CN106455928A - 医疗用机械手系统 - Google Patents
医疗用机械手系统 Download PDFInfo
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- CN106455928A CN106455928A CN201580030682.3A CN201580030682A CN106455928A CN 106455928 A CN106455928 A CN 106455928A CN 201580030682 A CN201580030682 A CN 201580030682A CN 106455928 A CN106455928 A CN 106455928A
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Abstract
以防止机械手(3)的非意图动作并减轻施加于关节的负荷为目的,本发明的医疗用机械手系统(1)具有:机械手(3),其具有长条部(8)、具有1个以上的关节(12、13、14)的可动部(9)以及配置于长条部(8)的基端并对可动部(9)进行驱动的驱动部(10);医疗设备(6),其具有能够将长条部(8)的至少一部分和可动部(9)收纳为能够在长度方向上移动的通道(7);操作输入部(2),其根据所输入的操作指令而产生如下的动作指令,该动作指令使机械手(3)在可动部(9)从通道(7)的前端突出的处置状态与可动部(9)收纳于通道(7)内的收纳状态之间在长条部(8)的长度方向上移动;以及通知部(39),其针对机械手(3)要从处置状态脱离而迁移到收纳状态的情况进行通知。
Description
技术领域
本发明涉及医疗用机械手系统。
背景技术
公知有从内窥镜的通道的前端使多关节的处置器具突出而进行处置的主从式的医疗用机械手系统(例如参照专利文献1。)。
另外,公知有如下的主从式的医疗用机械手系统:具有操作者用手掌把持的把手和放置把持把手的手臂的扶手的主侧的操作部,通过扶手的移动而使从动侧的机械手的位置移动,并利用把手的操作而使机械手的姿势变化(例如,参照专利文献2。)。
现有技术文献
专利文献
专利文献1:日本特开2009-100873号公报
专利文献2:日本特开2005-103741号公报
发明内容
发明要解决的课题
在专利文献1的医疗用机械手系统中,当从体内拔出内窥镜时,为了避免处置器具与周边脏器接触,而期望能够在通道内收纳处置器具整体。
当在多关节的处置器具从通道的前端突出且处置器具在各关节弯曲的状态下强行拉进通道内时,因为关节被强制成笔直,因此处置器具的前端会向非意图的方向移动。另外,当被强制成笔直时,在关节上施加较大的负荷。
本发明就是鉴于上述情况而完成的,其目的在于,提供一种能够防止机械手的非意图动作并且减轻向关节上施加的负荷的医疗用机械手系统。
用于解决课题的手段
本发明的一个方式是医疗用机械手系统,该医疗用机械手系统具有:机械手,其具有长条部、可动部和驱动部,该可动部具有配置于该长条部的前端的1个以上关节,该驱动部配置于所述长条部的基端并对所述可动部进行驱动;医疗设备,其具有能够将所述长条部的至少一部分和所述可动部收纳为能够在长度方向上移动的通道;操作输入部,其根据操作者输入的操作指令而产生如下的动作指令,该动作指令使所述机械手在所述可动部从所述通道的前端完全突出的处置状态与所述可动部收纳于所述通道内的收纳状态之间在所述长条部的长度方向上移动;以及通知部,其针对所述机械手要从所述处置状态脱离而迁移到所述收纳状态的情况进行通知。
根据本方式,根据与操作者在操作输入部中输入的操作指令对应而产生的动作指令,机械手相对于医疗设备在长条部的长度方向上移动。在可动部从医疗设备的通道的前端完全突出的处置状态下,能够使可动部的各关节动作而进行处置。另一方面,当位于处置状态的可动部要被拉进医疗设备的通道内时,利用通知部通知要从处置状态脱离而迁移到收纳状态。由此,能够防止操作者非意图地将可动部拉进通道内。其结果为,能够防止可动部强行拉进通道内造成的机械手的非意图动作,并且能够减轻施加给关节的负荷。
