CN101554335B - 医疗用机械手系统 - Google Patents
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Abstract
本发明提供一种医疗用机械手系统，该系统具有：医疗用器具，其具有能插通到细长管路的内部的形状，并且设有一个或多个弯曲部；弯曲用致动器，其提供用于使弯曲部弯曲的驱动力；致动器控制部，其用于控制弯曲用致动器；检测部，其设在管路的内部，在检测出弯曲部通过时输出检测信号；以及运算部，其根据在被输入了检测信号时检测出的弯曲用致动器的动作量，进行用于使通过了检测部的弯曲部的弯曲状态与操作部的操作状态匹配的运算，所述操作部能够进行用于使弯曲部弯曲的操作。
Description
技术领域
本发明涉及医疗用机械手系统，特别是涉及在进行对活体内的各种器官的处置时使用的医疗用机械手系统。
背景技术
内窥镜以往在工业领域和医疗领域等中广泛使用。特别是，医疗领域中的内窥镜主要在进行对活体内的各种器官的观察和处置等时使用。
另一方面，在使用所述的内窥镜来进行对活体内的各种器官的处置时，一并使用具有与该内窥镜的形状对应的例如细长形状的钳子等处置工具。
而且，作为所述的处置工具中用于更容易向成为处置对象的活体内的期望部位接近的处置工具，例如提出了日本国特开平8-224248号公报记载的医疗用机械手，该医疗用机械手在该处置工具的前端部的多个部位具有能弯曲的弯曲部，并能根据控制器的操作使该弯曲部各方的弯曲状态变化。
日本国特开平8-224248号公报记载的医疗用机械手具有从动侧机械手和作为控制器的主动侧机械手，该从动侧机械手在设于前端部的把持钳子的各臂的长度方向的两个部位具有弯曲部，并且该医疗用机械手具有能根据该主动侧机械手的操作使该从动侧机械手的各弯曲部的弯曲状态变化的结构。
日本国特开平8-224248号公报记载的医疗用机械手在将从动侧机械手与内窥镜一起插通到套管的内部之后，使该从动侧机械手的把持钳子(和该内窥镜的前端部)从该套管的前端侧突出的同时来使用。
因此，在日本国特开平8-224248号公报记载的医疗用机械手中，用于使把持钳子(的各臂)的弯曲状态与根据主动侧机械手的操作状态而由手术者识别的该把持钳子(的各臂)的弯曲状态匹配的初始化处理必须在对期望部位的处置前预先执行，结果，产生对该期望部位的处置所花的时间延长的课题。
发明内容
本发明是鉴于上述情况而作成的，本发明的目的是提供一种能比以往缩短对期望部位的处置所花的时间的医疗用机械手系统。
本发明中的医疗用机械手系统的特征在于，该医疗用机械手系统具有：医疗用器具，其具有能插通到细长管路的内部的形状，并且设有一个或多个弯曲部；弯曲用致动器，其提供用于使所述弯曲部弯曲的驱动力；致动器控制部，其用于控制所述弯曲用致动器；检测部，其设在所述管路的内部，在检测出所述弯曲部通过时输出检测信号；以及运算部，其在被输入了所述检测信号时，检测所述弯曲用致动器的动作量，并根据该动作量进行用于使所述弯曲部的弯曲状态与操作部的操作状态匹配的运算，所述操作部能够进行用于使所述弯曲部弯曲的操作。
本发明中的医疗用机械手系统的特征在于，该医疗用机械手系统具有：医疗用器具，其具有能插通到细长管路的内部的形状，并且设有一个或多个弯曲部；弯曲用致动器，其提供用于使所述弯曲部弯曲的驱动力；插入用致动器，其提供用于将所述医疗用器具插通到所述管路的内部时的驱动力；致动器控制部，其用于控制所述弯曲用致动器和所述插入用致动器；以及运算部，其在所述医疗用器具被所述插入用致动器插通到所述管路内规定量时，检测所述弯曲用致动器的动作量，并根据该动作量进行用于使所述弯曲部的弯曲状态与操作部的操作状态匹配的运算，所述操作部能够进行用于使所述弯曲部弯曲的操作。
本发明中的医疗用机械手系统的特征在于，该医疗用机械手系统具有：医疗用器具，其具有能插通到细长管路的内部的形状，并且设有一个或多个弯曲部；弯曲用致动器，其借助金属丝与所述弯曲部连接，经由该金属丝提供用于使所述弯曲部弯曲的驱动力；检测部，其设在所述管路的内部，在检测出所述弯曲部通过时输出检测信号；致动器控制部，其在被输入了所述检测信号时，进行使所述弯曲用致动器驱动直到所述金属丝无松弛为止的控制；以及运算部，其检测伴随所述致动器控制部的控制的所述弯曲用致动器的驱动量，并根据该驱动量进行用于使通过了所述检测部的所述弯曲部的弯曲状态与操作部的操作状态匹配的运算，所述操作部能够进行用于使所述弯曲部弯曲的操作。
