JP5006093B2 - マニピュレータシステム及び制御装置 - Google Patents
マニピュレータシステム及び制御装置 Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/90—Identification means for patients or instruments, e.g. tags
- A61B90/94—Identification means for patients or instruments, e.g. tags coded with symbols, e.g. text
- A61B90/96—Identification means for patients or instruments, e.g. tags coded with symbols, e.g. text using barcodes
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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
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/90—Identification means for patients or instruments, e.g. tags
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/90—Identification means for patients or instruments, e.g. tags
- A61B90/98—Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders
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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
- A61B2017/00477—Coupling
- A61B2017/00482—Coupling with a code
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0807—Indication means
- A61B2090/0811—Indication means for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
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- Oral & Maxillofacial Surgery (AREA)
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- Physics & Mathematics (AREA)
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- Surgical Instruments (AREA)
- Numerical Control (AREA)
Description
本実施形態では、動作部の位置を検出するセンサを備える制御対象(マニピュレータ10)と、該制御対象に対してコネクタ520により接続される制御装置514aにおいて、コネクタ520は、動作部を動作させるアクチュエータに電力を供給する電力ピン152と、センサに接続される信号ピンとを有し、コネクタ520が外されるときに、電力ピン152が非接続となった後に信号ピンが非接続となるように各ピンの長さが設定されている。
マニピュレータシステム500aでは、電力ピン152が非接続となった後に信号ピンが非接続となるように各ピンの長さが設定されていることから、制御装置514aからマニピュレータ10を取り外す場合にアクチュエータを停止状態に保つことができる。
図10に示すように、コネクタ520はプラグ520aとレセプタクル520bから構成されている。この場合、各ピンはプラグ520a側が雄、レセプタクル520b側が雌となっている。また、レセプタクル520bにおける電力ピン152は、第1信号ピン154、第2信号ピン155及びIDピン156よりも短く形成されている。すなわち、プラグ520aとレセプタクル520bとを切り離すときには、先ず電力ピン152の雄と雌が切り離されモータ40、41及び42を非励磁にし、その後に第1信号ピン154、第2信号ピン155及びIDピン156の雄と雌とが切り離されることになる。したがって、モータ40、41及び42が励磁されたままの状態で角度センサ43、44及び45の信号が途切れることがなく、駆動系が開ループの状態となることが防止できる。
。この場合、前記のようにモータを回路的に解放させるが、状況に応じて、短絡による電磁ブレーキにより停止させてもよい。
14、14a〜14d…操作部 15、15a〜15d…作業部
34…複合入力部 40、41、42…モータ
40a、41a、42a…回転軸 43、44、45…角度センサ
46…連結部 48…連結シャフト
50a、50b、50c…プーリ 104…ID保持部
