JP3766805B2 - Surgery support device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a surgery support apparatus, and is particularly suitable for a surgery support apparatus in which a manipulator is operated by an operation means.
[0002]
[Prior art]
As a conventional surgery support device, as shown in Japanese Patent Laid-Open No. 7-328016 (especially, description of the eighth embodiment with reference to FIGS. 27 and 28), an operation means operated by an operator, A manipulator that operates based on the operation of the means, an observation unit that observes the operation of the manipulator, a display unit that displays a manipulator image observed by the observation unit, and a control device that controls the operation of the manipulator. Observe the manipulator, and superimpose the tool coordinate system set at the tip of the manipulator in the screen of the display means, and provide the operation means with the function to move according to the coordinate axis of the tool coordinate system. Therefore, it is possible to easily operate it by various operation means while looking at the tool coordinate system displayed on the screen of the display means. There are things that you like to.
[0003]
[Problems to be solved by the invention]
In general, the posture of a patient during surgery varies depending on the individual depending on the physique, the treatment site, the affected area, and the situation around the affected area. When using a manipulator for treatment, how to position the manipulator with respect to the patient and how to approach the affected part is to avoid interference with the patient, avoid interference with surrounding organs, Since the posture is determined so as to be safe and easy to work, the arrangement and posture of the manipulator are different for each patient.
[0004]
In addition, various instruments are placed in the operating room, and many staff members often support the operation while moving around the operating room. For this reason, it is desirable that the operation means for operating the manipulator is disposed in a place where it does not interfere with the operation of the patient, other medical instruments, and medical staff in the operating room, and can be changed in accordance with the operation. It is.
[0005]
When operating the manipulator using the operating means, if the direction in which the operating means is operated deviates from the direction in which the manipulator operates, it is difficult to realize a manipulator operation that accurately reflects the operator's intention. In a situation where the direction of operation and the direction of operation change from surgery to surgery, the burden on the operator increases and it is difficult to realize safe and effective treatment.
[0006]
When operating the manipulator while confirming with the naked eye that the treatment tool equipped on the manipulator is treating, and displaying the image information on the display means using an observation means such as an endoscope to confirm the state of treatment and operation The manipulator may be operated.
[0007]
In particular, in recent years, in order to reduce the physical burden on the patient, a small incision is provided in the patient's body, and a surgical tool or endoscope is inserted from there, and the state of the affected part and the state of the surgical tool are endoscopeed. The technique of performing treatment while confirming with the image of is spreading. Similarly, in the treatment using a manipulator, an operation method in which a manipulator is inserted through a small incision portion and operated while referring to an endoscopic image is preferable in order to reduce the physical burden on the patient.
[0008]
Under these circumstances, the placement of the manipulator with respect to the patient, the relative relationship between multiple manipulators, the relative relationship between the endoscope and the manipulator, etc. are different for each patient, and the relative relationship between the manipulator and the operating means for operating it is also different. It is desirable to make it. Then, in a surgical operation support apparatus equipped with a manipulator that is operated by an operator's operation, the operation of the manipulator that accurately reflects the operator's will is observed while observing the state of the manipulator and the affected part in the image displayed on the display means. It is desirable that it can be easily realized.
[0009]
However, in the above-described prior art, it is shown that the operation unit can be operated while looking at the tool coordinate system set at the tip of the manipulator image displayed on the display unit. The tool coordinate system and the coordinate system of the operation unit are shown. Are different from each other as shown in FIG. 28 of the publication, and the manipulator image cannot be operated in accordance with the operation direction of the operation means. In other words, in the publication described in the publication, when the observation means, manipulator, operation means, display means, etc. are arbitrarily placed, the operation direction of the manipulator image displayed on the display means and the operation means are operated. No consideration has been given to matching the direction to do.
[0010]
For this reason, in the related art, there is a problem in operability in an environment where components such as an operation unit, a manipulator, and an observation unit are arbitrarily arranged.
[0012]
  The present inventionEyesThe purpose is to provide a surgical operation support device that can easily operate the operating means while looking at the display means even if the manipulator and the operating means are arranged at any place, and is excellent in safety, workability, and operability.
[0014]
Other objects and advantages of the present invention will become apparent from the following description.
[0016]
[Means for Solving the Problems]
  in frontNoteThe surgical operation support device of the present invention for achieving the objective comprises operating means operated by an operator to input an operation command;A treatment tool is provided andA manipulator that operates based on a control command, an observation unit that observes the operation of the manipulator, a display unit that displays an image of the manipulator observed by the observation unit on a screen, and measures the position and orientation of the operation unit and the manipulator In the surgical operation support apparatus comprising the position / orientation measurement means for controlling and the control device for controlling the operation of the manipulator, the control device is configured to operate the operation command input by the operation means.WhenThe operation means measured by the position and orientation measurement means,The manipulatorAnd the observation meansofRepresented in a coordinate system with the origin as the base point of each motionPosition and orientationWhenBased on the operating direction of the operating means andObserved by the observation meansDisplayed on the display meansTheManipulatorTreatment instrumentThe present invention has a configuration including a conversion unit that generates a control command for matching the moving direction of the video.
[0018]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0019]
First, the overall configuration of the surgery support apparatus of this embodiment will be described with reference to FIG. FIG. 1 is a perspective view of a surgery support apparatus showing an embodiment of the present invention.
[0020]
The surgery support apparatus includes operation means 8 and 9 that are operated by an operator to input an operation command, manipulators 3 to 5 that operate based on the control command, and observation means 6 that observes the operation of the manipulators 4 and 5. A display unit 10 that displays a manipulator image observed by the observation unit 6 on a screen, an operation unit 7 to 9 (see FIG. 2 for the operation unit 7), and a position and orientation measurement unit 14 that measures the position and orientation of the manipulators 3 to 5. And a control device 32 (see FIG. 2) for controlling the operations of the manipulators 3 to 5 and the display of the display means 10.
[0021]
An observation means 6 capable of providing image information like an endoscope is provided at the tip of the manipulator 3 and is configured as a part of the manipulator. Treatment tools 11 and 12 such as surgical tools are provided at the distal ends of the manipulators 4 and 5. The manipulators 4 and 5 are disposed so as to be able to treat the affected part of the patient 1 lying on the operating table 2. The manipulator 3 is arranged so that the state of the affected part and the state of the treatment tools 11 and 12 can be observed. In this embodiment, the manipulator 3 is disposed on the patient's head side, and the manipulators 4 and 5 are disposed on both sides of the patient.
[0022]
The console 13 is provided with operating means 8 and 9 operated by an operator, and display means 10 capable of displaying information obtained by the observation means 6 on a screen. The operation means 8 controls the operation of the manipulator 4, and the operation means 9 controls the operation of the manipulator 5. Both 8 and 9 are juxtaposed on the console 13. The display unit 10 is installed on the console 13 so as to face the operation units 8 and 9. In this embodiment, the console 13 is arranged on the patient's foot side.