在上述方式中,所述通知部也可以是如下的止动件,该止动件设置于所述机械手与所述医疗设备之间或者所述操作输入部上,限制所述机械手从所述处置状态的脱离,并能够解除限制。
这样,根据与操作者在操作输入部中输入的操作指令对应而产生的动作指令,机械手相对于医疗设备在长条部的长度方向上移动,当要从处置状态迁移到收纳状态时,利用止动件限制从处置状态的脱离。即,通过利用止动件限制从处置状态的脱离,向操作者通知从处置状态脱离而迁移到收纳状态。由此,能够防止操作者非意图地将可动部拉进通道内。
另外,在上述方式中,也可以为,所述通知部具有传感器,该传感器设置于所述机械手与所述医疗设备之间或者所述操作输入部上,检测所述机械手从所述处置状态的脱离,当通过该传感器检测到脱离时,该通知部通知该情况。
由此,通过利用传感器检测脱离并利用通知部通知该情况,从而操作者能够识别要进行脱离,并能够防止非意图地将可动部拉进通道内。
另外,在上述方式中,还可以具有控制部,该控制部判定是否是所述机械手能够从所述处置状态脱离的状态,在是能够脱离的状态的情况下,解除所述止动件的限制。
由此,控制部监视机械手的状态,并判定是否是能够从处置状态脱离的状态,在是能够脱离的状态的情况下,解除止动件的限制。在判定为不是能够脱离的状态的情况下,因为止动件的限制未被解除,因此能够防止操作者非意图地将可动部拉进通道内。
另外,在上述方式中,也可以是,所述控制部在所述可动部沿所述长条部的长度方向延伸的情况下,判定为能够脱离。
由此,即使操作者将可动部拉进通道内,可动部也顺畅地收纳于通道内,因此能够防止关节非意图地进行动作,并能够减轻施加于关节的负荷。
另外,在上述方式中,还可以具有:请求输入部,其输入从所述处置状态脱离的脱离请求;以及控制部,当向该请求输入部输入了脱离请求时,该控制部对所述驱动部进行控制,使得所述可动部的所述关节松弛。
由此,当向请求输入部输入脱离请求时,通过驱动部而使可动部的关节被松弛,因此操作者即使将可动部拉进通道内,可动部的各关节也以使得可动部成为沿着长条部的长度方向的形态的方式摆动,并顺畅收纳于通道内。由此,能够防止关节非意图地动作,并能够减轻施加于关节的负荷。
另外,在上述方式中,还可以具有控制部,该控制部在通过所述传感器检测到脱离时,对所述驱动部进行控制,使得所述可动部的所述关节松弛。
由此,在通过传感器检测到脱离的情况下,通过驱动部而使可动部的关节被松弛,因此操作者即使将可动部拉进通道内,可动部的各关节也以使得可动部成为沿着长条部的长度方向的形态的方式摆动,并顺畅收纳于通道内。由此,能够防止关节非意图地动作,并能够减轻施加于关节的负荷。
发明效果
根据本发明,实现能够防止机械手的非意图动作并且减轻向关节上施加的负荷的效果。
附图说明
图1是示出本发明的一个实施方式的医疗用机械手系统的整体结构图。
图2是示出图1的医疗用机械手系统的一部分的立体图。
图3是示出用于图1的医疗用机械手系统的机械手、操作输入部以及控制部的图。
图4是说明图1的医疗用机械手系统的操作输入部的第2操作部、指令传递部以及进退机构的俯视图。
图5是示出图1的医疗用机械手系统的第2操作部的滑块与止动件抵靠的状态的图。
图6是示出图1的医疗用机械手系统的可动部收纳于套管的机械手用通道内的收纳状态的图。
图7是示出图3的医疗用机械手系统中的止动件的其它配置例的图。
图8A是图1的医疗用机械手系统的变形例,是具有安装于机械手的可动部上的由弹性材料构成的止动件,并且机械手配置成处置状态的图。
图8B是示出图8A的止动件抵靠于套管的前端的状态的图。
图8C是示出图8A的止动件在径向上收缩而使机械手局部地成为收纳状态的状态的图。
图9是图5的止动件的变形例,是示出第2操作部的滑块呈曲轴状进行动作的情况的图。
图10是图1的医疗用机械手系统的变形例,是示出设置于第1操作部的解除开关和接触开关的例子的立体图。
图11是图5的医疗用机械手系统的变形例,是示出代替了止动件的传感器的配置例的图。
具体实施方式
以下参照附图对本发明的一个实施方式的医疗用机械手系统1进行说明。