本发明中的医疗用机械手系统的特征在于，该医疗用机械手系统具有：医疗用器具，其具有能插通到细长管路的内部的形状，并且设有一个或多个弯曲部；插入用致动器，其提供在将所述医疗用器具插通到所述管路的内部时的驱动力；弯曲用致动器，其借助金属丝与所述弯曲部连接，经由该金属丝提供用于使所述弯曲部弯曲的驱动力；致动器控制部，其控制所述插入用致动器，并在所述医疗用器具被所述插入用致动器插通到所述管路内规定量时，进行使所述弯曲用致动器驱动直到所述金属丝无松弛为止的控制；以及运算部，其在所述医疗用器具被所述插入用致动器插通到所述管路内所述规定量时，检测伴随所述致动器控制部的控制的所述弯曲用致动器的动作量，并根据该动作量进行用于使通过了所述检测部的所述弯曲部的弯曲状态与操作部的操作状态匹配的运算，所述操作部能够进行用于使所述弯曲部弯曲的操作。
本发明中的医疗用机械手系统的特征在于，该医疗用机械手系统具有：管状的医疗器具，其具有挠性部，该挠性部具有能插通到管腔内的直径，并具有能弯曲的挠性；管路，其偏心于所述医疗器具的中心轴来延设；金属丝，其能进退地插通到所述管路内；被动作部，其伴随所述金属丝的进退而被动作，用于观察或处置；第1检测部，其检测伴随所述挠性部的弯曲而产生的金属丝相对于所述管路的相对移动量；第2检测部，其检测所述医疗器具被插通到所述管腔内的情况；以及控制部，其能根据所述第1检测部和所述第2检测部的检测结果，在所述移动量减少的方向上控制所述金属丝的进退动作。
附图说明
图1是示出本发明的实施方式的医疗用机械手系统的要部结构的一例的图。
图2是示出图1的内窥镜中的前端部的前端面结构的一例的图。
图3是示出在将从动侧机械手的机械手臂部插通到设在内窥镜内的处置工具通道内时的状况的图。
图4是示出在取得第1电动机旋转量(旋转角度)涉及的信息时的弯曲部的弯曲状态的一例的图。
图5是示出在取得第2电动机旋转量(旋转角度)涉及的信息时的弯曲部的弯曲状态的一例的图。
图6是示出在从动侧机械手的机械手臂部从处置工具突出口突出时的状况的图。
图7是示出在将传感器设在处置工具插入口的入口附近的情况下的一例的图。
图8是示出在图1的医疗用机械手系统中应用了处置工具插通装置的情况下的要部结构的一例的图。
图9是示出本发明的实施方式的第1变形例的医疗用机械手系统的要部结构的一例的图。
图10是示出本发明的实施方式的第2变形例的医疗用机械手系统的要部结构的一例的图。
图11是示出本发明的实施方式的第3变形例的医疗用机械手系统的要部结构的一例的图。
图12是示出本发明的实施方式的第4变形例的医疗用机械手系统的要部结构的一例的图。
图13是示出本发明的实施方式的第5变形例的医疗用机械手系统的要部结构的一例的图。
具体实施方式
以下，参照附图说明本发明的实施方式。
图1至图13涉及本发明的实施方式。图1是示出本发明的实施方式的医疗用机械手系统的要部结构的一例的图。图2是示出图1的内窥镜中的前端部的前端面结构的一例的图。图3是示出在将从动侧机械手的机械手臂部插通到设在内窥镜内的处置工具通道内时的状况的图。图4是示出在取得第1电动机旋转量(旋转角度)涉及的信息时的弯曲部的弯曲状态的一例的图。图5是示出在取得第2电动机旋转量(旋转角度)涉及的信息时的弯曲部的弯曲状态的一例的图。图6是示出在从动侧机械手的机械手臂部从处置工具突出口突出时的状况的图。
图7是示出在将传感器设在处置工具插入口的入口附近的情况下的一例的图。图8是示出在图1的医疗用机械手系统中应用了处置工具插通装置的情况下的要部结构的一例的图。图9是示出本发明的实施方式的第1变形例的医疗用机械手系统的要部结构的一例的图。图10是示出本发明的实施方式的第2变形例的医疗用机械手系统的要部结构的一例的图。图11是示出本发明的实施方式的第3变形例的医疗用机械手系统的要部结构的一例的图。图12是示出本发明的实施方式的第4变形例的医疗用机械手系统的要部结构的一例的图。图13是示出本发明的实施方式的第5变形例的医疗用机械手系统的要部结构的一例的图。
如图1所示，医疗用机械手系统1构成为具有以下要部，即：插入到活体内的内窥镜2、处理器3、监视器4、从动侧机械手5、主动侧机械手6、以及机械手控制装置7。
内窥镜2具有：插入部11，其具有能向活体内插入的形状和尺寸；操作部12，其具有在插入部11的基端侧连设的内窥镜把持部12a；以及通用连接缆13，其一端侧从操作部12的侧面延设，并且其另一端侧与处理器3自由拆装地连接。
在插入部11上连设有：设在前端侧的前端部21、设在前端部21的后部的自由弯曲的弯曲部22、以及设在弯曲部22的后部的细长且软性的挠性管部23。
尽管在图1等中作了省略，然而在前端部21的前端面上，如图2所示设有：使被摄体的像成像的物镜光学系统21a、与作为插通到插入部 11内的管路的处置工具通道的前端侧连通的处置工具突出口21b、以及用于射出从未作图示的光源提供的照明光的照明光学系统21c。
