JP5301867B2 - 医療用マニピュレータシステム - Google Patents
医療用マニピュレータシステム Download PDFInfo
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- JP5301867B2 JP5301867B2 JP2008099550A JP2008099550A JP5301867B2 JP 5301867 B2 JP5301867 B2 JP 5301867B2 JP 2008099550 A JP2008099550 A JP 2008099550A JP 2008099550 A JP2008099550 A JP 2008099550A JP 5301867 B2 JP5301867 B2 JP 5301867B2
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/012—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor
- A61B1/018—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor for receiving instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00131—Accessories for endoscopes
- A61B1/00133—Drive units for endoscopic tools inserted through or with the endoscope
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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
-
- 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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
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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
- A61B2017/2901—Details of shaft
- A61B2017/2908—Multiple segments connected by articulations
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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
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/062—Measuring instruments not otherwise provided for penetration depth
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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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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Biophysics (AREA)
- Radiology & Medical Imaging (AREA)
- Physics & Mathematics (AREA)
- Pathology (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
- Endoscopes (AREA)
Description
また、マスター側マニピュレータ6Aは、可動部61A及びマスター側制御部62を有して構成されているとともに、可動部61Aの中途の複数箇所に屈曲操作部61bが設けられている。(なお、図9においては、各屈曲操作部61bのうち、可動部61Aにおいて最も先端側に設けられているもの、及び、可動部61Aにおいて最も基端側に設けられているものの2つのみを示してある。)
そして、医療用マニピュレータシステム1Aにおいては、屈曲部51bが1つである場合の初期化処理と同様の処理が、各屈曲部51bについて順次行われる。
マニピュレータ制御装置7Aは、演算部71と、モータ制御部72と、記憶部73と、選択スイッチ8によって選択されたジョイスティック6Bからの操作指示のみがモータ制御部72に入力されるように切替動作を行う操作系切替部74と、を有して構成されている。
マニピュレータ制御装置7Cは、演算部71と、モータ制御部72と、記憶部73と、操作系切替部74と、高周波電源部75と、を有して構成されている。
2 内視鏡
3 プロセッサ
4 モニタ
5 スレーブ側マニピュレータ
6 マスター側マニピュレータ
7 マニピュレータ制御装置
11 挿入部
11a 処置具チャンネル
12b 処置具挿入口
12c 処置具挿通装置
21b 処置具突出口
21d センサ
21e センサ
51 マニピュレータ腕部
52 マニピュレータ駆動部
61 可動部
62 マスター側制御部
62a イニシャライズスイッチ
71 演算部
72 モータ制御部
73 記憶部
Claims (5)
- 細長な管路の内部に挿通可能な形状を具備し、1または複数の屈曲部が設けられた医療用器具と、
前記屈曲部を屈曲させるための駆動力を供給する屈曲用アクチュエータと、
前記屈曲用アクチュエータを制御するためのアクチュエータ制御部と、
前記管路の内部に設けられ、前記屈曲部が通過したことを検知した際に検知信号を出力する検知部と、
前記検知信号が入力された際に、前記屈曲用アクチュエータの動作量を検知するとともに、該動作量に基づき、前記検知部を通過した前記屈曲部の屈曲状態と前記屈曲部を屈曲させるための操作が可能な操作部の操作状態とを整合させるための演算を行う演算部と、
を有することを特徴とする医療用マニピュレータシステム。 - 細長な管路の内部に挿通可能な形状を具備し、1または複数の屈曲部が設けられた医療用器具と、
前記屈曲部を屈曲させるための駆動力を供給する屈曲用アクチュエータと、
前記医療用器具を前記管路の内部に挿通する際の駆動力を供給する挿入用アクチュエータと、
前記屈曲用アクチュエータ及び前記挿入用アクチュエータを制御するためのアクチュエータ制御部と、
前記挿入用アクチュエータにより前記医療用器具が前記管路に所定の量挿通された際に、前記屈曲用アクチュエータの動作量を検知するとともに、該動作量に基づき、前記検知部を通過した前記屈曲部の屈曲状態と前記屈曲部を屈曲させるための操作が可能な操作部の操作状態とを整合させるための演算を行う演算部と、