如图1和图2所示,本实施方式的医疗用机械手系统1具有:操作输入部2,其由操作者O进行操作;套管(医疗设备)6,其插入患者P的体腔内;2个机械手3,它们分别插入该套管6的2个通道7内;控制部4,其基于操作输入部2的操作对机械手3进行控制;以及监视器5。
如图3所示,机械手3分别具有:插入部(长条部)8,其经由后述的套管6的通道7插入患者P的体内;可动部9,其位于该插入部8的前端;以及驱动部10,其配置于插入部8的基端侧,并通过未图示的线等动力传递部件对可动部9进行驱动。
可动部9具有:处置部11,其配置于最前端,且作用于体内的患部而对该患部进行处置;以及多个关节12、13、14,它们使该处置部11的前端位置和姿势变化。处置部11例如是把持钳子或者高频刀等。
另外,如图3所示,机械手3具有:马达单元15,其能够装卸地连接于各驱动部10,并内置有将动力附加于各驱动部10的马达等电驱动源(省略图示);以及进退机构16,其使该马达单元15直线移动。
套管6是由具有挠性的材质构成的管,如图2和图3所示,该套管6具有:前端侧管状部19,其具有分别供机械手3贯穿的2个机械手用通道(通道)7和供内窥镜17贯穿的单独的内窥镜用通道18;以及基端侧管状部20,其以从该前端侧管状部19的基端使2个机械手用通道7向基端侧延长的方式延伸。
如图3所示,操作输入部2具有:第1操作部21,其通过操作者O的手来把持进行操作;第2操作部22,其通过操作者O的手腕或者臂来操作;以及指令传递部23,其将这些操作部21、22输入的操作指令传递给机械手3。
第1操作部21构成为与机械手3的可动部9相似的形状,该第1操作部21的被与可动部9相同数量的关节24、25、26支撑的前端部27被操作者O的手把持,并被手掌或者手指移动。在第1操作部21上具有对构成该第1操作部21的各关节24、25、26的角度进行检测的未图示的传感器。
传感器产生与各关节24、25、26的角度对应的电信号。由此,各第1操作部21通过操作者O的手掌或者手指输入操作指令,并能够产生由电信号构成的动作指令。
第2操作部22具有:臂放置台28,其固定于第1操作部21的基部;以及直线运动机构29,其将该臂放置台28和第1操作部21支撑成能够一体地移动。对于臂放置台28来说,当操作者O把持第1操作部21的前端部27时,正好配置于把持前端部27的手的手腕附近的臂所载置的位置。
直线运动机构29具有:滑块30,其固定臂放置台28和第1操作部21;以及直线导件31,其如图3和图4中涂黑的箭头所示,将该滑块30支撑成能够在水平方向上移动。通过利用载置于臂放置台28的臂使滑块30在水平方向上移动,从而能够在维持把持了第1操作部21的姿势的状态下使第1操作部21的位置移动。由此,第2操作部22利用操作者O的手腕或者臂输入操作指令,并能够将利用手腕或者臂输入的力作为2个滑块30的机械的驱动力而产生动作指令。此外,除了滑块30产生作为机械的驱动力的动作指令的情况之外,也可以是产生作为电驱动力的动作指令的方式。
指令传递部23具有:电信号传递部32a,其连接第1操作部21与马达单元15;以及机械的动力传递部32b,其连接第2操作部22与进退机构16。
电信号传递部32a将第1操作部21产生的由电信号构成的动作指令传递给控制部4,并将控制部4生成的指令信号提供给马达单元15的各马达。控制部4基于第1操作部21产生的动作指令来计算马达单元15的各马达的旋转移动量和转速,并对各马达进行控制。
如图3所示,机械的动力传递部32b具有传递部33,该传递部33将使操作输入部2的各滑块30前进或后退的直线动作转换成进退机构16的直线动作。
如图4所示,传递部33具有:第1齿轮齿条机构34,其将操作输入部2的滑块30的直线移动量转换成旋转角度;第2齿轮齿条机构35,其将旋转动作转换成进退机构16的直线移动量;轮36、37,它们分别固定于这些齿轮齿条机构34、35的小齿轮上;以及带38,其架设于这些轮36、37上。
在本实施方式中,直线运动机构29的滑块30的动作范围与使机械手3相对于套管6在插入部8的长度方向上移动的进退机构16的动作范围对应。即,当使滑块30在最前端位置与最后端位置之间移动时,能够使机械手3在处置状态和收纳状态之间移动,其中,该处置状态如图5所示那样,是设置于机械手3的前端的可动部9整体从套管6的机械手用通道7向前方突出的状态,该收纳状态如图6所示那样,是可动部9整体收纳于套管6的机械手用通道7内的状态。
