WO2023112732A1

WO2023112732A1 - Robot system and coordinate registration method

Info

Publication number: WO2023112732A1
Application number: PCT/JP2022/044651
Authority: WO
Inventors: 裕之鈴木
Original assignee: ソニーグループ株式会社
Priority date: 2021-12-13
Filing date: 2022-12-05
Publication date: 2023-06-22

Abstract

A robot system (1) comprises: a robot device (2) that supports an instrument (T) to be inserted into the body of a patient (13); and a jig device (14) for positioning the robot device (2) at a peripheral object of the robot device (2).

Description

Robot system and coordinate integration method

The present disclosure relates to a robot system and coordinate integration method.

When using a surgical robot, it is necessary to integrate the coordinates (coordinate system) of the robot and the coordinates of the patient. For example, Patent Literature 1 discloses a method of detecting an optical marker fixed to a surgical instrument with a camera.

Japanese Patent Application Laid-Open No. 2020-075108

With the method of Patent Document 1, for example, if there is an obstacle between the optical marker and the camera, the optical marker cannot be accurately detected due to occlusion. Integration of coordinates with high precision becomes difficult.

One aspect of the present disclosure provides a robot system and coordinate integration method capable of improving coordinate integration accuracy.

A robot system according to one aspect of the present disclosure includes a robot device that supports a surgical tool to be inserted into a patient's body, and a jig device that aligns the robot device with surrounding objects of the robot device.

A coordinate integration method according to one aspect of the present disclosure includes aligning a robot device that supports a surgical tool to be inserted into a patient's body with a surrounding object of the robot device using a jig device; Integrating the coordinates of the robotic device and the coordinates of the surroundings based on the results.

1 is a diagram showing an example of a schematic configuration of a robot system 1 according to an embodiment; FIG. FIG. 2 is a diagram showing an example of a schematic configuration of a robot R1; FIG. 4 is a diagram showing an example of arrangement of angle sensors 8. FIG. FIG. 4 is a diagram schematically showing an example of transmission of braking force by the transmission 7. As shown in FIG. FIG. 5 is a diagram showing an example of alignment and coordinate integration using the jig device 14; 4 is a flow chart showing an example of coordinate integration work procedures (coordinate integration method, registration method). It is a figure which shows the example of surgical assistance.

Below, embodiments of the present disclosure will be described in detail based on the drawings. In addition, in each of the following embodiments, the same reference numerals are given to the same elements to omit redundant description.

The present disclosure will be described according to the order of items shown below.
0. Introduction 1. Embodiment 2. Modification 3. Example of effect

0. Introduction In the surgical robot system, a navigation function is expected for surgical assistance. It is important to accurately integrate the coordinate system of spatial coordinates (hereinafter also simply referred to as "coordinates") between the patient and each device. For example, when informing the operator of an affected area that is difficult to visually recognize on the monitor by image guidance, the coordinates of a camera such as a microscope, the coordinates of a tissue imaging device such as OCT or CT, and the tip of the arm (tip of the manipulator) Coordinates, patient coordinates, preoperative image data coordinates, etc. may be relevant.

Since each coordinate exists independently, it is necessary to accurately grasp each other's relative coordinates. The detection of an optical marker as disclosed in Patent Document 1 has problems such as detection resolution and occlusion. For example, it is difficult to detect with high accuracy on the order of submillimeters and integrate coordinates. The practical accuracy including operational errors of optical navigation devices used in neurosurgery and orthopedics is on the millimeter scale, which is difficult to apply.

Patent Document 1 discloses an image guidance support system for spinal surgery in orthopedics. An optical marker set for position coordinate detection is fixed to the patient's bone, and the optical marker set is fixed near the distal end of the robotic surgical tool. Two sets of optical markers are detected simultaneously by the same camera, the coordinates relative to the camera coordinates are detected, and the relative coordinates between the patient and the surgical tool are calculated. A navigation system with a similar system configuration is used in a plurality of image guidance support devices including robot systems.

There is also a method using an electromagnetic marker in addition to the optical marker. Although a device that generates a magnetic field is required instead of a camera, the position detection principle of each marker set is different, but the basic coordinate integration algorithm (registration algorithm) is the same.

The problem is that if there is an obstacle between the optical marker and the camera, occlusion may prevent highly accurate detection. There is also a problem that it cannot be used if there is an object that is mistakenly recognized as an optical marker in the captured image of the camera. For reasons such as camera resolution, marker manufacturing accuracy, and lens distortion, it is difficult to achieve high-precision detection such as on the order of submillimeters. For example, such issues may be addressed by the disclosed technology.

