SURGICAL ROBOT SYSTEM, EXTERNAL FORCE ESTIMATION DEVICE, AND PROGRAM

摘要

Provided is a surgical robot system which is used for surgical procedures performed on a patient, and which is equipped with: an arm part; a detection unit for detecting the values of a lengthwise torque, a first intersecting-direction torque, a second intersecting-direction force, and a second intersecting-direction torque exerted around a second intersecting direction; and an arithmetic unit which calculates, on the basis of the values of a lengthwise force, a first intersecting-direction force, the second intersecting-direction force, the lengthwise torque, the first intersecting-direction torque, the second intersecting-direction torque, and a resistance force acting between a trocar and a shaft portion, the value of a first external force exerted on a surgical instrument by the trocar and the value of a second external force exerted on the surgical instrument by a device other than the trocar.