而且,在本实施方式中,如图3、图5以及图6所示,在直线运动机构29的滑块30的动作范围的中途位置设置有止动件(通知部)39,该止动件(通知部)39抵靠滑块30并限制该滑块30继续后退。当可动部9的最接近插入部8的关节14后退到套管6的前端的正前位置时,该止动件39抵靠,并限制滑块30继续后退。
另外,通过进行规定的操作,止动件39能够解除滑块30的后退的限制。例如,如图3所示,止动件39设置成能够绕水平轴线摆动,并且利用弹簧(省略图示)被施力成向上方突出,当使滑块30前进时,被滑块30按下而不限制滑块30的移动,另一方面,当使滑块30后退时,与滑块30的后部抵靠而限制后退。而且,当解除止动件39的限制时,通过使止动件39自身朝向与滑块30的移动方向正交的方向(在此是下方)抵抗弹簧的施力而进行推入的操作来解除限制,并能够容许滑块30的后退。
以下对这样构成的本实施方式的医疗用机械手系统1的作用进行说明。
要使用本实施方式的医疗用机械手系统1处置患者P的体内的患部,将套管6插入患者P的体腔内,并经由套管6的机械手用通道7将机械手3的可动部9和插入部8插入患者P的体内。另外,经由套管6的内窥镜用通道18而插入内窥镜17的插入部8。
而且,如图3所示,在可动部9从套管6的机械手用通道7的前端突出且接近体腔内的患部进行配置的状态下,操作者O一边在监视器5中确认内窥镜17获取的图像一边对操作输入部2进行操作。要对操作输入部2进行操作,如图4所示,操作者O用两手把持2个一对的第1操作部21的各前端部27,并使两手臂放置在2个一对的各第2操作部22的各臂放置台28上。
而且,操作者O当从任意一个臂对臂放置台28施加力时,固定了臂放置台28的滑块30向该力的方向移动,该直线移动量通过第1齿轮齿条机构34被转换成旋转角度。
第1齿轮齿条机构34的转换成旋转角度的直线移动量经由轮36、37以及带38而传递给第2齿轮齿条机构35,并转换成进退机构16的直线移动量。因为在进退机构16上固定有马达单元15,因此连接于马达单元15的驱动部10、插入部8以及可动部9一体地沿着插入部8的长度方向移动。由此,位于可动部9的前端的处置部11通过手动大致地向前进或后退方向移动。
当操作者O用手掌或者手指的力使两手把持的第1操作部21的前端部27移动时,该移动量被设置于各关节24、25、26的传感器检测到,并作为电信号传递给控制部4。在控制部4中,计算以与传感器检测的各关节24、25、26的角度一致的方式使可动部9的各关节12、13、14进行动作的电动作指令,并提供给连接于各关节12、13、14的马达单元15的马达。由此,设置于可动部9的前端的处置部11的前端位置如被手掌或者手指所指示那样通过电动精密地移动。
根据本实施方式的医疗用机械手系统1,关于可动部9,当从可动部9收纳于套管6的机械手用通道7内的收纳状态起,使第2操作部22的滑块30前进,从而使可动部9迁移到从机械手用通道7内突出的处置状态时,滑块30按下止动件39而前进。另一方面,使第2操作部22的滑块30后退,当从处置状态迁移到收纳状态时,如图5所示,滑块30与止动件39抵靠而限制继续后退。
当滑块30与止动件39抵靠时,操作者O因为不能使滑块30继续后退,因此能够识别可动部9要从处置状态迁移到收纳状态。因而,能够防止操作者O非意图地使滑块30过于后退造成的可动部9向机械手用通道7内的拉进。
即,具有如下的优点:能够防止在可动部9的关节12、13保持弯曲的状态下强行地拉进机械手用通道7内,并且能够防止可动部9的前端向非意图的方向移动,并且能够防止要将可动部9的弯曲的关节12、13强制成笔直的过大负荷施加于关节12、13。
而且,如图6所示,要有意地使可动部9迁移到收纳状态的操作者O通过使构成第1操作部21的各关节12、13笔直地延伸,从而在使构成可动部9的各关节24、25笔直地延伸而成为沿着插入部8的长度方向的形态之后,按下止动件39并解除限制状态,使滑块30后退而能够使可动部9顺畅地收纳于机械手用通道7内。
