CN102834064A - 医疗用操纵系统 - Google Patents

医疗用操纵系统 Download PDF

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CN102834064A
CN102834064A CN2011800171989A CN201180017198A CN102834064A CN 102834064 A CN102834064 A CN 102834064A CN 2011800171989 A CN2011800171989 A CN 2011800171989A CN 201180017198 A CN201180017198 A CN 201180017198A CN 102834064 A CN102834064 A CN 102834064A
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永岛田优
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Karl Stoss GmbH & Co. kg
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Abstract

本发明提供一种医疗用操纵系统(10)，包括具有电动机(50a、50b)和复合输入部(24)的操作部(14)、具有通过电动机(50a、50b)的驱动力而动作的前端动作部(12)并相对于操作部(14)能够拆装的作业部(16)、和控制台(29、504)。通过基于对输入部(24)的输入操作，致动器(50a、50b)被驱动，前端动作部(12)至少能够进行沿着轴线方向的旋转动作或与所述轴线方向交叉的摆动动作，控制台(29、504)具有能够改变电动机(50a、50b)的驱动速度，并改变前端动作部(12)的所述旋转动作或所述摆动动作的动作速度的速度设定部(126)。

Description

医疗用操纵系统
技术领域
本发明涉及包括主体部、在轴的前端设有前端动作部的作业部、和通过与上述主体部连接而驱动控制上述前端动作部的控制器的医疗用操纵系统。
背景技术
在内窥镜下外科手术(或也称为腹腔镜下手术。)中，在患者的腹部等开设多个孔，作为器具的通过部而插入了穿刺套管(筒状的器具)，之后，将具有轴的钳子的前端部穿过穿刺套管而插入体腔内，进行患部的手术。在钳子的前端部，作为作业部，安装有用于把持生物体组织的夹具和剪刀、电手术刀的刀部等。
作为从穿刺套管插入的钳子，除了在前端的作业部不具有关节的一般的钳子之外，正在开发在作业部具有多个关节的钳子、所谓的操纵装置(例如参照日本特开2004-105451号公报)。采用这样的操纵装置，在体腔内能够进行自由度高的动作，操作变得容易，可适用的病例增多。
操纵装置具有包括设于细长的轴的前端的前端动作部(也称为终端执行部。)的作业部，利用导丝驱动该前端动作部的致动器设于主体部(操作部)。导丝在基端侧绕挂于带轮上。
发明内容
在如上述那样的操纵装置中，多个关节部等设于前端动作部，基于上述致动器的驱动，该前端动作部能够进行沿着其轴线方向进行旋转动作的旋转轴动作、沿着与其轴线方向交叉的方向进行摆动(摇头)动作的偏摆轴动作/俯仰轴动作等，由此，能够在体腔内获得高的操作性。
此外，一般认为容易操作的前端动作部的动作速度因操作该操纵装置的医生而具有个人差异，此外，也有可能因手术方式、前端动作部的种类(夹具、剪刀等)而最佳的动作速度不同。
本发明是考虑上述的情况而提出的，其目的在于，提供一种根据使用者的个人差异、前端动作部的种类，能使前端动作部的动作速度最优化的医疗用操纵系统。
本发明的医疗用操纵系统的特征在于，包括：主体部，具有借助致动器而旋转的驱动轴和驱动所述致动器的输入部；作业部，相对于所述主体部能够拆装，具有借助所述驱动轴而从动旋转的从动轴、借助该从动轴的旋转而动作的前端动作部和前端设有该前端动作部的轴；以及控制器，通过与所述主体部连接，基于对所述输入部的输入操作，驱动控制所述致动器，基于对所述输入部的输入操作，所述致动器被驱动，由此所述前端动作部至少能够进行沿着轴线方向的旋转动作或与所述轴线方向交叉的摆动动作，所述控制器具有能够改变所述致动器的驱动速度，并改变所述前端动作部的所述旋转动作或所述摆动动作的动作速度的速度设定部。
根据这样的构成，控制器包括对于能够进行上述旋转动作或上述摆动动作的前端动作部，能够改变其动作速度的速度设定部，从而能够根据操作由主体部和作业部构成的操纵装置的使用者(例如医生)的个人差异、前端动作部的种类(例如，剪刀、微创针驱动器)，将该旋转动作和摆动动作的动作速度设定改变为最佳，能获得高的操作性。
若上述前端动作部能够进行上述旋转动作和上述摆动动作，上述速度设定部能够分别单独地改变上述旋转动作和上述摆动动作的动作速度，则前端动作部的动作速度的设定自由度提高，能获得更高的操作性。