另外，假定在前端部21中内置有未作图示的摄像元件，该摄像元件拍摄由物镜光学系统21a所成像的该被摄体的像，并作为摄像信号进行输出。并且，假定前端部21例如由塑料等的比较硬质的部件形成。
例如如图3所示，插入部11的处置工具通道11a具有能插通从动侧机械手5的机械手臂部51的形状。并且，如图3所示，在前端部21的内部设有作为检测部的传感器21d和传感器21e，这些传感器能检测出在后述的初始化开关62a接通的情况下机械手臂部51的各部已通过。
在操作部12内设有弯曲操作部24等，该弯曲操作部24具有：进行弯曲部22的弯曲操作的弯曲操作旋钮24a、以及用于将弯曲操作旋钮24a固定在期望的旋转位置的固定杆24b。而且，在操作部12内设有与插入部11内部的处置工具通道的基端侧连通的处置工具插入口12b。
处理器3通过对经过通用连接缆13输出的摄像信号实施信号处理，一边转换成影像信号一边进行输出。并且，处理器3具有能对内窥镜2与机械手控制装置7之间的通信起中介作用的结构。
作为医疗用器具的从动侧机械手5构成为具有：机械手臂部51，其具有这样的形状，即：在从处置工具插入口12b插入后，经过插入部11内部的处置工具通道从处置工具突出口21b突出；以及机械手驱动部52，其设在机械手臂部51的基端侧，根据机械手控制装置7的控制来驱动机械手臂部51。
机械手臂部51构成为具有能插通到插入部11内部的处置工具通道的内部的细长形状，并具有把持钳子51a和弯曲部51b。
并且，机械手驱动部52构成为具有：通过旋转产生驱动力的电动机52a、以及将在电动机52a中产生的驱动力传递到机械手臂部51的各部的一对金属丝52b。
设在机械手臂部51的前端侧的把持钳子51a具有这样的结构，即：通过将一对金属丝52b所传递的驱动力转换成把持力，能夹紧对象物。
设在机械手臂部51的途中的弯曲部51b构成为具有未作图示的弯曲 块，该弯曲块能根据一对金属丝52b所传递的驱动力，朝图1的D1方向(第1方向)和D2方向(第2方向)转动。
作为弯曲用致动器的电动机52a通过根据机械手控制装置7的控制进行旋转，产生用于使机械手臂部51的各部驱动的驱动力。并且，电动机52a经由未作图示的编码器，将自身的旋转量(旋转角度)相关信息输出到机械手控制装置7。
主动侧机械手6构成为具有：可动部61，其能通过与机械手臂部51的各部连动进行操作；以及主动侧控制部62，其设在可动部61的基端侧，在随时监视可动部61的操作状态的同时，将该操作状态输出到机械手控制装置7。
可动部61构成为具有：钳子操作部61a，其设在可动部61的前端侧，能通过与把持钳子51a连动进行操作；以及弯曲操作部61b，其设在可动部61的途中，能通过与弯曲部51b连动进行操作。
并且，主动侧控制部62在外装表面上具有初始化开关62a，该初始化开关62a进行用于执行从动侧机械手5的初始化处理的指示。
机械手控制装置7构成为具有：进行各种运算处理的运算部71、电动机控制部72、以及能存储各种数据和运算结果等的存储部73。
作为致动器控制部的电动机控制部72通过根据从主动侧控制部62随时输出的可动部61的操作状态控制电动机52a，使机械手臂部51的各部与该操作状态连动。
这里，对本实施方式的医疗用机械手系统1的作用进行说明。
首先，手术者在使医疗用机械手系统1的各部处于起动状态之后，在观察显示在监视器4上的图像的同时，进行插入部11的插入操作，以使前端部21到达期望的处置对象部位。
然后，手术者根据显示在监视器4上的图像确认前端部21到达了期望的处置对象部位时，使初始化开关62a接通，之后例如如图3所示，将机械手臂部51的把持钳子51a和弯曲部51b依次插通到插入部11内部的处置工具通道11a内。
另一方面，当初始化开关62a接通时，主动侧控制部62使可动部61 变形为沿着中心轴的直线形状，并进行用于使可动部61的各部暂时不可动(不能操作)的控制，以使初始化处理中的对可动部61的操作无效。并且，当初始化开关62a接通时，在传感器21d中开始检测机械手臂部51的各部是否通过了处置工具通道11a中的前端部21的基端侧。而且，当初始化开关62a接通时，在传感器21e中开始检测机械手臂部51的各部是否通过了处置工具通道11a中的前端部21的前端侧。
传感器21d在检测出机械手臂部51的弯曲部51b通过了处置工具通道11a中的前端部21的基端侧时，输出检测信号。
从传感器21d所输出的检测信号经过设在内窥镜2的内部的未作图示的信号线、通用连接缆13以及处理器3被输入到机械手控制装置7。
机械手控制装置7的电动机控制部72根据来自传感器21d的检测信号，对机械手驱动部52进行用于获得从动侧机械手5的初始化处理所需要的信息的控制。
