JP5085684B2 - 処置具システム及びマニピュレータシステム - Google Patents
処置具システム及びマニピュレータシステム Download PDFInfo
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通常、マニピュレータのワイヤは、処置具挿入部内に配設されている。処置具挿入部は、内視鏡挿入部に挿嵌され、内視鏡の基端側に引き出された通じたワイヤが、駆動部であるアクチュエータに接続されている。
本発明に従う第1の実施形態における処置具システムについて説明する。図1は、処置具システムの構成を示すブロック図である。図2(a),(b)は、本実施形態における処置具等に用いられる多関節のマニピュレータ2の具体的な構成を示す図である。
尚、本実施形態では、マスタ部4、湾曲状態情報生成部5、処置具制御部7及び制御パラメータ部8が筐体に収容され、処置具システム1の制御部として機能としている。
また、以下の実施形態では、主としてマニピュレータ2の関節動作を例に挙げて説明する。
まず、実施形態のマニピュレータ2の構成について説明する。図2(a)は、マニピュレータ2の外観構成例を示し、図2(b)は、マニピュレータ2の断面構成例を示す。 このマニピュレータ2は、複数の円筒形状の湾曲駒41(41-1,41-2,41-3,41-4,41-5)と、これらの湾曲駒41を折曲自在に連結する軸部材42(42-1,42-2,42-3,42-4)と、マニピュレータ2の先端側の湾曲駒41-5に設けられた電気メス9a(又は、把持部9b)と、比較的柔らかに弾性的に曲がり得る処置具挿入部18と、処置具挿入部18と基端側の湾曲駒41-1とを連結する連結部材44と、を有している。
マニピュレータ2における先端と幹端(基端側)に配置される湾曲駒を除く各湾曲駒41には、先端側に湾曲駒円筒中心を挟んで設けられる舌片状の2つの先端側突出部と、基端側に、先端側突出部と直交する方向(90度の回転)で円筒中心を挟んで設けられる舌片状の2つの基端側突出部とがそれぞれに設けられている。
図3には、本実施形態のマニピュレータ2の5つの湾曲駒41-1〜41-5と4つの関節部42-1〜42-4による4自由度の多関節構造モデルを示す。尚、図3に示していないが、通常のマニピュレータ2の基端側には、マニピュレータ2全体を軸方向に折曲させる軸部材と、マニピュレータ2全体を軸回り方向に動かす軸部材が設けられている。4つの軸部材42-1〜42-4は、交互に軸方向と軸回り方向に湾曲駒を折曲する。
現在の多関節マニピュレータ2の位置姿勢を検出する。各軸部材18の関節角度(所謂、制御パラメータの1つである関節パラメータ)を次式(1)、
これら以外の軸部材42の折曲角度は、初期位置から変化が無ければ、関節パラメータが0のままとなる。電気メス9aの位置姿勢は、
湾曲状態情報生成部5は、センサ部57の検出値から内視鏡挿入部27及び湾曲部27bにおける湾曲状態情報(湾曲姿勢位置)を生成する。
まず、制御パラメータの変更の必要性について説明する。
本実施形態においては、処置具による患部の処置にあたって、モータを駆動源として、ワイヤの牽引によりマニピュレータ2が湾曲駆動されて、患部の所望する位置に処置具を宛がっている。この処置具の挿入部18は、患者の体腔内の形状に合わせて湾曲されている内視鏡挿入部27内及び湾曲部27b内を挿通している。そのため、内視鏡挿入部27や湾曲部27bにおける湾曲の弧が小さい又は湾曲箇所の数が多いほど、処置具挿入部18内に配設されるワイヤ30の経路長が変化し、且つ負荷が変化して掛かっている。
例えば、内視鏡の湾曲状態をεとすると、
