CN1533745A - 医疗用机械手、其控制装置以及控制方法 - Google Patents
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Abstract
本发明提供安全而且操作性良好的医疗用机械手、其控制装置和方法,检测主动单元姿势与从动单元姿势的偏差,通过其偏差的绝对值与预先确定的基准值的比较,进行从非主从动作模式向主从动作模式转移的转移主从动作模式与主从动作模式的切换。
Description
技术领域
本发明涉及医疗用机械手、其控制装置以及控制方法,特别是涉及以主从方式进行动作的医疗用机械手、其控制装置以及控制方法。
背景技术
以往,在摘除胆囊手术等腹腔镜下手术中,在患者的腹部打一个小孔,在该部分中安装トラカ-ル,经过トラカ-ル插入内视镜或者钳子,手术者边用监视器观察内视镜的图像边操作钳子进行手术。这样的手术方法由于不需要开腹因此减少对于患者的负担,能够大幅度地减少手术后的恢复或者出院的天数。这样的腹腔镜下手术在对于患者的负担少这一点上十分出色,因此期待扩大应用领域。但是其反面,对于手术者来讲不能够直接观看患部,使用仅设置了开闭抓爪的缺乏操作性的钳子,不能够说一定适合于手术,需要手术者的熟练技术。
为此,研究并正在导入在钳子顶端提供姿势的自由度,手术者操作具有多个自由度的操作单元(主动单元),通过具有多个自由度的顶端的作业单元(从动单元)与操作单元的动作相配合进行动作的主从方法进行腹腔镜下手术。
作为主从方式的医疗用机械手之一,有主动单元与从动单元位于相互离开位置的远离操作型的装置。这是在患者一侧配置多个从动臂,操作位于远离患者位置的主机,控制医疗用机械手顶端的位置和姿势的装置,该系统复杂而且体积庞大,成本或者维护性不理想。为了在手术室中进行准备要花费很多的时间,引起手术的中断等,与当前手术的互换性差。进而,由于手术者不能够靠近患者一侧进行手术,不能够进行紧急时的处理,因此在安全性方面存在问题。
作为主从方法的医疗用机械手构造的另一种构造,具有主动单元和从动单元的每一个中的轴的一部分构成共通轴的易于用简洁的系统导入的一体型的医疗用机械手。对于前面举出的远离操作型的机械手,该一体型机械手由于手术者站在患者一侧直接操作手术机械手,因此大幅度地减少了安全性的问题。
但是,这些医疗用机械手的功能在手术作业中是以其处置功能为中心开发的,还存在系统在手术室中设置的容易性,手术者使用的方便性,灭菌清洁性,系统应用开始时的容易性以及成本等方面的问题。
【专利文献1】
特开平08-215204号公报
【专利文献2】
特愿2001-243434号
作以往的技术具有的课题之一,存在着在使主从方式的医疗用机械手动作时,如果在操作单元(主动单元)与作业单元(从动单元)的姿势关系不一致的状态下开始动作,则不能够按照操作者(手术者)的想法使从动单元进行动作,操作性差这样的缺点。这是由于如果在两者的姿势不一致的状态下开始操作,则手术者不能够正确地识别内视镜监视器中映出的从动单元的姿势与手术者操作的操作单元的姿势关系的差异而产生混乱。在这样的状态下,由于操作性差的同时安全性还降低,因此具有作为医疗用机械手应该解决的技术性的课题。
作为解决该课题的方法之一,具有在使从动单元的姿势停止的状态下,使主动单元与从动单元的姿势一致的方法(参照专利文献1)。这是运用了在产业用机器人中实施的方法,具体地讲,在从动单元和主动单元中具备检测各自的姿势角度的检测单元以及把这些检测结果进行比较的单元的机械手中,首先使从动单元停止动作,手术者操作主动单元使得与从动单元的姿势一致,从该状态出发,开始主从动作。但是,在开始或者再次开始主从动作时,手术者要一个一个地使从动单元与主动单元的姿势吻合,因此可以说不一定提高了操作性。况且,由于如上述那样必须使多个自由度的每一个吻合,因此在姿势一致方面花费时间。进而,这些课题从临时应变处理现场中意外事态方面来讲也很不适宜。
