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1. (WO2014199415) MEDICAL MANIPULATOR, AND CONTROL METHOD THEREFOR

Pub. No.:    WO/2014/199415    International Application No.:    PCT/JP2013/003710
Publication Date: Fri Dec 19 00:59:59 CET 2014 International Filing Date: Fri Jun 14 01:59:59 CEST 2013
IPC: A61B 19/00
Applicants: TERUMO KABUSHIKI KAISHA
テルモ株式会社
Inventors: JINNO, Makoto
神野 誠
SANO, Hiroaki
佐野 弘明
Title: MEDICAL MANIPULATOR, AND CONTROL METHOD THEREFOR
Abstract:
A medical manipulator having a multi-degree-of-freedom arm to which a medical tool can be attached stores an insertion inlet position that marks the spatial position of an insertion inlet for inserting the medical tool attached to the multi-degree-of-freedom arm into a body. The medical manipulator determines, in response to user operation, the spatial position to which a predetermined site of the medical tool attached to the multi-degree-of-freedom arm moves, and drives the multi-degree-of-freedom arm so that the predetermined site of the medical tool moves to the special position thus determined while maintaining a state in which the medical tool passes through the insertion inlet position.