1. Embodiment FIG. 1 is a diagram showing an example of a schematic configuration of a robot system 1 according to an embodiment. The robot system 1 is used for surgery. FIG. 1 schematically shows the layout of the operating room when viewed from above. An operation is performed on a patient 13 lying supine on a bed B. FIG. In the following, a case where the surgery is ophthalmic surgery will be described as an example. The eyeball of the patient 13 to be operated on is referred to as eyeball E and is illustrated. An operator (physician or the like) is referred to as a user U and illustrated.

The robot system 1 includes a robot device 2, a monitor 3, a robot R3, a coordinate integration device 9, and a microscope 11. Describing the microscope 11 and the monitor 3 first, the microscope 11 observes the operative field. The field of view of the microscope 11 can include the eyeball E, the surgical tool T inside the eyeball E, and the like. The monitor 3 displays an observation image (operative field image) of the microscope 11 . The user U observes the operative field by looking at the observation image of the microscope 11 displayed on the monitor 3 or looking directly at the eyepiece of the microscope 11 . Surgery proceeds through operations using visual feedback of the relative positional relationship between the surgical tool T reflected in the surgical field and the robot device 2 at hand.

In addition, in the example shown in FIG. 1, the OCT probe 12, the surgical tool table TB, and the assistant A are also exemplified in the operating room. The OCT probe 12 is used for acquiring OCT images. The assistant A performs operations related to the operating tool extraction TO.

The robot device 2 is a robot placed near the patient (patient-side robot) and includes two robots connected in series. The first robot is shown as robot R1. A second robot is shown and referred to as robot R2. The robot R1 is connected to the operating table (bed B) so as to be positioned farther from the patient 13 than the robot R2. Robot R2 is supported by robot R1 so that it is positioned closer to patient 13 than robot R1. The robot device 2 can also be called a support arm device or the like. A tip portion (tip portion of the arm) of the robot R2 is referred to as a tip portion R2a and illustrated. Robot R2 and robot R1 are mechanically fixed to have known coordinates relative to each other.

The robot R1 is configured to be operated by the user U by directly applying force. Robot R1 does not include actuators, motors, force sensors, and the like. The operation of the robot R1 by the user U is also referred to as manual operation of the robot R1. For example, the user U manually operates the robot R1 by holding and moving the robot R1.

The robot R1 has 3 or more degrees of freedom. For example, robot R1 is a 6-axis stabilizer with 3 translational and 3 rotational degrees of freedom. By giving the robot R1 a large number of degrees of freedom, it becomes easy to move the robot R1 to an arbitrary position or take an arbitrary posture. Since the robot R1 is manually operated by the user U as described above, the robot R1 can also be called a human-cooperative six-axis stabilizer. Since the robot R1 can be downsized as described later, the robot R1 can also be called a human-cooperative compact precision 6-axis stabilizer.

The robot R2 is configured so that the user U can operate it without directly applying force. The robot R2 is configured including actuators and the like. For example, the robot R2 is configured to actively move according to the amount of displacement of the robot R3 provided at a position distant from the robot R2. The user U remotely controls the robot R2 by operating the robot R3.

The robot R2 supports the surgical tool T. The surgical instrument T is inserted into the patient's body, the eyeball E in this example. The robot R2 supports the surgical tool T so that the surgical tool T has a remote center of motion (RCM). In this example, robot R2 has a parallel linkage and its pivot point (pivot position) is the remote center of motion RCM.

"Robot R2 has one or more degrees of freedom." For example, robot R2 has three degrees of freedom and is pivotable. The robot R2 moves the surgical tool T within the eyeball E with the remote motion center RCM as the center of rotation.

Since the robot R2 is moved by precision actuators, etc., it can be operated with higher precision (for example, about 10 μm) than the manually operated robot R1. In this sense, the robot R1 can be called a coarse motion robot, and the robot R2 can also be called a fine motion robot. A drape for covering the clean area may be fixed to the robot R1.

Robot R2 is configured to be remotely controllable. In the example shown in FIG. 1, the user U remotely controls the robot R2 by operating the robot R3, as described above. The robot R2 and the robot R3 are bilaterally controlled using, for example, two-way communication so that the amounts of displacement and forces in each correspond.

A relative positional relationship may be scaled between the robots R2 and R3. For example, motion scaling may be used so that the physical displacement of robot R2 is smaller than the physical displacement of robot R3. Fine remote control of the robot R2 via the robot R3 becomes possible, making remote surgery easier.

