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SYSTEM FOR MOVING FIRST INSERTABLE INSTRUMENT AND SECOND INSERTABLE INSTRUMENT, CONTROLLER, AND COMPUTER-READABLE STORAGE DEVICE

  • US 20180256008A1
  • Filed: 05/10/2018
  • Published: 09/13/2018
  • Est. Priority Date: 02/10/2016
  • Status: Active Grant
First Claim
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1. A medical system comprising:

  • a first insertable instrument comprising a first image sensor;

    a second insertable instrument comprising a second image sensor;

    a first arm configured to support and move the first insertable instrument; and

    a controller configured to;

    acquire a position and orientation of the second insertable instrument in a predetermined coordinate system;

    calculate a position and direction of an optical axis of the second image sensor based on the position and orientation of the second insertable instrument;

    acquire a position and orientation of the first insertable instrument in the predetermined coordinate system;

    calculate a first operation amount of the first arm to move the first image sensor such that the optical axis of the second image sensor substantially coincides with an optical axis of the first image sensor, based on the position and orientation of the first insertable instrument; and

    control the first arm, based on the first operation amount of the first arm, to move the first insertable instrument.

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