Patent ID: 9480536
Filing Date: 2016-11-01
CPC Classification: A61B,F04C

Claim Text:
1. A surgery assistance device comprising: an operation input section configured to output a manipulation order based on input from a user; a motion section which is formed with a channel into which a surgical instrument is insertable and is capable of moving in the channel, the surgical instrument provided with a treatment section at a distal end portion of a flexible surgical instrument insertion section; a movement amount detection means detecting a treatment section movement amount which is a protrusion length by which the treatment section of the surgical instrument inserted into the channel protrudes forward from a distal end opening of the channel and a rotation angle of the surgical instrument about an axis of the channel; a motion section information calculation means calculating motion section information which is capable of specifying a position and an orientation of the surgical instrument in the distal end opening of the channel; and a motion control unit controlling motion in the motion section based on the manipulation order, wherein the operation input section comprises: a detection target object attached to an operation section which operates the treatment section fixed to a proximal end portion of the surgical instrument insertion section; and a detection section detecting the detection target object, wherein the detection section calculates detection target object information capable of specifying a position and orientation of the detection target object, the operation input section outputs the manipulation order based on the detection target object information calculated by the detection section, and the motion control unit controls motion in the motion section based on the detection target object information of the manipulation order, the treatment section movement amount, and the motion section information.