JP4014792B2 - マニピュレータ - Google Patents
マニピュレータ Download PDFInfo
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- JP4014792B2 JP4014792B2 JP2000298365A JP2000298365A JP4014792B2 JP 4014792 B2 JP4014792 B2 JP 4014792B2 JP 2000298365 A JP2000298365 A JP 2000298365A JP 2000298365 A JP2000298365 A JP 2000298365A JP 4014792 B2 JP4014792 B2 JP 4014792B2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
- B25J3/04—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
- A61B2017/2943—Toothed members, e.g. rack and pinion
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Description
【発明の属する技術分野】
本発明は、マニピュレータに係り、とりわけ、機構が単純化されると共に操作性に優れる医療用マニピュレータに関する。
【0002】
【従来の技術】
従来、胆のう摘出手術などの腹腔鏡下手術においては、図25に示すように、患者150の腹部に小さな穴151、152、153をいくつかあけ、それらにトラカール154を取り付け、トラカール154を介して、それらの孔に内視鏡161、鉗子171、172などを挿入し、術者(通常、外科医)160が内視鏡161の映像をモニタ162で見ながら手術を行っている。
【0003】
このような手術方法は、開腹を必要としないため患者への負担が少なく、術後の開腹や退院までの日数が大幅に低減される。このため、このような手術方法は、適用分野の拡大が期待されている。
【0004】
【発明が解決しようとする課題】
前述の腹腔鏡下手術は、患者150への負担が少ないという点で優れた手術方法である。しかし、術者160が実際に術部を見られないという点が、場合によっては問題となり得る。
【0005】
また、鉗子171、172には、開閉するグリッパしか設けられておらず、グリッパの姿勢を自在に変えることは困難であり、操作性に乏しい。
【0006】
以上の要因により、前述の手術方法で適切な処置を行えるのは、熟練した術者に限られている。また、手術方法に熟練するまでには、非常に長期間を要する。
【0007】
このような課題に対して、マスタスレーブマニピュレータなどの遠隔操作型ロボット技術を医療分野へ応用する研究が行われている。
【0008】
遠隔操作型ロボット技術は、術者が操作するマスタアームと実際に術部に操作を施すスレーブアームとが完全に分離したロボットシステムであり、マスタアームの指令値が電気信号としてスレーブアームに伝わるものである。したがって、通常、マスタアームとスレーブアームとは6自由度以上の関節数を有しており、それぞれの自由度に対応してコントローラが設けられており、電気的に多数の制御系、部品、配線を有する複雑なシステムとなっている。
【0009】
複雑であるがゆえに、マスタスレーブマニピュレータシステムの操作に関する信頼性は、未だ十分に高いと言えるレベルにはない。また、システム自体が大掛かりであるため、購入費用やメンテナンス費用も高価である。さらに、マスタスレーブマニピュレータシステムでは、術者は患者から離れたところでマスタアームを操作するので、緊急時に直ちに患者に直接処置を施すことができない、という問題がある。
【0010】
このような問題点を解決するために、本発明者らは、図26に示すような、姿勢操作部23と処置操作部24とを有する操作指令部20と、一端側が前記操作指令部20に接続された連結部30と、連結部30の他端側に接続され、処置部14と処置部14を2自由度以上に姿勢変更可能に支持する支持部15、16とを有する作業部10と、姿勢操作部23からの操作指令を支持部15,16に送って処置部14の姿勢を変更させるとともに、処置操作部24からの操作指令を処置部14に送って処置部14を動作させる制御部(図示せず)と、を備えた医療用マニピュレータ1を提案している(特願平11−165961号)。この提案による作業部10および操作指令部23は、ヨー軸とピッチ軸からなる支持部15,16とグリッパからなる処置部14が示されている。
【0011】
図27に示すように、通常、縫合作業を行う場合、処置部14で湾曲針180(糸:181)を把持し、縫合部182に湾曲針180を刺し、円弧状に湾曲針180を誘導する。しかし、図26に示す従来の医療用マニピュレータでは、その動作と自由度の配置とが一致していないため、術者が操作しようとする方向に操作指令部20がスムーズに動作せず、操作性が悪いという問題がある。
【0012】
また、作業部10や操作指令部20の姿勢によっては、自由度が縮退する特異姿勢となり、特定の方向への操作性が極めて悪くなるという問題もある。さらに、処置部14の把持力が十分に得られないという問題もある。