The user U who operates the robot R1 of the robot device 2 and the user U who operates the robot R3 may be the same or different.

FIG. 2 is a diagram showing an example of the schematic configuration of the robot R1. Robot R1 includes a base portion 4 , a distal end portion 5 , a locking mechanism 6 and a transmission 7 .

The base portion 4 includes a translation mechanism 41 so as to have translational degrees of freedom. In this example, the translational degrees of freedom are three translational degrees of freedom. The translation mechanism 41 is a parallel link mechanism having three translational degrees of freedom in the vertical direction (Z-axis direction) and horizontal direction (XY plane direction).

The base portion 4 includes a counterweight 42 in its lower portion. The counterweight 42 improves the balance of the robot R1, thereby providing a self-weight compensation function to the robot R1. For example, a self weight compensation function is provided so that all the axes of the robot device 2 can keep their positions.

The distal end 5 supports the robot R1 (Fig. 1). Distal end 5 includes a rotation mechanism 51 so as to have rotational freedom. In this example, the rotational degrees of freedom are 3 rotational degrees of freedom. Examples of the rotating mechanism 51 are a gimbal mechanism, a ball joint mechanism, and the like.

The robot R2 may be detachably attached to the distal end portion 5 (for example, the rotating mechanism 51). By attaching and detaching different robots R2 to and from the same robot R1, the robot R1 can be repeatedly used (reused), while the robot R2 can be made disposable.

The lock mechanism 6 is provided on the base portion 4 and generates a braking force so as to lock each joint that controls the degree of freedom of the robot R1. Each joint and the lock mechanism 6 may correspond to each other on a one-to-one basis. Each joint can be individually locked (lock ON) or unlocked (lock OFF). The lock mechanism 6 includes, for example, an electromagnetic brake. The electromagnetic brake may lock the joint when current is applied and unlock the joint when current is not applied. By turning off the power of the lock mechanism 6, the joint is locked. The power of the locking mechanism 6 is manually turned on or off by the user U, for example.

The lock mechanism 6 may have a spindle that rotates according to the angle of the joint. An angle sensor (potentiometer, encoder, etc.) may be fixed in series with the support shaft. Such an angle sensor enables joint angle detection. Since there is no need to attach the angle sensor directly to the joint, the advantages of miniaturization and weight reduction can be obtained, and the number of electrical wiring can be reduced. The position and orientation of the distal end portion 5 from the base portion 4 are calculated by solving the kinematics using the detection result of the angle sensor (for example, by forward kinematics calculation). It is possible to calculate the coordinates of the distal end R2a of the robot R2 and the surgical tool T with respect to the reference position of the coordinates of the robot device 2 (e.g., corresponding to MechanicalGND in FIG. 5, which will be described later).

FIG. 3 is a diagram showing an example of the arrangement of the angle sensor 8. FIG. The angle sensor 8 is mounted in series with the output shaft of the lock mechanism 6 . When the joint angle changes, a wire rope (for example, corresponding to a wire rope of a wire transmission, which is an example of the transmission 7 described later) is displaced via a pulley attached to the joint. Rotational torque is transmitted to the output shaft of the lock mechanism 6 in accordance with the displacement of the wire rope, and the rotational torque is applied to the rotational shaft of the coaxially connected angle sensor to detect the displacement.

Returning to FIG. 2, individual control of each lock mechanism 6 is possible. The control of the lock mechanism 6 may be performed by the user U, for example, by pedal operation or the like, or may be performed automatically. The locking and unlocking of the translational movement of the base part 4 and the locking and unlocking of the rotational movement of the distal end part 5 can be controlled separately.

When the power of the lock mechanism 6 is off, the lock by the lock mechanism 6 is on. Even when a sudden power failure occurs, the risk of the robot device 2 running out of control is reduced or avoided. The lock mechanism 6 that is locked also serves as a torque limiter that passively moves when the user U strongly pushes the robot R1 manually. For example, it is possible to switch from robotic surgery to manual surgery in an emergency.

The transmission 7 is provided on the base portion 4 and transmits the braking force from the lock mechanism 6 to the corresponding joints. Description will also be made with reference to FIG.

FIG. 4 is a diagram schematically showing an example of transmission of braking force by the transmission 7. FIG. Some joints of the translational mechanism 41 (FIG. 2) of the base part 4 are directly provided with the locking mechanism 6, so transmission of the braking force by the transmission 7 is unnecessary. Such a lock mechanism 6 is exemplified as a lock mechanism 6a and a lock mechanism 6f. Among the joints of the translation mechanism 41 , the braking force of the lock mechanism 6 is transmitted via the transmission 7 to joints that are not directly provided with the lock mechanism 6 . Such a lock mechanism 6 is exemplified as a lock mechanism 6b. The lock mechanism 6a may be attached directly, or may be attached via a speed reducer (or a speed increaser).