作为另一种方法,具有使从动单元自动地与主动单元的姿势吻合的方法(参照专利文献2)。具体地讲,在从动单元和主动单元中具备检测各自的姿势角度的检测单元以及顺序地把这些检测结果进行比较的单元的机械手中,根据主动单元与从动单元的姿势偏差的大小以及姿势一致经过时间,进行生成从动单元的动作的转移主从动作。该方法消除了作为以往方法的课题点的姿势吻合的繁琐,而且即使正在进行姿势吻合,也能够实现反映了手术者意图的动作,是提高作为医疗用机械手的操作性的方法。但是,如果在姿势偏差大的状态下开始姿势吻合,则从动单元自动地进行动作的距离、时间大,由于从动单元与姿势吻合开始指令一起进行动作,因此显著地出现不反映手术者意图的自动动作以及安全性方面仍然存在问题。
发明内容
从而,本发明的目的是为了解决以上所述的以往技术中存在的课题,提供一种通过在开始主从方法的医疗用机械手的操作时,手术者不用知道主动单元与从动单元的姿势吻合的过程,而且,作为医疗机器不进行危险的不符合操作者意图的自动动作,另外,即使在姿势吻合动作过程中也反映操作者的意图,从而提高了操作性和安全性的医疗用机械手。
为了达到上述目的,本发明是以主从方式进行动作的医疗用机械手,特征是具备指令动作的主动单元;具有作业单元,并且根据主动单元的指令进行动作的从动单元;检测主动单元和从动单元的各个的姿势角度的检测器;控制装置,该控制装置根据来自上述主动单元的指令控制上述从动单元,构成为具有计算主动单元姿势与从动单元姿势的偏差的功能,以及根据该偏差的绝对值与预先确定的基准值的比较,进行从非主从动作模式转移到主从动作模式的转移主从动作模式与主从动作模式的切换的功能。
上述控制装置的特征是构成为具备在上述转移主从动作模式中,根据主动单元姿势与从动单元姿势的偏差变化率的符号和主动单元姿势变化率的符号的异同,进行使从动单元的姿势目标值追赶上主动单元的姿势角度的加速跟随目标生成和使主动单元的姿势角度追赶上从动单元的姿势目标值的减速跟随目标生成中的任一种生成的、使转移主从动作模式的动作方式发生变化的功能。
另外,上述控制装置的特征是构成为具备在转移主从动作模式中,根据能够变更设定的参数使所选择的动作方式的动作速度变化的功能。
如果依据本发明,则由于即使在没有成为通常的主从动作的转移主从动作中,从动单元也能够对于主动单元的操作方向进行动作,因此能够瞬时反映符合手术者意图的动作。从而,能够提供提高了安全性的医疗用机械手。进而,转移主从动作对于手术者来讲,与能够反映本身意图的动作模式无关,不需要有意识地实施麻烦的姿势吻合,因此能够提供提高了操作性的医疗用机械手。进而,由于在转移主从动作模式中,如果使主动单元停止则从动单元也停止,而且,从动单元只是沿着操作主动单元的方向进行动作,因此作为医疗机械,不进行一切在安全性方面存在问题的不符合意图的自动动作,能够使主动单元与从动单元的姿势关系一致。
另外,上述控制装置的特征是构成为具备根据上述参数的设定,进行转移主从动作模式中的动作方式的取舍选择的功能。
另外,上述控制装置的特征是构成为具备切换转移主从动作模式,以及作为通常跟随目标生成动作模式的预先设定的自动转移动作模式的功能。
另外,上述控制装置的特征是构成为能够在主动单元的每个姿势轴进行上述参数的设定。
如果依据本发明,则由于在用于消除主动单元与从动单元的姿势角度差的转移主从动作中,能够容易地根据各种要求立即进行设定变更,因此能够提供可以与每个操作者的使用方法的差异相对应的提高了操作性和安全性的医疗用机械手。
另外,上述控制装置的特征是构成为具备在通常的主从动作模式中,在转移主从动作模式中活用处于主动单元的操作角度读入值不灵敏区中的姿势角度的功能,在转移主从动作模式中,在所确定的动作方式的目标值生成以后进行从动单元的目标值饱和处理的功能。
如果依据本发明,则由于在转移主从动作模式中,能够有效地利用主动单元的操作角度信息的同时,能够不超过从动单元的动作范围设定从动单元目标值,因此能够提供操作性和安全性都提高了的医疗用机械手。