若上述控制器具有存储由上述速度设定部设定的上述前端动作部的动作速度的设定值的存储部，则能够存储所设定的速度信息且在使用时容易调出。
上述控制器具有存储由上述速度设定部设定的上述前端动作部的动作速度的设定值的存储部，在上述存储部中可以登记多组上述旋转动作和上述摆动动作的动作速度的设定值的组合。于是，例如能登记多个使用者喜好的设定速度信息的组，即使在多个使用者共同使用同一控制器的情况下，也能迅速地调出各人的设定。
若上述前端动作部具有多个种类，上述速度设定部能够针对在安装在上述主体部的上述作业部上设置的上述前端动作部的种类改变上述动作速度，并且能够在上述存储部中登记每个种类的上述动作速度的设定值，则能够更加灵活地设定/登记与使用者对每种前端动作部的动作速度的喜好对应的动作速度。
上述控制器也可以构成为，能够同时连接多台具有上述主体部和上述作业部的医疗用操纵装置，并且能够分别单独地改变各医疗用操纵装置的前端动作部的动作速度。于是，例如即使在一个使用者同时使用多台操纵装置进行操作的情况下，也能够灵活地改变各前端动作部的动作速度。
若医疗用操纵系统具有显示上述前端动作部的设定速度的显示部，则能够向使用者等明示其设定速度，而且也能够容易地进行动作速度的改变。
根据本发明，控制器包括对于能够旋转动作或摆动动作的前端动作部，能够改变其动作速度的速度设定部。由此，能够根据操作由主体部和作业部构成的操纵装置的使用者(例如医生)的个人差异、前端动作部的种类(例如，剪刀、微创针驱动器)，将该旋转动作和摆动动作的动作速度设定改变为最佳，能获得高的操作性。
附图说明
图1是本发明的一实施方式的操纵系统的整体结构图。
图2是将作业部和操作部分离的状态下的操纵装置的局部截面侧视图。
图3是作业部的局部省略截面俯视图。
图4是前端动作部的立体图。
图5是操纵装置的结构的组合的说明图。
图6是复合输入部及其周边部的局部省略立体图。
图7是在显示器上显示有速度显示画面的状态下的控制台的主视图。
图8是在显示器上显示有存储器选择画面的状态下的控制台的主视图。
图9是具有控制台的功能的说明框图。
图10是表示向存储部登记的登记信息的一个例子的说明图。
图11A是表示催促将操作部连接于连接器的图像的一个例子的说明图，图11B是表示催促将作业部安装于操作部的图像的一个例子的说明图。
图12A是表示初始速度显示画面的一个例子的说明图，图12B是表示存储器选择画面的一个例子的说明图。
图13A是表示使用中进行了前端动作部的速度改变的情况的速度显示画面的一个例子的说明图，图13B是表示接着图13A所示的画面显示的登记地点存储器选择画面的一个例子的说明图。
图14A是表示在将具有同一种类的前端动作部的操纵装置连接于各连接器的状态下的速度显示画面的一个例子说明图，图14B是表示在将具有同一种类的前端动作部的操纵装置连接于各连接器的状态下使用后，登记改变后的设定速度的操纵装置的选择画面的一个例子的说明图。
图15是手术用机器人系统的概略立体图。
具体实施方式
以下，列举较佳的实施方式，参照附图说明本发明的医疗用操纵装置。
1.操纵装置的整体结构的说明
如图1所示，本实施方式的操纵系统(医疗用操纵系统)10具有操纵装置(医疗用操纵装置)11和驱动控制该操纵装置11的控制台(控制器)29。操纵装置11是用于通过操作设于轴18的前端的前端动作部12，来进行生物体的一部分或弯曲针等的把持、生物体的一部分的切断等规定的处理的医疗用器具。
在以下的说明中，将图1的宽度方向规定为X方向，将高度方向规定为Y方向，将轴18的延伸方向规定为Z方向。此外，从前端侧观察，将右方规定为X1方向，将左方规定为X2方向，将上方向规定为Y1方向，将下方向规定为Y2方向，另外，将规定轴18的前方规定为Z1方向，将后方规定为Z2方向。另外，只有没有事先特别说明，这些方向的记载是以操纵装置11处于基准姿势(中立姿势)的情况为基准而表示的。这些方向是为了便于说明，当然操纵装置11能够在任意的方向(例如使上下翻转)上使用。
操纵装置11由人手握持和操作，并且具有收纳有对前端动作部12赋予驱动力的驱动机构30的操作部(主体部)14和相对于该操作部14拆装自如的作业部(钳子)16，通过从握柄26的下端延伸的电缆28连接于控制台29而构成操纵系统10。
如图1和图2所示，操作部14构成为沿Z1方向和Y2方向延伸大致L字状，并且将沿Z方向大致对称分割的一对上部罩25a、25b(以下，也统称为“上部罩25”)作为壳体，在其内部收纳有驱动机构30等，并且在基端侧沿Y2方向延伸的部分构成为由人手握持的握柄26。握柄26是适于由人手握持的长度，在上部的倾斜面26a上设有复合输入部(输入部)24。
在操作部14的Y1方向顶部附近，从上部罩25b露出地设有主开关34，在主开关34的Z1方向上的容易视觉识别的部位设有LED35。图1中，从操作部14的Z1方向端附近向Y1方向延伸的电极插头41是在将操纵装置11作为电手术刀而使用时连接高电压电源的电极，能够由未图示的导电构造向前端动作部12侧供给高电压。
