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: A surgical robot includes: a surgical instrument including a base disposed at a proximal end of the surgical instrument, a tool disposed at a distal end of the surgical instrument, and a shaft extending in an axial direction between the base and the tool; a manipulator configured to support the surgical instrument, the manipulator including an instrument interface to which the base of the surgical instrument is attached, an arm including rotational joints, and a prismatic joint coupling the instrument interface to a distal end of the arm; and a controller. including a memory that stores a remote center that is a center of motion of the surgical instrument.

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 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 robotic surgical system includes a surgical instrument operation unit including a first substrate to which a signal received by the surgical instrument operation unit is input, and a controller connected to the first substrate by serial communication via a first wire line.

Abstract: A robotic surgical system includes a substrate in a robot arm or an arm operation unit, to which a signal received by the arm operation unit is input, and a controller. The controller is connected to the substrate by serial communication via a first wire line.

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: In a surgical robot, an operation unit includes an enable switch and an operation tool configured to control a moving direction of an arm, and the enable switch and the operation tool are arranged apart from each other within a range operable by fingers of one hand of an operator in the operation unit.

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 an arm base mover configured to move an arm base configured to support a plurality of arms, an imaging device provided on the arm base, the imaging device being configured to image a patient placed on a surgical table, and a display configured to display, in real time, the patient imaged by the imaging device.

Abstract: A surgical robot includes a first indicator configured to indicate a state of a system, and a plurality of second indicators configured to individually indicate states of a plurality of arms, and the state of the system includes a state of the surgical robot excluding the states of the plurality of arms and a state of a doctor-side operation device.

Abstract: In a surgical robot, an operation unit includes an enable switch and an operation tool configured to control a moving direction of an arm, and the enable switch and the operation tool are arranged apart from each other within a range operable by fingers of one hand of an operator in the operation unit.

Abstract: A surgical robot includes an arm base mover configured to move an arm base configured to support a plurality of arms, an imaging device provided on the arm base, the imaging device being configured to image a patient placed on a surgical table, and a display configured to display, in real time, the patient imaged by the imaging device.

Abstract: A robotic surgical system includes a controller configured or programmed to perform an arm interference avoidance control to move a second manipulator arm relative to a first manipulator arm such that a reference line moves along an outer edge of an approach prohibited range of a first manipulator arm when a second manipulator arm approaches within the approach prohibited range.

Abstract: A surgical system includes: a tool manipulator having a tool manipulator arm and a surgical tool; a console having a handling tool configured to receive a tool movement input of a surgeon for the surgical tool, the console being configured to transmit a tool movement command generated based on the tool movement input, the tool movement input including a translation amount and a rotation amount for the surgical tool; and a controller. The controller is configured to calculate an actual translation amount by multiplying the translation amount by a predetermined translation scale factor and move the surgical tool in accordance with the actual translation amount, and to calculate an actual rotation amount by multiplying the rotation amount by a predetermined rotation scale factor and move the surgical tool in accordance with the actual rotation amount. The translation scale factor and the rotation scale factor are different values.

Abstract: In a robotic surgical system, a controller is configured or programmed to set a temporary pivot position based on an operation on a pivot position setter and store a position adjusted by a predetermined length from the temporary pivot position as a pivot position in a storage.

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 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 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: A surgical system includes a surgical assist robot including a robot main body and a slave controller, and a console. The robot main body has an entry guide, an entry guide support device, and at least one manipulator having an end effector provided at a distal end. The entry guide includes an inner cylinder, an outer cylinder into which the inner cylinder is inserted in an insertion axial direction, and a guide advancing device that displaces the inner cylinder in the insertion axial direction with respect to the outer cylinder. While a position and a posture of the end effector that has advanced from the entry guide are maintained, the inner cylinder is caused to advance toward the end effector within a predetermined movable range along the insertion axial direction with respect to the outer cylinder.