湾曲状態がない(直線で湾曲していない) ε=0
湾曲状態が正側(例えば、水平を0とすれば上方向に湾曲) ε>0
湾曲状態が負側(例えば、水平を0とすれば下方向に湾曲) ε<0
となる。また、左右方向も同様に正面を0として、右方向を正側、左方向を負側と設定して判断してもよい。勿論、この様な設定は、設計時に適宜決定すればよい。
θ2=F(θ1,ε)
で求められる。F(θ1,ε)は、例えば、
F(θ1,ε)=θ1+Dε (D:定数)
となる。
まず、処置具制御部7は、電源投入の起動と共に、初期化処理が実施される。この時、予め設定された教示データが初期データとして設定される。この時、操作者の操作の個性に応じて設定されているIDパラメータがある場合には、メモリファイルから読み出して条件設定を行う。併せて、使用する内視鏡装置の処置具挿入部18毎に有する固有の制御パラメータ又は、使用する処置具毎に有する固有の制御パラメータを操作者が入力又は、制御パラメータ部8の図示しないメモリのテーブルに予め登録しておき、そのパラメータ群の中から選択して読み出して、初期設定を行う。
(1)内視鏡装置における湾曲自在な内視鏡挿入部内の処置具孔又は、内視鏡挿入部外側に装着するオーバーチューブの処置具孔に、基端側から処置具挿入部が挿通され、前記処置具孔から延出して先端に処置具が設けられ、複数の湾曲駒を関節部により複数の自由度を備えるように自在接ぎ手連結し、前記湾曲駒の各々にワイヤが固定されるマニピュレータと、
前記ワイヤを牽引して、前記関節部を軸に前記湾曲駒を関節動作させ、前記処置具を駆動するアクチュエータと、
前記処置具を駆動する指示入力及び、前記マニピュレータが所望する目標位置姿勢となるように指示入力を行う操作部と、
前記内視鏡挿入部及び処置具挿入部の湾曲状態を検出するセンサ部と、
前記センサ部により検出された検出信号から前記内視鏡挿入部及び処置具挿入部の湾曲状態情報を随時生成する湾曲状態情報生成部と、
前記湾曲状態情報生成部による湾曲状態情報から前記操作部の操作量を前記アクチュエータの操作量に調整する制御パラメータを生成し提供する制御パラメータ部と、
前記湾曲状態情報生成部による湾曲状態情報に変化があった場合には、その変化後に前記制御パラメータ部が生成した前記制御パラメータに変更して、前記マニピュレータ及び前記処置具を駆動する処置具制御部と、
を具備することを特徴とする処置具システム。
この処置具システムは、内視鏡挿入部の湾曲状態情報に変化があった場合には、制御パラメータを変更して、アクチュエータの駆動が操作部による指示入力と一致するように調整する。
前記アクチュエータの駆動源となるモータの軸に設けられたプーリの回転量を検出するエンコーダと、
処置具挿入部の先端側に設けられる湾曲部を湾曲動作するためのワイヤを牽引する際に掛かるワイヤ張力を検出する張力センサと、
を備えることを特徴とする前記(1)項に記載の処置具システム。
この処置具システムは、内視鏡挿入部の湾曲状態情報を得るために、歪みゲージ及びエンコーダと、処置具挿入部の湾曲状態情報を得る張力センサとを用いている。
前記内視鏡挿入部に歪みゲージを用いて検出された該内視鏡挿入部の歪み量に関する湾曲状態情報と、
前記内視鏡挿入部の先端側に設けられる湾曲部におけるワイヤ張力に関する湾曲状態情報と、
前記エンコーダにより検出された前記プーリの回転量又は、該プーリに連結され、その回転量により牽引されたワイヤ長又は送り出されたワイヤ長に関する湾曲状態情報と、を含むことを特徴とする前記(2)項に記載の前記処置具システム。
この処置具システムの湾曲状態情報は、内視鏡挿入部の歪み量、ワイヤ張力、プーリの回転量又は、その回転量により牽引されたワイヤ長又は送り出されたワイヤ長がある。
