IP Library › Granted Patent US 12708483

Granted Patent B2

US 12708483 · App. 18/119,122 · Granted Aug 18, 2026

Surgery assisting device and computing device for surgery assisting device

Inventors: Kotaro Tadano (Tokyo, JP); Masao Kanazawa (Tokyo, JP); Hiroki Kayasuga (Tokyo, JP); Masataka Suzuki (Tokyo, JP); Teruyuki Nishihara (Tokyo, JP)

Assignee: RIVERFIELD INC.

A61B90/50 A61B46/10 A61B2034/2055 A61B2034/2059

View Patent ↗

Loading inventors, assignments & file history…

Monitor This Case

Get email alerts when status or documents change.

Order Certified Copies

Most orders are placed with the USPTO same day — all within 24 business hours.

Order via The Patent Place →

Pre-filled with this patent's details

Quick Facts

Patent No.: US 12708483
App. No.: 18/119,122
Granted: Aug 18, 2026
Kind: B2

External Links

USPTO Patent Center↗ Full Patent PDF↗

Abstract

A surgery assisting device that includes one or more joint portions and that holds a surgical instrument, and a computing device that obtains angle information of a joint portion of the one or more joint portions in a state in which a distal end of the surgical instrument is positioned at a predetermined position and determines a length of the surgical instrument based on the angle information.

Claims (57)

1 . A surgery assisting device comprising:

an arm including one or more joint portions and configured to hold a surgical instrument;

one or more joint angular sensors configured to detect angle information of at least one joint portion of the one or more joint portions; and

a processor configured to obtain the angle information from the one or more joint angular sensors in a state in which a distal end of the surgical instrument is positioned at a predetermined position, determine a length of the surgical instrument based on the angle information, and control the arm in accordance with the determined length.

2 . The surgery assisting device according to claim 1 , wherein the predetermined position is a position in air.

3 . The surgery assisting device according to claim 1 , wherein:

the one or more joint portions comprise a first joint portion, a second joint portion, and a third joint portion that are arranged in order from a base of the arm to a distal end of the arm,

the arm further includes a first link portion linking the first joint portion to the second joint portion, and a second link portion linking the second joint portion to the third joint portion,

the angle information comprises first angle information of the first joint portion and second angle information of the second joint portion in the state in which the distal end of the surgical instrument is positioned at the predetermined position; and

the processor determines the length of the surgical instrument based on the first angle information, the second angle information, the length of the first link portion, and the length of the second link portion.

4 . The surgery assisting device according to claim 1 , wherein:

the one or more joint portions include a distal end joint portion,

the arm further includes:

a surgical instrument holder that is coupled to the distal end joint portion and that is configured to hold the surgical instrument; and

a light emitter that is disposed in a link portion at a proximal end of the distal end joint portion and that emits a guide light that guides a position of the distal end of the surgical instrument, and

the angle information comprises angle information of the distal end joint portion in the state in which the distal end of the surgical instrument is positioned at the position indicated by the guide light.

5 . The surgery assisting device according to claim 4 , wherein:

the distal end joint portion includes a joint shaft, and

the processor determines the length of the surgical instrument based on the angle information of the distal end joint portion, a length of a line perpendicular to an optical axis of the guide light from the joint shaft of the distal end joint portion, and a length from the joint shaft of the distal end joint portion to a base of the surgical instrument.

6 . The surgery assisting device according to claim 1 , further comprising a drape, wherein the predetermined position is a position covered by the drape.

7 . The surgery assisting device according to claim 1 , further comprising an input device, wherein the processor determines the length of the surgical instrument in response to an operation input to the input device.

8 . The surgery assisting device according to claim 1 , wherein the predetermined position is a position known in advance.

9 . The computing device according to claim 1 , wherein the arm further comprises two or more link portions connected to the one or more joint portions, and

wherein the computing device is configured to determine the length of the surgical instrument based on the angle information and respective lengths of each of the two or more link portions.

10 . A computing device for a surgery assisting device that is configured to hold a surgical instrument on a distal end portion of the surgery assisting device and that includes an arm portion including one or more joint portions and one or more joint angular sensors configured to detect angle information of at least one joint portion of the one or more joint portions, the computing device comprising:

a microcomputer that obtains the angle information from the one or more joint angular sensors in a state in which a distal end of the surgical instrument held by the arm portion is positioned at a predetermined position, that determines a length of the surgical instrument by based on the angle information, and that controls the arm portion in accordance with the determined length.

11 . The computing device according to claim 10 , wherein the predetermined position is a position in air.

12 . The computing device according to claim 11 , wherein:

the one or more joint portions comprise a first joint portion, a second joint portion, and a third joint portion that are arranged in order from a base side to a distal end side of the arm portion, and

the angle information includes first angle information of the first joint portion and second angle information of the second joint portion in the state in which the distal end of the surgical instrument is positioned at the predetermined position, and

the microcomputer determines the length of the surgical instrument based on the first angle information, the second angle information, a length of a link portion between the first joint portion and the second joint portion, and a length of a link portion between the second joint portion and the third joint portion.

13 . The computing device according to claim 10 , wherein:

14 . The computing device according to claim 10 , wherein:

the one or more joint portions include a distal end joint portion,

the arm portion further includes:

a surgical instrument holding portion that is positioned at a distal end portion of the arm portion and that is configured to hold the surgical instrument, the surgical instrument holding portion being coupled to the distal end joint portion; and

a light emitting portion that is disposed in a link portion at an arm base side of the distal end joint portion and that emits a guide light that guides a position of the distal end of the surgical instrument toward an outward direction of the link portion, and

the angle information includes angle information of the distal end joint portion in a state in which the distal end of the surgical instrument is positioned at the position at which the guide light guides, and

the microcomputer determines the length of the surgical instrument based on the angle information of the distal end joint portion.

15 . The computing device according to claim 10 , wherein the predetermined position is a position covered by a drape in the surgery assisting device.

16 . The computing device according to claim 10 , wherein the microcomputer determines the length of the surgical instrument in response to an operation to a predetermined input device disposed in the surgery assisting device.

17 . The computing device according to claim 10 , wherein the predetermined position is a position known in advance.

18 . The computing device according to claim 10 , wherein the arm further comprises two or more link portions connected to the one or more joint portions, and

wherein the computing device is configured to determine the length of the surgical instrument based on the angle information and respective lengths of each of the two or more link portions.

19 . A computing device for a surgery assisting device that is configured to hold a surgical instrument on a distal end portion of the surgery assisting device and that includes an arm portion including one or more joint portions and one or more joint angular sensors configured to detect angle information of at least one joint portion of the one or more joint portions, the computing device comprising:

wherein:

the one or more joint portions include a distal end joint portion,

the arm portion further includes:

the predetermined position is the position at which the guide light guides, and

the microcomputer determines the length of the surgical instrument based on angle information of the distal end joint portion.

20 . The computing device according to claim 19 , wherein the microcomputer determines the length of the surgical instrument based on the angle information of the distal end joint portion, a length of a perpendicular line to an optical axis of the guide light from a joint shaft of the distal end joint portion, and a length from the joint shaft of the distal end joint portion to a base position of the surgical instrument.