如图1～图3所示，作业部16具有进行作业的前端动作部12、在前端设有该前端动作部12的长条且中空的轴18、固定该轴18的基端侧的带轮箱32、和被轴支承于从带轮箱32的Z2方向端延伸的触发杆支承部33的触发杆36。作业部16将在Z方向上大致对称分割的一对下部罩37a、37b(以下，也统称为“下部罩37”)作为壳体，在其内部收纳有带轮箱32。触发杆支承部33是从带轮箱32的Z2侧端面向Z2方向平行延伸的一对板，利用横跨该板之间的触发轴39，能够转动地轴支承触发杆36(参照图3)。
如图1所示，前端动作部12和轴18构成为细径，能够从设于患者的腹部等的圆筒形状的穿刺套管20插入体腔22内，通过复合输入部24和触发杆36的操作，能在体腔22内进行患部切除、把持、缝合和结扎等各种操作。
如图4所示，基于复合输入部24和触发杆36的操作而动作的前端动作部12例如包括剪刀48，能够进行三个轴的动作，该三个轴的动作包括以Y轴为基准倾斜的偏摆轴Oy动作、以指向前端的轴(中立姿势时Z轴)为基准旋转的旋转轴Or动作、和开闭剪刀48的开闭轴Oo动作。在本实施方式的情况下，偏摆轴Oy和旋转轴Or基于复合输入部24的操作而被电驱动，开闭轴Oo基于触发杆36的操作而被机械式驱动。也可以与偏摆轴Oy一起，或取而代之，赋予使前端动作部12上下摆动动作的俯仰轴动作。在这里所谓机械式，是借助导丝、链、同步带、连杆、杆、齿轮等进行驱动的方式，主要是经由非弹性的固体的机械零件沿动力传递方向进行驱动的方式。导丝、链等有时由于张力而产生不可避免的少许的伸展，然而它们是非弹性的固体的机械零件。
这样的作业部16通过设于操作部14的左右一对拆装杆40、40与操作部14连结、固定，并且通过拆装杆40的开放操作，能够自操作部14分离，能够不使用特别的器具地在手术现场容易地进行更换作业等。
因此，如图5所示，操纵装置11和包含该操纵装置11的操纵系统10能有选择性地采用各种结构。例如，作为相对于操作部14能够拆装的作业部16的变形，准备了改变前端动作部12的种类的5种作业部16a、16b、16c、16d、16e。
控制台29能同时连接2台操纵装置11。即，在控制台29上设有第1连接器100和第2连接器102，能够相对于各连接器100、102分别安装1台操作部14。另外，相对于各操作部14，例如能安装上述5种作业部16a～16e中的所希望的作业部。由此，施术者能根据操作的种类、习惯等，同时使用2台操纵装置，作为该作业部16有选择性地组合各种作业部16a～16d而构成该操纵系统10。
作为前端动作部12的种类，例如能够列举剪刀、夹具、微创针驱动器(把持钳子)、电手术刀、刃型电手术刀、钩型电手术刀等。设有这些各种前端动作部12的各作业部16a～16d从包含带轮箱32等的轴18到触发杆36为相同的结构，但是能够通过后述的条形码75向操作部14侧即控制台29供给其类别等识别信息。
2.操纵装置的各构成部分的说明
2.1.互相能够拆装的驱动机构和带轮箱的说明
驱动机构30和带轮箱32互相能够拆装，由此能够从操作部14向作业部16传递驱动力。
如图1和图2所示，驱动机构30具有沿X方向排列的2个电动机(致动器)50a、50b、支承该电动机50a、50b的托架52、和转换电动机50a、50b的旋转方向并向作业部16侧传递的齿轮机构部54。
电动机50a、50b是圆柱形状，由未图示的减速机减速的输出轴56a、56b贯穿托架52的一个面，相对于该输出轴56a、56b固定构成齿轮机构部54的驱动伞齿轮58a、58b。电动机50a、50b例如是DC电动机，作为未图示的角度传感器而设置旋转编码器等。
齿轮机构部54具有设于托架52内的空间并沿X方向排列的2根驱动轴(驱动轴)60a、60b，以及固定于各驱动轴60a、60b上并与驱动伞齿轮58a、58b啮合的2个从动伞齿轮62a、62b。电动机50a、50b的输出轴56a、56b、驱动轴60a、60b等由未图示的轴承轴支承于托架52。
驱动轴60a(60b)的下端侧从托架52的下表面突出，在其前端设有例如由截面呈波形六角形状且前端细的锥形状构成的卡合凸部64a(64b)(参照图2)。
如图2和图3所示，带轮箱32具有X方向两侧开口的空洞部66、被收纳于该空洞部66的带轮(从动轴)70a、70b和导丝引导部72a、72b，在贯穿空洞部66的Z1侧的孔部固定/支承有轴18。在带轮箱32的后方(X2侧)，面对上方地设有条形码(作业部识别信息记录部)75。条形码75例如是二维条形码，用于由设于操作部14侧的摄像装置(读取部)77读取，向控制台29供给该作业部16的种类等识别信息。
带轮70a、70b相对于驱动轴60a、60b同轴，在其上端侧，设有能够与驱动轴60a、60b侧的卡合凸部64a、64b卡合的卡合凹部74a、74b。卡合凹部74a、74b能够供上述卡合凸部64a、64b卡合(嵌合)，具有例如截面呈波形六角形状且深处细的锥形状的凹部(参照图2)。