具体地说，电动机控制部72通过对电动机52a的控制，使弯曲部51b的未作图示的弯曲块朝图1的D1方向(第1方向)转动，直到一对金属丝52b中没有松弛为止。在该情况下，例如如图4所示，弯曲部51b相对于机械手臂部51的长度方向的中心轴弯曲角度α。伴随于此，作为与所述角度α相当的电动机52a的旋转量(旋转角度)的第1电动机旋转量(旋转角度)涉及的信息经由未作图示的编码器被输出，之后被存储在机械手控制装置7的存储部73内。
并且，电动机控制部72在检测出所述第1电动机旋转量(旋转角度)涉及的信息被存储在存储部73内时，通过对电动机52a的控制，使弯曲部51b的未作图示的弯曲块朝图1的D2方向(第2方向)转动，直到一对金属丝52b中没有松弛为止。在该情况下，例如如图5所示，弯曲部51b相对于机械手臂部51的长度方向的中心轴弯曲角度β。伴随于此，作为与所述角度β相当的电动机52a的旋转量(旋转角度)的第2电动机旋转量(旋转角度)涉及的信息经由未作图示的编码器被输出，之后被存储在机械手控制装置7的存储部73内。
另外，假定所述的第1电动机旋转量(旋转角度)涉及的信息和第 2电动机旋转量(旋转角度)涉及的信息例如是把在使从处置工具通道11a抽出的状态的机械手臂部51垂直下垂的情况下的电动机52a的旋转量(旋转角度)作为0而得到的值。
另一方面，机械手控制装置7的运算部71根据存储在存储部73内的第1电动机旋转量(旋转角度)涉及的信息和第2电动机旋转量(旋转角度)涉及的信息，通过将该第1电动机旋转量(旋转角度)和该第2电动机旋转量(旋转角度)相加后的值除以2，计算出作为根据弯曲部22的弯曲状态而设定的电动机52a的旋转量的基准电动机旋转量(旋转角度)，之后将该基准电动机旋转量存储在存储部73内。另外，所述基准电动机旋转量例如可以作为一对金属丝52b相对于插通有该一对金属丝52b的未作图示的管路的相对移动量的值来捕获。
并且，机械手控制装置7的运算部71根据存储在存储部73内的第1电动机旋转量(旋转角度)涉及的信息和第2电动机旋转量(旋转角度)涉及的信息，通过对从该第1电动机旋转量(旋转角度)减去该第2电动机旋转量(旋转角度)后的值取绝对值，计算出作为根据一对金属丝52b的松弛状态而设定的电动机52a的旋转量的校正电动机旋转量，之后将该校正电动机旋转量存储在存储部73内。
电动机控制部72在使用存储于存储部73内的基准电动机旋转量和校正电动机旋转量的同时，进行用于调整在弯曲部51b从处置工具突出口21b突出时的电动机52a的旋转量的控制，来作为初始化处理。
作为一例进行描述，电动机控制部72在弯曲部51b从处置工具突出口21b突出之前，根据所述的基准电动机旋转量，变更成为弯曲部51b的转动中心的电动机52a的旋转量(旋转角度)的设定，使电动机52a旋转成使该弯曲部51b处于直线状态。换句话说，电动机控制部72使电动机52a朝减少如下的相对移动量的方向旋转，该相对移动量是在将弯曲部51b插通到弯曲的处置工具通道11a内时产生的、一对金属丝52b相对于插通有该一对金属丝52b的未作图示的管路的相对移动量。
另外，假定所述初始化处理是在表示弯曲部51b通过了处置工具通道11a中的前端部21的前端侧的来自传感器21e的检测信号刚刚被输入 到电动机控制部72后的定时进行的。
通过所述初始化处理，例如如图6所示，弯曲部51b在取沿着机械手臂部51的中心轴的直线形状的同时(处于在任一方向都不弯曲的状态)，从处置工具突出口21b突出。即，通过在初始化开关62a接通中进行的所述初始化处理，可实现在弯曲部51b从处置工具突出口21b突出时的机械手臂部51的弯曲状态与可动部61的弯曲状态的匹配。
另外，在本实施方式中，不限于在前端部21的基端侧具有传感器21d、以及在前端部的前端侧具有传感器21e，例如如图7所示，也可以在由与前端部21大致相同的比较硬质的部件形成的处置工具插入口12b的入口附近具有传感器21d，以及在处置工具插入口12b与处置工具通道11a汇合的部位附近具有传感器21e。
并且，在医疗用机械手系统1中，不限于电动机52a和弯曲部51b经由一对金属丝52b连接，例如可以将作为伺服电动机而构成的电动机52a装入到弯曲部51b内。
在该情况下，运算部71检测在大致刚刚被输入了来自传感器21d的检测信号后的电动机52a的旋转量，根据该旋转量进行使弯曲部51b具有直线形状所需要的电动机52a的旋转量的运算。然后，在大致刚刚被输入了来自传感器21e的检测信号后，电动机控制部72通过对电动机52a进行基于所述旋转量的初始化处理，可获取在弯曲部51b从处置工具突出口21b突出时的机械手臂部51的弯曲状态与可动部61的弯曲状态的匹配。