如果依据本发明,则能够提供医疗用机械手的控制装置,这是具备指令动作的主动单元,具有作业单元并且根据主动单元的指令进行动作的从动单元以及检测主动单元和从动单元的各个姿势角度的检测器,并且以主从方式进行动作的医疗用机械手的控制装置,构成为具有计算主动单元姿势与从动单元姿势的偏差的功能;根据其偏差的绝对值与预先确定的基准值的比较,进行从非主从动作模式向主从动作模式转移的转移主从动作模式与主从动作模式的切换的功能。
如果依据本发明,则能够提供医疗用机械手的控制方法,这是具备指令动作的主动单元,具有作业单元并且根据主动单元的指令进行动作的从动单元以及检测主动单元和从动单元的各个姿势角度的检测器,并且以主从方式进行动作的医疗用机械手的控制方法,该方法计算主动单元姿势与从动单元姿势的偏差,根据其偏差的绝对值与预先确定的基准值的比较,进行从非主从动作模式向主从动作模式转移的转移主从动作模式与主从动作模式的切换。
附图说明
图1是医疗用一体型机械手系统的概略结构图。
图2是医疗用机械手主体的概略结构图。
图3是控制装置的概略结构图。
图4是示出计算单元的处理过程的流程图。
图5是说明在计算单元的处理过程中的动作判定过程的流程图。
图6示出了在以往的主从动作模式中使用的饱和处理顺序。
图7示出了在转移主从动作模式中使用的饱和处理顺序。
图8示出了医疗用机械手的自由度结构的从动单元的顶端。
具体实施方式
首先,对于本发明的概略结构,在这里以一体型的医疗用机械手为例进行说明。如图1所示,医疗用机械手系统由以主从方式进行动作的医疗用机械手主体1,控制驱动医疗用机械手主体的控制装置2,输入手术者的指令的指令输入单元3,提示医疗用机械手的动作状态的动作状态提示器5构成。
医疗用机械手主体如图2所示,由操作者(手术者)指令操作的主动单元8,根据其指令进行动作的从动单元9,把主动单元与从动单元连接成一体的连接部分10构成。主动单元8如图2所示,构成为能够在3个关节轴的周围旋转。在该主动单元8的各关节轴上安装读取其关节角度的角度传感器,顺序地向控制装置2发送操作者所操作的角度信息。从动单元9具有用于实施处置的自由度,能够在2个关节轴的周围旋转,能够改变顶端的姿势的同时,与安装在顶端的抓爪的开闭自由度相吻合,分别根据操作者的指令进行动作。从动单元9经过引线或者由杆、齿轮等构成的动力传递部分,通过传送后述的电机21的动力进行动作。图中7是トラカ-ル。
控制装置2如图3所示,由电源单元13,计算单元14,电机驱动电路单元15,安全保护装置16以及各种开关17构成。电源单元13从外部电源19经过变压器向计算单元14和电机电路单元15供给必要的电力。计算单元14由CPU、存储装置、逻辑电路以及IO接口构成,具有生成用角度检测器22读取主动单元8的姿势角度驱动从动单元9的电机21的控制目标值的功能,以及读取测定电机的动作角度的角度检测器23的信息并且与电机的控制目标值进行比较,计算电机指令输入使得消除其偏差的功能。另外,监视各种开关17等的信号输入,按照预先决定的程序进行控制计算。计算单元14根据预先决定的控制周期如图4所示那样反复进行这些处理。电机驱动电路15是根据来自计算单元14的指令输入向电机21输出电力的电路。安全保护装置16是在计算单位14的计算异常、电机驱动电路异常、紧急停止指令等异常事态下准备的,切断向医疗用机械手主体1的电力,立即停止该主体1的动作的控制装置各种开关17装备在控制装置箱体20内,在医疗用机械手的动作状态的切换指令和电源切换等中使用。
指令输入单元3是通过操作者直接进行操作,用于顺利地执行医疗用机械手主体1的动作开始或结束、动作状态的切换等指令的装置,通常使用基座开关使得不成为手动作的障碍,即大多构成为基座开关。除去该基座开关以外,还能够采用声音输入或者安装在医疗用机械手主体上的开关。
动作状态提示器5是提示医疗用机械手主体1的动作状态的装置,是提高手术的安全性使得手术者或者参与手术的助手等能够容易地确认操作状态的装置。该装置大多设置在内视镜用监视器附近,使得提示结果能够没有失调感地容易地进入到手术者的视野。
