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Surgical support apparatus, control method thereof, program and surgery support system
Surgical support apparatus, control method thereof, program and surgery support system
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机译：手术支持设备，其控制方法，程序和手术支持系统
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摘要
To provide a surgery support apparatus capable of intuitively controlling a posture of a mechanically controlled surgical instrument by using a surgical tool for treatment while suppressing an influence of measurement error.SOLUTION: The surgery assistance device according to the present invention is a surgical assistance device for controlling the posture of a surgical instrument inserted into a body cavity from a first hole of an abdominal wall and mechanically driven, Measuring means for measuring an insertion depth and an insertion angle of a member to be inserted into the body cavity from the hole, a joint portion whose position in the body cavity is specified by the insertion depth and the insertion angle of the surgical instrument, and one or more degrees of freedom And a computing means for determining a target position of a controlled point for controlling the movement of a part with reference to the position of the joint part based on the measurement result of the measuring means . The calculating means calculates the target position of the controlled point according to the insertion depth of the member from the first reference time at which the control of the movement of the portion based on the position of the joint portion is started and the change amount of the insertion angle,(FIG.
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