Patent ID: 11890072
Assignee: MEDICAROID CORPORATION
Field: Medical technology (Instruments)
Classification: CPC A  B | IPC A  B

Claim 0:
1. A robotic surgical system comprising:
a patient-side apparatus including a manipulator arm to which a surgical instrument is attached to a tip end side of the manipulator arm;
an operator-side apparatus including an operation unit to receive an operation on the surgical instrument; and
a controller configured or programmed to control operation of the surgical instrument based on an amount of operation corresponding to the operation; wherein
the surgical instrument includes:
an end effector;
a first support;
a second support; and
a shaft connected to the second support;

the first support supports the end effector such that the end effector is rotatable about a first axis that is orthogonal to a direction in which the shaft extends;
the second support supports the first support such that the first support is rotatable about a second axis that is spaced apart from the first axis in the direction in which the shaft extends and is orthogonal to the direction in which the shaft extends and the first axis; and
the controller is configured or programmed to change a length between the first axis and the second axis in the direction in which the shaft extends, the length serving as a control parameter, according to a rotation speed of the shaft with respect to the amount of operation to control the operation of the surgical instrument.