Title:
MANIPULATOR DEVICE CONTROL METHOD
Document Type and Number:
Japanese Patent JP2015150340
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To secure the allowable operation range of manipulators inside a body at maximum and at the same time to prevent the manipulators from strongly contacting the surrounding tissue.SOLUTION: A manipulator device control method comprises: a receiving step SA1 for receiving manipulation signals with respect to manipulators; a position calculation step SA2 for calculating target positions of joints on the basis of the manipulation signals; distance calculation steps SA3-SA5 for calculating a maximum distance between the manipulators, assuming that the joints are positioned in the target positions; a determination step SA6 for comparing the maximum distance with a predetermined threshold; a move execution step SA7 for moving the joints to the target positions when the maximum distance is determined to be equal to or less than the predetermined threshold; and a move cancel step SA8 for canceling the movements of the joints when the maximum distance is determined to be greater than the predetermined threshold.
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Inventors:
KOMURO NARUHIRO
IIDA MASATOSHI
IIDA MASATOSHI
Application Number:
JP2014028875A
Publication Date:
August 24, 2015
Filing Date:
February 18, 2014
Export Citation:
Assignee:
OLYMPUS CORP
International Classes:
A61B19/00; B25J19/06
Domestic Patent References:
| JP2009539573A | 2009-11-19 | |||
| JP2005312991A | 2005-11-10 | |||
| JP2007029232A | 2007-02-08 | |||
| JP2008188699A | 2008-08-21 |
Foreign References:
| WO2013071071A1 | 2013-05-16 |
Attorney, Agent or Firm:
Kunio Ueda
Noriharu Fujita
Noriharu Fujita