因而，在安装操作部14和作业部16时，驱动机构30侧的卡合凸部64a(64b)与带轮箱32侧的卡合凹部74a(74b)卡合，由此，能向带轮70a(70b)传递来自驱动轴60a(60b)的旋转驱动力。此时，也可以在操作部14例如设置检测该操作部14和作业部16的拆装的拆装检测传感器(未图示)、检测驱动轴60a的相位的相位检测传感器(未图示)等，另外卡合凸部64a和卡合凹部74a的卡合构造也可以是其他的构造。
如从图2和图3可知，导丝引导部72a(72b)配设在带轮70a(70b)的Z1侧，并且其间隔狭小地设定，具有向轴18内圆滑地引导绕挂于带轮70a(70b)与前端动作部12的齿轮78、齿轮79等(参照图4)之间的导丝(动力传递构件)80a(80b)的功能。通过使用这样的导丝引导部72a、72b，轴18能不取决于电动机50a、50b的直径、带轮70a、70b的轴间距离地形成得很细，例如能容易地设定为适于插入穿刺套管20的5mm～10mm左右的外径。
另外，在构成带轮箱32的空洞部66，作为棒状或线状的动力传递构件的2根杆82a、82b沿Y方向排列且沿Z方向贯穿。杆82a、82b例如是充分强且细的不锈钢管或实心杆，在Z1方向上贯穿空洞部66，向轴18内延伸，借助未图示的导丝等，绕挂于前端动作部12内的上述齿轮78等(参照图4)，在Z2方向上贯穿带轮箱32，向触发杆支承部33延伸，借助未图示的导丝等，连接于触发杆36(参照图3)。
如图2和图3所示，在带轮箱32的Z2侧，形成有以Z方向为基准对称的一对销孔84、84。在安装作业部16和操作部14时，在各销孔84、84中插入从托架52的底面向Y2方向突出的一对引导销86、86，由此，操作部14和作业部16被定位且以较高刚性安装。
在作业部16中，导丝80a、80b分别在带轮70a、70b侧与前端动作部12侧之间往返，因此，在轴18的中空空间内穿过延伸的4根导丝80a、80b和2根杆82a、82b。例如也可以替代杆，仅以导丝构成所有的动力传递机构。导丝80a、80b分别能使用相同种类或不同种类、相同直径或不同直径的线，由具有挠性的能够弯曲的线材构成。也能够在导丝80a、80b的、通过轴18内的部分且不需要挠性的直线部分，通过围绕未图示的高刚性的加强杆而进行加强。
因而，在操纵装置11中，在操作复合输入部24时，在控制台29的控制下电动机50a、50b被驱动控制，由此，从驱动轴60a、60b经由带轮70a、70b驱动导丝80a、80b往返，对前端动作部12赋予以旋转轴Or为中心的旋转动作(旋转方向动作)和以偏摆轴Oy为中心的摆动动作(偏摆方向动作或俯仰方向动作)(参照图4)。另外，通过转动操作触发杆36，杆82a、82b机械式地被往返驱动，对前端动作部12的剪刀48赋予开闭动作。
即，带轮70a、70b(电动机50a、50b)和触发杆36对作为动力传递构件的导丝80a、80b和杆82a、82b赋予驱动力，作为使前端动作部12动作的驱动机构部而发挥作用。更加详细而言，带轮70a、70b(电动机50a、50b)对导丝80a、80b赋予驱动力，作为对前端动作部12赋予旋转方向和偏摆方向的动作的电动机构部而发挥作用。此外，触发杆36对杆82a、82b赋予驱动力，作为对前端动作部12赋予剪刀48的开闭动作的手动机构部而发挥作用。
2.2.用于电驱动前端动作部的复合输入部的说明
如图6所示，电驱动前端动作部12的复合输入部24是以Z轴(Y轴)为中心在X1和X2方向对称的构造，是对前端动作部12赋予旋转方向(轴旋转方向)和偏摆方向(左右方向)的旋转指令的复合的输入部。
复合输入部24由配置于倾斜面26a的传感器保持架88支承，具有倾斜面26a的Z1侧(Y1侧)的旋转操作部90、设于旋转操作部90的Z2侧(Y2侧)的倾斜操作部92、和分别设于倾斜操作部92的下部侧面的3个开关操作钮94a～94c。对这些旋转操作部90等的输入由设于传感器保持架88内的开关基板(未图示)等检测其操作量，电动机50a、50b在控制台29的控制下被适当驱动控制。
2.3.控制台的说明
2.3.1.控制台的整体结构的说明
控制台29是综合性地控制该操纵系统10的控制器(控制部)。另外，也可以将控制台29的一部分功能装载于操作部14。如图1和图5所示，控制台29包括2个连接器100、102，能独立且同时控制2台操纵装置11。
能够经由LAN等通信机构将作为使用历史管理机构的主计算机(未图示)连接于控制台29。该主计算机在内部的记录部件中记录有使用历史表，相对于控制台29或由上述LAN连接的多台控制台29，收发并管理与所要求的个体编号(识别编号)相应的使用历史数据。该主计算机不限于相对于控制台29独立的结构，也可以在控制台29内设置其功能。
