US 11,850,741 B2
Control device, control method, and master-slave system
Hiromasa Masuda, Tokyo (JP); and Yuki Itotani, Tokyo (JP)
Assigned to SONY CORPORATION, Tokyo (JP)
Appl. No. 16/628,285
Filed by SONY CORPORATION, Tokyo (JP)
PCT Filed May 23, 2018, PCT No. PCT/JP2018/019872
§ 371(c)(1), (2) Date Jan. 3, 2020,
PCT Pub. No. WO2019/012812, PCT Pub. Date Jan. 17, 2019.
Claims priority of application No. 2017-135995 (JP), filed on Jul. 12, 2017.
Prior Publication US 2020/0214779 A1, Jul. 9, 2020
Int. Cl. B25J 3/00 (2006.01); A61B 34/37 (2016.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01)
CPC B25J 3/00 (2013.01) [A61B 34/25 (2016.02); A61B 34/37 (2016.02); A61B 2034/302 (2016.02)] 16 Claims
OG exemplary drawing
 
1. A control device, comprising:
a central processing unit (CPU) configured to:
apply, to a control system of a master-slave system, a restraint force corresponding to an operation in one of a translational direction or a rotational direction by a master;
apply, to the control system of the master-slave system, a movable range limiting force that limits a position and a posture of one of the master or a slave so as not to move beyond a determined movable range of the one of the master or the slave, wherein
the determined movable range of the master is changeable based on a type of a grip portion attached to the master, and
the determined movable range of the slave is changeable based on a type of a medical instrument attached to the slave; and
output, to each of the master and the slave, an acceleration reference signal based on a generated force of the master, the restraint force, and a generated force of the slave.