Abstract: A robotic surgical system includes a surgical apparatus including a first robot arm to move a medical instrument, an arm base to support a proximal end of the first robot arm, and a second robot arm to move the arm base, and a monitoring controller configured or programmed to monitor whether or not a monitoring point set with respect to the arm base or the second robot arm is within a monitoring area, and change the monitoring area based on a posture of the second robot arm.

Abstract: A surgical robot includes a controller configured or programmed to control a display to superimpose guide information indicating a moving direction of a medical cart based on a steering angle of a steering device on an image captured by an imaging device and display the guide information.

Abstract: A surgical robot includes: a surgical instrument; a manipulator that supports a surgical instrument without holding a trocar and includes an instrument interface to which the surgical instrument is attached, an arm including rotational joints, and a prismatic joint; and a controller. The controller may store a center of motion of the surgical instrument and control motion of the manipulator such that with the shaft inserted through the trocar and the tool located in a body cavity of the patient, a relationship T1?L is established in a case of L?T0, wherein: L represents an intra-body cavity length of the surgical instrument; T0 represents a maximum possible linear movement amount of the prismatic joint from an origin position along the axial direction; and T1 represents a first linear movement amount of the prismatic joint from the origin position to a current position along the axial direction.

Abstract: A surgical robot (10) includes robot arms (130), an arm base (120), and a control device (30). Each of the robot arms includes a base portion (138), a tip portion (137) that can hold a medical instrument (150), and links (131 to 136). The link (131) adjacent to the base portion is connected to the base portion through a rotational joint (JA1). The control device controls the robot arm having at least seven degrees of freedom among the robot arms such that when viewed from a direction parallel to an axial direction of a rotation axis of the rotational joint, a first portion (134aa) of a first link (134) is located between a second portion (138a) of the base portion and a third portion (JA7a) of the tip portion.

Abstract: A surgical robot includes robot arms, an arm base, and a control device. Each of the robot arms includes a base portion, a tip portion that can hold a medical instrument, and links. The link adjacent to the base portion is connected to the base portion through a rotational joint. The control device controls the robot arm having at least seven degrees of freedom among the robot arms such that when viewed from a direction parallel to an axial direction of a rotation axis of the rotational joint, a first portion of a first link is located between a second portion of the base portion and a third portion of the tip portion.

Abstract: A surgical robot includes a manipulator arm having a tip end side to which a surgical instrument is attached, a controller configured or programmed to perform a control to operate the manipulator arm to which the surgical instrument is attached, and a teaching unit to teach a teaching point in a space in which the manipulator arm operates. The controller is configured or programmed to set a virtual contact prohibited space in a space around a contact prohibited object based on a plurality of the teaching points taught using the teaching unit.

Abstract: A robotic surgical system includes a controller configured or programmed to limit a speed command value within a range of a speed limit value, and limit an acceleration command value within a range of an acceleration limit value.

Abstract: In a robotic surgical system, a control device is configured or programmed to scale rotation speeds of a plurality of joints axes of a robot arm at predetermined ratios such that the rotation speeds of the plurality of joint axes become equal to or lower than limit value with respect to a received operation amount.

Abstract: A surgical robot includes: a surgical instrument; a manipulator that supports a surgical instrument without holding a trocar and includes an instrument interface to which the surgical instrument is attached, an arm including rotational joints, and a prismatic joint; and a controller. The controller may store a center of motion of the surgical instrument and control motion of the manipulator such that with the shaft inserted through the trocar and the tool located in a body cavity of the patient, a relationship T1?L is established in a case of L?T0, wherein: L represents an intra-body cavity length of the surgical instrument; T0 represents a maximum possible linear movement amount of the prismatic joint from an origin position along the axial direction; and T1 represents a first linear movement amount of the prismatic joint from the origin position to a current position along the axial direction.

Abstract: A surgical robot includes robot arms, an arm base, and a control device. Each of the robot arms includes a base portion, a tip portion that can hold a medical instrument, and links. The link adjacent to the base portion is connected to the base portion through a rotational joint. The control device controls the robot arm having at least seven degrees of freedom among the robot arms such that when viewed from a direction parallel to an axial direction of a rotation axis of the rotational joint, a first portion of a first link is located between a second portion of the base portion and a third portion of the tip portion.

Abstract: A controller of a surgical system is configured to: set a center point; set a reference point on a reference line that is an extension of a rotation axis of a proximal end roll joint or that is offset from the extension in a direction normal to the extension; and position joints of a manipulator arm such that a shaft passes through the center point and that a reference plane passes through the reference point, the reference plane including a rotation axis of a distal end roll joint that coincides with a central axis of the shaft and crossing a rotation axis of a pivotal joint.

Abstract: In a robotic surgical system, a control device is configured or programmed to perform first scaling on at least a rotational component in a received operation amount, and calculate a rotation angle of a joint axis of a robot arm by performing an inverse kinematics calculation on a translational component and the rotational component after the first scaling is performed.

Abstract: A surgical robot includes a controller configured or programmed to control a display to superimpose guide information indicating a moving direction of a medical cart based on a steering angle of a steering device on an image captured by an imaging device and display the guide information.

Abstract: In a surgical robot, a robot controller controls an articulated robot so that an arm base rotationally moves in an arc shape around a predetermined position set at a position away from the arm base.