The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Mar. 11, 2025
Filed:
Dec. 04, 2020
Kawasaki Jukogyo Kabushiki Kaisha, Kobe, JP;
Medicaroid Corporation, Kobe, JP;
KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe, JP;
Abstract
A surgical robot includes: a surgical instrument; a manipulator that supports a surgical instrument without holding a trocar and includes an instrument interface to which the surgical instrument is attached, an arm including rotational joints, and a prismatic joint; and a controller. The controller may store a center of motion of the surgical instrument and control motion of the manipulator such that with the shaft inserted through the trocar and the tool located in a body cavity of the patient, a relationship T≥L is established in a case of L≤T, wherein: L represents an intra-body cavity length of the surgical instrument; Trepresents a maximum possible linear movement amount of the prismatic joint from an origin position along the axial direction; and Trepresents a first linear movement amount of the prismatic joint from the origin position to a current position along the axial direction.