| 摘要 |
PROBLEM TO BE SOLVED: To provide a surgical robot capable of detecting a contact with an object even by a part other than a distal end of forceps 10.SOLUTION: A surgical robot 1 includes: external force calculation means 32 that calculates external force on the basis of force applied to the distal end and a base of forceps 10 such that resultant force of the forceps 10 becomes zero; external force working point calculation means 34 that calculates an external force working point on the basis of the force applied to the distal end of the forceps 10, the force and moment applied to the base of the forceps 10, and the distal end position and base position of the forceps 10, such that the total of the moment of the forceps 10 becomes zero; contact determination means 35 for determining whether or not an object comes into contact with an area from the distal end to the base of the forceps 10 on the basis of at least one of the external force and external force working point; and warning means 36 that, when the contact determination means 35 determines a contact, warns the contact of the forceps 10. |