[0023]
The position / orientation measurement means 14 for measuring the positions and orientations of the manipulators 3 to 5, the operation means 7 to 9 and the display means 10 are arranged at locations where measurement of the respective devices is possible. In this embodiment, the position / orientation measuring means 14 is arranged on the patient's head side. The identification means 15 which is an auxiliary component for the position / orientation measurement means 14 to measure the position / orientation of the measurement object is provided in the manipulators 3 to 5, the display means 10, and the operation means 7 to 9 which are the measurement objects. Yes. Therefore, the identification unit 15 constitutes a part of the position / orientation measurement unit.
[0024]
The tuning instruction means 21 is for instructing to transmit an operation command from the operation means 7 to 9 to the manipulator, and is arranged at a place where the operator can operate. In this embodiment, the tuning instruction means 21 using a switch is shown as an example.
[0025]
The relative arrangement relationship of each of the manipulators 3 to 5 can be arbitrarily set. The arrangement of the display means 10 and the operation means 8 and 9 on the console can be arbitrarily set, and these can also be arbitrarily set in relation to the arrangement of the manipulator. That is, the arrangement of the manipulators 3 to 5, the display unit 10, the operation units 8 and 9 and the console 13 can be freely changed.
[0026]
The position and orientation of the observation means 6 and the treatment tools 11 and 12 are controlled by the manipulators 3 to 5. The operator operates the operation means 8 and 9 while looking at the manipulators 4 and 5 displayed on the display means 10 and the treatment tools 11 and 12 at the tips thereof, and the manipulator 4 based on the instructions input to the operation means 8 and 9. 5 operates to treat the affected area. The manipulator 3 can control the position and orientation of the observation means 6 by an instruction from another operation means 7.
[0027]
Next, the control configuration of the surgery support apparatus will be described with reference to FIG. FIG. 2 is a control block diagram of the surgery support apparatus of FIG.
[0028]
The operation means 7 to 9, the tuning instruction means 21, and the position / orientation measurement means 14 are connected to the control device 32 so as to be able to transmit signals. As a result, the operation information, the tuning information, and the measurement result information are input from the operation units 7 to 9, the tuning instruction unit 21, and the position / orientation measurement unit 14 to the control device 32. Further, the manipulators 3 to 5 and the display means 10 are connected to the control device 32 so that signals can be transmitted. As a result, control information is output from the control device 32 to the manipulators 3 to 5 and the display means 10. The control device 32 is configured by a computer such as a microcomputer.
[0029]
The control program executed in the control device 32 includes a conversion matrix calculation unit 24, an operation tuning control unit 34, and a coordinate conversion unit 35. The conversion matrix calculation unit 24 is a unit that calculates a conversion matrix for calculating the motion direction from the operation direction based on the measurement result information 23 from the position and orientation measurement unit 14. The tuning control unit 34 is a means for classifying whether or not to operate the manipulators 4 and 5 in accordance with instructions from the operation means 8 and 9. The coordinate conversion unit 35 is a means for calculating the operation direction from the operation direction using the conversion matrix calculated by the conversion matrix calculation unit 24.
[0030]
The measurement result information 23 obtained from the position / orientation measurement unit 14 is input to the conversion matrix calculation unit 24, and the coordinate conversion matrix output from the conversion matrix calculation unit 24 is input to the coordinate conversion unit 35. The operation information 31 from the operation means 7 to 9 is input to the tuning control unit 34 that classifies whether or not to operate the manipulators 3 to 5, and the output from the tuning control unit 34 is input to the coordinate conversion unit 35. Control information 36 relating to the operation direction, which is output from the coordinate conversion unit 35, is input to the manipulators 4 and 5. The connection in the control device 32 is configured as an electric signal and variable passing in the control program.
[0031]
The positions and orientations of the manipulators 3 to 5, the operation means 8 and 9, and the display means 10 will be described with reference to FIGS. 1 and 3. FIG. 3 is an explanatory diagram of the coordinate system of the treatment tool and the observation means.
[0032]
The posture of each of the manipulators 3 to 5 is defined by a coordinate system ΣS17 with the position serving as the base point of the operation as the origin. The posture of the observation unit 6 is defined by a coordinate system ΣE19 in a field in the field of view observed at the tip of the observation unit 6. The postures of the operating means 7 to 9 are defined by a coordinate system ΣM20 with the origin serving as the base point of the operation. The orientation of the display means 10 is defined by a coordinate system ΣD18 with the display surface as a base point, as the orientation of the display surface of the display means 10. When there are a plurality of manipulators 3 to 5, observation means 6, operation means 7 to 9, and display means 10, each posture is defined in each coordinate system.
[0033]
The axial direction of each coordinate system is assumed as shown in FIGS. 1 and 3 in the description of the embodiment. That is, in the coordinate system ΣS, the longitudinal direction of the manipulator is defined as the ZS direction, the vertically upward direction is defined as the YS direction, and the right side facing the ZS direction is defined as the XS direction. In the coordinate system ΣM, the depth direction of the operating means is defined as the ZM direction, the vertically upward direction is defined as the YM direction, and the right side facing the ZM direction is defined as the XM direction. In the coordinate system ΣE, the longitudinal direction of the observation means 6, that is, the depth direction of the image to be photographed is defined as the ZE direction, the ZE direction is directed to the YE direction above the field of view, and the right direction of the field of view is defined as the XE direction. To do. In the coordinate system ΣD, the back of the display unit 10 is defined as the ZD direction, the top of the screen is defined as the YD direction, and the right side of the screen is defined as the XD direction. If a rotation matrix between coordinates is obtained, the result is the same, so the definition of the axial direction of the coordinate system may not be exactly the same as described above.
[0034]
The coordinate system shown in the screen of the display unit 10 in FIG. 1 indicates the direction of the coordinate system ΣE19 projected in the field of view of the observation unit 6. In this embodiment, the directions of the coordinate axes of the coordinate system ΣE19 and the coordinate system ΣD projected in the field of view coincide.
[0035]
By solving the kinematics of each of the manipulators 3 to 5, it is possible to specify the position and orientation of the observation means 6 and the treatment tools 11 and 12 equipped at the respective tips in each coordinate system ΣS. It is a general method that is usually performed to specify the position and orientation of the tip in the coordinate system ΣS of each of the manipulators 3 to 5 using kinematics.
[0036]
The motion direction and the motion amount of each degree of freedom of the manipulators 3 to 5 for operating the observation means 6 and the treatment tools 11 and 12 in a specific direction are calculated by solving the inverse kinematics of each manipulator 3 to 5. It is possible. In order to cause the manipulator tip to perform the intended motion, it is possible to calculate the motion direction and motion amount for each degree of freedom using inverse kinematics.
[0037]
The three-dimensional position and orientation in the space of each manipulator coordinate system ΣS17 can be measured by using a three-dimensional position measurement device (also called a three-dimensional motion measurement device) that is an example of the position and orientation measurement means 14. The measurement method uses a marker set having a plurality of light emitters arranged in a known pattern as a discriminating means 15 as a base point such as the coordinate origin of the manipulators 3 to 5 that do not operate even when the manipulators 3 to 5 are operated. In this method, each of the light emitters is measured from a certain position, and the position and orientation of the identification means 15 are calculated from the arrangement of the plurality of light emitters. As a result, the position and orientation of the identification means 15 can be specified, and thus the position and orientation of the manipulator coordinate system ΣS can be calculated. A reflector may be used instead of the light emitter.