【0013】
本発明は、このような点を考慮してなされたものであり、機構を単純化して信頼性を向上させると共に、操作性に優れているマニピュレータを提供することを目的としている。
【0014】
【課題を解決するための手段】
上記目的を達成するために、本発明のは、マニピュレータは、姿勢操作部と処置操作部とを有する操作指令部と、一端側が前記操作指令部に接続された連結部と、前記連結部の他端側に接続され、処置部と前記処置部を2自由度以上に姿勢変更可能に支持する支持部とを有する作業部と、前記姿勢操作部からの操作指令を前記支持部に送って前記処置部の姿勢を変更させるとともに、前記処置操作部からの操作指令を前記処置部に送って前記処置部を動作させる制御部と、を備えたマニピュレータにおいて、前記支持部は、前記連結部の中心軸方向に対して直交する回転軸を有する第1の回転軸と、前記第1の回転軸に対して直交する回転軸を有する第2の回転軸とを有し、前記処置部の中心軸方向は、前記第2の回転軸の軸方向と概ね平行であり、前記姿勢操作部は、前記連結部の中心軸方向に対して直交する回転軸を有する第3の回転軸と、前記第3の回転軸に対して直交する回転軸を有する第4の回転軸とを有し、前記処置操作部は、操作者が前記処置操作部を把持する際の前記操作者の把持する指の方向と前記第4の回転軸の軸方向とは概ね平行であるように形成されていることを特徴とする。
【0015】
また、前記作業部は、前記第2の回転軸上に配置された2つの作業回転軸を有し、前記2つの作業回転軸を同方向に回転させることにより、前記第2の回転軸の回転動作を行わせ、前記2つの作業回転軸を逆方向に回転させることにより、前記処置部の開閉動作を行うことを特徴とする。
【0016】
また、前記2つの作業回転軸のそれぞれに、前記2つの作業回転軸に対して平行および直交方向に回転自在に支持された作業リンクを配置し、前記作業リンクは、互いに回転自在に結合されていることを特徴とする。
【0017】
また、前記第3の回転軸および前記第4の軸に直交する回転軸方向に加わる力を検出することが可能な前記操作指令部に設けられたセンサと、前記連結部の軸方向に回転トルクを与えることが可能な前記連結部に設けられたアクチュエータと、を備え、前記センサの検出値により前記アクチュエータを制御することを特徴とする。
【0018】
また、前記第3の回転軸の角度位置の正負と前記センサによる検出値の正負との関係により、前記アクチュエータのトルクの正負を制御する
ことを特徴とする。
【0019】
また、前記センサの検出値に比例するように、前記アクチュエータのトルクを制御することを特徴とする。
また、姿勢操作部と処置操作部とを有する操作指令部と、一端側が前記操作指令部に接続された連結部と、前記連結部の他端側に接続され、処置部と前記処置部を2自由度以上に姿勢変更可能に支持する支持部とを有する作業部と、前記姿勢操作部からの操作指令を前記支持部に送って前記処置部の姿勢を変更させるとともに、前記処置操作部からの操作指令を前記処置部に送って前記処置部を動作させる制御部と、を備えたマニピュレータにおいて、前記支持部は、前記連結部の中心軸方向に対して直交する回転軸を有する第1の回転軸と、前記第1の回転軸に対して直交する回転軸を有する第2の回転軸とを有し、前記処置部の中心軸方向は、前記第2の回転軸の軸方向と概ね平行であることを特徴とする。
また、処置部と前記処置部を2自由度以上に姿勢変更可能に支持する支持部とを有する作業部を備え、前記支持部は、第1の回転軸と、前記第1の回転軸に対して直交する回転軸を有する第2の回転軸とを有し、前記作業部は、前記第2の回転軸上に配置された2つの作業回転軸を有し、前記2つの作業回転軸を同方向に回転させることにより、前記第2の回転軸の回転動作を行わせ、前記2つの作業回転軸を逆方向に回転させることにより、前記処置部の開閉動作を行い、前記2つの作業回転軸のそれぞれに、前記2つの作業回転軸に対して平行および直交方向に回転自在に支持された作業リンクを配置し、前記作業リンクは、互いに回転自在に結合されていることを特徴とする。
【0020】
本発明によれば、支持部によって処置部の支持姿勢が2自由度以上に変更可能であるとともに、操作指令部と作業部とが連結部によって機械的に接続されているため、操作信頼性に優れているという先願(特願平11−165961号)の特徴を損なうことなく、術者により実際に行われる処置時の動作、たとえば湾曲針による縫合作業時の動作方向と、マニピュレータの自由度の配置を一致させているため、術者が操作しようとする方向に操作指令部をスムーズに動作させることが可能であり、操作性に特に優れており、また、特異姿勢およびその近傍では、術者が操作したい方向に操作力がアシストされるため、特定の方向への操作性が極めて悪くなるということはなく、さらに、処置部の把持力を十分に得ることが可能であるという利点を有する。
【0021】
【発明の実施の形態】
以下、図面を参照して本発明の実施の形態について説明する。
図1は、本発明の第1の実施の形態によるマニピュレータを示す構成概略図である。図2、図3は、本発明の第1の実施の形態による医療用マニピュレータの自由度構成をスケルトン図で示した図およびその動作を説明する図である。