如以上所述，本实施方式的医疗用机械手系统1具有这样的结构和作用，即：在将机械手臂部51插通到处置工具通道11a内期间，能进行用于获取从动侧机械手5和主动侧机械手6中的弯曲状态的匹配的初始化处理。因此，本实施方式的医疗用机械手系统1可比以往缩短对期望部位的处置所花的时间。
另外，本实施方式的医疗用机械手系统1不限于使用传感器21d和传感器21e检测从动侧机械手5的插通状态，例如如图8所示，可以构成为能使用处置工具插通装置12c检测该插通状态的医疗用机械手系统 101。
医疗用机械手系统101具有与在医疗用机械手系统1中将处置工具插通装置12c安装在处置工具插入口12b的附近、以及在医疗用机械手系统1中去除了传感器21d和传感器21e(图8未作图示)的结构大致相同的结构。
具有作为插入用致动器的功能的处置工具插通装置12c在内部具有未作图示的电动机和驱动用辊等，该电动机和驱动用辊根据电动机控制部72的控制进行动作，能提供在将从处置工具插入口12b所插入的从动侧机械手5插通到处置工具通道11a的内部时的驱动力。并且，处置工具插通装置12c根据所述未作图示的电动机的旋转量检测从动侧机械手5在处置工具通道11a的内部中的插通量，将作为检测结果的该插通量信息随时输出到机械手控制装置7。
这里，对医疗用机械手系统101的作用进行说明。另外，为使说明简单，假定对于与已述内容相同的部分，在适当省略的同时进行以下说明。
当初始化开关62a接通时，运算部71根据从处置工具插通装置12c输出的插通量信息，开始监视该插通量。然后，运算部71在检测出所述插通量达到规定量(例如能到达前端部21的量)时，将检测结果输出到电动机控制部72。
然后，电动机控制部72进行所述的控制，从而将第1电动机旋转量和第2电动机旋转量存储在存储部73内。
另一方面，运算部71在根据第1电动机旋转量和第2电动机旋转量计算出基准电动机旋转量和校正电动机旋转量之后，将该基准电动机旋转量和该校正电动机旋转量存储在存储部73内。另外，用于计算基准电动机旋转量和校正电动机旋转量的运算方法与所述的运算方法相同。
电动机控制部72在使用存储于存储部73内的基准电动机旋转量和校正电动机旋转量的同时，进行用于调整在弯曲部51b从处置工具突出口21b突出时的电动机52a的旋转量的控制来作为初始化处理。
另外，假定医疗用机械手系统101中的初始化处理是在初始化开关 62a接通之后，在运算部71大致刚刚检测出从动侧机械手5的插入量达到规定量后的定时进行的。
并且，在医疗用机械手系统101中，不限于电动机52a和弯曲部51b经由一对金属丝52b连接，例如可以将作为伺服电动机而构成的电动机52a装入到弯曲部51b内。
在该情况下，运算部71检测在从动侧机械手5的插通量大致刚刚达到规定量后的电动机52a的旋转量，根据该旋转量进行使弯曲部51b具有直线形状所需要的电动机52a的旋转量的运算。之后，电动机控制部72对电动机52a进行基于所述旋转量的初始化处理，从而可获取在弯曲部51b从处置工具突出口21b突出时的机械手臂部51的弯曲状态与可动部61的弯曲状态的匹配。
然后，根据以上所述的医疗用机械手系统101的结构和作用，(即使不使用传感器21d和传感器21e，也)能从处置工具插通装置12c取得从动侧机械手5的插通状态(插通量)。因此，医疗用机械手系统101可取得与所述的医疗用机械手系统1相同的效果。
这里，对在本实施方式中能应用的各种变形例进行说明。另外，以下，对于作为医疗用机械手系统1的结构或作用而已述的部分，在适当省略的同时进行说明。
本实施方式的医疗用机械手系统1不限于构成为具有仅在一个部位设有弯曲部51b的从动侧机械手5，例如如图9所示，可以构成为具有在多个部位设有弯曲部51b的从动侧机械手5A的医疗用机械手系统1A。
具体地说，作为本实施方式的第1变形例的医疗用机械手系统1A构成为具有以下要部，即：内窥镜2、处理器3、监视器4、从动侧机械手5A、主动侧机械手6A、以及机械手控制装置7。
从动侧机械手5A构成为具有机械手臂部51A和机械手驱动部52，并在机械手臂部51A的途中的多个部位设有弯曲部51b。(另外，图9中示出各弯曲部51b中的仅两个，即：设在机械手臂部51A中最前端侧的弯曲部，以及设在机械手臂部51A中最基端侧的弯曲部。)
并且，主动侧机械手6A构成为具有可动部61A和主动侧控制部62， 并在可动部61A的途中的多个部位设有弯曲操作部61b。(另外，图9中示出各弯曲操作部61b中的仅两个，即：设在可动部61A中最前端侧的弯曲操作部，以及设在可动部61A中最基端侧的弯曲操作部。)
