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公开(公告)号：US11801103B2
公开(公告)日：2023-10-31
申请号：US16396953
申请日：2019-04-29
发明人： Tsuyoshi Tojo , Kenji Noguchi , Tetsushi Ito , Tetsuya Nakanishi
CPC分类号： A61B34/35 , A61B34/25 , A61B34/70 , A61B2017/00199 , A61B2017/00207 , A61B2017/00477 , A61B2034/302 , A61B2034/305
摘要： A surgical system includes: a tool manipulator having a tool manipulator arm and a surgical tool; a console having a handling tool configured to receive a tool movement input of a surgeon for the surgical tool, the console being configured to transmit a tool movement command generated based on the tool movement input, the tool movement input including a translation amount and a rotation amount for the surgical tool; and a controller. The controller is configured to calculate an actual translation amount by multiplying the translation amount by a predetermined translation scale factor and move the surgical tool in accordance with the actual translation amount, and to calculate an actual rotation amount by multiplying the rotation amount by a predetermined rotation scale factor and move the surgical tool in accordance with the actual rotation amount. The translation scale factor and the rotation scale factor are different values.
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公开(公告)号：US11504198B2
公开(公告)日：2022-11-22
申请号：US16396818
申请日：2019-04-29
发明人： Tsuyoshi Tojo , Kenji Noguchi , Tetsushi Ito , Tetsuya Nakanishi
摘要： A surgical system includes a robot main body, a slave controller, a display device that displays an endoscopic image, and an manipulation input device. The robot main body includes an entry guide having a plurality of guide bores, an entry guide support device that supports the entry guide, an instrument manipulator that has a surgical instrument provided at a distal end and is inserted into the entry guide, and an endoscope manipulator that has an endoscopic camera provided at a distal end and is inserted into the entry guide. The slave controller operates the robot main body such that the surgical instrument advances from an exit of the entry guide after the endoscopic camera advances from the exit of the entry guide and starts capturing in response to input of a body cavity insertion manipulation received by the manipulation input device.
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公开(公告)号：US12102399B2
公开(公告)日：2024-10-01
申请号：US17238556
申请日：2021-04-23
发明人： Yuji Kishida , Tomohiro Fukuno , Ryosuke Hida , Tsuyoshi Tojo
CPC分类号： A61B34/30 , B25J9/12 , A61B2017/00115
摘要： A surgical robot includes a first indicator configured to indicate a state of a system, and a plurality of second indicators configured to individually indicate states of a plurality of arms, and the state of the system includes a state of the surgical robot excluding the states of the plurality of arms and a state of a doctor-side operation device.
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公开(公告)号：US10716638B2
公开(公告)日：2020-07-21
申请号：US15755479
申请日：2016-06-24
发明人： Tsuyoshi Tojo , Nobuyasu Shimomura
IPC分类号： G06F17/00 , A61B34/37 , G05B19/418 , B25J9/00 , B23P19/04 , B25J13/00 , B25J19/04 , B25J9/16 , B25J13/08 , B25J3/00 , B25J13/06 , B25J18/00 , B25J19/02 , B25J3/04 , B23Q15/12 , B25J13/02 , B25J11/00 , G06F3/01 , H04N5/232 , H04N7/18 , A61B34/32 , G06T7/62 , G06T7/70 , B23P21/00
摘要： Robot system includes robot main body including robot arm, end effector attached to robot arm, and force sensing device detecting force applied to end effector's tip end, actual reaction-force information generator generating force-sensing information according to force detected by force sensing device, and output force-sensing information as actual reaction-force information, virtual reaction-force information generator outputting force component detected by force sensing device, that has a magnitude proportional to time differentiation value, as virtual reaction-force information, adder configured to output information obtained by adding actual reaction-force information outputted from actual reaction-force information generator to virtual reaction-force information outputted from virtual reaction-force information generator, as synthetic reaction-force information, operating device outputting, when operator is made to sense a force according to synthetic reaction-force information outputted from adder and operator operates, operating information according to operation, and motion controller controlling robot main body's operation according to operating information outputted from operating device.
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公开(公告)号：US11517384B2
公开(公告)日：2022-12-06
申请号：US16396836
申请日：2019-04-29
发明人： Tsuyoshi Tojo , Kenji Noguchi , Tetsushi Ito , Tetsuya Nakanishi
摘要： A surgical system includes a surgical assist robot including a robot main body and a slave controller, and a console. The robot main body has an entry guide, an entry guide support device, and at least one manipulator having an end effector provided at a distal end. The entry guide includes an inner cylinder, an outer cylinder into which the inner cylinder is inserted in an insertion axial direction, and a guide advancing device that displaces the inner cylinder in the insertion axial direction with respect to the outer cylinder. While a position and a posture of the end effector that has advanced from the entry guide are maintained, the inner cylinder is caused to advance toward the end effector within a predetermined movable range along the insertion axial direction with respect to the outer cylinder.
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公开(公告)号：US10702351B2
公开(公告)日：2020-07-07
申请号：US15755465
申请日：2016-06-24
发明人： Tsuyoshi Tojo
IPC分类号： A61B34/37 , G05B19/418 , B23P19/04 , B25J13/00 , B25J19/04 , B25J9/00 , B25J9/16 , B25J13/08 , B25J3/00 , B25J13/06 , B25J18/00 , B25J19/02 , B25J3/04 , B23Q15/12 , B25J13/02 , B25J11/00 , G06F3/01 , H04N5/232 , H04N7/18 , A61B34/32 , G06T7/62 , G06T7/70 , B23P21/00
摘要： A robot system is provided, which includes a robot body including, robot arm and an end effector attached to robot arm, and operating device, having operating part and configured to output, when operating part is operated, operational information according to operation, a motion controller configured to control operation of robot body according to the operational information outputted from the operating device, a velocity detector configured to detect a velocity at a tip end of the end effector, a virtual reaction-force information generating module configured to output force information containing a first force component having a positive correlation to the velocity at the tip end of the end effector, as virtual reaction-force information, and a force applying device configured to give a force to the operating part in order to make an operator perceive a force according to the virtual reaction-force information outputted from the virtual reaction-force information generating module.
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公开(公告)号：US12082892B2
公开(公告)日：2024-09-10
申请号：US17225197
申请日：2021-04-08
发明人： Tsuyoshi Tojo , Yuji Kishida , Takeshi Kurihara
CPC分类号： A61B34/30 , A61B34/25 , A61B34/70 , A61B90/36 , A61B90/361 , A61B90/50 , A61B2034/301 , A61B2034/302 , A61B2034/742 , A61B2090/364 , A61B2560/0437
摘要： A surgical robot includes an arm base mover configured to move an arm base configured to support a plurality of arms, an imaging device provided on the arm base, the imaging device being configured to image a patient placed on a surgical table, and a display configured to display, in real time, the patient imaged by the imaging device.
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公开(公告)号：US12102407B2
公开(公告)日：2024-10-01
申请号：US17240132
申请日：2021-04-26
CPC分类号： A61B34/74 , A61B34/30 , A61B2034/742
摘要： In a surgical robot, an operation unit includes an enable switch and an operation tool configured to control a moving direction of an arm, and the enable switch and the operation tool are arranged apart from each other within a range operable by fingers of one hand of an operator in the operation unit.
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