此外,在本实施方式的医疗用机械手系统1中,也可以是,能够在滑块30的移动方向上调节止动件39的位置。只要在处于处置状态时和其以外的状态下根据使运动换算比变化或者变更机械手3的长度或路径的情况等来切换止动件39的位置即可。
另外,也可以代替止动件39或者在止动件39的基础上具有检测滑块30到达止动件39的位置的传感器,在传感器检测到滑块30的到达时刻,通过声音或者显示等向操作者O通知该主旨。
另外,在本实施方式中,例示了抵靠第2操作部22的滑块30的止动件39,但也可代替该止动件39而如图7中黑三角记号所示,设置抵靠马达单元15的止动件40,或者设置抵靠设于插入部8的凹部或突起(省略图示)的止动件41。在这些情况下,作为止动件40、41而优选采用能够根据来自操作输入部2侧的指令信号而进行解除的例如使用了电磁式的柱塞等止动件。
此外,也可以代替电磁式的柱塞,利用施加力来越过的阶梯差来构成止动件。
另外,如图8A所示,也可以在可动部9的比最基端侧的关节13靠近基端侧设置由能够放大缩小径向尺寸的材质构成的止动件42。止动件42的材质由例如硅树脂等弹性材料构成即可。如图8C所示,通过缩小止动件42的径向尺寸,而能够穿过套管6的机械手用通道7内,当从机械手用通道7的前端向外部露出后,如图8B所示,能够放大止动件42的径向尺寸而难以拉进机械手用通道7内。
另外,如图9所示,也能够使第2操作部22的滑块30呈曲轴状移动,通过使滑块30后退而与曲轴43的阶梯差部分抵靠,从而向操作者O通知从处置状态迁移到收纳状态。操作者O在意图迁移到收纳状态的情况下,通过使滑块30向相对于进退方向正交的方向移动规定距离,从而能够随着曲轴43进一步使滑块30后退。
另外,在本实施方式中,也可以成为,控制部4监视可动部9的状态并判定可动部9是否是能够从处置状态脱离的状态,在判定为是能够脱离的状态的情况下,解除止动件39的限制。
具体地说,控制部4基于设置于第1操作部21的各关节24、25的传感器的角度信息,在机械手3的可动部9的各关节12、13笔直地延伸的情况下,即如图6所示,在可动部9具有使插入部8沿其长度方向延长而笔直地延伸的形态的情况下,判定为是能够从处置状态脱离的状态即可。
止动件39只要是能够基于来自控制部4的指令信号切换设定状态和解除状态的电动的电磁线圈驱动等止动件即可。或者,也可以采用在拉进的方向上施加限制那样的单向离合器(凸轮离合器)。
根据这样构成的本实施方式的医疗用机械手系统1,有如下的优点:在可动部9的关节12、13弯曲的情况下,利用止动件39限制可动部9向机械手用通道7内的拉进,另一方面,在可动部9的关节12、13笔直地延伸的情况下,解除止动件39的限制,并能够使可动部9在机械手用通道7内顺畅拉进。
即,在可动部9的关节12、13弯曲的情况下,通过使滑块30与止动件39抵靠,从而能够向操作者O通知正在从处置状态非意图地迁移到收纳状态。另一方面,在可动部9的各关节12、13笔直地延伸的情况下,能够转移到收纳状态,而使操作者O意识不到从处置状态迁移到收纳状态。
另外,在本实施方式中,如图10所示,在第1操作部21的前端部27具有请求从处置状态脱离的解除按钮(要求输入部)44,当该解除按钮44被按下时,控制部4也可以进行控制以使得解除止动件39,并且利用驱动部10使可动部9的各关节12、13松弛。若可动部9的各关节12、13被松弛,则当被拉进机械手用通道7内时,因为可动部9的各关节12、13依次笔直地延伸并进行拉进,因此能够防止向关节12、13施加不合理的力,并且防止可动部9的前端的处置部11向非意图的方向活动。
此外,作为请求输入部44,除了设置于第1操作部21的前端部27的解除按钮44之外,如图10中阴影线所示,还可以采用对操作者O把持第1操作部21进行检测的接触传感器(安全操作开关(deadman switch))46。在接触传感器46未检测到操作者O的情况下,因为检测到未进行操作,因此使各关节12、13松弛,并能够将可动部9顺畅地拉进机械手用通道7内。