前記能動処置具を駆動させる能動処置具駆動手段と、
前記能動処置具駆動手段を制御するための駆動制御信号に予め設定された制御パラメータを反映させて制御する能動処置具制御手段と、
操作者が前記処置具若しくは前記能動処置具を操作するための能動処置具制御手段に指示を入力する入力手段と、
前記内視鏡の湾曲状態情報を獲得するための内視鏡湾曲状態獲得手段と、
で構成され
前記能動処置具制御手段は、前記内視鏡湾曲状態獲得手段からの湾曲状態情報によって制御パラメータを変更することを特徴とする内視鏡処置システム。
この処置具システムは、内視鏡挿入部の湾曲状態情報に変化に応じて、制御パラメータを変更して、能動処置具の駆動が入力手段による指示入力と一致するように調整する。
(6)内視鏡の湾曲状態情報とは、内視鏡の湾曲管部の湾曲情報、内視鏡の湾曲管部を除く挿入部の湾曲情報、内視鏡を湾曲させるためのワイヤを引くためのプーリ回転量(回転角度)のいずれか、若しくは組み合わされた情報であることを特徴とする(4)項に記載の内視鏡処置システム。
湾曲状態情報は、湾曲管部及び内視鏡挿入部の湾曲状態と、プーリ回転量(回転角度)とする。
(8)前記内視鏡湾曲状態獲得手段は、オーバーチューブに搭載されていることを特徴とする(4)項に記載の内視鏡処置システム。
(9)前記内視鏡湾曲状態獲得手段は、内視鏡とオーバーチューブの双方にそれぞれ搭載されて構成されることを特徴とする前記(4)項に記載の内視鏡処置システム。
(10)前記内視鏡は、操作者の遠隔操作による指示に従って電動駆動する内視鏡であることを特徴とする(5)項に記載の内視鏡処置システム。
(11)前記内視鏡は、内視鏡挿入部と、操作者の操作部位である前記内視鏡入力手段部とは、着脱可能に構成されることを特徴とする(5)項に記載の内視鏡処置システム。
(12)前記着脱可能に構成される前記内視鏡は、前記電動湾曲操作部に交換して接続される複数の内視鏡挿入部毎の固有の制御パラメータを前記能動処置具制御手段に設けられたメモリのテーブルに予め登録され、接続時にその内視鏡挿入部に該当する制御パラメータを読み出して設定することを特徴とする(11)項に記載の内視鏡処置システム。
この内視鏡処置システムは、各内視鏡挿入部のそれぞれに制御パラメータを付与し、個体差に生じているバラツキも考慮して制御パラメータが設定される。
Claims (1)
- 所定の径を有する孔に挿通可能な外形を有する先端部と、
前記孔に挿通可能な外形に形成されるとともに前記先端部に対して接続するための第1の湾曲駒と、
前記先端部と前記第1の湾曲駒の接続箇所に設けられ、前記先端部と前記第1の湾曲駒とを相対的に動作可能に連結する第1の軸部材と、
前記孔に挿通可能な外形に形成されるとともに、前記第1の湾曲部に接続するための第2の湾曲駒と、
前記第1の湾曲駒と前記第2の湾曲駒の接続箇所に設けられ、前記第1の湾曲駒と前記第2の湾曲駒とを相対的に動作可能に連結する第2の軸部材と、
前記先端部、前記第1の湾曲駒及び、前記第2の湾曲部にそれぞれに接続する複数のワイヤと、で構成されるマニピュレータ部と、
前記マニピュレータ部の前記ワイヤをそれぞれに牽引する駆動部を有し、任意のワイヤを牽引し所望の形状に湾曲させる操作部と、
前記ワイヤの各々に関わり湾曲された際に、前記ワイヤのそれぞれに働く張力値を検出するセンサ部と、
前記センサ部から検出された張力値から、前記マニピュレータ部の位置姿勢を検知し、湾曲駆動を制御する制御部と、
を備えたマニピュレータシステム。
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