を有することを特徴とする医療用マニピュレータシステム。 - 細長な管路の内部に挿通可能な形状を具備し、1または複数の屈曲部が設けられた医療用器具と、
ワイヤにより前記屈曲部と接続され、該ワイヤを介して前記屈曲部を屈曲させるための駆動力を供給する屈曲用アクチュエータと、
前記管路の内部に設けられ、前記屈曲部が通過したことを検知した際に検知信号を出力する検知部と、
前記検知信号が入力された際に、前記ワイヤの弛みがなくなるまで前記屈曲用アクチュエータを駆動させる制御を行うアクチュエータ制御部と、
前記アクチュエータ制御部の制御に伴う前記屈曲用アクチュエータの駆動量を検知するとともに、該駆動量に基づき、前記検知部を通過した前記屈曲部の屈曲状態と前記屈曲部を屈曲させるための操作が可能な操作部の操作状態とを整合させるための演算を行う演算部と、
を有することを特徴とする医療用マニピュレータシステム。 - 細長な管路の内部に挿通可能な形状を具備し、1または複数の屈曲部が設けられた医療用器具と、
前記医療用器具を前記管路の内部に挿通する際の駆動力を供給する挿入用アクチュエータと、
ワイヤにより前記屈曲部と接続され、該ワイヤを介して前記屈曲部を屈曲させるための駆動力を供給する屈曲用アクチュエータと、
前記挿入用アクチュエータを制御するとともに、前記挿入用アクチュエータにより前記医療用器具が前記管路に所定の量挿通された際に、前記ワイヤの弛みがなくなるまで前記屈曲用アクチュエータを駆動させる制御を行うアクチュエータ制御部と、
前記挿入用アクチュエータにより前記医療用器具が前記管路に前記所定の量挿通された際に、前記アクチュエータ制御部の制御に伴う前記屈曲用アクチュエータの動作量を検知するとともに、該動作量に基づき、前記検知部を通過した前記屈曲部の屈曲状態と前記屈曲部を屈曲させるための操作が可能な操作部の操作状態とを整合させるための演算を行う演算部と、
を有することを特徴とする医療用マニピュレータシステム。 - 前記アクチュエータは、モータであることを特徴とする請求項1乃至請求項4のいずれか一に記載の医療用マニピュレータシステム。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008099550A JP5301867B2 (ja) | 2008-04-07 | 2008-04-07 | 医療用マニピュレータシステム |
CN2009101340211A CN101554335B (zh) | 2008-04-07 | 2009-04-03 | 医疗用机械手系统 |
US12/418,770 US20090253959A1 (en) | 2008-04-07 | 2009-04-06 | Medical manipulator system |
EP09005099.8A EP2108329A3 (en) | 2008-04-07 | 2009-04-07 | Medical manipulator system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008099550A JP5301867B2 (ja) | 2008-04-07 | 2008-04-07 | 医療用マニピュレータシステム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009247619A JP2009247619A (ja) | 2009-10-29 |
JP5301867B2 true JP5301867B2 (ja) | 2013-09-25 |
Family
ID=40758460
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008099550A Active JP5301867B2 (ja) | 2008-04-07 | 2008-04-07 | 医療用マニピュレータシステム |
Country Status (4)
Country | Link |
---|---|
US (1) | US20090253959A1 (ja) |
EP (1) | EP2108329A3 (ja) |
JP (1) | JP5301867B2 (ja) |
CN (1) | CN101554335B (ja) |
Families Citing this family (448)
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JP3610110B2 (ja) | 1995-02-23 | 2005-01-12 | オリンパス株式会社 | 医療用マニピュレータ |
JP3493579B2 (ja) * | 2001-02-19 | 2004-02-03 | 技術研究組合医療福祉機器研究所 | 作業支援装置 |
JP3926119B2 (ja) * | 2001-08-10 | 2007-06-06 | 株式会社東芝 | 医療用マニピュレータ |
JP4358494B2 (ja) * | 2002-10-02 | 2009-11-04 | オリンパス株式会社 | 内視鏡システム |
JP4839035B2 (ja) * | 2005-07-22 | 2011-12-14 | オリンパス株式会社 | 内視鏡用処置具および内視鏡システム |
JP4728075B2 (ja) * | 2005-09-28 | 2011-07-20 | オリンパスメディカルシステムズ株式会社 | 内視鏡システム |
US7841980B2 (en) * | 2006-05-11 | 2010-11-30 | Olympus Medical Systems Corp. | Treatment system, trocar, treatment method and calibration method |
JP4757838B2 (ja) * | 2007-05-21 | 2011-08-24 | 株式会社日立製作所 | 被牽引機構の位置決め制御装置 |
CN100486533C (zh) * | 2007-07-12 | 2009-05-13 | 上海交通大学 | 鼻腔手术内窥镜辅助机械手 |
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EP2108329A2 (en) | 2009-10-14 |
JP2009247619A (ja) | 2009-10-29 |
CN101554335A (zh) | 2009-10-14 |
CN101554335B (zh) | 2012-05-30 |
EP2108329A3 (en) | 2014-05-07 |
US20090253959A1 (en) | 2009-10-08 |
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