The locking mechanism 6 is not directly provided at the joint of the distal end portion 5 , and the braking force of the locking mechanism 6 is transmitted via the transmission 7 . Joints 52c to 52e are exemplified as the joints of the distal end portion 5 . As the corresponding lock mechanisms 6, lock mechanisms 6c to 6e are exemplified. Braking forces of the lock mechanisms 6c to 6e are transmitted to the joints 52b to 52e via the transmissions 7b to 7e.

For example, by turning on the locking by the locking mechanisms 6c to 6e and turning off the locking by the locking

mechanisms

6a, 6b, and 6f, while locking the rotational movement of the distal end portion 5, the base portion 4 can be translated. The user U can, for example, directly hold the distal end 5 and move or rotate it.

The transmission 7 does not include a driving force transmission system using gears. Accordingly, the overall size and weight of the robot R1 can be reduced. For example, the transmission 7 uses wires, wire ropes, belts, steel belts, hydraulics, pneumatics, dielectric elastomers, shape memory alloys, etc. to transmit the braking force from the locking mechanism 6 to the joints. In the example shown in FIG. 4, the transmission 7 is a wire transmission that uses a wire to transmit the braking force from the locking mechanism 6 to the joint. A wire rope is fixed to the joint, and the joint is connected to the lock mechanism 6 via the wire rope. A wire drive system allows switching between locking and unlocking of three translational axes and three rotational axes.

Returning to FIG. 2, the user U manually operates the robot R1 by gripping the base portion 4 of the robot R1 and translating it, or gripping the distal end portion 5 of the robot R1 and rotating it. . As a result, the user U can move the robot R2 (FIG. 1) supported by the distal end portion 5, and thus the surgical tool T connected to the robot R2, to an arbitrary position or make it stationary.

As the robot device 2 is made lighter and smaller, it becomes easier to handle the robot device 2, including manual operation of the robot R1. For example, the robot R1 of the robot device 2 may have a size that can be held and operated by the user U with one hand, for example, a palm size of 20 cm or less. The robot R1 is even smaller than the robot R2, and may have a size of, for example, a tennis ball of 7 cm or less.

Since the robot R1, which is a coarse motion robot, is small, the scale of coarse motion is also small, and vibration noise is reduced. It is known that the resonant frequency corresponding to vibration noise is inversely proportional to mass. As the scale of coarse motion becomes smaller, the mass also becomes smaller and thus the resonance frequency increases. Vibration noise is relatively small. In addition, since the link length is shortened, the swing width due to vibration is relatively reduced.

According to the robot device 2 described above, the user U can easily move the robot device 2 by manually operating the robot R1. Some more specific advantages are described. For example, since the robot R1 does not have a motor or a force sensor, it is possible to reduce the risk of runaway or failure.

Since the entire robot device 2 (entire robot arm) can be made smaller and lighter, the force required for the user U to hold and move it can be reduced. For example, it becomes easier to operate.

A braking force from the lock mechanism 6 provided on the base portion 4 is transmitted through the transmission 7 . By providing the locking mechanism 6 in the base portion 4, the configuration of the distal end portion 5, that is, the configuration of the patient side around the surgical field can be simplified. This reduces the risk of interference with the surgical tool T during surgery and obstruction of the field of view of the microscope 11, and can reduce the size of the clean area, which is highly advantageous in terms of operation. A similar effect can be obtained by providing the transmission 7 on the base portion 4 as well.

Locking and unlocking by the lock mechanism 6 can be actively switched. This reduces the need for the user U to spend a lot of time moving the insertion point of the surgical tool T, which is often required during surgery.

The locking mechanism 6 is provided on the base part 4 away from the patient, not on the distal end part 5 located near the patient. The distal end 5 can be made compact, thereby avoiding problems such as interference with other surgical instruments T, occlusions obstructing the surgical field, and contact with the patient.

The coordinate integration device 9 will be described with reference to FIG. 1 again. The coordinate integration device 9 integrates (registers) the coordinates of the robot device 2 (for example, the tip portion R2a thereof) and the surrounding objects of the robot device 2 . Examples of surrounding objects are a microscope 11, an OCT apparatus such as an OCT probe 12, a CT apparatus (not shown), an MRI (Magnetic Resonance Imaging) apparatus, an ultrasound apparatus, a patient 13, and the like. The coordinate integration device 9 may be realized by running software on a general-purpose computer, or may be realized by dedicated hardware. The coordinate integration device 9 acquires necessary information from other elements of the robot system 1 through communication or the like.

