Patent ID: 9179979
Filing Date: 2015-11-10
Classification: A61B

Abstract:
1. A medical robot system, comprising: a forceps arm including a forceps manipulator at the distal end thereof; a camera arm including an endoscope at the distal end thereof, the forceps manipulator and the endoscope being insertable into a living body through a common insertion implement, wherein the camera arm has a multiaxial joint mechanism having a redundant degree of freedom, the camera arm being configured to provide a redundant degree of freedom of movement for the endoscope; an operating unit operable by an operator and configured to generate a control signal to control the forceps manipulator and the forceps arm; a forceps motion control unit configured to control motions of the forceps manipulator and the forceps arm according to the control signal generated by the operating unit; an endoscope motion control unit configured to control motions of the endoscope and the camera arm; and an interference avoiding unit configured to provide an interference avoiding motion of the camera arm to avoid interference between the camera arm and the forceps arm within the common insertion implement, the interference avoiding unit configured to calculate an interference avoiding position and a region expected to be occupied by the camera arm at the interference avoiding position, the interference avoiding unit determining whether it is possible or impossible to avoid interference of the camera arm with the forceps arm by moving the camera arm into the region excepted to be occupied, and calculating a trajectory along which the camera arm is to be moved to the interference avoiding position when there is a risk of interference between the forceps arm and the camera arm, wherein the interference avoiding motion is performed such that a visual point of the endoscope, when the endoscope is inserted into the living body through the common insertion implement, is kept substantially constant, and wherein the endoscope motion control unit moves the camera arm along the trajectory calculated by the interference avoiding unit when there is a risk of interference between the forceps arm and the camera arm.