Surgical robot and surgical robot control method

摘要

A surgical robot and a surgical robot control method ensure a stable change of an operation mode. The surgical robot includes a master device having an input unit, a slave device having at least one robotic surgical instrument that is remotely controlled by the master device, and a controller that performs a mode change process to gradually vary the strength of a feedback signal fed back from the slave device to the input unit for a predetermined time when a signal for a change of an operation mode is input via the input unit.

主权项

1. A surgical robot, comprising:
a master device having an input unit; a slave device having at least one robotic surgical instrument configured to be remotely controlled by the master device; and a controller configured to perform a mode change process to gradually vary a strength of a feedback signal fed back from the slave device to the input unit for a predetermined time when a signal for change of an operation mode is input via the input unit; wherein the operation mode includes a force feedback mode that feeds back force generated in the at least one robotic surgical instrument via interaction with an external environment to the master device, and a non-force feedback mode that does not feed back the force generated in the at least one robotic surgical instrument to the master device, and wherein the controller is further configured to gradually decrease the strength of the feedback signal fed back to the input unit for the predetermined time using a decreasing scaling function if the operation mode is changed from the force feedback mode to the non-force feedback mode.