[0038]
An example of attaching the identification means 15 will be described with reference to FIG. FIG. 4 is an exploded perspective view showing an example of attaching the identification means. In FIG. 4, the measurement object is described as the manipulator 3, but the other measurement objects have the same mounting configuration.
[0039]
The manipulator 3 has an equipment portion 22 for fixing the identification means 15 to a predetermined position and orientation. The identification means 15 is formed by fixing a plurality of light emitters 169 to the identification member 168. A portion sandwiched and coupled between the identification means 15 and the equipment portion 22 will be referred to as an intermediate link portion.
[0040]
A plurality of convex portions 155 are provided on the equipment portion 22 constituting a part of the manipulator 3. The coupling member 151 coupled to these is provided with a plurality of recesses 156 that fit into the projections 155. In the case where the number of the convex portions 155 and the number of the concave portions 156 is one, it is preferable that the upper, lower, left, and right are asymmetric. In the case where there are a plurality of convex portions 155 and concave portions 155, it is preferable to prevent them from being combined with the wrong sides by combining them with different shapes. Moreover, when it is the unevenness | corrugation of the same shape, the mistake at the time of a coupling | bonding can be prevented by providing three or more unevenness | corrugations and changing the distance between the uneven | corrugated groups used as a combination. As long as the position and orientation when combined are uniquely determined, the uneven shape as shown in FIG. 4 is not necessary. The coupling member 151 is fixed to the equipment portion 22 with a set screw 154 after the concave portion 56 is fitted into the convex portion 155.
[0041]
A fixing member 164 for fixing the identification means 15 is rotatably coupled to the coupling member 151. The fixing member 164 has a gear portion 163 integrally. The angle sensor 161 for measuring the rotation of the fixing member 164 is fixed to the equipment portion 22 or the coupling member 151. The angle sensor 161 has a measurement gear 162 that meshes with the gear portion 163. The fixing member 164 and the identification member 168 have a concavo-convex structure similar to the concavo-convex structure of the equipment portion 22 and the coupling member 151. That is, the fixing member 164 is provided with a plurality of convex portions 165, and the identification member 168 is provided with a concave portion 166 that matches these. In the concavo-convex structure, like the concavo-convex structure in which the equipment portion 22 and the coupling member 151 mesh with each other, it is preferable to change the shape and the distance between the pair of concavo-convex so that the position and orientation can be uniquely determined. . After the concave portion 166 of the identification member 168 of the identification means 15 is fitted to the convex portion 165 of the fixing member 164, the set screw 160 is fixed to the screw hole 158 of the identification member 168.
[0042]
Thereby, when the light emitter 169 of the identification unit 15 is shaded and difficult to measure, the direction of the identification unit 15 can be adjusted to a direction suitable for the position / orientation measurement unit 14 to measure, and the rotation angle is set to the angle. Since it can be measured by the sensor 161, the orientation of the coordinate system ΣS of the equipment unit 22, that is, the manipulator 3 can be specified based on the result measured by the position / orientation measurement unit 14 and the detection result of the angle sensor 161. This is because the position and orientation of the manipulator can always be measured even when the orientation of the identification means 15 is directed to a posture suitable for measurement, so that the degree of freedom in the arrangement of the manipulator 3 is improved.
[0043]
In the above example, the degree of freedom of the intermediate link portion has been described as the degree of freedom of rotation. However, if the posture of the identification means 15 can be adjusted and the amount of adjustment can be measured, both the degree of freedom of rotation and the degree of freedom of translation can be obtained. Alternatively, even in a configuration in which one or more of these are combined, the same effect can be expected if the identification means 15 can be adjusted to a posture that allows easy measurement from the shadow. The configuration of the degree of freedom may be determined depending on the arrangement of the devices.
[0044]
If there is no overlap between the devices, the identification means 15 may be directly fixed to the manipulator 3. In this case, if the fitting shape provided between the equipment portion 22 and the intermediate link portion is the same as the fitting shape provided between the identification means 15 and the intermediate link portion, the identification means 15 is directly connected. It is possible to freely select attachment to the equipment part 22 or attachment with the intermediate link part interposed therebetween. Since the identification means 15 and the intermediate link part are detachable, they can be removed when they are no longer needed or when they interfere with the treatment. Furthermore, when the measurement is completed, the intermediate link portion can be moved to change the direction to a place where the identification means 15 does not interfere with the treatment.
[0045]
Information from the position / orientation measurement unit 14 measured using the identification unit 15 is transmitted to the control device 32 over time (for example, periodically). The angle sensor 161 is connected to the control device 32 so as to be able to transmit signals, and information detected by the angle sensor 161 is also transmitted to the control device 32 over time (for example, periodically) in the same manner as the position and orientation measurement means 14. By connecting the position / orientation measuring means 14 or the angle sensor 161 and the control device 32 using a connector or the like, the control device and the control device 32 can be freely attached and detached, and the connector can be removed if unnecessary. Become.
[0046]
With the above-described configuration of the surgical operation support device, the relative position and orientation relationship of the manipulators 3 to 5 that are arbitrarily arranged, and the treatment means equipped at the tips of the observation means 6 and the manipulators 4 and 5 equipped on the manipulators 3. 11 and 12 can be clarified. That is, it is possible to calculate the orientation of the coordinates of each means, the axial deviation between the coordinates, and the rotation matrix that maps the coordinates.
[0047]
In addition, the relative relationship between the operation means 8 and 9 (writing the rotation matrix calculation method) and the display means 10 can be measured and clarified by the same method. It should be noted that the relative orientation between the operation means 8 and 9 and the display means 10 is measured using a position / orientation measurement means different from the position / orientation measurement means 14 that measures the position / orientation of the manipulators 3 to 5, and the manipulator Information may be input or transmitted to the control device 32 in the same manner as the position and orientation information.
[0048]
Here, the rotation matrix that maps from the coordinate system ΣM to the coordinate system ΣD is CMD (not shown), and the rotation matrix that matches the orientation of each axis of the coordinate system ΣD and the coordinate system ΣE projected on the screen of the display means 10. Is CDE (not shown), and CES (not shown) is a rotation matrix that matches the directions of the axes of the coordinate system ΣE and the coordinate system ΣS.
The operation direction performed by the operator using the operation means 8 and 9 is coordinate-converted using the rotation matrices CMD, CDE, and CES, and the operation direction in the coordinate system ΣD and the coordinate system ΣS is calculated. The operation of the display means 10 and the manipulators 4 and 5 is controlled using these calculated operation directions after coordinate conversion as control commands. However, in this embodiment, since the directions of the axes of the coordinate system ΣE and the coordinate system ΣD projected on the screen of the display means 10 coincide, the rotation matrix CDE becomes a unit matrix.