如图7所示，在控制台29的正面面板上，第1连接器100和第2连接器102左右分开地设置，以与分别连接于该第1连接器100和第2连接器102的2台操纵装置11相对应的方式，隔着中央的显示器104配置有第1设定开关S1和第2设定开关S2。即，第1连接器100和第1设定开关S1成为与一侧的操纵装置11相对应的第1通道，第2连接器102和第2设定开关S2成为与另一侧的操纵装置11相对应的第2通道，当然，也可以根据使用条件等做成增加了通道数的结构。
另外，在控制台29的正面面板上设有沿着显示器104的下边设置的多个(在本实施方式中为4个)功能开关F1、F2、F3、F4、接通/断开该控制台29的电源的电源开关106、和点亮(闪烁)显示操纵装置11中的操作部14和作业部16的连接错误等各种系统错误的错误显示部110。
如图7所示，第1设定开关S1用于进行连接于第1连接器100的操纵装置11的前端动作部12的速度改变，具有设于上段的左右一对旋转速度改变按钮R1a、R1b和设于下段的左右一对偏摆速度改变按钮Y1a、Y1b。旋转速度改变按钮R1a、R1b是用于减少(R1a)以及增加(R1b)前端动作部12的旋转轴Or方向上的旋转动作的速度的设定输入部，在它们之间设有明示旋转速度改变按钮R1a、R1b是改变旋转动作的速度的开关的标记MR1。偏摆速度改变按钮Y1a、Y1b是用于减少(Y1a)以及增加(Y1b)前端动作部12的偏摆轴Oy方向上的摆动动作的速度的设定输入部，在它们之间设有明示偏摆速度改变按钮Y1a、Y1b是改变偏摆动作的速度的开关的标记MY1。
第2设定开关S2除了是改变连接于第2连接器102的操纵装置11的前端动作部12的旋转轴Or方向上的旋转动作以及偏摆轴Oy方向上的摆动动作的速度的输入部以外，与第1设定开关S1大致相同。即，第2设定开关S2具有设于上段的左右一对旋转速度改变按钮R2a、R2b、设于下段的左右一对偏摆速度改变按钮Y1a、Y1b、标记MR2和标记MY2。
利用这些第1设定开关S1和第2设定开关S2，在该操纵系统10中，将各作业部16的旋转轴动作和偏摆轴动作的动作速度设定改变为例如“5(快)、4(稍快)、3(基准速度)、2(稍慢)、1(慢)”这5个阶段，能够根据使用者的喜好、操作等适宜调整。例如在操作第1设定开关S1的旋转速度改变按钮R1a、R1b、偏摆速度改变按钮Y1a、Y1b时，由于连接于与其相对应的第1连接器100的操纵装置11的前端动作部12的动作速度被设定，所以运转管理部118以设定的动作速度驱动控制电动机50a、50b，由此，将前端动作部12的动作速度控制成希望的速度。
例如如图7所示，显示器104能够以与各设定开关S1、S2相对应的配置显示由第1设定开关S1和第2设定开关S2设定的旋转轴动作和偏摆轴动作的设定速度。在该情况下，显示器104在画面左右能够分别显示连接于第1连接器100和第2连接器102的各操纵装置11的信息，能够在上段以图解和名称显示作业部16(前端动作部12)的种类，并且以数字显示其使用次数，在中段以数字和图解显示与各设定开关S1、S2的设定值相对应的动作速度，在下段显示沿着该显示器104的下边配置的功能开关F1～F4的现在的功能。
这样，因为在控制台29中能够单独且同时驱动控制2台操纵装置，所以例如构成为用相同的色彩围绕构成第1通道的第1设定开关S1和以数字和图解显示与该第1设定开关S1相对应的操纵装置11的动作速度的显示器104的中段左半部分的显示，并构成为用与该色彩不同的色彩围绕构成第2设定开关S2和显示其设定值的显示器104的中段右半部分的显示，则各操纵装置11的动作速度设定及其设定改变变得更加容易。
控制台29例如如上所述与5种前端动作部12(作业部16)相对应，能够根据多个(例如8个)使用者(医生)的喜好分别单独地预先设定/存储有5种前端动作部12的旋转轴动作和偏摆轴动作的设定速度。
因此，如图8所示，显示器104也能汇总地显示按每种前端动作部12设定/存储的旋转轴动作和偏摆轴动作的设定速度。在该情况下，显示器104也能在上段显示例如8个使用者中每个使用者各自的设定速度文件夹即存储器A、B、C、D、E、F、G、H，并且放大/翻转显示当前的选择存储器名(在图8中为存储器B)，在中段以图解和名称显示该选择存储器的作业部16(前端动作部12)的种类的同时，以数字与标记和名称一起显示该旋转轴动作和偏摆轴动作的设定速度，在下段显示功能开关F1～F4的当前的功能。若该图8所示的设定速度的画面例如在显示连接于第1连接器100的操纵装置11的信息后其设定完成，则接下来自动地显示连接于第2连接器102的操纵装置11的信息。当然，也能够对功能开关F1～F4赋予选择显示连接于第1和第2连接器100、102中的哪一个的操纵装置11的信息的按钮。
另外，在图8中，作为5种前端动作部12，例示有从左起依次使用微创针驱动器(Needle Driver)、单极L型钩(Monopolar LHook)、剪刀(Scissors)、微创针驱动器(Needle Driver)、双极抓取器(Bipolar Grasper)的情况。此外，在图7中，例示有将微创针驱动器(Needle Driver)连接于第1连接器100，将单极L型钩(Monopolar L Hook)连接于第2连接器102，显示存储器B的设定信息(在图7中以“M-B”表示)的情况。