然后，在医疗用机械手系统1A中，针对各弯曲部51b依次进行与在弯曲部51b是一个的情况下的初始化处理相同的处理。
具体地说，每当一个弯曲部51b通过处置工具通道11a中的前端部21时，就取得与该一个弯曲部51b对应的第1电动机旋转量(旋转角度)涉及的信息和第2电动机旋转量(旋转角度)涉及的信息，计算与该一个弯曲部51b对应的基准电动机旋转量和校正电动机旋转量，调整在该一个弯曲部51b从处置工具突出口21b突出时的电动机52a的旋转量。由此，即使是在多个部位设有弯曲部51b的机械手臂部51A，各弯曲部51b也能在取沿着机械手臂部51A的中心轴的直线形状的同时(处于在任一方向都不弯曲的状态)，从处置工具突出口21b突出。
另外，医疗用机械手系统1A中的除所述部分以外的动作等与医疗用机械手系统1大致相同。
本实施方式的医疗用机械手系统1不限于具有能通过主动侧机械手6操作从动侧机械手5的结构，例如如图10所示，可以构成为能通过操纵杆6B操作从动侧机械手5的医疗用机械手系统1B。
具体地说，作为本实施方式的第2变形例的医疗用机械手系统1B构成为具有以下要部，即：内窥镜2、处理器3、监视器4、从动侧机械手5、操纵杆6B、以及机械手控制装置7。
操纵杆6B构成为具有：杆61B，其设有初始化开关62a；以及基座部62B，其具有能支撑杆61B的形状，并经由信号线与机械手控制装置7连接。
医疗用机械手系统1B中的电动机控制部72通过根据与杆61B的倾斜状态对应的操作指示控制电动机52a，使机械手臂部51的各部与该操作指示连动。
然后，在医疗用机械手系统1B中，作为初始化处理，进行用于使机械手臂部51的弯曲状态与杆61B的倾斜状态匹配的处理。
具体地说，在初始化开关62a接通时杆61B暂时被锁定在中央位置，取得在该中央位置的第1电动机旋转量(旋转角度)涉及的信息和第2电动机旋转量(旋转角度)涉及的信息，计算在该中央位置的基准电动机旋转量和校正电动机旋转量，调整在弯曲部51b从处置工具突出口21b突出时的电动机52a的旋转量。由此，能够匹配为使与杆61B的中央位置相当的弯曲部51b的形状为沿着机械手臂部51A的中心轴的直线形状。
另外，医疗用机械手系统1B中的除所述部分以外的动作等与医疗用机械手系统1大致相同。
医疗用机械手系统1B可以构成为可从多个操纵杆6B中选择一个操作从动侧机械手5的操纵杆6B的例如图11所示的医疗用机械手系统1C。
具体地说，作为本实施方式的第3变形例的医疗用机械手系统1C构成为具有以下要部，即：内窥镜2、处理器3、监视器4、从动侧机械手5、多个操纵杆6B、机械手控制装置7A、以及能从多个操纵杆6B中选择一个操作从动侧机械手5的操纵杆6B的选择开关8。(另外，图11中，为使图示简单，示出医疗用机械手系统1C具有2个操纵杆6B。并且，选择开关8的形状等可以是除图11所示以外的形状。)
机械手控制装置7A构成为具有：运算部71、电动机控制部72、存储部73、以及操作系统切换部74，该操作系统切换部74进行切换动作，以便仅将来自由选择开关8所选择的操纵杆6B的操作指示输入到电动机控制部72。
另外，医疗用机械手系统1C中的主要部分的动作等与医疗用机械手系统1B大致相同。
医疗用机械手系统1B不限于构成为具有在前端侧设有把持钳子51a的从动侧机械手5，例如如图12所示，可以构成为具有在前端侧设有能输出高频电流的有源电极51c的从动侧机械手5B的医疗用机械手系统1D。
具体地说，作为本实施方式的第4变形例的医疗用机械手系统1D构成为具有以下要部，即：内窥镜2、处理器3、监视器4、能对期望的处置部位输出高频电流的从动侧机械手5B、操纵杆6B、向从动侧机械手 5B提供高频电流的机械手控制装置7B、以及用于回收经过了该期望的处置部位的高频电流的返回电极9。
从动侧机械手5B构成为具有机械手臂部51B和机械手驱动部52，该机械手臂部51B具有弯曲部51b和有源电极51c，该有源电极51c将从机械手控制装置7B所提供的高频电流输出到期望的处置部位。
机械手控制装置7B构成为具有：运算部71、电动机控制部72、存储部73、以及高频电源部75，该高频电源部75向从动侧机械手5B提供高频电流，并被输入在返回电极9中所回收的高频电流。
医疗用机械手系统1D中的电动机控制部72通过根据与杆61B的倾斜状态对应的操作指示控制电动机52a，使机械手臂部51B的各部与该操作指示连动。
另外，医疗用机械手系统1D中的主要部分的动作等与医疗用机械手系统1B大致相同。
医疗用机械手系统1C可以构成为能同时使用2个从动侧机械手5和5B的例如图13所示的医疗用机械手系统1E。