106…ID中継部 110…演算部
114、114a、114b…保護装置 116、116a、116b…ドライバ
119…外部電源 120…ID認識部
121…取外判断部 122…原点認識部
124…警告部 130a…第1制御プロセス
130b…第2制御プロセス 152…電力ピン
154、155…信号ピン 156…IDピン
500a、500b…マニピュレータシステム 514a、514b…制御装置
520…コネクタ
Claims (20)
- マニピュレータ及び該マニピュレータを制御する制御部とを備えるマニピュレータシステムにおいて、
前記マニピュレータは、操作指令を入力する操作部と、
前記操作部に対して着脱自在で、前記操作部のアクチュエータに連携して動作する動作部を備える作業部とを備え、
前記作業部は、固体識別用のIDを保持するID保持部を備え、
前記制御部は、前記ID保持部のIDを認識するID認識部と、
前記ID認識部で認識されたIDに基づいて、前記作業部が前記操作部から取り外されているか否かを判断する取外判断部と、
前記動作部が規定の原点位置又は非原点位置であることを認識する原点認識部と、
前記原点認識部から得られる信号に基づいて前記動作部が非原点位置であると判断される場合で、前記取外判断部の判断により前記作業部が前記操作部から取り外されていると判断されるときに取外警告を発する警告部と、
を有することを特徴とするマニピュレータシステム。 - 請求項1記載のマニピュレータシステムにおいて、
前記取外警告を発しているときに、前記ID認識部から得られるIDを監視し、前記作業部が再接続されたことを認識し、得られたIDが取り外し前に認識したIDと等しいときに前記取外警告を解除し、得られたIDが取り外し前に認識したIDと異なるときに誤接続警告を発することを特徴とするマニピュレータシステム。 - 請求項1又は2記載のマニピュレータシステムにおいて、
前記取外判断部により前記作業部が取り外されていると判断される場合には、前記制御部は、前記動作部を動作させるアクチュエータに対する電力供給を停止させることを特徴とするマニピュレータシステム。 - 請求項1〜3のいずれか1項に記載のマニピュレータシステムにおいて、
前記原点認識部により前記動作部が原点位置にあると判断される場合には、前記制御部は、前記動作部を動作させるアクチュエータに対する電力供給を停止させることを特徴とするマニピュレータシステム。 - 請求項1〜4のいずれか1項に記載のマニピュレータシステムにおいて、
前記操作部における人手によって操作される入力手段の信号により前記操作部が取り外されていると判断される場合には、前記制御部は、前記動作部を動作させるアクチュエータを駆動するドライバに対する電力供給を停止させることを特徴とするマニピュレータシステム。 - 請求項1又は2記載のマニピュレータシステムにおいて、
前記ID認識部により前記作業部が取り外されていると判断される場合には、前記制御部は、前記動作部を動作させるアクチュエータを駆動するドライバに対して停止信号を供給することを特徴とするマニピュレータシステム。 - 請求項1〜3のいずれか1項に記載のマニピュレータシステムにおいて、
前記原点認識部により前記動作部が原点位置にあると判断される場合には、前記制御部は、前記動作部を動作させるアクチュエータを駆動するドライバに対して停止信号を供給することを特徴とするマニピュレータシステム。 - 請求項1〜4のいずれか1項に記載のマニピュレータシステムにおいて、
前記操作部における人手によって操作される入力手段の信号により前記操作部が取り外されていると判断される場合には、前記制御部は、前記動作部を動作させるアクチュエータを駆動するドライバに対して停止信号を供給することを特徴とするマニピュレータシステム。 - 請求項1〜8のいずれか1項に記載のマニピュレータシステムにおいて、
前記ID保持部は、前記操作部のID検出部に対して非接触でIDを伝達するように構成されていることを特徴とするマニピュレータシステム。 - 請求項1〜9のいずれか1項に記載のマニピュレータシステムにおいて、
前記操作部における人手によって操作される入力手段には、操作量を検出する検出部に所定の電圧が印加され、該電圧の所定範囲が操作範囲として設定され、前記制御部は、前記検出部から供給される電圧が前記所定範囲以外であることに基づいて前記操作部が取り外されたことを認識することを特徴とするマニピュレータシステム。 - 請求項1〜10のいずれか1項に記載のマニピュレータシステムにおいて、
前記取外判断部は、認識するIDが変化したときに前記作業部が取り外されたと判断することを特徴とするマニピュレータシステム。 - 請求項1〜11のいずれか1項に記載のマニピュレータシステムにおいて、
前記操作部と前記制御部との接続箇所には一対のコネクタが設けられ、
一対の前記コネクタは、前記動作部を動作させるアクチュエータに電力を供給する電力ピンと、前記動作部の位置を検出するセンサに接続される信号ピンと、前記ID保持部に接続されるIDピンとを有し、
一対の前記コネクタが外されるときに、前記電力ピンの雄雌が非接続となった後に前記信号ピンの雄雌が非接続となり、又は前記IDピンの雄雌が非接続となった後に前記電力ピンの雄雌が非接続となるように各ピンの長さが設定されていることを特徴とするマニピュレータシステム。 - 請求項12記載のマニピュレータシステムにおいて、