另外,如果按照各步骤简单地说明上述图4所示的动作则如下。即,读取主动单元8以及从动单元9的角度检测器的输出(S1)。接着,监视指令输入单元3或者控制装置2中装备的开关17的各自的输入状态(S2)。接着,根据动作指令监视结果,决定动作模式(S3)。然后,根据所判定的动作模式进行动作方式的判别和从动单元目标值的生成(S4)。然后,把在控制目标值中用于驱动从动单元9的计算及其结果输入到电机驱动器(电机驱动电路单元15)(S5)。然后,向动作状态提示器5输出动作状态(S6)。
在医疗用机械手主体1中,没有连接部分,主动单元8和从动单元9设置在相互离开的位置的形式就是远离操作型的医疗用机械手。另外这时在主动单元8和从动单元9中分别配置控制装置,这些控制装置进行数据通信,从而实现主从动作。其次,参照图5说明开始主从动作时的过程。如果在控制装置2中接入电源,则也向计算单元14以及医疗用机械手主体1输送电力,计算单元14能够读取各角度传感器的信息。在通常这样的刚加入了电源的状态下,只要不进行任何操作,则主动单元8与从动单元9的姿势关系基本上都不一致。另外,从动单元9也可以保持初始姿势不变,处于停止的状态。计算单元14与机械手的动作模式无关,顺序地进行操作者的动作开始指令输入的监视以及主动单元8与从动单元9的姿势角度的监视(S3)。计算单元14根据式(1)计算从动单元9的角度θs与主动单元8的角度θm的偏差d。
d=θm-θs 式(1)
操作者通过指令输入单元3或者控制装置的开关17把主从动作开始的指令输入到计算单元14。计算单元14识别主从动作开始指令输入,根据式(1)计算出的偏差d的大小与预先设定的主从动作基准值的大小进行比较(S41),在其结果满足式(2)的情况下向转移主从动作模式转移(S42)
|d|>A 式(2)
不满足式(2)的情况是主动单元8与从动单元9的姿势角度的偏差非常小的状态,转移到通常的主从动作模式(S43)。原本,在通常的主从动作中理想的是d的值为零,但是由于角度与读入间隔是离散的,因此观察到两者完全一致的状态是极其偶然的。这里,尽管主动单元8与从动单元9的姿势角度几乎一致,但发生迟迟不执行向通常的主从动作转移的状况。即使主动单元8与从动单元9的姿势角度偏差不完全是零,但是由于在充分接近零的位置,能够充分地补偿操作性,因此考虑实用导入常数A。
上述的转移主从动作(S44)模式是指从停止状态等的非主从动作模式向通常的主从动作状态转移的过程,对于操作者来讲,是能够以主从动作相同的感觉进行操作的模式。
在该转移主从动作模式中,计算单元14根据系数α如式(3)那样定义从动单元9的目标值的时间偏差Δθs与主动单元8的姿势的时间偏差Δθm的关系。
Δθs=αΔθm 式(3)
在转移主从动作(S44)模式中,根据主动单元8的姿势的时间偏差Δθm的符号和主动单元8与从动单元9的角度偏差d的符号,叙述式(3)中的系数α的值的确定方法。这里,两者符号的异同能够根据式(4)所示的D的符号判定。如果D是正则两者的符号相同,如果D是负则两者的符号不同。
D=Δθm×d 式(4)
当D>0时,即,主动单元8的姿势的时间偏差的符号和主动单元与从动单元9的角度偏差的符号相等时,意味着操作者把主动单元8的姿势向离开当前的从动单元9的姿势的方向进行操作。这时,通过确定系数α使得满足式(5),能够生成从动单元9的姿势目标值使之赶上主动单元8的姿势角度(加速跟随目标生成)(S45)。
α>1 式(5)
当D<0时,即,主动单元姿势的时间偏差的符号和主动单元8与从动单元9的角度偏差的符号不同时,意味着操作者把主动单元8的姿势向接近当前的从动单元9的姿势的方向进行操作。这时,通过确定系数α使得满足式(6),能够生成从动单元9的姿势目标值使得主动单元8的姿势赶上它(减速跟随目标生成)(S46)。
0≤α<1 式(6)