【0022】
図1、図2に示すように、本発明の第1の実施の形態の医療用マニピュレータ1は、作業部10と、操作指令部20と、両端が作業部10と操作指令部20とに接続された連結部30とを備えている。
【0023】
作業部10は支持部と術部に処置を施す処置部とを有し、支持部は連結部30の中心軸方向31に対して直交する回転軸を有する第1の回転軸11と第1の回転軸11に対して直交する回転軸を有する第2の回転軸12からなり、処置部の把持動作13を行うグリッパ14の中心軸方向は第2の回転軸12の軸方向と概ね平行に配置されている。言いかえれば、作業部10は、グリッパ14を2自由度で姿勢変更に可能に支持する支持部としてのピッチ軸関節支持部15およびロール軸関節支持部16とを有している。
【0024】
操作指令部20は、連結部30の中心軸方向31に対して直交する回転軸を有する第3の回転軸21と第3の回転軸21に対して直交する回転軸を有する第4の回転軸22からなる姿勢操作部23と、処置操作部24とを有している。処置操作部24は、操作者が処置操作部24を把持する際の操作者の把持する指の方向201a、202a(図28参照)と第4の回転軸22の軸方向22aとは概ね平行であるように形成されている。術部に処置を施す処置部14の把持動作13は、処置操作部24の把持動作25により行う。詳細は図7〜図10及び図28に後述する。
【0025】
図1および図2では、連結部30の中心軸方向31と、第1の回転軸11と、第2の回転軸12とは1点で交差する位置関係にある。また、連結部30の中心軸方向31と、第3の回転軸21と、第4の回転軸22についても1点で交差する位置関係となっている。必ずしも1点で交差する必要はないが、処置部14のオフセットが大きいと、姿勢操作の際、処置部14が大きく振れまわったり、操作部のオフセットが大きい場合には位置操作に対して姿勢操作するような回転力を姿勢操作部23に与えることになる。
【0026】
操作部20には、第3の回転軸21と第4の回転軸22の回転角を検出する角度検出センサ(エンコーダ、ポテンショメータなど)が配置されている。また、処置操作部24には、操作者による処置部の把持指令動作を検出するセンサ(角度検出センサ、スイッチなど)が配置されている。これらのセンサにより姿勢操作部20からの操作指令41が制御装置40へ送られる。制御装置40では、入力された操作指令41に対して、所定の制御演算を行い、第1の回転軸11と第2の回転軸12および把持動作13の駆動制御を行う。
【0027】
処置部14の位置については、作業部10と操作部20が連結部30で結合されているため、直接的に操作することが可能である。一方、処置部14の姿勢については、連結部30をロール軸とし、ピッチ軸(第1の回転軸11)とロール軸(第2の回転軸12)の3自由度により、処置部14は任意の姿勢をとることができる。同様に処置操作部24の姿勢については、連結部30をロール軸とし、ピッチ軸(第3の回転軸21)とロール軸(第4の回転軸22)の3自由度により、処置操作部24は任意の姿勢をとることができる。なお、連結部30を共通のロール軸とすることで、医療用マニピュレータ1を低コスト化することが可能である。さらに、通常のマニピュレータでは、特異姿勢時には、演算上の問題や、特定の軸が非常に高速で動くという問題があるが、作業部10と操作部20とが同構造となっているために、そのような問題はない。
【0028】
本実施の形態では、第1の回転軸11の回転動作と第2の回転軸12の回転動作および把持動作13を駆動するための駆動部10m(例えばモータ・減速機など)は、連結部30の操作指令部側に配置されている。図中の10mは、駆動部の集合部分を示している。前述の制御装置40の駆動制御により、駆動部10内の対応する駆動部11m、12m、13mが駆動され、その動力によって、図示しないワイヤ、プーリ、歯車などの動力伝達要素を介して、作業部10の第1の回転軸11の回転動作と第2の回転軸12の回転動作および把持動作13の駆動制御が行われる。
【0029】
なお、本実施の形態では、作業部10の支持部の自由度構成(第1の回転軸11と第2の回転軸12)と、姿勢操作部23の自由度構成(第3の回転軸21と、第4の回転軸22)は同構造のため、第3の回転軸21と第1の回転軸11、第4の回転軸22と第2の回転軸12の回転角度は等しくなるように制御されている。たとえば、図3に示すように、操作者が第3の回転軸21を駆動するような姿勢操作を行った場合、作業部の第1の回転軸11は、等しくなるように制御される。
【0030】
本実施の形態の作業部10および操作指令部20では、術者により実際に行われる処置時の動作、たとえば湾曲針による縫合作業時の動作方向(図27)と、医療用マニピュレータの自由度の配置が一致しているため、操作者が操作しようとする方向に操作指令部をスムーズに動作させることが可能である。すなわち、湾曲針を把持した状態で、湾曲針を縫合部に刺した後、操作者は湾曲針を円弧状に回転誘導させるが、その回転動作と第4の回転軸22の回転軸方向は概ね一致しており、第3の回転軸21や連結部を大幅に回転させる必要はないため、操作性が非常に良くなる。従来の実施例により同様の作業を行うためには、処置部の2自由度の動作と連結部の回転動作を組み合わせて実現することになり、湾曲針を操作者の意図する円弧状に誘導させるのは極めて困難である。