具体地说，作为本实施方式的第5变形例的医疗用机械手系统1E构成为具有以下要部，即：内窥镜2、处理器3、监视器4、从动侧机械手5和5B、多个操纵杆6B、机械手控制装置7C、能从多个操纵杆6B中一个一个地选择用于操作从动侧机械手5和5B的操纵杆6B的选择开关8A、以及返回电极9。(另外，选择开关8A的形状等可以是除图13所示以外的形状。)
机械手控制装置7C构成为具有：运算部71、电动机控制部72、存储部73、操作系统切换部74、以及高频电源部75。
另外，医疗用机械手系统1E中的主要部分的动作等与医疗用机械手系统1C大致相同。
在本实施方式中，即使在应用了以上所述的各变形例(单独或者适当组合)的情况下，也能取得与所述的医疗用机械手系统1的效果相同的效果。并且，以上所述的各变形例在医疗用机械手系统101的结构中也能适当使用。
另外，在前面作为本实施方式和变形例所述的各医疗用机械手系统中，也可以附加例如能经由网络线路或无线通信等从远距离操作从动侧机械手的结构。
并且，本实施方式中的初始化处理不限于在将从动侧机械手插通到内窥镜的处置工具通道的内部中进行的初始化处理，例如还可以是在将从动侧机械手5插通到作为具有传感器21d和21e的管路的外套管的内部中进行的初始化处理。
本发明不限于上述的各实施方式，当然能在不背离发明主旨的范围内进行各种变更和应用。
Claims (5)
1.一种医疗用机械手系统，该医疗用机械手系统具有以下部分：
医疗用器具，其具有能插通到细长管路的内部的形状，并且设有一个或多个弯曲部；
弯曲用致动器，其提供用于使所述弯曲部弯曲的驱动力；
致动器控制部，其用于控制所述弯曲用致动器；
检测部，其设在所述管路的内部，在检测出所述弯曲部通过时输出检测信号；以及
运算部，其在被输入了所述检测信号时，检测所述弯曲用致动器的动作量，并根据该动作量进行用于使通过了所述检测部的所述弯曲部的弯曲状态与操作部的操作状态匹配的运算，所述操作部能够进行用于使所述弯曲部弯曲的操作。
2.一种医疗用机械手系统，该医疗用机械手系统具有以下部分：
医疗用器具，其具有能插通到细长管路的内部的形状，并且设有一个或多个弯曲部；
弯曲用致动器，其提供用于使所述弯曲部弯曲的驱动力；
插入用致动器，其提供用于将所述医疗用器具插通到所述管路的内部时的驱动力；
致动器控制部，其用于控制所述弯曲用致动器和所述插入用致动器；以及
运算部，其在所述医疗用器具被所述插入用致动器插通到所述管路内规定量时，检测所述弯曲用致动器的动作量，并根据该动作量进行用于使所述弯曲部的弯曲状态与操作部的操作状态匹配的运算，所述操作部能够进行用于使所述弯曲部弯曲的操作。
3.一种医疗用机械手系统，该医疗用机械手系统具有以下部分：
医疗用器具，其具有能插通到细长管路的内部的形状，并且设有一个或多个弯曲部；
弯曲用致动器，其借助金属丝与所述弯曲部连接，经由该金属丝提供用于使所述弯曲部弯曲的驱动力；
检测部，其设在所述管路的内部，在检测出所述弯曲部通过时输出检测信号；
致动器控制部，其在被输入了所述检测信号时，进行使所述弯曲用致动器驱动直到所述金属丝无松弛为止的控制；以及
运算部，其检测伴随所述致动器控制部的控制的所述弯曲用致动器的驱动量，并根据该驱动量进行用于使通过了所述检测部的所述弯曲部的弯曲状态与操作部的操作状态匹配的运算，所述操作部能够进行用于使所述弯曲部弯曲的操作。
4.一种医疗用机械手系统，该医疗用机械手系统具有以下部分：
医疗用器具，其具有能插通到细长管路的内部的形状，并且设有一个或多个弯曲部；
插入用致动器，其提供在将所述医疗用器具插通到所述管路的内部时的驱动力；
弯曲用致动器，其借助金属丝与所述弯曲部连接，经由该金属丝提供用于使所述弯曲部弯曲的驱动力；
致动器控制部，其控制所述插入用致动器，并在所述医疗用器具被所述插入用致动器插通到所述管路内规定量时，进行使所述弯曲用致动器驱动直到所述金属丝无松弛为止的控制；以及
运算部，其在所述医疗用器具被所述插入用致动器插通到所述管路内所述规定量时，检测伴随所述致动器控制部的控制的所述弯曲用致动器的动作量，并根据该动作量进行用于使所述弯曲部的弯曲状态与操作部的操作状态匹配的运算，所述操作部能够进行用于使所述弯曲部弯曲的操作。
5.根据权利要求1至4中的任一项所述的医疗用机械手系统，其中，所述弯曲用致动器是电动机。
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| JP2008099550A JP5301867B2 (ja) | 2008-04-07 | 2008-04-07 | 医療用マニピュレータシステム |