[0049]
A screen on which the direction in which the operator operates the operation means 8 and 9 by the operator is provided to the display means 10 by the control based on the method of obtaining the coordinate conversion matrix and the calculation method of the operation direction using the coordinate conversion matrix as described above. Since the operation direction of the manipulators 4 and 5 is calculated so that the treatment tools 11 and 12 are moved in that direction, the treatment tools 11 and 12 reflected in the display means 10 are converted into the movement directions in the space reflected in the space. Can be made to coincide with the direction operated by the operating means 8 and 9.
[0050]
That is, regardless of the relative relationship between the manipulators 4 and 5, the relative relationship between the manipulators 3 to 5 and the operation means 8 and 9, or the relative relationship between the treatment tools 11 and 12 and the observation means 6, the operation means 8 and 9 are displayed on the screen. If operated to move rightward, the treatment tools 11 and 12 in the screen move to the right, and if operated to the back of the screen, the treatment tools 11 and 12 in the screen move to the back of the screen. Exactly, the movement of the hand and the movement of the treatment tools 11 and 12 in the monitor are synchronized in the same direction, so that the treatment tool 11 in the screen is actually operated with the treatment tools 11 and 12 at hand. , 12 are controlled.
[0051]
The tuning control unit 34 always controls the manipulators 3 to 5 according to the operation information while receiving the tuning execution signal from the tuning instruction means 21, and after the tuning execution signal is interrupted, from the operation means 7 to 9. It is configured to stop transmission of operation information. The tuning may be turned off while the signal is input, and the tuning may be executed only while the signal input is interrupted, or the tuning may be executed every time a signal is input from the tuning instruction means 21. Control may be performed to switch whether or not. The tuning control unit 34 may be configured before or after the coordinate conversion unit 35 that calculates the operation direction of the manipulator from the operation direction using each rotation matrix.
[0052]
Next, a specific control operation will be described with reference to FIG. FIG. 5 is a flowchart showing the control operation of the surgery support apparatus.
[0053]
First, the position and orientation of the operation means 8 and 9 are periodically detected (step 40). Then, the amount of change in position and orientation from the previous detection is calculated, and the operation command (operation direction and operation amount) input to the operation means 8 and 9 is calculated (step 41). The operation direction in the coordinate system ΣM calculated at this time is called a vector M.
[0054]
Next, it is checked whether or not the execution of tuning is instructed (step 42). If this is not instructed, the process returns to step 40 and the manipulators 3 to 5 are not operated. If the execution of tuning is instructed, the coordinate transformation matrix is updated if the measurement result information 23 of the position / orientation measurement means 14 is changed (step 43).
[0055]
Next, the vector M is coordinate-transformed using the rotation matrices CMD, CDE, and CES calculated based on the latest measurement result information, and the vector D in the coordinate system ΣD and the vector S in the coordinate system ΣS are calculated (step 44). . This converts vectors indicating the same direction into values in the respective coordinate systems, and calculates the motion direction vector S of the treatment instruments 11 and 12 displayed on the display means 10 that means the same direction as the operation direction vector M. ing.
[0056]
Next, the manipulators 4 and 5 are actually operated based on the operation amounts input to the operation units 8 and 9 in consideration of parameters such as the ratio of the operation amount between the operation units 8 and 9 and the manipulators 4 and 5. The amount to be calculated is calculated (step 45).
[0057]
Finally, the display means 10 and the manipulators 4 and 5 are controlled according to the motion direction calculated so far (vector D · S in the coordinate system ΣD · ΣS) and the motion amount (step 46).
[0058]
In the calculation, not the rotation matrix determined based on the posture between the operation means 8 and 9 and the manipulators 3 and 4, but the treatments provided in the manipulators 3 and 4 displayed on the operation means 8 and 9 and the display means 10 Since the rotation matrix determined based on the posture between the tools 11 and 12 is used, the actual operation direction and the operation direction displayed on the display unit 10 are the same as viewed from the operator.
[0059]
With the above-described method, the posture between the devices can be calculated before and during the treatment, and thus the rotation matrix between the coordinates can be calculated, and the manipulators 4 and 5 in the display means 10, that is, the display The movement of the treatment tools 11 and 12 displayed on the means 10 and the direction of movement of the operation means 8 and 9 can be matched.
[0060]
According to this method, even if the arrangement of the manipulators 3 to 5 and the arrangement of the manipulators 3 to 5 and the display unit 10 are arbitrary, the coordinate system from the coordinate system ΣE to the coordinate system ΣS and the coordinate system ΣD to the coordinate system The coordinate system ΣD set in the display means 10 and the coordinate system ΣS in the operation direction of the manipulators 4 and 5 displayed on the display means 10 can be made to coincide with each other by using a matrix for coordinate conversion to ΣE. Thereby, the operation direction of the treatment instruments 11 and 12 can be shown by relative expressions such as the coordinate system ΣD on the display unit 10 and the top, bottom, left and right in the display unit 10.
[0061]
Further, the operator can arrange the manipulators 3 to 5, the relative relationship between the manipulators 3 to 5 and the operation means 8 and 9, the relative relationship between the manipulators 4 and 5 and the observation means 6, and the relative relationship between the operation means 8 and 9 and the display means 10. Using the conversion matrix calculated by the conversion matrix calculation unit 24 based on the measurement result information 23 from the position / orientation measurement unit 14 without worrying about the position / orientation between the units such as the relationship, the operation units 8 and 9 are used. And the operation direction of the images of the treatment instruments 11 and 12 displayed on the display means 10 can be matched. As a result, it is only necessary to operate the operation means 8 and 9 in the direction in which the treatment tools 11 and 12 shown in the display means 10 are to be moved as if the treatment is actually performed by one's hand. Regardless of this, high operability can be obtained.
[0062]
Furthermore, since the treatment tools 11 and 12 operate in the screen in accordance with the operation direction, fine movement can be realized as intended by the operator. Therefore, the necessary treatment can be performed accurately and quickly without damaging the surrounding normal tissue, and the therapeutic effect and the safety of the treatment are enhanced.
[0063]
Further, the manipulators 3 to 5, the observation means 6, and the operation means 8 and 9 can be arranged according to the patient's body position, the position of the affected part, the arrangement of surrounding devices, etc., without worrying about the change in operability. Therefore, the manipulators 3 to 5 and the observation means 6 can more appropriately adjust the posture of approaching the affected area to perform treatment.
[0064]
Furthermore, since the equipment unit 22 of the manipulators 3 to 5 is detachable from the identification unit 15 and the intermediate link unit, a mechanism for detecting the posture of each unit interferes with medical staff who performs treatment and surrounding medical devices. Doctors can concentrate on treatment. Further, by removing these parts, it is possible to prevent the medical staff from coming into contact with these parts and the manipulator and the observation means to move and contact the patient's body. Therefore, it is possible to provide a medical staff with an easy-to-treat environment in an operation using a manipulator.
[0065]
Moreover, since the relative relationship between the observation means 6 and the treatment tools 11 and 12 can always be calculated, the observation means 6 can be moved during the operation. In the same way as described above, even if the affected area is difficult to see behind the other organs or the treatment tools 11 and 12 during treatment, even if the posture of the observation means 6 is changed to a posture that allows easier observation. The operation direction of the manipulators 4 and 5 reflected on the display means 10 and the operation direction of the operation means 8 and 9 can be matched.