2.3.2.控制台的详细说明
接着，参照图9说明这样的控制台29的更加详细的结构。图9是控制台29所具有的功能的说明框图。
如图9所示，控制台29包括上述电源开关106、上述设定开关S1、S2、上述功能开关F1～F4、上述显示器104、上述错误显示部110和上述连接器100、102，还包括系统控制部112和存储部114。
系统控制部112是具有语言设定部116、运转管理部118和显示控制部120的该控制台29的综合性的控制部。
语言设定部116例如通过初次起动时的初始设定、任意的设定改变，设定以该控制台29显示/使用的语言(例如，日文、英文、中文、法语、西班牙语)，并将该设定存储于存储部114，以后能够与所设定的语言(或改变了的语言)相对应地进行显示器104的显示，并操作该控制台29。
运转管理部118具有检测连接于连接器100、102的作为手柄的操作部14的手柄检测部122、检测安装于该手柄(操作部14)的作为项目的作业部16的项目检测部124、设定前端动作部12的旋转轴动作和偏摆轴动作的速度的速度设定部126、一边利用存储部114一边管理各前端动作部12的设定速度信息、通过由摄像装置77拍摄条形码75(参照图2)而读取的作业部16的识别信息(个体编号、前端动作部12的种类等)等各种数据的数据管理部128。
显示控制部120从运转管理部118接受各种信息的供给，运算处理该信息，并显示于显示器104。此外，也进行分成功能开关F1～F4的功能信息的显示处理。
存储部114是存储语言设定部116中的设定语言、按每种前端动作部12设定/存储的旋转轴动作和偏摆轴动作的设定速度信息等的存储器(例如，RAM)。如图10所示，本实施方式的情况下，在存储部114能登记存储器A～H这8组上述旋转轴动作和偏摆轴动作的设定速度信息，关于该8组中的每1组，能登记5种项目1～5的设定速度信息。
2.3.3.控制台的使用方法的说明
说明控制台29的前端动作部12的速度设定方法及其作用。
首先，说明希望的存储器A～H的调出顺序和操纵系统10的使用准备顺序。
在该情况下，接通电源开关106而起动控制台29时，在运转管理部118和显示控制部120的控制下，如图11A所示，在显示器104中显示催促将作为手柄的操作部14向连接器100、102连接的图像。接着，连接操作部14时，由手柄检测部122检测该连接，如图11B所示，显示催促将作为项目的作业部16向操作部14安装的图像，所以在将希望的作业部16安装到操作部14时，该安装由项目检测部124检测。例如，在操作部14仅连接于第1连接器100的情况下，画面的左半部分显示催促项目安装的图像，画面右半部分显示催促向第2连接器102安装手柄的图像。
在操纵装置11连接于各连接器100、102时，如图12A所示，在显示器104中显示在未选择存储器A～H的状态下的TOP画面即初始速度显示画面(M-0)。另外，在该初始速度显示画面中，基于经由条形码75和摄像机77取得的识别信息而显示连接于各连接器100、102的操纵装置11(前端动作部12)的种类。因此，通过使用者选择功能开关F4的“调出存储器”，如图12B所示，能进入所登记的存储器A～H的选择画面。在该存储器选择画面中，通过按照画面指示选择/操作功能开关F1～F4，例如如图8所示，能选择希望的存储器B。
由此，在数据管理部128的管理下，关于当前分别连接于连接器100、102的作业部16，根据其前端动作部12的种类，从存储部114读出登记于存储器B中的设定速度信息，如图7所示显示，该操纵系统10的使用准备完成。
接着，说明使用中的前端动作部12的设定速度的改变方法及其登记方法。
例如，以图7所示的控制台29的使用时的画面(TOP画面、速度显示画面)所示的设定速度(M-B)、图12A所示的初始速度显示画面所示的设定速度(M-0)进行手术的过程中，在想改变前端动作部12的动作速度的情况下，适宜操作第1设定开关S1(旋转速度改变按钮R1a、R1b、偏摆速度改变按钮Y1a、Y1b)、第2设定开关S2(旋转速度改变按钮R2a、R2b、偏摆速度改变按钮Y2a、Y2b)。由此，动作速度与该操作相对应地被改变，图7中的数字和图解也同时被显示改变，因此使用者能够一边观察显示器104一边容易且正确地进行动作速度改变，能够以与操作相应的最佳动作速度灵活地对应。此外，分别对应左右的第1和第2连接器100、102地配置第1和第2设定开关S1、S2，所以能够更直观且正确地进行2台操纵装置11中的所希望的操纵装置11的速度改变。
这样，在使用中改变了动作速度的情况下，如图13A所示，显示器104中段的显示成为与初始速度显示同样的“M-0”，功能开关F3显示“更新”。因此，通过选择操作功能开关F3，能将改变后的设定速度登记于存储器A～H中的所希望的存储器。当然，改变后的设定速度既可以覆盖登记于使用开始时调出的存储器，也可以覆盖登记于其他的存储器，或还可以登记于未登记有速度信息的空存储器。