前記IDは複数ビットからなる2進数で表され、前記IDピンはビット数に応じた数だけ設けられ、前記ID保持部はIDの特定ビットに対応してアクティブな信号を前記操作部のID検出部に供給し、前記特定ビット以外は前記ID検出部でネガティブな信号として認識されることを特徴とするマニピュレータシステム。 - 請求項13記載のマニピュレータシステムにおいて、
前記アクティブな信号は、IDの複数ビットのうち半分以上のビットに割り当てられていることを特徴とするマニピュレータシステム。 - 請求項13〜14のいずれか1項に記載のマニピュレータシステムにおいて、
前記IDピンは、他のピンと比較して最も外周側で、且つ略等角度に配置されていることを特徴とするマニピュレータシステム。 - 請求項15記載のマニピュレータシステムにおいて、
前記ID保持部は、前記IDピンでネガティブな信号に対応するピンの両隣はアクティブな信号に対応するようにIDが設定されていることを特徴とするマニピュレータシステム。 - 請求項1〜16のいずれか1項に記載のマニピュレータシステムにおいて、
前記制御部には、少なくとも2台のマニピュレータが接続可能に構成され、
前記制御部は、第1マニピュレータを制御する第1制御プロセス部と、第2マニピュレータを制御する第2制御プロセス部と、前記第1制御プロセス部及び前記第2制御プロセス部から共通してアクセス可能な記憶部と、
を有し、
前記第1制御プロセス部は、前記取外警告を発する際に、前記記憶部の所定の警告領域にIDが認識可能なように信号を記録し、前記取外警告を解除する際に、前記警告領域に記録された前記信号を取り消し、
第2制御プロセス部は、前記警告領域から前記信号を読み取り前記第1制御プロセス部が記録したIDを読み取り、第2制御プロセス部におけるID認識部から得られるIDが前記第1制御プロセス部が記録したIDと等しいとき、前記第2マニピュレータの駆動を禁止することを特徴とするマニピュレータシステム。 - 請求項17記載のマニピュレータシステムにおいて、
前記第1制御プロセス部と前記第2制御プロセス部は同一の演算部により同時並列的に実行されるソフトウェア処理であることを特徴とするマニピュレータシステム。 - 請求項18記載のマニピュレータシステムにおいて、
前記第1マニピュレータのアクチュエータを駆動する第1ドライバと、
前記第2マニピュレータのアクチュエータを駆動する第2ドライバと、
を有し、
前記演算部が、前記第1ドライバ及び前記第2ドライバに対して個別に電力供給を停止可能に構成されていることを特徴とするマニピュレータシステム。 - 制御対象において操作指令を入力する操作部と、
前記操作部に対して着脱自在で、前記操作部のアクチュエータに連携して動作する動作部を備える作業部と、
前記作業部に設けられ、固体識別用のIDを保持するID保持部と、
前記操作部に設けられ、前記IDを検出するID検出部と、
を有する制御対象の制御装置であって、
前記ID検出部から供給される信号に基づいてIDを認識するID認識部と、
前記ID認識部で認識されたIDに基づいて、前記作業部が前記操作部から取り外されているか否かを判断する取外判断部と、
前記動作部が規定の原点位置又は非原点位置であることを認識する原点認識部と、
前記原点認識部から得られる信号に基づいて前記動作部が非原点位置であると判断される場合で、前記取外判断部の判断により前記作業部が前記操作部から取り外されていると判断されるときに取外警告を発する警告部と、
を有することを特徴とする制御装置。
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JP2007097753A JP5006093B2 (ja) | 2007-04-03 | 2007-04-03 | マニピュレータシステム及び制御装置 |
PCT/JP2008/057046 WO2008123630A2 (en) | 2007-04-03 | 2008-04-03 | Manipulator system and control apparatus |
US12/061,999 US8277473B2 (en) | 2007-04-03 | 2008-04-03 | Manipulator system and control apparatus |
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JP2007097753A JP5006093B2 (ja) | 2007-04-03 | 2007-04-03 | マニピュレータシステム及び制御装置 |
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JP2008253464A JP2008253464A (ja) | 2008-10-23 |
JP2008253464A5 JP2008253464A5 (ja) | 2010-04-02 |
JP5006093B2 true JP5006093B2 (ja) | 2012-08-22 |
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