[0066]
Further, even when the information measured in advance is changed, for example, the arrangement of each means is changed while the manipulators 3 to 5 are being used, based on the new measurement result information 23 of the position and orientation measurement means 14. Since the coordinate transformation matrix between each means is updated, the manipulators 4 and 5 are always controlled so that the operation directions of the images of the treatment tools 11 and 12 displayed on the operation means 8 and 9 and the display means 10 coincide with each other. Is possible.
[0067]
Further, since the direct relative relationship between the manipulators 4 and 5 and the operation means 8 and 9 is irrelevant, even if the console 13 including the operation means 8 and 9 is moved during the operation or the direction is changed, the display is possible. The operation direction of the images of the treatment instruments 11 and 12 displayed on the means 10 and the operation direction of the operation means 8 and 9 are kept in agreement, and the console 13 can be moved arbitrarily before and during the operation. Therefore, since it is possible to always move the console 13 to a position where it is easy to arrange the balance with other medical devices, the convenience in operation is high. Further, since the operation can be continued as it is even if it is moved during the operation, the operation can be resumed quickly without the trouble of resetting the direct relative relationship between the manipulators 4 and 5 and the operation means 8 and 9.
[0068]
In addition to these, since the instruction transmission from the operation means 7-9 can be cut or connected using the tuning instruction means 21, the posture of the operation means 7-9 can be changed while the positions of the manipulators 3-5 are fixed. The manipulators 3 to 5 can be started to operate from an easy-to-operate posture by performing adjustment so as to be easy to operate and then performing tuning. Moreover, since the arrangement of the operation means 7 to 9 and the manipulators 3 to 5 is arbitrary, it is conceivable that the postures of the treatment tools 11 and 12 displayed on the display means 10 at the start of the operation and the postures of the operation means 8 and 9 are different. Therefore, when the operation is started, the tuning execution is turned off, and the treatment tools 11 and 12 displayed on the operation means 8 and 9 and the display means 10 are set to the same posture, and then a tuning execution signal is sent. When the arrangement of the apparatus is arbitrary, it becomes possible to start the operation by matching the images of the treatment tools 11 and 12 displayed on the display means 10 with the postures of the operation means 8 and 9, The operator's intention can be more accurately reflected in the treatment tools 11 and 12 more accurately, and the operability can be improved.
[0069]
Next, different mounting examples of the identification means 15 will be described with reference to FIG. FIG. 6 is a perspective view showing an example of attachment of different identification means, and corresponds to FIG. This attachment example is an example in which a plurality of degrees of freedom of rotation are coupled by a link to widen the operating range of the identification means 15.
[0070]
The coupling member 151 has the same shape as the coupling member 151 of FIG. The first extension link 170 is fixed to the coupling member 151, and the first extension link 170 and the second extension link 171 are freely combined. The combination part 172 which is an end part of the second extension link 171 is a gear, and is combined via the first angle sensor 173 fixed to the first extension link 170 and the first measurement gear 174. Yes. The other end of the second extension link 171 is rotatably combined with the fixing member 164. The fixing member 164 has a gear portion 163 as in FIG. The second angle sensor 161 is fixed to the second extension link 171 and combined with the gear portion 163 via the measurement gear 162. Identification means 15 in which a plurality of light emitters 169 are fixed to the identification member 168 is fixed to the fixing member 164 by fitting the irregularities.
[0071]
The rotation angle of the second extension link 171 can be measured by the first angle sensor 173, and the rotation angle of the identification unit 15 can be measured by the second angle sensor 161. By combining these angle information, the length of the first extension link 170 and the second extension link 171, and the position and orientation information of the identification means 15 obtained by measuring the identification means 15 with the position and orientation measurement means 14, It is possible to calculate the coordinate direction of each means equipped with the identification means 15 having the intermediate link portion shown in FIG. The extension links 170 and 171 expand the operation range of the identification unit 15, and the position and orientation of the identification unit 15 can be adjusted to a posture suitable for measurement over a wider range. Since the adjustment range of the identification means 15 is expanded, the degree of freedom of arrangement of each means is increased, and it is possible to perform an operation with an arrangement more suitable for the patient's body position and treatment.
[0072]
Next, different attachment examples of the intermediate link portion for attaching the identification means 15 will be described with reference to FIG. FIG. 7 is an exploded perspective view showing a different example of the intermediate link portion for attaching the identification means. In FIG. 7, only the intermediate link part fitted to the equipment part 22 is shown and the identification means is omitted. The identification means for fixing to the intermediate link part is the same as in FIG.
[0073]
The concave portion 179 of the equipment portion 22 and the convex portion 178 of the coupling portion 175 can be fitted together. The concave portion 179 has an asymmetric shape in the upper, lower, left, and right directions so that the angle in the rotational direction of the coupling portion 175 fitted can be uniquely determined. A coupling magnet 177 is fixed around the recess 179 and is fixed by a magnetic force to the fixed flange 176 of the coupling member 175 fitted. The depth direction is also uniquely determined at the position where the coupling magnet 177 and the fixed flange 176 are in contact with each other. As in the other examples, the coupling member 175 can couple the fixing member 164 to freely rotate, or couple the extension link 170 or the like (not shown). In addition, the rotation angle can be measured at a portion having a degree of freedom by a combination of the angle sensor 161, the measurement gear 162, and the gear portion 163, as in the previous examples. In the case of a link with translational freedom in the length direction, it is only necessary to configure the sensor to measure the distance. This can be easily realized by a method using a sensor in which a measurement wire is pulled out according to the moving distance, a translational potentiometer, an optical sensor, or the like.
[0074]
In this attachment example, since the coupling member 175 and the equipment portion 22 are coupled using magnetic force, the coupling member 175 can be more easily detached and the labor required for the identification means can be further reduced.
[0075]
As a means for specifying the three-dimensional position and orientation of the manipulators 3 to 5, an optical measurement method using a marker set has been described as a representative. However, in order to specify the three-dimensional position and orientation, A method may be used. For example, an apparatus using a magnetic sensor can be used. When the position / orientation measurement unit 14 uses a magnetic material instead of the light emitter 169 as the identification unit 15, the marker set as the identification unit 15 is an identification unit suitable for the three-dimensional position measurement apparatus to be used. A similar method can be used as long as it is a device that measures the position and orientation in the three-dimensional space using the identification means.
[0076]
Next, a different example of the position / orientation measuring means 14 will be described with reference to FIG. FIG. 8 is a perspective view for explaining a modification of the position and orientation measuring means shown in FIG. In FIG. 8, not the position / orientation measurement unit 14 using the identification unit 15 described above, but the position / orientation measurement unit 14 using a method of measuring the inclination of coordinates between apparatuses will be described.
[0077]
FIG. 8 is an example in which the manipulators are connected by one or more rotatable joints or links having a linear motion part that can translate, and a rotation matrix of coordinates between the manipulators is obtained. A case where the manipulator 3 and the manipulator 4 are combined will be described as an example.