转移主从动作模式(S44)是上述的任一种情况,在其任一种情况下,操作者如果停止主动单元8,则与系数α的值无关,由于从动单元目标值的时间偏差Δθs成为0,因此从动单元9停止(停止目标生成)(S47)。即,即使是转移动作主从动作模式(S44),在操作者想以任意的姿势停止从动单元9时,可以直接使主动单元8的操作停止,实现直观的操作。
计算单元14在每个控制周期或者每个预定的间隔顺序地监视用式(1)表示的d的大小,当d=0时,由于没有主动单元8与从动单元9的角度偏差,因此两者的姿势角度一致,向通常的主从动作变更动作模式。
至此为止为了易于了解说明,以把一般主从动作中的主动单元的动作比例与从动单元的动作比例设定为相等的动作模式作为通常的主从动作模式的情况为例进行了说明。下面,扩展成使得能够与各种主从动作模式相对应那样说明系数α的设定方法。
在通常的主从动作中,以提高操作性为目的,使主动单元8与从动单元9的姿势动作比例发生变化。例如,有对于主动单元8的姿势变化,使从动单元9的姿势变化减半的情况。这样的设定是在从动单元9中要求细微动作时,在主动单元8中难以进行相同等级的细微动作的情况下所使用的方法。另外,与此相反,有对于主动单元8的姿势变化使从动单元9的姿势变化加倍,减少操作者的工作量,减轻负担的情况。这样在通常的主从动单元动作模式中,如式(7)所示,有时变更动作比。
Δθs=βΔθm 式(7)
在具有这种通常的主从动作模式的医疗用机械手的情况下,转移主从动作模式能够像把式(3)变换后的式(8)那样定义。
Δθs=α·(βΔθm) 式(8)
结合式(3)以及式(8),转移主从动作模式中的从目标值与主动单元姿势的关系能够用式(9)定义。
Δθs=αextΔθm 式(9)
而且,该系数使用根据通常的主从动作的动作比例或者设计者的意图所确定的系数,表示如下。
0≤αext≤β (D<0) 式(10)
αext≥β (D>0) 式(11)
而在具有通常的主从动作的医疗用机械手中,采用把主动单元8的动作范围大于从动单元9的构造,如图6所示,读入主动单元8的角度(S61),在把该角度进行饱和处理(S62)以后生成从动单元9的目标值(S63),进而进行饱和处理并进行计算(S64),进行驱动输出(S65)。在转移主从动作模式中,即使在主动单元8与从动单元9的姿势关系中存在差异的情况下由于也虚拟地实现主从动作,因此通过在饱和处理完毕的部分中也具备所利用的功能,能够提高操作性。这里,在通常的主从动作模式和转移主从动作模式中,主动单元8的饱和处理计算,即,如果将是舍弃还是活用通常的主从动作模式中的不灵敏区的姿势输出值的判断以及根据其判断结果进行的分场合的处理是在计算单元14中构成,则非常繁琐。因此,如图7所示,具备读入主动单元姿势(S71),进行符合动作模式以及动作方式的目标值生成(S72)以后进行饱和处理(S73),进行驱动输出(S74)的计算过程。根据该功能,在通常的主从动作模式下自不必言,即使在转移主从动作模式下,也不能够进行超过从动单元9的动作范围的驱动输出,成为安全的医疗用机械手。另外,饱和处理由于操作者能够任意地操作主动单元8,因此其操作速度也是任意的,但实际上由于驱动从动单元9的电机的动作速度或者在此外的传递系统中的动作速度存在极限值,因此处理成不能够超过从动单元9的动作速度的限制值。
根据以上所述,本发明的转移主从动作模式满足式(9),式(10)以及式(11)。另外,在采用改变主动单元8和从动单元9的动作方向的动作方式的情况下,可以使α的符号反转,关于α大小的设定满足上面的公式。
实施例1
这里,叙述式(3)中的α设定的应用。如图8所示,作为姿势的自由度,在具有偏转轴、辊轴、进而作为追加的自由度具有抓爪轴总计3个自由度的医疗用机械手中,其机械手的从动单元对于基准姿势,具有偏转轴+90度,辊轴180度,抓爪轴的开度角(单角)30度(0度是关闭的状态)的动作范围。如式(12)那样设定主从动作的系数β。这里是β=1。
【数1】
式(12)
该医疗用机械手的辊轴的动作范围由于比其它的两个轴大,因此在转移主从动作中,如式(13)、(14)那样决定系数。
【数2】
