Medical system and method of controlling medical instruments
First Claim
1. A medical system comprising:
- a medical instrument including a shaft coupled to a grip grasped by a user, an end effector located at a distal end of the shaft, a moving joint for adjusting an angle of the end effector relative to the shaft, and a driver for driving the moving joint;
a trocar having an insertion opening through which the medical instrument is inserted;
a sensor assembly for producing a sensor signal including at least an angle of the shaft in a reference coordinate system; and
a controller that enables follow-up processing for driving the driver such that based on the sensor signal produced out of the sensor, the angle of the end effector follows a follow-up criterion in the reference coordinate system.
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Accused Products
Abstract
An object of the invention is to provide for automatic angular adjustment of an end effector thereby improving on the operability of a medical instrument. The medical system of the invention comprises a medical instrument including a driver for driving adjustment of the angle of the end effector relative to a shaft, a trocar having an insertion opening through which the medical instrument is inserted, a sensor that produces a sensor signal including at least an angle of a shaft in a reference coordinate system, and a driver for enabling follow-up control processing for driving the driver based on a sensor signal produced out of the sensor such that the angle of the end effector follows a follow-up criterion in a reference coordinate system.
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Citations
12 Claims
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1. A medical system comprising:
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a medical instrument including a shaft coupled to a grip grasped by a user, an end effector located at a distal end of the shaft, a moving joint for adjusting an angle of the end effector relative to the shaft, and a driver for driving the moving joint; a trocar having an insertion opening through which the medical instrument is inserted; a sensor assembly for producing a sensor signal including at least an angle of the shaft in a reference coordinate system; and a controller that enables follow-up processing for driving the driver such that based on the sensor signal produced out of the sensor, the angle of the end effector follows a follow-up criterion in the reference coordinate system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method of controlling a medical instrument
which includes a shaft coupled to a grip grasped by a user, an end effector located at a distal end of the shaft, a moving joint for adjusting an angle of the end effector relative to the shaft, and a driver for driving the moving joint, comprising: driving the driver such that the angle of the end effector follows a follow-up criterion in a reference coordinate system based on a sensor signal including at least an angle of the shaft in the reference coordinate system, when the shaft inserted through an insertion opening in a trocar.
Specification