[0078]
The first extension link 170 is fixed to the coupling member 151 that is coupled to the equipment portion 22 of the manipulator 3. The first extension link 170 and the second extension link 171 are rotatably coupled. The second extension link 171 has a gear portion 172 that is fitted to the first extension link 170 at one end, and the gear portion 172 of the angle sensor 173 fixed to the first extension link 170 is engaged with the measurement gear 174. . Thereby, the rotation angle of the second extension link 171 relative to the first extension link 170 can be measured by the angle sensor 173.
[0079]
The other end of the second extension link 171 is rotatably coupled to the third extension link 183. The third extension link 183 has, at one end, a gear portion 181 that fits with the end portion 180 of the second extension link 171, and an angle sensor 189 and a gear portion 181 that are fixed to the end portion 180 of the second extension link 171. Are combined through the measurement gear 182. Thereby, the rotation angle of the third extension link 183 relative to the second extension link 171 can be measured by the angle sensor 189.
[0080]
The other end of the third extension link 183 has a gear portion 184 that is rotatably coupled to the fourth extension link 187, and the gear portion 184 of the angle sensor 186 fixed to the fourth extension link 187 is provided. It meshes with the measurement gear 185. Thereby, the rotation angle of the third extension link 183 relative to the fourth extension link 187 can be measured by the angle sensor 186.
[0081]
At the other end of the fourth extension link 187, a coupling member 188 that is coupled to the equipment portion 22 of the manipulator 4 is fixed.
[0082]
When the manipulator 3 and the coupling member material 151 are coupled, and the manipulator 4 and the coupling member material 188 are coupled, the first extension link 170 and the second extension link according to the relative posture and the relative distance between the manipulators 3 and 4. The angle between the second extension link 171 and the third extension link 183 and the angle between the third extension link 183 and the fourth extension link 187 change. The angle values at this time can be measured by the angle sensors 173, 189, and 186. From the measurement results and the lengths of the second extension link 171 and the third extension link 183, the relative postures of the manipulators 3 and 4 can be calculated. These values are taken into the control device 32 of the manipulator, a rotation matrix between the coordinates of the manipulators 3 and 4 is calculated, and this can be used in the control.
[0083]
The position / orientation measurement means 14 using the measurement link connecting the manipulators 3 and 4 can also be detached from the manipulators 3 and 4 upon completion of the measurement, so that the position / orientation measurement means 14 does not occupy the space around the patient. can do. Further, when the arrangement of the manipulators 3 and 4 is changed again during the treatment, the position and orientation measuring means 14 using the measurement link may be coupled to the equipment unit 22 again. Even if the position / orientation measurement means 14 is coupled to the manipulators 3 and 4, if not particularly disturbing, they may be coupled as they are. Even in this case, during the treatment, when it becomes necessary to move the manipulators 3 and 4, the arrangement can be changed at any time, and the latest information on the relative posture can always be measured.
[0084]
In the position / orientation measurement means 14 using the measurement link of FIG. 8, the fifth extension link does not interfere with the third extension link from the end 180 that fixes the angle sensor 189 that is one end of the second extension link 171. It is also possible to provide a structure in which the fifth extension link is connected to another connection member via the sixth extension link in the vertical direction in the same manner as the other extension links. As a result, the number of manipulators that can be coupled at one time is increased from two to three, and the relative postures of each can be measured at one time, thereby reducing the labor of measurement during the operation. In the same manner, it is possible to increase the number of sites coupled to the manipulator 22 to three or more.
[0085]
A part of the measurement link shown in FIG. 8 that is detachable from the measurement target can be fixed to a ceiling, a surgical bed, a frame for fixing a patient, or a holder that can be carried on the floor. is there. As a result, in order to make the removed measurement link available again during the operation, it is necessary to remove it from the manipulator and move it out of the way without securing a place to store it in the clean area. It becomes easy to recombine quickly when you want to keep and use. Therefore, the apparatus can be operated quickly without obstructing the flow of surgery.
[0086]
In the description related to FIG. 8, the relative relationship between the postures of the manipulators is shown. Similarly, it is possible to measure the relative relationship between the display unit and the operation unit.
[0087]
By knowing the relative distance between the observation means 6 and the treatment tools 11 and 12, it is possible to calculate the movement amount of the manipulator on the screen of the display means 10. It is also possible to control the operation amount so as to match the operation amount of the operation means 8 and 9, and it is also possible to control the manipulator to perform the movement of the operation means 8 and 9 at a predetermined magnification. The magnification of the operation can be changed according to the surgeon's preference, the treatment situation, the technique and the treatment method, and the operability can be further improved.
[0088]
In the embodiment described above, the device equipped with the observation means 6 is also the controllable manipulator 3. However, for example, a support means that can manually adjust and fix each joint angle may be used.
[0089]
Next, an example of support means equipped with the observation means 6 will be described with reference to FIG. FIG. 9 is a perspective view showing an example of support means equipped with the observation means shown in FIG.
[0090]
The 1st support link 50 and the 2nd support link 51 are connected so that translation is possible. The second support link 51 and the third support link 53, the third support link 53 and the fourth support link 55, the fourth support link 55 and the fifth support link 57 are respectively rotatable joints 52, 54 and 56 are connected. The fifth support link 57 and the sixth support link 59 are connected via a twist joint 58 so that they can be twisted. The end portion 60 of the sixth support link 59 and the grip portion 61 are rotatably connected. The gripping part 61 can be fixed by inserting or inserting a part of the observation means 6. FIG. 9 shows a state in which the lens portion 62 of the observation means 6 is inserted into the hollow portion of the gripping portion 61 and fixed with the fixing screw 63.
[0091]
The identification means 15 is fixed to the first support link 50, and the position / orientation of the part that becomes the base point of the support means can be measured from the position / orientation measurement means 14. Each movable part is provided with an angle sensor for measuring a rotation angle and a linear sensor for measuring a translation distance, as shown in FIG. 8, and the movable amount can be measured. From the length of each support link 50, 51, 53, 55, 57 and sensor information, the posture of the observation means 6 fixed to the grasping portion 61 can be calculated.
[0092]
The number and mechanism of the degree of freedom of the support means may have a degree of freedom that seems to be optimal or minimal as appropriate according to the case, body posture, and the like.
[0093]
The observation means 6 may be held by an assistant. In this case, the direction of the coordinate system ΣE of the observation means 6 is preferably a method of detecting the posture without contact. For example, as shown in the above-described embodiment, a method of always measuring the orientation of the identification unit 15 with a three-dimensional position measurement device is used as the identification unit 15 that detects the posture. The observation means 6 is provided with an equipment portion 22 for mounting the identification means 15 in a predetermined posture, and the posture of the identification means 15 is continuously measured. Since the attachment posture of the identification unit 15 is a known posture with respect to the observation unit 6, the direction of the coordinate system ΣE can be calculated. Similarly, the identification means 15 for detecting the orientation of the coordinate system ΣS of the manipulators 4 and 5 always measures and calculates the rotation matrix between the coordinate system ΣE and the coordinate system ΣS in accordance with the change in the holding posture of the observation means 6. . The control method using the rotation matrix is performed in the same manner as described above. Thereby, even when the observation means 6 is held by a person, the manipulators 4 and 5 can be controlled so that the operation directions of the images of the treatment tools 11 and 12 displayed on the display means 10 and the operation directions of the operation means 8 and 9 are matched. It becomes.