【0031】
なお、医療用マニピュレータ1が非常に軽量の場合には、支持機構を特に設ける必要はないが、医療用マニピュレータ1の重量を術者が長時間支えるのが困難な場合や、医療用マニピュレータ1の保持ブレーキ機能や自重補償機構が必要な場合は、支持機構100により支持する構成としても良い(図1中2点鎖線で図示)。医療用マニピュレータ1は、仮想回転中心110(不動点)に対して、2軸方向の回転運動および1軸方向(挿入方向)の直動運動(すなわち、極座標)が可能な状態で支持されている。たとえば、支持機構100は、基部に対して上下左右動する位置調整機構101と、下端部に設けられた鉛直軸回りに回動する水平回動部102と、水平回動部102の外周に一端が接続された円弧アーム103とを有している。水平回動部102の回動軸は、連結部30上の適宜の点110の略鉛直上方に位置している。円弧アーム103の他端には支持連結部104により連結部30が支持されている。支持連結部104は円弧アーム103に回転運動可能に支持され円弧アーム103の円弧に沿って回転運動可能であり、連結部30は支持連結部104へ挿入され中心軸方向31に直動可能である。
【0032】
図4〜図6は、本発明の第1の実施の形態による医療用マニピュレータの作業部10、特に、処置部すなわちグリッパ14の構成例を示した図である。図4は、蝶番状に開閉する場合、図5は、平行に開閉する場合、図6は、グリッパ14が第2の回転軸12に対してオフセットしている場合である。なお、グリッパ14は、図4〜図6に示された形態だけでなく、基本的にその中心軸の方向が、第2の回転軸12の軸方向と概ね平行に配置されていればよい。
【0033】
図7〜図10及び図28は、本発明の第1の実施の形態による医療用マニピュレータの操作指令部20、特に、処置操作部24の構成例を示した図である。
【0034】
図7では、処置部14の把持動作13のための指令を、指操作部26の把持動作25により与える。指操作部26は、操作者の親指と、人差し指乃至中指が挿入される2つの指挿入部26a、26bを有している。2つの指挿入部26a、26bは、指操作指示部27に対して少なくとも一方が、蝶番状に可動に構成され、両者の間隔が任意に変更可能になっている。指挿入部26a、26bの間隔に対応して、グリッパ14の間隔が制御される構成になっている。指挿入部26a、26bの間隔を角度として検出して、グリッパ14の開閉角度を制御しても良いし、ON/OFF的に検出して、グリッパ14をON/OFF的に開閉する制御を行っても良い。
【0035】
図8は、指操作指示部27にハンドル部27bを設けた場合である。操作者は、中指乃至小指でハンドル部27bを握ることで、安定に処置操作部を操作することができる。また、指操作部26を付加しても良いし、付加しない場合は、開方向に作用するバネ力(図示せず)などを付加しても良い。また、把持状態を維持するようなロック機構を設けても良い。
【0036】
図9では、操作者は、ハンドル29を握った状態で、処置部14の把持動作13のための指令を、スイッチ28により与える。グリッパ14をON/OFF的に開閉するだけで良い場合は、このような構成にすることで処置操作部24を単純化できる。図10は、互いに平行に指挿入部26a、26bが開閉する構成である。
【0037】
また、図28は、図1における示す処置操作部24を具体的に手200で操作する場合を示す図である。操作者の親指201は指挿入部26aに挿入され、人差指202及び中指203が指挿入部26bに挿入される。親指201は指挿入部26aに挿入され、人差202及び中指203が指挿入部26bに挿入される。図28に示されるように、処置操作部24は、操作者が処置操作部24を把持する際の操作者の把持する指の方向、例えば親指201の方向201aや人差指202の方向202aは第4の回転軸22の軸方向22aとは概ね平行であるように形成されている。これらのことは、図7〜図10に示す処置操作部24に対しても、操作者が手200で処置操作部24を把持する際に操作者の把持する指の方向と第4の回転軸22の軸方向22aとは概ね平行であるような関係にある。
【0038】
図11〜図16は、本発明の第1の実施の形態による医療用マニピュレータの作業部10の構成例を示した図である。いずれもグリッパ14の開状態(図11、図13、図15)と閉状態(図12,図14,図16)を示している。
【0039】
