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Publication Number
US-11963732-B2
Publication Date
2024-04-23
Expiration Date
Abstract
A remote control apparatus (a doctor-side control apparatus) according to an embodiment is provided at a position away from a medical manipulator including an arm to which a medical instrument is attached and is configured to remotely operate the medical manipulator. Each of a plurality of wheels that are provided at a bottom surface of the control apparatus is configured to move a control apparatus main body in a first direction parallel to a floor surface on which the control apparatus main body is placed and in a second direction parallel to the floor surface and orthogonal to the first direction.
Core Innovation
The invention relates to a doctor-side control apparatus provided at a position away from a patient-side apparatus that includes a robotic arm to which a medical instrument is attached, the doctor-side control apparatus remotely controlling the patient-side apparatus. The doctor-side control apparatus includes a control apparatus main body and a plurality of wheels provided at a bottom surface of the control apparatus main body, and each wheel is configured to move the control apparatus main body in a first direction parallel to a floor surface and in a second direction parallel to the floor surface and orthogonal to the first direction.
The wheel arrangement includes a pair of first wheels, a pair of second wheels, and a pair of third wheels, with the first wheels provided at end portions of a pair of leg portions, the second wheels provided in a body portion on a side opposite from the pair of leg portions, and the third wheels provided in the body portion at positions closer to the leg portions than the second wheels. The pair of third wheels are arranged on a straight line parallel to the second direction and passing through the center of gravity of the control apparatus main body as seen from the bottom surface.
Movement restriction parts are movable in a direction perpendicular to the floor surface to switch between a state that allows movement of the control apparatus main body and a state that restricts the movement. The control apparatus also includes a grip portion on a side opposite from the side where a doctor operates, configured to be gripped to manually move the control apparatus main body.
Claims Coverage
The provided independent claims are clm-00001, clm-00011, and clm-00013, each centered on a doctor-side remote control apparatus or surgical system including such an apparatus with multi-wheel motion in two orthogonal floor-parallel directions and a center-of-gravity-related wheel arrangement. Across these independent claims, the main inventive features are four.
Remote control apparatus away from patient-side apparatus with two-direction wheel mobility
A doctor-side control apparatus provided at a position away from a patient-side apparatus including a robotic arm to which a medical instrument is attached, wherein the doctor-side control apparatus remotely controls the patient-side apparatus, the doctor-side control apparatus comprising a control apparatus main body and a plurality of wheels at a bottom surface, each wheel configured to move the control apparatus main body in a first direction parallel to a floor surface and in a second direction parallel to the floor surface and orthogonal to the first direction.
Three-pair wheel layout with third-wheel pair on a center-of-gravity straight line
The plurality of wheels include a pair of first wheels, a pair of second wheels, and a pair of third wheels, wherein the pair of first wheels are respectively provided at end portions of a pair of leg portions, the pair of second wheels are respectively provided in a body portion on a side opposite from the pair of leg portions, and the pair of third wheels are respectively provided in the body portion at positions closer to the pair of leg portions than the pair of second wheels, and the pair of third wheels are arranged on a straight line that is parallel to the second direction and passes through the center of gravity of the control apparatus main body as seen from the bottom surface.
Movement restriction parts movable perpendicular to the floor to switch movement
The doctor-side control apparatus further comprises movement restriction parts that are provided at the control apparatus main body and are movable in a direction perpendicular to the floor surface to switch between a state that allows movement of the control apparatus main body and a state that restricts the movement of the control apparatus main body.
Surgical system with remote doctor-side control apparatus and center-of-gravity third-wheel alignment
A surgical system comprising a patient-side apparatus including a robot arm to which a medical instrument is attached and a doctor-side control apparatus provided at a position away from the patient-side apparatus for remotely controlling the patient-side apparatus, wherein the doctor-side control apparatus includes a control apparatus main body and a plurality of wheels at a bottom surface configured to move in the first direction and the second direction orthogonal to the first direction, with a pair of third wheels arranged on a straight line parallel to the second direction passing through the center of gravity of the control apparatus main body as seen from the bottom surface.
Across clm-00001, clm-00011, and clm-00013, the claims cover a doctor-side remote control apparatus and a surgical system including it, with a wheel-supported base movable in two orthogonal floor-parallel directions and a structured three-pair wheel layout in which the third-wheel pair is arranged on a straight line parallel to the second direction through the control apparatus center of gravity. clm-00011 additionally requires movement restriction parts movable perpendicular to the floor to switch between allowing and restricting movement.
Stated Advantages
Documented Applications
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