Surgery supporting apparatus for controlling motion of robot arm, control method of the same, and non-transitory computer-readable storage medium
US11622822B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 21, 2019 |
| Grant date | Apr 11, 2023 |
| Priority date | — |
| Expiry date | Jun 10, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45117
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A surgery supporting apparatus is capable of controlling a posture of a first surgical instrument that is inserted into a body cavity and mechanically drivable, by using a second surgical instrument to be inserted into the body cavity. The apparatus comprises a robot arm configured to control the posture of the first surgical instrument attached to the robot arm. Instructions stored in a memory cause the apparatus to function as a control unit configured to control the motion of the robot arm such that the posture of the first surgical instrument is controlled in accordance with the posture of the second surgical instrument, in a case of a first mode, and controls the motion of the robot arm in accordance with a manipulation including contact to the robot arm, in a case of a second mode.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.