例如，通过存储器B的设定，在操纵系统10的使用中，其改变前的速度(即预先登记于存储器B的速度)在项目1的微创针驱动器(Needle Driver)中，旋转轴动作速度为“5(最快)”，偏摆轴动作速度为“2(稍慢)”，使用中设定改变后的速度如图13A所示，旋转轴动作速度为“3(基准速度)”，偏摆轴动作速度为“4(稍快)”，在该情况下，如图13B所示，在表示改变前的速度的数字的右边隔着箭头标记，改变后的速度以改变了色彩的稍小的字体排列显示。
由此，如图13B所示，使用者能够在画面上观察比较改变前的设定速度信息与改变后的设定速度信息，通过选择操作赋予有“覆盖”功能的功能开关F4，能容易地登记改变到原先的存储器B。当然，在想对其他的存储器A等覆盖改变后的设定速度信息的情况下，只要通过适宜操作功能开关F2、F3等，显示该其他的存储器的信息，在画面上一边观察比较其改变前的速度信息与改变后的速度信息一边进行覆盖操作即可。另外，在图13B中，因为在存储器E中未登记设定速度信息，所以在“E”的显示的上部进行“空”的显示，明示该存储器E是空存储器。
这样的登记改变经由运转管理部118的速度设定部126处理，登记完成后，经由运转管理部118和显示控制部120，如图7所示那样的速度显示画面(TOP画面)再次自动显示于显示器104中，所以使用者顺利地进行下一操作或结束操作。
另外，对于该控制台29的存储部114的1个存储器A～H设计成为仅能够登记1个相同种类的项目。
因此，如图14A所示，将具有相同种类的前端动作部12的作业部16连接于各连接器100、102而使用(在图14中，2台操纵装置11双方均为微创针驱动器(Needle Driver)，在使用中改变其动作速度的情况下，如图14B所示，通过显示是否登记左右中的某一设定值的选择画面，能将所希望的设定值登记改变为改变后的设定。即，在图14B中，通过选择操作功能开关F2(“右”)、F3(“左”)中的任一个，显示用于登记所选择的设定值的画面(与图13B的登记改变画面大致相同)。
当然，在控制台29中，也能够在操纵装置11连接前等、操作开始前，改变各存储器A～H的信息或新登记，在该情况下，通过功能开关F1～F4和画面显示，催促其登记操作，所以使用者能够通过与图13B所示的显示同样的显示容易地进行设定登记。当然也能够删除不需要的存储器A～H的登记信息。
此外，手术后，从连接器100、102卸下操纵装置11或从操作部14卸下作业部16之后，在再次想登记即将使用该操纵装置11时的设定速度信息的情况下，如图11A和图11B中双点划线所示，功能开关F3显示“更新”。因此，通过选择操作该功能开关F3，暂时性地存储于存储部114的上述即将使用时的设定速度信息在显示器104中显示与如图13B所示那样的登记改变画面相同的画面，因此，能够以与通常的设定改变时同样的顺序容易地进行登记改变。
如以上那样，在操纵系统10中，对于能够进行向旋转方向的旋转动作和向偏摆方向(或俯仰方向)的摆动动作的前端动作部，控制台29中包括能够改变其动作速度的速度设定部126。另外，速度设定部126在本实施方式中通过第1设定开关S1和第2设定开关S2的选择操作而进行速度设定，所以也可以在速度设定部中包含设定开关S1、S2。由此，根据操作操纵装置11的使用者(医生)的个人差异、前端动作部12的种类(剪刀、微创针驱动器等)，能够将该向旋转方向的旋转动作、向偏摆方向的摆动动作的动作速设定改变为最佳，能获得高的操作性。
另外，对于向旋转方向、偏摆方向(或俯仰方向)的动作速度的改变，只要至少仅一方(例如仅旋转方向)能够改变即可，然而在考虑到确保高操作性等的情况下，优选双方均分别能够设定改变。此外，在上述实施方式中，例示了包括同时控制2台操纵装置11的控制台29的操纵系统10，当然既可以为仅对应1台操纵装置11的系统，也可以为对应3台以上操纵装置11的系统。
3.手术用机器人系统的说明
本发明例如也能应用于图15所示那样的手术用机器人系统500。
手术用机器人系统500具有多关节型的机器臂502和控制机器臂的控制台(控制器)504，在机器臂502的前端设有与上述的操纵装置11同样的机构。在机器臂502的前端部508，代替操作部14，固定内部收纳有驱动机构30的基部14a，相对于该基部14a，能够拆装地安装设有上述前端动作部12的作业部16。
机器臂502只要是使作业部16移动的部件即可，不限于固定型，例如也可以是自律移动型。若机器臂502具有独立的6个以上的关节(旋转轴、滑动轴等)，则能任意地设定作业部16的位置和方向，是较佳的。构成前端的操纵装置11的基部14a与机器臂502的前端部508一体化。
在控制台504上设有作为操作指令部的2个操纵杆506和监视器510。控制台504能采用桌台型、控制盘型等结构。机器臂502也可以为在控制台504的作用下动作，基于程序进行自动动作、模仿设于控制台504的操纵杆506的操作和这些复合动作的结构。控制台504包含上述控制台29的功能。
