Medical manipulator system and method for controlling a medical manipulator
US10987182B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Jul 26, 2018 |
| Grant date | Apr 27, 2021 |
| Priority date | — |
| Expiry date | Aug 16, 2039 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2090/064
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A medical manipulator system includes: a treatment tool including an arm with joints and an end effector provided at a distal end of the arm; an insertion aid device; an advancement/retraction driving unit configured to drive the treatment tool to be advanced/retracted in the insertion aid device; an advancement/retraction operation unit configured to drive the advancement/retraction driving unit; a stopper configured to limit an operation of the advancement/retraction driving unit by actuation; an interference detector configured to be capable of detecting interference between an arm unit projected out of the insertion aid device and the insertion aid device; and an operation instruction unit configured to be capable of actuating the stopper. The operation instruction unit limits retraction movement of the treatment tool with respect to the insertion aid device by actuating the stopper.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.