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| JP2008099550 | 2008-04-07 |
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| CN101091665A (zh) * | 2007-07-12 | 2007-12-26 | 上海交通大学 | 鼻腔手术内窥镜辅助机械手 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3610110B2 (ja) | 1995-02-23 | 2005-01-12 | オリンパス株式会社 | 医療用マニピュレータ |
| JP3493579B2 (ja) * | 2001-02-19 | 2004-02-03 | 技術研究組合医療福祉機器研究所 | 作業支援装置 |
| JP3926119B2 (ja) * | 2001-08-10 | 2007-06-06 | 株式会社東芝 | 医療用マニピュレータ |
| JP4358494B2 (ja) * | 2002-10-02 | 2009-11-04 | オリンパス株式会社 | 内視鏡システム |
| JP4839035B2 (ja) * | 2005-07-22 | 2011-12-14 | オリンパス株式会社 | 内視鏡用処置具および内視鏡システム |
| JP4728075B2 (ja) * | 2005-09-28 | 2011-07-20 | オリンパスメディカルシステムズ株式会社 | 内視鏡システム |
| US7841980B2 (en) * | 2006-05-11 | 2010-11-30 | Olympus Medical Systems Corp. | Treatment system, trocar, treatment method and calibration method |
| JP4757838B2 (ja) * | 2007-05-21 | 2011-08-24 | 株式会社日立製作所 | 被牽引機構の位置決め制御装置 |
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2008
- 2008-04-07 JP JP2008099550A patent/JP5301867B2/ja active Active
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2009
- 2009-04-03 CN CN2009101340211A patent/CN101554335B/zh active Active
- 2009-04-06 US US12/418,770 patent/US20090253959A1/en not_active Abandoned
- 2009-04-07 EP EP09005099.8A patent/EP2108329A3/en not_active Withdrawn
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101091665A (zh) * | 2007-07-12 | 2007-12-26 | 上海交通大学 | 鼻腔手术内窥镜辅助机械手 |
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| JP特开2004-154877A 2004.06.03 |
| JP特开2004-89591A 2004.03.25 |
| JP特开平8-224248A 1996.09.03 |
| JP特开平8-309680A 1996.11.26 |
Also Published As
| Publication number | Publication date |
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| EP2108329A2 (en) | 2009-10-14 |
| EP2108329A3 (en) | 2014-05-07 |
| JP2009247619A (ja) | 2009-10-29 |
| JP5301867B2 (ja) | 2013-09-25 |
| US20090253959A1 (en) | 2009-10-08 |
| CN101554335A (zh) | 2009-10-14 |
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