[0094]
In the above-described embodiment, an example in which the operation direction of the operation unit is matched with the operation direction of the video of the treatment tools 11 and 12 displayed on the display unit using the rotation matrices CMD, CDE, and CES has been described. The operation direction may be coordinate-transformed using only CDE and CES. In this case, the operation direction of the operation means 8 and 9 with respect to the display means 10 is arbitrary, and the operation direction of the treatment instruments 11 and 12 displayed on the display means 10 is controlled according to the rules set in advance in the operation means. That is, when the operation is performed in the XM direction of the coordinate system ΣM fixed to the operation means 8 and 9, regardless of the relative posture relationship between the operation means 11 and 12 and the display means 10, The treatment tools 11 and 12 displayed on the display means 10 are controlled in the XD direction.
[0095]
This control operation will be described with reference to FIG. FIG. 10 is a flowchart of control operations different from those in FIG. 5 in the surgery support apparatus of FIG.
[0096]
In this control operation, the processing in step 44 is different from that in FIG. 5, and the processing for converting the direction of the display means 10, which means the operation direction, is performed. That is, as specifically shown in step 70 of FIG. 10, the motion direction indicated by the vector is coordinate-transformed using the rotation matrices CDE and CES, and the motion direction vector D · S of the treatment instrument in the coordinate system D · S is obtained. The calculation step is changed.
[0097]
When it is not possible to secure a sufficient place to arrange the operation means 8 and 9 and the display means 10 due to the balance with other devices, the display means 10 may have to be installed in an oblique direction as viewed from the operator. However, in such a case, when the operating means 8 and 9 are operated in either direction rather than making the operating direction of the operating means 8 and 9 directly coincide with the moving direction of the image of the treatment instrument 11 or 12, In some cases, the operability may be improved by controlling which of the treatment instruments 11 and 12 operates according to a preset rule.
[0098]
Coordinate conversion is performed in the relative posture between the operation means 8 and 9 and the display means 10, and the operation direction is determined between the operation means 8 and 9 and the images of the treatment tools 11 and 12 displayed on the display means 10. Whether to match the movement directions or to control the movement directions of the images of the treatment instruments 11 and 12 displayed on the display means 10 according to the rules set between the operation means 8 and 9 and the display means 10 By making it possible to switch with a switch or the like, it becomes possible to select more appropriately according to the preference of the surgeon using the operation support device or according to the situation such as the area around the console 13, and more accurately It becomes possible to realize treatment with high operability.
[0099]
Next, a modified example of the arrangement configuration of the display means and the operation means will be described with reference to FIG. FIG. 11 is a perspective view of an example in which display means and operation means are integrally arranged. In FIG. 11, two operation means 8 and 9 are arranged on the left and right sides of the display means 10, and the operation means 8 and 9 are set in advance as to which direction the operation tool displayed on the display means 10 is operated. ing.
[0100]
Operation means 8 and 9 are integrally formed with the display device 10 on the left and right sides of the display device 10. The operation means 8 and 9 are composed of a plurality of direction support buttons. When the upper button 73 is pressed, the treatment instrument 12 operates in the direction of the direction support mark 80 indicating the display means upward, and when the right button 74 is pressed, the treatment instrument 12 operates in the direction of the direction support mark 81 indicating the display means right. Then, when the lower button 75 is pressed, the treatment instrument 12 operates in the direction of the direction support mark 82 indicating the display means below, and when the left button 76 is pressed, the treatment instrument 12 is moved in the direction of the direction support mark 83 indicating the display means left. Works. When the back button 77 is pressed, the treatment instrument 12 operates in the rear direction of the display unit, and when the front button 78 is pressed, the treatment instrument 12 operates in the front direction of the display unit. When the grip button 79 is pressed, the distal end of the treatment instrument 12 is closed. Thus, using the operation means 8 and 9 that cannot perform the same operation as the treatment tools 11 and 12, the operation of the operation means 8 and 9 and the operation of the displayed treatment tools 11 and 12 that means 1 to 1 according to a predetermined rule, the treatment tools 11 and 12 displayed on the display means 10 are always the same regardless of the relative positions of the observation means 6 and the manipulators 4 and 5 arranged arbitrarily. The operability can be realized.
[0101]
According to the embodiment described above, the observation means 6 necessary for the treatment, the treatment tools 11 and 12, the display means 10 for presenting information from the observation means 6, and the operation means 8 for operating the position and orientation of the treatment tools 11 and 12. , 9 can be arranged at arbitrary positions according to the operator's wishes, and the treatment tools 11, 12 displayed on the display means 10 irrespective of the arbitrary arrangement state. It is possible to control the operation direction so as to match the operation direction of the operation means 8 and 9, and the same operability can always be obtained, and furthermore, the operation direction matches the operation direction in the screen. A more comfortable operability such as a person directly holding and operating the treatment tools 11 and 12 can be obtained. In addition, each independent means has a high degree of freedom to arrange in an optimal posture for treatment, and does not interfere with medical staff during treatment, and more work is performed in treatment using multiple manipulators. An easy environment can be provided.
[0102]
In addition, the direction of movement of the treatment instruments 11 and 12 displayed on the display means 10 can be instructed based on a predetermined correspondence regardless of the relative posture relationship between the display means 10 and the operation means 8 and 9. The operation means 8 and 9 and the display means 10 can be arranged in an arrangement that is easier for the operator to operate, and treatment can be performed. Therefore, it is possible to operate the treatment tools 11 and 12 with the same operability even when the operation is performed while viewing the screen at an angle or when the operation means 8 and 9 are operated in front due to the circumstances of the operator. Therefore, the operation of the operation means 8 and 9 and the operation of the treatment tools 11 and 12 with respect to the display means 10 are always kept the same. This makes it easy for the operator to get used to the operation, and enables treatment that accurately reflects the will for the treatment operation more accurately.
[0103]
As described above, since an environment in which the will can be more easily reflected can be provided, it is possible to improve the accuracy and precision of the treatment, and thus improve the treatment effect and reduce the invasiveness.
[0104]
In summary, the following matters are disclosed regarding the configuration according to the present invention.
[0105]
Direction and display for operating the operation means in an environment in which observation means such as an endoscope arranged arbitrarily, a manipulator having a treatment instrument, display means such as a monitor, and operation means for operating the manipulator are arbitrarily arranged It is set as the structure which controls so that the treatment tool reflected in a means may correspond to the moving direction.
[0106]
In addition, the operation direction of the operation unit and the moving direction of the treatment tool reflected on the display unit are configured to coincide with each other with a preset correspondence relationship.