まず、図11及び図12について説明する。連結部30に対して回転自在に支持、すなわち第1の回転軸11に対して回転自在に支持された回転部材50は、プーリ11pと結合されており、駆動部11m(図1参照)の駆動力がワイヤ11wにより伝達されることで、プーリ11pが回転させられ、第1の回転軸11が駆動される。プーリ12p、13pは、回転部材50に対して回転自在に支持されており、かつ、それぞれ傘歯車またはフェイスギヤ51a、52aに固定されている。したがって、駆動部12m、13m(図1参照)の駆動力がワイヤ12w、13wにより伝達されることで、傘歯車またはフェイスギヤ51b、52bを回転させることができる。傘歯車またはフェイスギヤ51b、52bは、回転部材50の第1の回転軸11と直交する方向、すなわち、第2の回転軸12に対して回転自在に支持されている。すなわち、回転軸12上に2つの回転軸12a、12bが配置されている。グリッパ14a、14bは、その中心軸方向が、第2の回転軸12の軸方向と概ね平行、すなわち、グリッパ14のロール軸方向が、第2の回転軸12の軸方向と概ね平行になるように、連結部材53、54を介して、傘歯車またはフェイスギヤ51b、52bに固定されている。したがって、駆動部12m、13mを駆動することで、グリッパ14a、14bをそれぞれ独立に駆動することが可能である。回転軸12a、12bを同方向に回転させるように制御することにより、第2の回転軸12の回転動作を、すなわち、グリッパ14のロール動作を、回転軸12a、12bを逆方向に回転させるように制御することにより、グリッパ14の開閉動作を行うことが可能である。駆動部12m、13mの駆動量は、途中の動力伝達方法によって、容易に決めることができる。
【0040】
図13及び図14では、グリッパ(作業リンク)14a、14bの下端は、回転軸12a、12bに対して平行方向(回転軸55a、55b)および直交方向(回転軸56a、56b)に回転自在となるように連結部材53、54に対して支持されており、かつ、グリッパ14a、14bは、互いに回転軸57に対して回転自在に結合されている。したがって、駆動部12m、13mを駆動することで、グリッパ14a、14bを駆動することが可能である。同様に回転軸12a、12bを同方向に回転させるように制御することにより、第2の回転軸12の回転動作を、すなわち、グリッパ14のロール動作を、回転軸12a、12bを逆方向に回転させるように制御することにより、グリッパ14の開閉動作を行うことが可能である。グリッパ14a、14bの、回転軸57に対する先端側の長さの比率を大きくすることで、グリッパの開閉量を大きくすることができる。
【0041】
図15及び図16では、図13及び図14に対して、開閉の関係を逆にしている。連結部材53、54が近づいた時にグリッパ14が開き、離れた時にグリッパ14が閉じる構成となっている。この構成の場合、トグル機構による増力駆動となっているため、連結部材53、54が180度の位相関係に近い時には、把持する力を非常に大きくすることができる。これは、グリッパを開こうとする方向と、駆動する方向(グリッパ14a、14bの下端の回転する方向)とが直交方向に近くなるため、グリッパを開こうとする力を、駆動する方向で受けるのではなく、構造的に受ける構成になっているためである。このような構成は、縫合作業に使う細い針を強く把持する場合に適している。
【0042】
図11〜図16では、回転軸12上に2つの回転軸12a、12bを配置する構成として、ワイヤ、プーリと傘歯車またはフェイスギヤを用いていたが、図17、図18に他の方法を示す。
【0043】
図17は、ワイヤ、プーリのみで実現する方法である。ワイヤ11wにより、第1の回転軸11を駆動し、ワイヤ12w、13wにより、回転軸12a、12bを実現する。プーリ58、59によってワイヤの向きを変えている。ワイヤのプーリの巻きつけ数は、駆動する角度によって決めれば良い。図18は、トルクチューブにより実現する方法である。トルクチューブ11tにより、第1の回転軸11を駆動し、トルクチューブ12t、トルクチューブ13tにより、回転軸12a、12bを実現する。
【0044】
なお、図11〜図18で示した構成において、構造部材や軸、連結部材などの形状、支持の方法は、図に示した形態だけではなく、機能を損なわなければどのような構成としても良い。たとえば、軸側を固定して枠側を回転させても、枠側を固定して軸側を回転させても良い。
【0045】
図19は、本発明の第2の実施の形態による医療用マニピュレータを示す構成概略図である。図20は、本発明の第2の実施の形態による医療用マニピュレータの動作を説明する図である。
【0046】
本発明の第1の実施の形態による医療用マニピュレータでは、姿勢操作部23が特異姿勢付近(連結部30の中心軸方向31と第4の回転軸22方向が一致ないし平行の位置関係となった時)、すなわち、図19の状態では、第3の回転軸21および第4の回転軸22に直交する回転軸方向(図では処置操作部を把持した手に対して左右方向)に姿勢を変化させるのは困難である。本発明の第2の実施の形態は、この特異姿勢付近での操作性を向上させるものである。
【0047】
基本的な構成は、図1に示す本発明の第1の実施の形態による医療用マニピュレータと同様である。第2の実施では、操作指令部20に、第3の回転軸21および第4の回転軸22に直交する方向に加わる力を検出することが可能なセンサ60が取り付けられている。センサ60は、ひずみケージによる検出が最も簡易的である。図19に示す位置(両面)にひずみケージを貼り付けることにより、第3の回転軸21および第4の回転軸22に直交する方向に加わる力を曲げ応力として検出することが可能である。
【0048】
支持連結部104には、駆動部(アクチュエータ)61が配置されており、ベルト63、プーリ62、64を介し、連結部30に対して、連結部30の軸方向に回転トルクを与えることが可能な構成となっている。もちろん歯車のような動力伝達機構を使っても全く問題ない。そして、センサ60の検出値結果を制御装置40に取り込み、駆動部61を制御する。
