JP5841451B2 - 手術器具およびその制御方法 - Google Patents
手術器具およびその制御方法 Download PDFInfo
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Description
また、前記把持検出部は、前記エンドエフェクタを撮像するカメラを含んでもよいし、前記作用力を検出する力センサを含んでもよい。
さらに、前記操作部の可動範囲は、前記エンドエフェクタの可動範囲よりも大きく設定されてもよい。
術者Opが把持体25を手に把持して、手首や肘、肩の動きにより把持部21Aの位置・姿勢を変化させると、把持体25の位置・姿勢の変化に伴ってマスターアーム21の各関節が駆動される。各関節の駆動量は、各関節の近傍に配置された位置検出器によって検出され、各駆動量に応じた操作信号がマスタ制御部41に入力される。その後、マニピュレータ制御部42から送られる信号によって当該マスターアームに対応付けられたスレーブアーム31が駆動し、当該スレーブアームに取り付けられた処置具のエンドエフェクタの位置及び姿勢が把持体25の位置・姿勢に対応した状態となる。
エンドエフェクタ操作部26は、ベース26aと、ベース26aに対して等角度で開閉する一対の開閉部材26b、26cを有する。各開閉部材26b、26cのベース26aに対する開き角度は、図示しないエンコーダ等の検出手段により検出され、マスタ制御部41に送信される。
処置具50は、患者Pの体腔に向けられる先端側から、処置用スレーブアーム31に接続される基端側に向かって、作用部(エンドエフェクタ)51、駆動リンク52、および被駆動部53を備える。駆動リンク52および被駆動部53は、筒状の筐体54の内部に収容されている。
作用部51は、例えば、開閉可能に設けられた一対のジョー51A、51Bを有し、一対のジョーが閉じられる時にその間に体組織や曲針等の対象物を挟んで把持し、対象物に把持力(作用力)を加える。被駆動部53は棒状の部材であり、スレーブアーム31に対して処置具50が連結される際に、スレーブアーム31内の駆動ロッド(後述)と連結される。被駆動部53は、駆動ロッドから伝達される駆動力によって、駆動リンク52の原節を筐体54の軸方向に進退させることにより作用部51を開閉させる。駆動リンク52は、作用部51と被駆動部53とを接続しており、公知のリンク機構を用いることができる。
スレーブアーム31の先端部には、処置具50の作用部51の状態を撮像するカメラ(把持検出部)61と、モータ37の駆動を制御するモータ制御部62とが設けられており、それぞれマニピュレータ制御部42と接続されている。カメラ61は、作用部51を例えば数十ミリ秒(msec)等の所定間隔で撮像し、取得された画像を作用部が対象物を把持したか否かの判定に用いる情報としてマニピュレータ制御部42に逐次送信する。モータ制御部62は、マニピュレータ制御部42の指令を受けてモータ37に印可される電流値および電流の印可時間を制御し、モータ37で発生される駆動力の大きさおよび駆動時間を制御する。
術者は、マスターアーム21を操作して、対応付けられた処置用スレーブアーム31を動かし、取り付けられた処置具50の作用部51を体組織や曲針等の把持対象物に近づける。把持対象物が作用部の一対のジョー51A、51B間に位置する状態で術者がエンドエフェクタ操作部26の開閉部材26b、26cをつまむように操作すると、開閉部材26b、26c間の角度(開き角度)が徐々に小さくなる。この変化は検出手段の検出値としてマスタ制御部41に送信され、さらにマニピュレータ制御部42に送信される。マニピュレータ制御部42では、エンドエフェクタ操作部26の状態とカメラ61から送信された画像とに基づいてモータ制御部62に対する制御信号を生成し、モータ制御部62へ送信する。以下では、モータ制御部62に対する制御信号の生成態様について詳細に説明する。
本実施形態では、一対のジョー51A、51Bの開き角度の制御は、モータ制御部62に対する制御信号によりモータ37の駆動を制御することで行われる。これに代えて、カメラ61が取得した画像の画像処理によって一対のジョーの開き角度を制御してもよいし、リニアエンコーダ35の検出値にもとづいて一対のジョーの開き角度を制御してもよい。
マニピュレータ制御部42は、現在の開閉部材開き角度の値と開閉部材開き角度の構造上の最小値(各開閉部材がベース26aと平行となった後もさらに閉じ方向へ操作することができる場合は、負の値となることもある)と比較し、把持開始時点における開閉部材の閉じ方向(第一の方向)の可動範囲内に所定範囲の把持力増加帯を設定し、残りの領域に不感帯を設定する。
したがって、作用部に生じる把持力が過剰とならないよう好適に制御しつつ、把持対象物が変化しても術者の操作感が変化しない手術器具とすることができる。
スレーブマニピュレータ31には、カメラ61は設けられていない。一方、処置具50の作用部51には、一対のジョー51A、51B間に発生する把持力を検出する力センサ72が把持検出部として設けられている。力センサ72の検出値は、マニピュレータ制御部42に逐次送信される。
マニピュレータ制御部42は、力センサ72の検出値を常時参照し、力センサ72において把持力が検出され始めた(ゼロでなくなった)時点で、対象物が一対のジョー51A、51B間に把持されたと判定する。
さらに、把持力増加帯R3における把持力FSの制御が、作用部51に設けられた力センサ72の検出値によって行われるため、把持力の制御をより高精度に行うことができる。
また、把持力減少帯R5における把持力減少の傾きは、把持力増加帯R3における把持力増加の傾きに−1を乗じた値に設定されている。これらの構成により、把持力を増減させる際に術者に与える操作感が、エンドエフェクタ操作部26の開き方向と閉じ方向で同一とされている。