For integration of coordinates by the coordinate integration device 9, alignment is performed using a jig device. Description will be made with reference to FIG.

FIG. 5 is a diagram showing an example of alignment and coordinate integration using the jig device 14. FIG. For example, as shown in FIG. 5A, the robot apparatus 2 includes a robot R1 fixed to an arc-shaped rail provided on a pedestal near the patient's head, and a robot R2 fixed near the patient's eyeball E. is arranged to be located in A hand portion of the user U operating the robot R1 is schematically illustrated.

As shown in FIGS. 5A and 5B, the robot device 2 is provided with a jig device 14 . The jig device 14 may be a component of the robot device 2 or may not be a component of the robot device 2 . In this example, the jig device 14 is fixed to the distal end 5 of the robot R1 of the robotic device 2 . A jig device 14 is used to align the robot device 2 with its surroundings.

One or more corresponding jig devices 15 corresponding to the jig device 14 are fixed to the surrounding object. The jig device 14 aligns the robot device 2 with the surrounding objects by contacting the corresponding jig device 15 .

The jig device 14 and the corresponding jig device 15 may contact in various manners. Examples of contact include contact by fitting, contact by screw fixing, point contact, attraction contact by a magnet, and the like. In the example shown in FIG. 5, a snug contact is used. The jig device 14 and the corresponding jig device 15 have a convex shape and a concave shape that can be fitted to each other. For example, the jig device 14 includes a probe that is inserted into the corresponding jig device 15 .

In (A) of FIG. 5, as the corresponding jig device 15, a corresponding jig device 15-1, a corresponding jig device 15-2, and a corresponding jig device 15-3 are illustrated. A corresponding jig device 15 - 1 is fixed to the microscope 11 . The corresponding jig device 15-2 is fixed to (the pedestal of) the OCT probe 12. As shown in FIG. The corresponding jig device 15-3 is the corresponding jig device 15 fixed to the patient 13, and is fixed to the rail in this example. Corresponding jig assembly 15 may be fixed relative to the surroundings in a variety of ways. Examples of fixation include fixation by adhesion, fixation by sticking, and screw fixation. Incidentally, the fixing of the jig device 14 to the robot device 2 may be the same.

Coordinates of the robot device 2 and its surroundings are referred to as coordinates P. As shown in FIG. Specifically, the coordinates P of the robot R1 of the robot device 2 are shown as coordinates _PR1 . The coordinates P of robot R2 are shown as coordinates _PR2 . The coordinates P of the microscope 11 are shown as coordinates _PMS . The coordinate P of the OCT probe 12 is illustrated as coordinate P _OCT . The coordinate P of the patient 13 is illustrated as the coordinate P _patient .

The user U manually operates the robot R1 so as to align (for example, insert) the jig device 14 with the corresponding jig device 15 . The robotic device 2 can be aligned with its surroundings. The coordinate integration device 9 (FIG. 1) integrates the coordinates based on the result of alignment by the jig device 14 described above.

The coordinate integrating device 9 calculates the coordinate P _R1 of the robot R1 of the robot device 2 and the coordinate P Integrate _R2 with the microscope 11 coordinates _PMS . From the joint angle of the robot device 2 at that time, the position of the jig device 14 is calculated (ascertained), and from there, the position of the corresponding jig device 15-1 and thus the microscope 11 is calculated.

Similarly, the coordinate integrating device 9 calculates the coordinates PR1 of the robot R1 of the robot device 2 and the coordinates _PR1 of the robot R2 based on the joint angles of the robot device 2 when the jig device 14 is aligned with the corresponding jig device 15-2. , and the coordinates P _OCT of the OCT probe ₁₂ are integrated. In addition, the coordinate integration device 9 calculates the coordinates PR1 of the robot R1 of the robot device 2 and the coordinates _PR1 of the robot R2 based on the joint angles of the robot device 2 when the jig device 14 is aligned with the corresponding jig device 15-3. Integrate the coordinate P _R2 with the coordinate P _patient of the patient 13 .

In (B) of FIG. 5, the reference position (base seating surface, etc.) of the robot device 2 is schematically shown as Mechanical GND. The coordinates integrated by the coordinate integration device 9 may be coordinates based on the reference position of the robot device 2, for example. The coordinate integration accuracy is determined by the position detection accuracy, that is, the resolution of the angle sensor. For example, highly accurate detection on the order of submillimeters is possible.

