01); A61B 1/00 (2006.01); A61B 34/20 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 1/00117 (2013.01); A61B 1/00147 (2013.01); A61B 2034/2055 (2016.02); A61B 2034/301 (2016.02); A61B 2034/306 (2016.02)] 13 Claims
OG exemplary drawing
 
1. A surgical robot comprising:
a plurality of arms to each of which a surgical instrument is attached;
an elongate arm base extending on a longitudinal axis, to which the plurality of arms attached to the arm base spaced apart at positions along the longitudinal axis;
an articulated robot having six or more axes and configured to move the arm base; and
a medical cart comprising a robot controller that controls a movement of the articulated robot,
wherein
each of the plurality of arms is independently moveable from a respective attachment point at which the respective arm is attached to the arm base,
the robot controller controls the articulated robot so that the arm base rotationally moves in an arc shape around a predetermined position set at a position away from the arm base,
the robot controller controls the articulated robot so that the arm base rotationally moves in the arc shape around a rotational axis passing through the predetermined position, and
the robot controller controls the articulated robot so that the arm base rotationally moves in the arc shape around two rotational axes including a first rotational axis passing through the predetermined position and parallel to a direction in which the plurality of arms are aligned on the arm base, and a second rotational axis passing through the predetermined position and existing in a vertical plane orthogonal to the first rotational axis.