在该情况下，在监视器510中设有与显示器104(参照图7)相同的功能，在该监视器510的周围设置与第1和第2设定开关S1、S2、功能开关F1～F4相同的开关，并且在控制台504上装载有与控制台29相同的系统控制部112、存储部114等。此外，基部14a和操纵杆506发挥与操作部(主体部)14(参照图1)相同的功能。
利用2个操纵杆506，能够分别操作2台机器臂502。另外，在图15中，仅图示1台机器臂502，然而，也可以与操纵系统10相同地设为2台。2个操纵杆506设在双手容易操作的位置。操纵杆506能够进行上下动作、左右动作、扭转动作和倾斜动作，能够根据这些动作使机器臂502动作。操纵杆506也可以是主动臂。
在操纵杆506上设有握柄26A、被推拉操作的触发杆36A、和被转动操作以及倾斜操作的复合输入部24A。触发杆36A代替上述的触发杆36，通过操作该触发杆36A，借助未图示的电动机(与由人手操作的输入部联动的致动器)，2根杆82a、82b(图3参照。未在图15中图示)能够进退驱动。复合输入部24A代替上述的复合输入部24，通过操作复合输入部24A，根据其操作内容，由控制台504控制驱动机构30，进行前端动作部12的旋转动作、倾斜动作或这些复合动作。此时，通过操作设于控制台504的第1设定开关S1等，能够与操纵装置和系统10相同地进行前端动作部12的动作速度的改变/设定登记。
机器臂502与控制台504之间的通信部件可以是有线、无线、网络或它们的组合。监视器510显示由软性镜产生的图像等信息。
上述举例说明了本发明优选的实施方式，但是本发明不限定于上述实施方式，当然在不脱离本发明的要旨的范围内能够进行各种改变。

Claims (8)

1.一种医疗用操纵系统(10)，其特征在于，
该医疗用操纵系统(10)包括：
主体部(14)，具有借助致动器(50a、50b)而旋转的驱动轴(60a、60b)和驱动所述致动器(50a、50b)的输入部(24)；
作业部(16)，相对于所述主体部(14)能够拆装，具有借助所述驱动轴(60a、60b)而从动旋转的从动轴(70a、70b)、借助该从动轴(70a、70b)的旋转而动作的前端动作部(12)和前端设有该前端动作部(12)的轴(18)；以及
控制器(29、504)，通过与所述主体部(14)连接，基于对所述输入部(24)的输入操作，驱动控制所述致动器(50a、50b)，
基于对所述输入部(24)的输入操作，所述致动器(50a、50b)被驱动，由此所述前端动作部(12)至少能够进行沿着轴线方向的旋转动作或与所述轴线方向交叉的摆动动作，
所述控制器(29、504)具有能够改变所述致动器(50a、50b)的驱动速度，并改变所述前端动作部(12)的所述旋转动作或所述摆动动作的动作速度的速度设定部(126)。
2.根据权利要求1所述的医疗用操纵系统(10)，其特征在于，
所述前端动作部(12)能够进行所述旋转动作和所述摆动动作，
所述速度设定部(126)能够分别单独地改变所述旋转动作和所述摆动动作的动作速度。
3.根据权利要求1所述的医疗用操纵系统(10)，其特征在于，
所述控制器(29、504)具有存储由所述速度设定部(126)设定的所述前端动作部(12)的动作速度的设定值的存储部(114)。
4.根据权利要求2所述的医疗用操纵系统(10)，其特征在于，
所述控制器(29、504)具有存储由所述速度设定部(126)设定的所述前端动作部(12)的动作速度的设定值的存储部(114)，
在所述存储部(114)中能够登记多组所述旋转动作和所述摆动动作的动作速度的设定值的组合。
5.根据权利要求3所述的医疗用操纵系统(10)，其特征在于，
所述前端动作部(12)具有多个种类，
所述速度设定部(126)能够按照在安装于所述主体部(14)的所述作业部(16)上设置的所述前端动作部(12)的种类改变所述动作速度，并且能够在所述存储部(114)中登记每个种类的所述动作速度的设定值。
6.根据权利要求4所述的医疗用操纵系统(10)，其特征在于，
所述前端动作部(12)具有多个种类，
所述速度设定部(126)能够按照在安装于所述主体部(14)的所述作业部(16)上设置的所述前端动作部(12)的种类改变所述动作速度，并且能够在所述存储部(114)中登记每个种类的所述动作速度的设定值。
7.根据权利要求1所述的医疗用操纵系统(10)，其特征在于，
所述控制器(29、504)能够同时连接多台具有所述主体部(14)和所述作业部(16)的医疗用操纵装置(11)，并且能够分别单独地改变各医疗用操纵装置(11)的前端动作部(12)的动作速度。
8.根据权利要求1所述的医疗用操纵系统(10)，其特征在于，
该医疗用操纵系统(10)具有显示所述前端动作部(12)的设定速度的显示部(104、510)。
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