As described above, forward kinematics calculations based on the joint angles detected by the angle sensors allow each part of the robot device 2 (for example, the distal end portion R2a, etc.) and the surgical tool T to be positioned relative to the reference position of the robot device 2. Coordinates can be calculated. Some examples of calculations are shown in FIG. 5C.

For example, if the coordinates of the reference position (base plane coordinates) are the coordinates P _GND and the joint angle of the robot R1 is θ, the coordinates P _R1 of the robot R1 are obtained by a function R _R1 (θ) with θ as an argument and the coordinates P _GND (eg by multiplying them). Assuming that the joint angle of the robot R2 is φ, the coordinate P _R2 of the robot R2 is calculated based on the function R _R2 (φ) having φ as an argument and the coordinate P _R1 of the robot R1.

Assuming that the joint angle when the jig device 14 is aligned with the corresponding jig device 15-1 is φ ₀ , the coordinate P _MS of the microscope 11 is calculated based on the function R _R1 (φ ₀ ) and the coordinate P _R1 . be done. Assuming that the joint angle when the jig device 14 is aligned with the corresponding jig device 15-2 is _φ1 , the coordinate P _OCT of the OCT probe 12 is calculated based on the function R _R1 (φ1) and the coordinate P _R1 . be done. Assuming that the joint angle when the jig device 14 is aligned with the corresponding jig device 15-3 is φ ₂ , the coordinate P _patient of the patient 13 is calculated based on the function R _R1 (φ ₂ ) and the coordinate P _R1 . be done.

If the microscope 11 is an OCT-integrated surgical microscope incorporating an OCT function, the coordinates of the microscope 11 and the coordinates of the OCT are integrated in advance, so coordinate integration by the corresponding jig device 15-2 is omitted. may be In that case, the corresponding jig device 15-2 may be omitted. In addition, since the position of the patient 13 can be grasped, for example, from the observation image of the microscope 11, coordinate integration by the corresponding jig device 15-3 may be omitted. In that case, the corresponding jig device 15-3 may be omitted.

FIG. 6 is a flow chart showing an example of a coordinate integration work procedure (coordinate integration method, registration method). This operation is performed, for example, with the positions of the microscope 11, the OCT probe 12, and the patient 13 fixed before the start of surgery.

In step S1, the jig device 14 is used to align the robot device 2 with the surrounding objects. The user U manually moves the robot R1 so that the jig device 14 is aligned with the corresponding jig device 15 fixed to the surrounding object (for example, the corresponding jig device 15-1 fixed to the microscope 11). Manipulate.

In step S2, the coordinates of the robot device 2 and the coordinates of surrounding objects are integrated. The coordinate integrating device 9 calculates the coordinates P _R1 of the robot R1 of the robot device 2 and the coordinates P _R2 , the coordinates P _MC of the microscope 11, the coordinates P _OCT of the OCT probe 12 (OCT apparatus), and the coordinates P _patient of the patient 13 are integrated.

For example, the coordinates of the robot device 2 and the coordinates of its surroundings are integrated as described above.

With the method of Patent Document 1, even if the imaging accuracy is high (for example, about 5 μm for OCT), the accuracy of optical marker detection is a bottleneck, so there is a limit to the accuracy of image guidance. By using the jig device 14 and the like as in the present embodiment, it is possible to achieve stable coordinate integration with higher precision and reproducibility than the method of detecting optical markers.

Also, when using an optical marker, difficult work (marker registration work) such as planning the position where the optical marker can be read is required due to the relationship between the camera and the device. Such work is unnecessary when using the jig device 14 or the like. Coordinates can be integrated by an intuitive operation of aligning the jig device 14 with the corresponding jig device 15 (for example, inserting and removing a probe).

The jig device 14 and the corresponding jig device 15 need only have a simple configuration like an insertion jig. Simpler and more accurate coordinate integration is possible than with optical markers. It is possible to perform image guidance in surgical procedures that require operation accuracy on the order of submillimeters, which has been difficult in the past.

Various applications based on integrated coordinates are possible. For example, it is possible to support surgery with high precision. An example will be described with reference to FIG.

FIG. 7 is a diagram showing an example of surgical assistance. An OCT image in cataract surgery is displayed on the monitor 3, and the position of the surgical tool T is navigated. Specifically, in the OCT image, the movable region of the surgical tool T is restricted (surgical tool movable range restriction). A virtual wall W is displayed that limits the movable range of the distal end of the surgical tool T with the remote motion center indicated by the arrow cursor as the pivot point. The operation of moving the surgical tool T across the virtual wall W is suppressed. Such navigation becomes possible by integrating the coordinates of the robot R2 of the robot device 2 and the supported surgical tool T, and the coordinates of the OCT probe 12 .