[0107]
Further, the observation means held by the holding means and the manipulator observed by the observation means independent from the holding means holding the observation means are detachably attachable to the observation means and the identification means capable of measuring the attitude of the manipulator. Equipped with this, the rotation matrix that matches the attitude between the observation means and the manipulator obtained by measuring the attitude of the observation means and the manipulator through the identification means is calculated, and the rotation matrix is calculated in the operation direction input to the operation means. It is set as the structure which has a control system which operates a manipulator in the direction converted using.
[0108]
Furthermore, between the identification means and the observation means or manipulator, there is one or more degrees of freedom, and a displacement measuring means for measuring the displacement of the degrees of freedom, and a position and orientation obtained by solving the identification means A control system that calculates a rotation matrix that matches the posture between the observation means or the manipulator from the measurement amount of the displacement amount measurement means, and operates the manipulator in the direction converted using the rotation matrix into the operation direction input to the operation means It is set as the structure which has.
[0109]
Furthermore, the rotation matrix is recalculated periodically or when the arrangement of the holding means or the display means or the operation means for holding the manipulator or the observation means is changed, and the recalculated rotation matrix is used to recalculate the manipulator. A configuration is provided that includes a control device that calculates an operation direction.
[0110]
Furthermore, a coordinate transformation matrix relating the coordinate system of the manipulator and the coordinate system at the tip of the observation means, a coordinate transformation matrix relating the coordinate system of the observation means and the coordinate system fixed to the display means, and fixed to the display means The coordinate system is configured to have a coordinate conversion matrix that associates the coordinate system that is fixed with the coordinate system that is fixed to the operation means, and sequentially controls the operation instructions input by the operation to obtain the operation direction and the operation amount of the manipulator.
[0111]
Furthermore, the coordinate system of the treatment tool at the tip of the manipulator, the coordinate transformation matrix that relates the coordinate system of the observation means that observes the manipulator, and the coordinate that associates the coordinate system of the tip of the observation means and the coordinate system fixed to the display means The transformation matrix, the coordinate system fixed to the display means, and the coordinate system fixed to the gripping part of the operation means have a preset correspondence relationship, and the operation instructions input by the operation are converted between the display means and the observation means. The coordinate control is performed by sequentially converting the matrix, the coordinate conversion matrix between the observation means, and the treatment tool so as to obtain the movement direction and movement amount of the manipulator tip.
[0112]
Further, the posture of the manipulator equipped with the treatment tool is provided with position / orientation measurement means for measuring the posture of the treatment tool at the tip of the manipulator, the posture of the observation means for observing the tip of the manipulator, the posture of the display means, and the posture of the operation means. A deviation of the relative posture between the posture of the manipulator equipped with the means, an axis perpendicular to the lens of the observation means, and an axis perpendicular to the display surface of the display means in the posture of the observation means and the posture of the display means Is calculated from the deviation between the two axes in the plane horizontal to the lens and the two axes in the plane horizontal to the display means screen, and the deviation in the attitude of the display means and the gripping portion of the operation means. The surgical operation support apparatus in which the manipulator operates according to the value obtained by converting the operation direction performed by the operation means using the coordinate conversion matrix is used.
[0113]
Furthermore, when measuring the attitude of the manipulator, display means, and operation means using the position / orientation measurement means, measurement is performed so that the identification means attached to the measurement object can be detachably fixed to a predetermined position and orientation of the measurement object. A configuration is used in which an equipment part having an asymmetrical unevenness is used as a target, and an identification means having unevenness that can uniquely determine the position and orientation. And it is set as the structure which provides the extension link which has one or more degrees of freedom between an equipment part and an identification means.
[0114]
Furthermore, it is a measurement link that has a plurality of joints that are detachable, has a coupling means composed of irregularities that can uniquely determine the position and orientation with respect to the measurement target, and has a sensor for measuring the movement amount of each joint. The measurement objects are configured to be detachably coupled.
[0116]
【The invention's effect】
  BookAccording to the invention, even if the manipulator and the operation means are arranged at arbitrary places, the operation means can be easily operated while viewing the display means, and a surgical operation support apparatus excellent in safety, workability, and operability can be obtained. .
[Brief description of the drawings]
FIG. 1 is a perspective view of a surgery support apparatus showing an embodiment of the present invention.
FIG. 2 is a control block diagram of the surgery support apparatus in FIG. 1;
3 is an explanatory diagram of a coordinate system of the treatment tool and the observation means of the surgery support apparatus in FIG. 1. FIG.
4 is an exploded perspective view showing an example of attaching identification means of the surgery support apparatus of FIG. 1. FIG.
FIG. 5 is a flowchart showing a control operation of the surgery support apparatus in FIG. 1;
6 is a perspective view showing a different example of attachment of the identification means of the surgery support apparatus of FIG. 1. FIG.
7 is an exploded perspective view showing a different example of the intermediate link portion for attaching the identification means of the surgery support apparatus of FIG. 1. FIG.
FIG. 8 is a perspective view for explaining a modified example of the position and orientation measuring means shown in FIG. 1;
9 is a perspective view showing an example of support means equipped with the observation means shown in FIG. 1. FIG.
10 is a flowchart of a control operation different from FIG. 5 in the surgery support apparatus of FIG.
FIG. 11 is a perspective view of a modified example of the display unit and the operation unit shown in FIG.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Patient, 2 ... Surgical bed, 3-5 ... Manipulator, 6 ... Observation means, 8 ... Operation means, 9 ... Operation means, 10 ... Display means, 11, 12 ... Treatment tool, 13 ... Console, 14 ... Position Attitude measurement means, 15 ... identification means (marker set), 17 ... coordinate system of manipulator, 18 ... coordinate system of display means, 19 ... coordinate system of observation means, 20 ... coordinate system of operation means, 21 ... tuning instruction means, DESCRIPTION OF SYMBOLS 22 ... Equipment part, 25 ... Coordinate system of manipulator projected on treatment tool, 26 ... Coordinate system of observation means projected on treatment tool, 32 ... Control apparatus.

Claims (2)

Operation means operated by an operator to input an operation command;
A manipulator provided with a treatment tool and operating based on a control command;
Observation means for observing the operation of the manipulator;
Display means for displaying an image of the manipulator observed by the observation means on a screen;
Position and orientation measurement means for measuring the position and orientation of the operation means and the manipulator;
In a surgery support device comprising a control device for controlling the operation of the manipulator,
The control device has a coordinate system in which an origin is a position serving as a base point of each operation of the operation means , the manipulator and the observation means measured by the operation command input by the operation means and the position and orientation measurement means. based on the position and orientation representing a conversion unit for generating a control command to match the operation direction of the operation direction and the image of the treatment instrument manipulator displayed on the display means is observed by the observation means of said operating means A surgical operation support device comprising: Oite to claim 1, wherein the control device has a coordinate transformation matrix for matching the orientation of the viewing means for observing said manipulator on the attitude of the manipulator observed in the observation means, is input to the operation unit operation An operation support apparatus comprising: a calculation unit that calculates an operation direction of a treatment tool of a manipulator observed by the observation unit from a direction and the coordinate transformation matrix.

Images