另外,作为请求输入部44,还可以采用设置于安装机械手3的驱动部10的马达单元15的附近的解除按钮(省略图示)。在这种情况下,止动件39只要配置于与马达单元15抵靠的位置或者与设置于套管6内的插入部8的凹部或者突起抵靠的位置即可。通过按下解除按钮,止动件39的限制被解除,机械手3的可动部9的各关节12、13被松弛,并且能够通过手动使安装于进退机构16的马达单元15进行移动。
这样,不仅操作者O连看护者也能够按下解除按钮将可动部9顺畅拉进机械手用通道7内。
另外,在本实施方式中,也可以代替止动件39而设置对第2操作部22的滑块30从处置状态脱离进行检测的传感器(通知部)45,在利用传感器45检测到要从处置状态脱离的情况下,对该情况进行通知并且使可动部9的各关节12、13松弛。
如图11中标注了阴影线的四角形所示,传感器45既可以对第2操作部22的滑块30的位置进行检测,也可以对马达单元15的位置或者粘贴于套管6内的插入部8的外表面的指标(省略图示)进行检测。
另外,在本实施方式中,使施加于第2操作部22的力利用机械的动力传递部32b而使进退机构16移动,但也可以代替它而通过电动使进退机构16移动与第2操作部22的滑块30的移动量对应的移动量。
在这种情况下,在图5的止动件39的位置上代替止动件39而具有被第2操作部22的滑块30的后端按压的开关,当利用滑块30按下开关时,控制部4使可动部9的各关节12、13松弛,并且将所按下的时间量作为速度输入而使进退机构16移动,以使得使机械手3后退规定距离。
另外,在本实施方式中,作为具有通道7的医疗设备的一例而例示了套管6,但也可以代替该套管6而采用内窥镜等任意的医疗设备。
另外,作为第1操作部21而例示了与机械手3的可动部9相似形状的情况,但也可以采用非相似形状的结构。
标号说明
1:医疗用机械手系统;2:操作输入部;3:机械手;4:控制部;6:套管(医疗设备);7:通道;8:插入部(长条部);9:可动部;10:驱动部;39:止动件(通知部);44:解除按钮(请求输入部);45:传感器(通知部);46:接触传感器(安全操作开关)。
Claims (7)
1.一种医疗用机械手系统,其具有:
机械手,其具有长条部、可动部和驱动部,该可动部具有配置于该长条部的前端的1个以上关节,该驱动部配置于所述长条部的基端并对所述可动部进行驱动;
医疗设备,其具有能够将所述长条部的至少一部分和所述可动部收纳为能够在长度方向上移动的通道;
操作输入部,其根据操作者输入的操作指令产生如下的动作指令,该动作指令使所述机械手在所述可动部从所述通道的前端完全地突出的处置状态与所述可动部收纳于所述通道内的收纳状态之间在所述长条部的长度方向上移动;以及
通知部,其针对所述机械手要从所述处置状态脱离而迁移到所述收纳状态的情况进行通知。
2.根据权利要求1所述的医疗用机械手系统,其中,
所述通知部是如下的止动件,该止动件设置于所述机械手与所述医疗设备之间或者所述操作输入部上,限制所述机械手从所述处置状态的脱离,并能够解除限制。
3.根据权利要求1所述的医疗用机械手系统,其中,
所述通知部具有传感器,该传感器设置于所述机械手与所述医疗设备之间或者所述操作输入部上,检测所述机械手从所述处置状态的脱离,当通过该传感器检测到脱离时,该通知部通知该情况。
4.根据权利要求2所述的医疗用机械手系统,其中,
该医疗用机械手系统具有控制部,该控制部判定是否是所述机械手能够从所述处置状态脱离的状态,在是能够脱离的状态的情况下,解除所述止动件的限制。
5.根据权利要求4所述的医疗用机械手系统,其中,
所述控制部在所述可动部沿着所述长条部的长度方向延伸的情况下,判定为能够脱离。
6.根据权利要求1所述的医疗用机械手系统,其中,
该医疗用机械手系统具有:
请求输入部,其输入从所述处置状态脱离的脱离请求;以及
控制部,当向该请求输入部输入了脱离请求时,该控制部对所述驱动部进行控制,使得所述可动部的所述关节松弛。
7.根据权利要求3所述的医疗用机械手系统,其中,
该医疗用机械手系统具有控制部,当通过所述传感器检测到脱离时,该控制部对所述驱动部进行控制,使得所述可动部的所述关节松弛。
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