図11に示す変形例では、開き方向への操作開始直後に不感帯R8が設定され、その後に把持力減少帯R5、さらに第二領域R6が設定されており、開閉部材の開き角度に対する制御内容の対応関係が閉じ方向と開き方向とで完全に一致している。このように制御すると、図10の場合と異なり、エンドエフェクタ操作部26を限界まで閉じてから開き方向の操作を行っても、把持が解除されるときの開閉部材開き角度と把持が開始された時の開閉部材開き角度とが一致する。したがって、術者が操作感として開閉部材開き角度とエンドエフェクタ開き角度との対応関係を重視するような場合に好適である。
上述の処置具80を取り付けた本実施形態のマスタスレーブマニピュレータでは、一対のジョーを開くことにより対象物に作用する押圧力が、作用力として制御される。また、エンドエフェクタ操作部90の開き方向の操作によって作用部81に生じる押圧力が増加するため、開き方向が第一の方向となる。
これにより、押圧が開始されたと判定された時点から所定の角度範囲だけ一対の開閉部材90b、90cを開き方向に操作すると、押圧力の値が最大押圧力Fmaxとなるように開閉部材の操作量と押圧力との対応関係が制御される。その結果、押圧対象物の種類等にかかわらず所定の操作感が保持される。
同様に、作用力増加帯の後に不感帯が設定される場合に、作用力増加帯と不感帯との境界で術者が認知可能な信号が発せられるようにすると、不感帯に入っているにもかかわらず術者が作用力をさらに増加させようとして操作部を限界まで操作するようなことがなくなり、無駄な操作の発生を抑えることができる。
4 制御部
26、90 エンドエフェクタ操作部(操作部)
37 モータ(駆動部)
51、81 作用部(エンドエフェクタ)
61 カメラ(把持検出部)
72 力センサ(把持検出部)
Sb 把持対象物(対象物)
Sb1 押圧対象物(対象物)
FS 把持力(作用力)
FS1 押圧力(作用力)
R3、R9 作用力増加帯
R2、R4、R8、R10 不感帯
R5 作用力減少帯
Claims (7)
- 開閉するエンドエフェクタと、前記エンドエフェクタを操作するための操作部とを備え、前記操作部を第一の方向に操作すると、前記エンドエフェクタが対象物に作用力を加える手術器具であって、
前記エンドエフェクタが前記対象物に作用力を加えているか否かを判定するための情報を取得する把持検出部と、
前記エンドエフェクタを開閉駆動する駆動部と、
前記操作部への入力に基づいて前記駆動部を制御する制御部と、
を備え、
前記制御部は、前記把持検出部の取得した情報にもとづいて前記エンドエフェクタが前記対象物に作用力を加えていると判定したときに、
前記操作部の前記第一の方向における可動範囲内に所定範囲の作用力増加帯を設定し、
前記可動範囲内の残りの領域に不感帯を設定し、
前記作用力増加帯においては、前記操作部の操作量に対して一定の傾きで前記作用力が増加するように前記駆動部を制御し、
前記不感帯においては、前記操作部の操作量に関わらず前記作用力が一定に保持されるように前記駆動部を制御する
ことを特徴とする手術器具。 - 前記作用力増加帯は、前記可動範囲内において前記第一の方向における近位側に設定されることを特徴とする請求項1に記載の手術器具。
- 前記把持検出部は、前記エンドエフェクタを撮像するカメラを含むことを特徴とする請求項1に記載の手術器具。
- 前記把持検出部は、前記作用力を検出する力センサを含むことを特徴とする請求項1に記載の手術器具。
- 前記操作部の可動範囲は、前記エンドエフェクタの可動範囲よりも大きく設定されていることを特徴とする請求項1に記載の手術器具。
- 前記操作部を第二の方向に操作すると前記作用力が減少し、
前記制御部は、前記操作部が前記第二の方向に操作されたときに、
前記操作部の前記第二の方向における可動範囲内であって前記第二の方向における近位側に所定範囲の作用力減少帯を設定し、
前記作用力減少帯においては、前記操作部の操作量に対して一定の傾きで前記作用力が減少するように前記駆動部を制御する
ことを特徴とする請求項2に記載の手術器具。 - 開閉するエンドエフェクタと、前記エンドエフェクタを操作するための操作部とを備え、前記操作部を第一の方向に操作すると、前記エンドエフェクタが対象物に作用力を加える手術器具の制御方法であって、
前記エンドエフェクタが前記対象物に作用力を加えているか否かを繰り返し判定し、
前記エンドエフェクタが前記対象物に作用力を加えていると判定したときに、
前記操作部の前記第一の方向における可動範囲内に所定範囲の作用力増加帯を設定し、
前記可動範囲内の残りの領域に不感帯を設定し、
前記作用力増加帯においては、前記操作部の操作量に対して一定の傾きで前記作用力を増加させ、
前記不感帯においては、前記操作部の操作量に関わらず前記作用力を一定に保持する
ことを特徴とする手術器具の制御方法。
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PCT/JP2012/070576 WO2013018935A1 (en) | 2011-08-04 | 2012-08-06 | Surgical instrument and control method thereof |
CN201280037951.5A CN103717170B (zh) | 2011-08-04 | 2012-08-06 | 手术器械及其控制方法 |
EP12820239.7A EP2739237A4 (en) | 2011-08-04 | 2012-08-06 | SURGICAL INSTRUMENT AND ITS CONTROL METHOD |
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CN103717170A (zh) | 2014-04-09 |
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EP2739237A1 (en) | 2014-06-11 |
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