这样,通过在每一个所控制的轴改变系数的值,在每一个轴改变转移主从动作模式的动作速度,能够调整操作性。另外,在把该调整系统装备到医疗用机械手系统的接口,例如外部连接到控制装置上的终端等中,操作者能够任意进行设定变更,通过由计算单元读取设定值控制作业单元,成为能够进行与操作者的愿望相吻合的调整的医疗用机械手。
实施例2
在转移主从动作中也重视操作响应性,使速度不低于通常的主从动作速度低,实现转移主从动作模式的姿势吻合时如下进行。由于希望使减速跟踪停止进行姿势吻合,因此把D<0时的αext值设定为β。通过这样做,在主动单元接近从动单元时(D<0),虽然没有消除姿势差但是不发生速度下降,在主动单元远离从动单元进行动作时(D>0)消除姿势差。
另外与此相反,在重视安全性而不增加速度时,在转移主从动作模式中由于希望停止加速跟随,因此把D>0时的αext值设定为β,虽然没有消除姿势差,但是也不发生速度增加。在D<0时确定αext使得消除姿势差。
另外,与D的正负无关地αext值都是β时是在偏差d保持其大小的状态下,从动单元对于主动单元的动作相对动作的情况。这是主动单元的构造能够与从动单元不同的情况,例如,能够在用开关或者杆操作等相对输入装置进行操作的情况。
即,通过上述参数的设定,构成为具有进行转移主从动作模式中的动作方式的取舍选择的功能。
实施例3
这里,说明把本发明适用在再次开始主从动作时的例子。以提高操作性为目的,在主从动作中具有控制性地约束从动单元的任意的动作轴的方法。所谓约束任意的轴的状态,犹如是把主从动作轴的一部分作为非主从动作模式的情况,即使在再次返回到通常的主从动作模式时也能够适用本发明。根据主从动作开始指令判断约束解除,对于被约束的轴可以进行转移主从动作。
实施例4
在以主从动作操作医疗用机械手,处置系统缠绕在机械手的关节上,在机械手的顶端加入过大的负荷等,对于所生成的从动单元的目标值,将发生实际的从动单元的姿势偏移的情况。这时,需要医疗用机械手在动作状态提示器等中提示异常信号,通知操作者等的同时,消除异常状态,立即恢复手术的安全性。在去除了异常原因以后,使再次开始医疗用机械手动作的情况下,把与发生了异常时以前的目标值不同的从动单元姿势置换为当前的从动单元目标值。由于这时产生与主动单元的姿势偏差因此当消除该偏差时,通过识别异常信号,在计算单元中预先存储其恢复处理顺序,能够使用本发明的转移主从动作迅速地恢复到通常到主从动作,即,能够迅速而且安全地持续进行手术。
实施例5
在从非主从动作模式转移到主从动作模式的情况下,只要确保安全性,则以自动动作进行姿势吻合,其操作性良好。例如,在插入体内之前等的从动单元在其动作范围内不与任何物体冲撞。准备分别区别指令在医疗用机械手中进行自动动作的姿势吻合(例如专利文献2(这里加入了“自动转移动作”的名称))和本发明的姿势吻合的输入开关,计算单元在动作指令监视过程中读入其输入,在动作判定过程中,可以进行其切换。这样,在姿势吻合,通过具有自动转移动作与转移主从动作的切换功能实现提高了操作性的医疗用机械手。另外,如果在每一个轴由计算单元处理动作指令监视过程和动作判定过程,则也能够在每一个姿势轴实施该姿势吻合方法的切换。
实施例6
作为主动单元的构造,有在姿势轴中配置力矩传感器,在计算单元中作为来自主动单元的信息发送力或者力矩的情况。这时在计算单元中把力或者力矩信息变换为位置或者速度信息,计算从动单元的目标值。通过具备把力矩信息变换为位置或者速度信息的功能,能够适用转移主从动作模式。
如以上说明的那样,如果依据本发明则能够在医疗用机械手中兼备操作性和安全性。
Claims (10)
1.一种医疗用机械手,该机械手以主从方式进行动作,其特征在于具备:
指示动作的主动单元;
具有作业单元,并且根据上述主动单元的指令进行动作的从动单元;
检测上述主动单元和上述从动单元的各个的姿势角度的检测器;以及
根据来自上述主动单元的指令控制上述从动单元的控制装置,
上述控制装置具有:
计算主动单元姿势与从动单元姿势的偏差的功能,