2. Modifications The technology disclosed is not limited to the above embodiments. For example, the coordinate integration device 9 may integrate the coordinates of the surrounding objects (microscope 11, OCT probe 12, patient 13, etc.) and optionally also the coordinates of the preoperative image data. For example, it can be used for comparative display of a preoperative image and an intraoperative image during surgery.

In the above embodiment, the case where the surgery is ophthalmic surgery has been described as an example. However, the technology disclosed may be applied to surgery other than ophthalmic surgery.

3. Example of Effect The technology described above is specified as follows, for example. One of the disclosed technologies is the robot system 1 . As described with reference to FIGS. 1 to 5 and the like, the robot system 1 includes the robot device 2 and the jig device 14 . The robot device 2 supports a surgical tool T that is inserted into the patient's 13 body (for example, the eyeball E). The jig device 14 is used to align the robot device 2 with the surroundings of the robot device.

According to the robot system 1 described above, by using the jig device 14, it is possible to improve the coordinate integration accuracy compared to the case of detecting an optical marker as in Patent Document 1, for example.

As described with reference to FIGS. 1 and 5, the surroundings include at least one of the microscope 11, OCT device (OCT probe 12), CT device, MRI device, ultrasound device, and patient 13. OK. For example, by integrating the coordinates of such surrounding objects with the coordinates of the robot apparatus 2, highly accurate surgical assistance can be realized.

As described with reference to FIG. 5 and the like, the jig device 14 may align the robot device 2 by coming into contact with the corresponding jig device 15 fixed to the surrounding object. The contact between the jig device 14 and the corresponding jig device 15 may include at least one of fitting contact, screw fixing contact, point contact, and magnet attraction contact. The fixation of the corresponding jig device 15 to the surroundings may include at least one of adhesion fixation, sticking fixation, and screw fixation. For example, using such a jig device 14 and corresponding jig device 15, the robot device 2 can be aligned with surrounding objects.

As described with reference to FIGS. 1 and 5, the robot system 1 performs coordinate integration for integrating the coordinates of the robot device 2 and the coordinates of the surrounding objects based on the result of alignment by the jig device 14. device 9 may be provided. The integrated coordinates may be coordinates based on the reference position (MechanicalGND) of the robot device 2 . The coordinate integration device 9 may also integrate the coordinates of the preoperative image data. For example, such a coordinate integration device 9 can integrate the coordinates of the robot device 2 and the coordinates of the surrounding object, and optionally also the coordinates of the preoperative image data.

As described with reference to FIGS. 1 and 2, the robot device 2 includes a robot R1 (first robot) including a base portion 4 and a distal end portion 5, and a distal end portion 5 of the robot R1. and a robot R2 (second robot) that is supported and supports the surgical instrument T, and the robot R1 may be configured to be operated by the user U by directly applying force to the robot R1. The user U can easily move the robot device 2 by manually operating the robot R1.

The locus integration method (registration method) described with reference to FIG. 7 etc. is also one of the disclosed techniques. The coordinate integration method uses the jig device 14 to align the robot device 2 supporting the surgical tool T to be inserted into the body of the patient 13 (for example, the eyeball E) with the surroundings of the robot device 2 (step S1) and integrating the coordinates of the robot device 2 and the coordinates of the surroundings based on the alignment result (step S2). Such a coordinate integration method can also improve the accuracy of target integration as described above.

The disclosed technology can also be specified as follows. For example, the robot system 1 is an ophthalmic surgery support robot system, and includes a robot arm (robot device 2) supporting a surgical tool T, a sensor (angle sensor 8) for detecting the rotation angle of the robot arm joint, and a robot arm distal end sensor. and a fixture component (fixture device 14) located at the end (distal end 5 of robot R1).

The robot arm is passively (manually) operated, and includes jig parts (jig device 14) and peripheral equipment (microscope 11, OCT equipment such as OCT probe 12, surgical tools attached to patient 13, etc.). The parts (corresponding jig device 15) are made to correspond. Methods of handling jig parts include fitting, fixing with screws, point contact, attraction with magnets, and the like. In the robot arm, the coordinate system at the distal end (distal end 5) with the proximal end as a reference (mechanical GND) is detected using the detected joint angles. A jig component (corresponding jig device 15) is attached to the device on the peripheral side by a fixing method such as gluing, sticking, screw fixing, or the like, at an arbitrary position.