【0049】
たとえば、図20のような姿勢の時(この時の第3の回転軸21を+とする)に、操作者が操作部を図中120の方向(この方向を+とする)に操作した場合、センサ60は、曲げ応力を検出する(この時の出力を+とする)。この時、駆動部61により、図中121の方向(この方向を+とする)に回転トルクを与えるように制御する。逆に、120の方向と逆方向(−方向)に操作した場合は、センサ60は、−方向の曲げ応力を検出する。この時、駆動部61により、図中121の逆方向(−方向)に回転トルクを与えるように制御する。
【0050】
一方、図21のような姿勢(第3の回転軸21が−)の場合に、操作者が操作部を図中122の方向(+方向)に操作した場合、センサ60は、+方向の曲げ応力を検出する。この時、駆動部61により、図中123の方向(−方向)に回転トルクを与える。逆に、122の方向と逆方向(−方向)に操作した場合は、センサ60は、−方向の曲げ応力を検出する。この時、駆動部61により、図中123の逆方向(+方向)に回転トルクを与える。
【0051】
したがって、図22に示すように、曲げ応力の方向とその時の姿勢操作部23の第3の回転軸の位置(+または−)によって、駆動部61によって回転させる方向を決めることができる。第3の回転軸21の位置がゼロ(特異姿勢)の場合には、どちらに回転させても良い。あらかじめ決めておいた方向に回転させれば良いし、連続的に回転させるために、最も最近の連結部の回転方向に回転させもてよい。
【0052】
特異姿勢に近ければ近いほど曲げ応力は大きくなる、また、回転速度も上げる必要もあるため、曲げ応力に比例した回転トルクを発生するようにしても良い。曲げ応力と回転トルクとの関係は、適宜、操作性の良い範囲に設定すればよい。なお、特異姿勢から離れた位置では、曲げ応力は当然小さくなるため、回転トルクは自動的に小さくなるため安全である。場合によっては、第3の回転軸21の位置がゼロ付近(例えば±10度の範囲)のみ、回転トルクをあたえる制御を行っても良い。
【0053】
なお、第3の回転軸21の位置がゼロ付近(例えば±10の範囲)で、連結部30に回転トルクが与えられても、作業部10と操作指令部20の自由度構成が同構造なため、基本的に操作者の与える姿勢が、作業部20の目標姿勢になるので、作業部20が急激な動作をすることはなく安全である。
【0054】
駆動部61を連結部30の中心軸方向31回りの自重補償用のアクチュエータとして用いても良い。医療用マニピュレータ1の各軸の姿勢により、自重による中心軸方向31回りのトルクを算出し、補償することは容易に行える。
【0055】
図23は、連結部30の軸方向に回転トルクを与える方法の一例を示す図である。医療用マニピュレータ1は、支持連結部104で、連結部30の軸方向に回転および直動可能な状態で支持されている。図23では、連結部30は、直動軸受け65および回転軸受け66によって支持されている。連結部30の断面は、D形状となっている。駆動部61は、ベルト63、プーリ62、64により、直動軸受け部分67を回転させる構成となっている。このような構成にすることにより、支持連結部104を直動支持するとともに、回転支持し、さらに、連結部30に回転トルクを与えることが可能となる。
【0056】
なお、上述の第1の実施形態及び第2の実施形態では、第1の回転軸11または第3の回転軸21をピッチ軸として説明したが、第1の回転軸11または第3の回転軸21をピッチ軸と限定する必要はなく、図29に示すように、第1の回転軸11または第3の回転軸21をヨー軸として構成してもよく、同様の効果が得られる。
【0057】
【発明の効果】
以上説明したように、本発明の構成によれば、支持部によって処置部の支持姿勢が2自由度以上に変更可能であるとともに、操作指令部と作業部とが連結部によって機械的に接続されているため、操作信頼性に優れているという特徴を損なうことなく、術者により実際に行われる処置時の動作、たとえば湾曲針による縫合作業時の動作方向とマニピュレータの自由度の配置とを一致させているため、術者が操作しようとする方向に操作指令部をスムーズに動作させることが可能であり、操作性に特に優れている。また、特異姿勢およびその近傍では、術者が操作したい方向に操作力がアシストされるため、特定の方向への操作性が極めて悪くなるということはなく、さらに、処置部の把持力を十分に得ることが可能であるという利点を有する。
【図面の簡単な説明】
【図1】本発明の第1の実施の形態による医療用マニピュレータを示す概略斜視図。
【図2】図1のスケルトン図。
【図3】図1の動作を説明するスケルトン図。
【図4】図1の作業部の構成の例を示す概略斜視図。
【図5】図1の作業部の構成の例を示す概略斜視図。
【図6】図1の作業部の構成の例を示す概略斜視図。
【図7】図1の操作部の構成の例を示す概略斜視図。
【図8】図1の操作部の構成の例を示す概略斜視図。
【図9】図1の操作部の構成の例を示す概略斜視図。
【図10】図1の操作部の構成の例を示す概略斜視図。
【図11】図1の開状態にある作業部の詳細の例を示す正面図(a)および側面図(b)。
