Kawasaki Jukogyo Kabushiki Kaisha

Mariko Ogata

Hideki Tanaka

Isamu Yoshimura

Hideki Watanabe

Tomohide Hattori

Tetsuya Nakanishi

Hiroaki Fujimoto

Tadashi Anada

Takeshi Kurihara

An input device of a surgical manipulator includes an arm unit, a wrist unit including a follower link having a base end rotatably connected to a distal end of the arm unit around a follower rotation axis, a first gimbal link rotatably connected to the follower link, a second gimbal link rotatably connected to the first gimbal link, and an operation unit as a third gimbal link rotatably connected to the second gimbal link, a motor that rotates the base end of the follower link around the follower rotation axis, and a controller configured to perform feedback control of a rotation position of the follower link using a rotation position deviation of a rotation position of the second gimbal link with respect to a second reference rotation position as a rotation position deviation of the follower link by controlling an operation of the motor.

Input device of surgical manipulator, robot-assisted surgical system, and controller

A hydraulic forceps system includes: robotic forceps whose gripper is opened and closed by utilizing hydraulic pressure of a hydraulic fluid; a pressure sensor that detects a pressure of the hydraulic fluid; and a control device that calculates a current gripping force of the gripper based on the pressure of the hydraulic fluid detected by the pressure sensor; and a monitor that displays the current gripping force.

Hydraulic forceps system

A hydraulic drive apparatus includes: an electric motor; a variable displacement pump driven by the electric motor, the pump including a pair of pump ports whose delivery side and suction side are switched with each other in accordance with a rotation direction of the electric motor; a hydraulic actuator connected to the pair of pump ports by a first supply/discharge line and a second supply/discharge line; and a control device that controls the electric motor based on an actuator position command value for the hydraulic actuator. The pump is configured such that a volume of the pump decreases in accordance with increase in a pressure difference between the first supply/discharge line and the second supply/discharge line.

Hydraulic drive apparatus

A hydraulic forceps system includes: robotic forceps including: a gripper, first piston coupled to the gripper, first cylinder forming first pressure chamber, filled with a hydraulic fluid, together with the first piston, second piston, second cylinder forming a second pressure chamber, filled with hydraulic fluid, together with the second piston, communication passage through which the chambers communicate, motor that drives the second piston via a linear motion mechanism; control device that controls the motor based on a command position for the first piston; and position sensor used for detecting a position of the second piston. The control device includes: an observer that derives an estimated position of the first piston based on the position of the second detected by the sensor; and a position controller that derives a target rotational speed of the motor based on a deviation between the estimated position of the first piston and the command position.

A piston accommodated in an internal space of a cylinder and forming a pair of pressure chambers together with the cylinder, the piston being configured to move relative to the cylinder; a first actuator connected to one pair of pressure chambers; a second actuator connected to the other of the pair of pressure chambers; a position detector configured to detect a position of the piston relative to the cylinder; a pressure detector configured to detect a pressure of one pair of pressure chambers; and a controller configured to control the first actuator and the second actuator. The controller controls one of the first actuator and the second actuator that the position detected by the position detector is made close to a target position and controls the other of the first actuator and the second actuator that the pressure detected by the pressure detector is made close to a target pressure.

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Kobe, Japan

Mariko Ogata