SURGICAL SYSTEM
A surgical system includes a platform, a plurality of manipulator arms coupled to the platform, an instrument attached to the distal end portion of each of the plurality of manipulator arms, and a positioner configured to support the platform so as to allow the posture of the platform to change from a horizontal posture.
1 . A surgical system comprising:
a platform;
a plurality of manipulator arms coupled to the platform;
an instrument attached to a distal end portion of each of the plurality of manipulator arms; and
a positioner configured to support the platform so as to allow a posture of the platform to change from a horizontal posture.
2 . The surgical system according to claim 1 , wherein the positioner includes a horizontal multi-joint type manipulator arm portion having a wrist portion to which the platform is coupled.
3 . The surgical system according to claim 2 , wherein the positioner further includes a base installed on a floor of an operating room, a columnar portion coupled to a proximal end portion of the manipulator arm portion, and a swing arm that swingably couples a proximal end portion of the columnar portion to the base.
4 . The surgical system according to claim 3 , wherein the positioner has a first joint that couples a proximal end portion of the swing arm to the base so as to make the proximal end portion of the swing arm pivotal about a horizontal rotation axis and a second joint that couples the proximal end portion of the columnar portion to a distal end portion of the swing arm so as to make the proximal end portion of the columnar portion pivotal about a horizontal rotation axis, and further includes a positioner control device configured to control operations of the first joint and the second joint so as to maintain a vertical posture of the columnar portion by interlocking the first joint with the second joint.