It should be noted that the effects described in this disclosure are merely examples and are not limited to the disclosed content. There may be other effects.

Although the embodiments of the present disclosure have been described above, the technical scope of the present disclosure is not limited to the embodiments described above, and various modifications are possible without departing from the gist of the present disclosure. Moreover, you may combine the component over different embodiment and modifications suitably.

Note that the present technology can also take the following configuration.
(1)
a robotic device that supports a surgical instrument to be inserted into a patient's body;
a jig device for aligning the robot device with a surrounding object of the robot device;
comprising
robot system.
(2)
The surroundings are
microscope,
OCT device,
CT equipment,
MRI equipment,
an ultrasonic device, and
comprising at least one of the patient
The robot system according to (1).
(3)
The jig device aligns the robot device by contacting a corresponding jig device fixed to the surrounding object.
The robot system according to (1) or (2).
(4)
The contact between the jig device and the corresponding jig device
contact by mating,
contact by screw fixing,
point contact, and
at least one of magnetic attraction contact;
The robot system according to (3).
(5)
Fixing the corresponding jig device to the surrounding object,
fixing by gluing,
fixing by pasting, and
including at least one of screw fixing;
The robot system according to (3) or (4).
(6)
a coordinate integration device that integrates the coordinates of the robot device and the coordinates of the surrounding object based on the result of the alignment performed by the jig device;
comprising
The robot system according to any one of (1) to (4).
(7)
The integrated coordinates are coordinates based on a reference position of the robot device,
The robot system according to (6).
(8)
The coordinate integration device also integrates the coordinates of the preoperative image data.
The robot system according to (6) or (7).
(9)
The robotic device is
a first robot including a base and a distal end;
a second robot supported by the distal end of the first robot and supporting the surgical instrument;
with
The first robot is configured to be operated by a user by directly applying force to the first robot.
The robot system according to any one of (1) to (8).
(10)
The surgical instrument is inserted into the patient's eyeball,
The robot system according to any one of (1) to (9).
(11)
aligning a robotic device that supports a surgical tool to be inserted into a patient's body with a surrounding object of the robotic device using a jig device;
Integrating the coordinates of the robotic device and the coordinates of the surrounding object based on the alignment result;
including,
Coordinate integration method.

1 Robotic System 2 Robotic Apparatus 3 Monitor 4 Base 41 Translation Mechanism 42 Counterweight 5 Distal End 51 Rotation Mechanism 6 Locking Mechanism 7 Transmission 8 Angle Sensor 9 Coordinate Integration Device 11 Microscope 12 OCT Probe 13 Patient 14 Jig Apparatus 15 Support Jig device A Assistant B Bed E Eye ball R1 Robot R2 Robot R3 Robot T Surgical tool U User TB Surgical tool table TO Pull out surgical tool

Claims

a robotic device that supports a surgical instrument to be inserted into a patient's body;
a jig device for aligning the robot device with a surrounding object of the robot device;
comprising
robot system.
The surroundings are
microscope,
OCT device,
CT equipment,
MRI equipment,
an ultrasonic device, and
comprising at least one of the patient
The robot system according to claim 1.
The jig device aligns the robot device by contacting a corresponding jig device fixed to the surrounding object.
The robot system according to claim 1.
The contact between the jig device and the corresponding jig device
contact by mating,
contact by screw fixing,
point contact, and
at least one of magnetic attraction contact;
The robot system according to claim 3.
Fixing the corresponding jig device to the surrounding object,
fixing by gluing,
fixing by pasting, and
including at least one of screw fixing;
The robot system according to claim 3.
a coordinate integration device that integrates the coordinates of the robot device and the coordinates of the surrounding object based on the result of the alignment performed by the jig device;
comprising
The robot system according to claim 1.
The integrated coordinates are coordinates based on a reference position of the robot device,
The robot system according to claim 6.
The coordinate integration device also integrates the coordinates of the preoperative image data.
The robot system according to claim 6.
The robotic device is
a first robot including a base and a distal end;
a second robot supported by the distal end of the first robot and supporting the surgical instrument;
with
The first robot is configured to be operated by a user by directly applying force to the first robot.
The robot system according to claim 1.
The surgical instrument is inserted into the patient's eyeball,
The robot system according to claim 1.
aligning a robotic device that supports a surgical tool to be inserted into a patient's body with a surrounding object of the robotic device using a jig device;
Integrating the coordinates of the robotic device and the coordinates of the surrounding object based on the alignment result;
including,
Coordinate integration method.