【図12】図1の閉状態にある作業部の詳細の例を示す正面図(a)および側面図(b)。
【図13】図1の開状態にある作業部の詳細の例を示す正面図(a)および側面図(b)。
【図14】図1の閉状態にある作業部の詳細の例を示す正面図(a)および側面図(b)。
【図15】図1の開状態にある作業部の詳細の例を示す正面図(a)および側面図(b)。
【図16】図1の閉状態にある作業部の詳細の例を示す正面図(a)および側面図(b)。
【図17】作業部の動力伝達方法の例を示す正面図(a)および側面図(b)。
【図18】作業部の動力伝達方法の例を示す側面図。
【図19】本発明の第2の実施の形態による医療用マニピュレータヲ示す概略斜視図。
【図20】本発明の第2の実施の形態による医療用マニピュレータの制御方法を説明する図。
【図21】本発明の第2の実施の形態による医療用マニピュレータの制御方法を説明する図。
【図22】本発明の第2の実施の形態による医療用マニピュレータの制御方法を説明する表。
【図23】図19の詳細の例を示す側面図。
【図24】図23の支持連結部の断面図。
【図25】従来の医療マニピュレータ(鉗子)を示す概略図。
【図26】従来(先願)の医療マニピュレータを示す概略図。
【図27】縫合作業の説明図。
【図28】操作者が処置操作部を把持する際の操作者の把持する指の方向と第4の回転軸の軸方向との関係を示す図。
【図29】第1の回転軸または第3の回転軸をピッチ軸とせずにヨー軸とする構成を示す図。
【符号の説明】
1 医療マニピュレータ
10 作業部
10m、11m、12m、13m,61 駆動部
11w、11w、12w ワイヤ
11p、11p、12p,62,64 プーリ
11 第1の回転軸
12 第2の回転軸
13,25 把持動作
14 グリッパ
15 ピッチ軸関節支持部
16 ロール軸関節支持部
20 操作指令部
21 第3の回転軸
22 第4の回転軸
23 姿勢操作部
24 処置操作部
26 指操作部
27 指操作支持部
30 連結部
31 連結部30の中心軸方向
40 制御装置
41 操作指令
60 センサ
63 ベルト
100 支持機構
101 位置調整機構
102 水平回動部
103 円弧アーム
104 支持連結部
110 仮想回転中心(不動点)
201a、202a 指の方向
Claims (8)
- 姿勢操作部と処置操作部とを有する操作指令部と、
一端側が前記操作指令部に接続された連結部と、
前記連結部の他端側に接続され、処置部と前記処置部を2自由度以上に姿勢変更可能に支持する支持部とを有する作業部と、
前記姿勢操作部からの操作指令を前記支持部に送って前記処置部の姿勢を変更させるとともに、前記処置操作部からの操作指令を前記処置部に送って前記処置部を動作させる制御部と、を備えた医療用マニピュレータにおいて、
前記連結部はトラカールの孔に挿入可能であり、
前記支持部は、前記連結部の中心軸方向に対して直交する回転軸を有する第1の回転軸と、前記第1の回転軸に対して直交する回転軸を有する第2の回転軸とを有し、
前記処置部の中心軸方向は、前記第2の回転軸の軸方向と概ね平行であり、
前記支持部は、前記第1の回転軸の回りに回転可能な一対の第1ギアと前記一対の第1ギアに連動して前記第2の回転軸の回りに回転可能な一対の第2ギアとを有し、
前記一対の第2ギアが前記第2の回転軸の回りに回転することに伴い前記処置部が開閉動作を行う
ことを特徴とする医療用マニピュレータ。 - 前記連結部の中心軸と前記第1の回転軸と前記第2の回転軸とは、一点で交差する
ことを特徴とする請求項1記載の医療用マニピュレータ。 - 姿勢操作部と処置操作部とを有する操作指令部と、
一端側が前記操作指令部に接続された連結部と、
前記連結部の他端側に接続され、処置部と前記処置部を2自由度以上に姿勢変更可能に支持する支持部とを有する作業部と、
前記姿勢操作部からの操作指令を前記支持部に送って前記処置部の姿勢を変更させるとともに、前記処置操作部からの操作指令を前記処置部に送って前記処置部を動作させる制御部と、を備えた医療用マニピュレータにおいて、
前記連結部はトラカールの孔に挿入可能であり、
前記支持部は、前記連結部の中心軸方向に対して直交する回転軸を有する第1の回転軸と、前記第1の回転軸に対して直交する回転軸を有する第2の回転軸とを有し、
前記処置操作部は指によって把持されるハンドルを有し、前記ハンドルの長手方向は前記第2の回転軸の軸方向と概ね平行であり、
前記支持部は、前記第1の回転軸の回りに回転可能な一対の第1ギアと前記一対の第1ギアに連動して前記第2の回転軸の回りに回転可能な一対の第2ギアとを有し、
前記一対の第2ギアが前記第2の回転軸の回りに回転することに伴い前記処置部が開閉動作を行う
ことを特徴とする医療用マニピュレータ。 - 前記処置部は中心軸を有し、
前記処置部の中心軸と前記第1の回転軸と前記第2の回転軸とは、一点で交差する
ことを特徴とする請求項3記載の医療用マニピュレータ。 - 姿勢操作部と処置操作部とを有する操作指令部と、
一端側が前記操作指令部に接続された連結部と、
前記連結部の他端側に接続され、処置部と前記処置部を2自由度以上に姿勢変更可能に支持する支持部とを有する作業部と、
