MANIPULATOR INITIALIZATION METHOD, MANIPULATOR, AND MANIPULATOR SYSTEM

摘要

An initialization method for a manipulator includes: a reference angle maintaining step of setting a rotational angle of a joint part to a reference angle that has been predetermined, and maintaining the reference angle in a state where a driving force relay part is switched to a driving force release state; a drive part coupling step of switching the driving force relay part to a driving force relay state in a state where the joint part is arranged at a position where an initialization operation is performed after the reference angle maintaining step is performed; and an origin setting step of performing matching of a drive origin of a drive part according to a state of the rotational angle.

主权项

1. An initialization method for a manipulator,
wherein the manipulator includes:
a medical instrument having a joint part that rotates an object to be rotated;a driving force transmission part that transmits a driving force to the joint part;a drive part that supplies the driving force to the driving force transmission part; anda driving force relay part capable of being switched between a driving force relay state where the driving force is relayed and a driving force release state where the driving force is cut off, the initialization method comprising: a reference angle maintaining step of setting a rotational angle of the joint part to a reference angle that has been predetermined, and maintaining the reference angle in a state where the driving force relay part is switched to the driving force release state; a drive part coupling step of switching the driving force relay part to the driving force relay state, in a state where the joint part is arranged at a position where an initialization operation is performed after the reference angle maintaining step is performed; and an origin setting step of performing matching of a drive origin of the drive part according to a state of the rotational angle.