根据该偏差的绝对值与预先确定的基准值的比较,决定非主从动作模式、主从动作模式以及从非主从动作模式转移到主从动作模式的转移主从动作模式中的任一种动作模式的功能。
2.根据权利要求1所述的医疗用机械手,其特征在于:
上述控制装置构成为具备:在上述转移主从动作模式中,根据主动单元姿势与从动单元姿势的偏差变化率的符号和主动单元姿势变化率的符号的异同,进行使从动单元的姿势目标值追赶上主动单元的姿势角度的加速跟随目标生成和使主动单元的姿势角度追赶上从动单元的姿势目标值的减速跟随目标生成中的任一种生成的、使转移主从动作模式的动作方式发生变化的功能。
3.根据权利要求1或2所述的医疗用机械手,其特征在于:
上述控制装置构成为具备:在上述转移主从动作模式中,在主动单元姿势变化率为0的情况下,进行使从动单元停止的停止目标生成的功能。
4.根据权利要求1或2所述的医疗用机械手,其特征在于:
上述控制装置构成为具备:在转移主从动作模式中,根据能够变更设定的参数使所选择的动作方式的动作速度变化的功能。
5.根据权利要求1或2所述的医疗用机械手,其特征在于:
上述控制装置构成为具备:根据上述参数的设定,进行转移主从动作模式中的动作方式的取舍选择的功能。
6.根据权利要求1或2所述的医疗用机械手,其特征在于:
上述控制装置构成为具备:切换转移主从动作模式和作为通常跟随目标生成动作模式的预先设定的自动转移动作模式的功能。
7.根据权利要求1或2所述的医疗用机械手,其特征在于:
上述控制装置构成为能够在主动单元的每个姿势轴进行上述参数的设定。
8.根据权利要求1或2所述的医疗用机械手,其特征在于:
上述控制装置构成为具备:在通常的主从动作模式中,在转移主从动作模式中活用处于主动单元的操作角度读入值不灵敏区中的姿势角度的功能;在转移主从动作模式中,在所确定的动作方式的目标值生成以后进行从动单元的目标值饱和处理的功能。
9.一种医疗用机械手的控制装置,其中,医疗用机械手具备指示动作的主动单元、具有作业单元并且根据主动单元的指令进行动作的从动单元以及检测主动单元和从动单元的各个的姿势角度的检测器,并且以主从方式进行动作,其特征在于:
该控制装置构成为具有:
计算主动单元姿势与从动单元姿势的偏差的功能;
根据其偏差的绝对值与预先确定的基准值的比较,进行从非主从动作模式向主从动作模式转移的转移主从动作模式与主从动作模式的切换的功能。
10.一种医疗用机械手的控制方法,其中,医疗用机械手具备指示动作的主动单元、具有作业单元并且根据主动单元的指令进行动作的从动单元以及检测主动单元和从动单元的各个的姿势角度的检测器,并且以主从方式进行动作,其特征在于:
计算主动单元姿势与从动单元姿势的偏差,
根据其偏差的绝对值与预先确定的基准值的比较,进行从非主从动作模式向主从动作模式转移的转移主从动作模式与主从动作模式的切换。
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Also Published As
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KR20040085063A (ko) | 2004-10-07 |
CN1291698C (zh) | 2006-12-27 |
US6993413B2 (en) | 2006-01-31 |
US7194335B2 (en) | 2007-03-20 |
JP3752494B2 (ja) | 2006-03-08 |
JP2004299012A (ja) | 2004-10-28 |
US20040254680A1 (en) | 2004-12-16 |
US20060069451A1 (en) | 2006-03-30 |
KR100571073B1 (ko) | 2006-04-14 |
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