前記姿勢操作部からの操作指令を前記支持部に送って前記処置部の姿勢を変更させるとともに、前記処置操作部からの操作指令を前記処置部に送って前記処置部を動作させる制御部と、を備えた医療用マニピュレータにおいて、
前記連結部はトラカールの孔に挿入可能であり、
駆動ユニットを備え、前記駆動ユニットは第1駆動部と第2駆動部と第3駆動部とを有し、前記第1駆動部と前記第2駆動部と前記第3駆動部の各々は柱形状を有し、前記柱形状の軸は前記第1駆動部と前記第2駆動部と前記第3駆動部の間で互いに平行であり、
前記支持部は、前記連結部の中心軸方向に対して直交する回転軸を有する第1の回転軸と、前記第1の回転軸に対して直交する回転軸を有する第2の回転軸とを有し、
前記駆動ユニットは、前記第1の回転軸の回転動作、前記第2の回転軸の回転動作、及び前記処置部の動作を駆動し、
前記支持部は、前記第1の回転軸の回りに回転可能な一対の第1ギアと前記一対の第1ギアに連動して前記第2の回転軸の回りに回転可能な一対の第2ギアとを有し、
前記一対の第2ギアが前記第2の回転軸の回りに回転することに伴い前記処置部が開閉動作を行う
ことを特徴とする医療用マニピュレータ。 - 前記処置部は中心軸を有し、
前記処置部の中心軸と前記第1の回転軸と前記第2の回転軸とは、一点で交差する
ことを特徴とする請求項5記載の医療用マニピュレータ。 - 前記駆動ユニットは、前記操作指令部と前記連結部の間に配設されている
ことを特徴とする請求項5記載の医療用マニピュレータ。 - 前記支持部は一対の連結部材を有し、
前記処置部は、前記一対の第2ギアが前記第2の回転軸の回りに回転することに伴い前記一対の連結部材を介して開閉動作を行い、
前記一対の連結部材が互いに近づく場合に前記処置部は開き、前記一対の連結部材が互いがに離れる場合に前記処置部は閉じる
ことを特徴とする請求項1、3、5のいずれか一項に記載の医療用マニピュレータ。
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US10/893,921 US7043338B2 (en) | 2000-09-29 | 2004-07-20 | Manipulator |
US11/386,821 US7454268B2 (en) | 2000-09-29 | 2006-03-23 | Manipulator |
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2004
- 2004-07-20 US US10/893,921 patent/US7043338B2/en not_active Expired - Lifetime
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2006
- 2006-03-23 US US11/386,821 patent/US7454268B2/en not_active Expired - Fee Related
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2008
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WO2015010652A1 (zh) | 2013-07-25 | 2015-01-29 | 华为技术有限公司 | 一种信息传输方法、基站、用户设备及无线网络控制器 |
US9895143B2 (en) | 2013-07-26 | 2018-02-20 | Olympus Corporation | Medical system and method of controlling medical instruments |
US9974621B2 (en) | 2013-07-26 | 2018-05-22 | Olympus Corporation | Medical system and method of controlling medical treatment tools |
US9955989B2 (en) | 2014-07-10 | 2018-05-01 | Olympus Corporation | Manipulator having at least one joint actuated by displacement of a displaceable member |
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US20060167589A1 (en) | 2006-07-27 |
US7043338B2 (en) | 2006-05-09 |
US20040267406A1 (en) | 2004-12-30 |
US7454268B2 (en) | 2008-11-18 |
US20080232932A1 (en) | 2008-09-25 |
US6889116B2 (en) | 2005-05-03 |
JP2002102248A (ja) | 2002-04-09 |
US20020040217A1 (en) | 2002-04-04 |
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