JP2000300579A - Multifunctional manipulator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a highly operable multifunctional manipulator with mutual interference even when a plurality of manipulators containing an endoscope, treating devices and the like are operated simultaneously in a body cavity. SOLUTION: This apparatus includes first and second drive units 16 and 17 to operate a plurality of manipulators for observation or treatment in a body cavity separately, a control means 12 for controlling both drive units 16 and 17 and operation input parts 11 and 18 to apply operation information of the manipulator to the control means 12. The control means 12 includes a coordinate calculation part 13 to calculate coordinates which each of the manipulates occupy during the movement thereof based on the operation information from the operation input parts 11 and 18 and a comparison operation part 14 to perform a computation of whether the manipulators mutually interfere or not based on the calculated coordinates of the respective manipulators.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a multi-function manipulator.

[0002]

2. Description of the Related Art An insertion hole is made in a body wall such as an abdominal wall, and a surgical instrument such as an endoscope or a treatment tool is inserted into the body cavity through the insertion hole, so that observation and various treatments in the body cavity can be performed. Percutaneous endoscopic surgery performed by the above operation. Surgical instruments such as an endoscope and a treatment tool in such a percutaneous endoscopic surgery can be individually mounted on separate manipulators, and can observe a body part and operate a treatment with a high degree of freedom. It has become.

[0003] Japanese Patent Application No. 4-144300, Japanese Patent Application No. 7-3
No. 3,882, U.S. Pat. No. 5,217,003, U.S. Pat.
No. 24180 describes such a multifunctional manipulator.

[0004]

However, in the conventional multifunctional manipulator described above, since the observation manipulator and the plurality of treatment manipulators operate independently in the body cavity, the manipulators interfere with each other in the body cavity. There is a problem that the operation intended by the surgeon cannot be performed in the case of interference.

The present invention has been made in view of such a problem, and an object of the present invention is to operate a plurality of manipulators including an endoscope and a treatment tool simultaneously in a body cavity. An object of the present invention is to provide a multifunctional manipulator with good operability that does not interfere with each other.

[0006]

In order to achieve the above object, a multifunctional manipulator according to the present invention comprises a driving means for operating a plurality of manipulators for observing or treating a body cavity, and a control means for controlling the driving means. And operation input means for giving operation information of the manipulator to the control means, wherein the control means, based on the operation information from the operation input means, coordinates occupied by each manipulator when moving. And a comparison operation means for calculating whether or not the manipulators interfere with each other based on the coordinates of each manipulator calculated by the coordinate calculation means.

That is, in the present invention, when an operator generates an operation signal for operating the manipulator using the operation input means, the operation signal is transmitted to the control means. The control means calculates the coordinates of the movement destination of the manipulator corresponding to the operation input means by the coordinate calculation means based on the operation signal. Next, the comparison operation means calculates whether or not the coordinates calculated by the coordinate calculation means interfere with the coordinates of another manipulator, and confirms whether or not there is interference between the plurality of manipulators. After the confirmation, if interference has occurred, the operator may be notified by a warning unit that the occurrence of interference is predicted.

[0008]

Embodiments of the present invention will be described below in detail with reference to the drawings.

(First Embodiment) FIG. 1 is a diagram showing a configuration of a multifunction manipulator according to a first embodiment of the present invention. In FIG. 1, an endoscope 5 and an organ in a body cavity are incised, grasped,
A treatment tool 4 for performing treatment such as extraction is inserted. The endoscope 5 and the treatment tool 4 are supported by a first manipulator 6 and a second manipulator 7. Endoscope 5
Has a built-in relay lens in the insertion portion inserted into the body cavity, has a CCD camera 8 outside the body at the rear end of the insertion portion, and converts an image in the body cavity transmitted by the relay lens into a video signal. The video signal from the CCD camera 8 is transmitted to the CCU 9
And a video image in the body cavity can be observed by the monitor 10 connected to the CCU 9.

The endoscope operation input means 11 is composed of a joystick having two degrees of freedom which can be moved up, down, left and right in parallel. When the operator operates the endoscope operation input unit 11 to instruct any of up, down, left and right movements, a movement signal (operation signal) from the endoscope operation input unit 11 is sent to the coordinate calculation unit 13 of the control unit 12. Can be The coordinate calculation unit 13 calculates a coordinate value to be moved by the endoscope 5 based on the movement signal,
It is sent to the first drive unit 16 as drive means. First
The drive unit 16 transmits a drive signal for moving the endoscope 5 to the coordinate value instructed by the coordinate calculation unit 13 to an actuator in the first manipulator 6 supporting the endoscope 5 to perform the first operation. Is operated.

Similarly, when the operator operates the treatment tool operation input means 18, a movement signal (operation signal) is sent to the coordinate calculation section 13 of the control means 12. The coordinate calculation unit 13 calculates a coordinate value to which the treatment tool 4 should move based on the movement signal, and sends the coordinate value to the second drive unit 17 as a drive unit.
The second drive unit 17 transmits a drive signal for moving the treatment tool 4 to the coordinate value specified by the coordinate calculation unit 13 to an actuator in the second manipulator 7 that supports the treatment tool 4, Is operated.

The coordinate calculation unit 13 is connected to a comparison operation unit 14, which compares the coordinate data of the endoscope 5 and the coordinate data of the treatment tool 4 and determines whether the endoscope 5 and the treatment tool 4 come into contact with each other in the body cavity. When it is determined that the contact occurs, a signal is sent to a warning means 15 controlled by the control means 12, and the warning means 15 gives the operator an endoscope 5 and a treatment tool 4.
To notify you of interference. The warning unit 15 is a unit that generates a sound by a buzzer or an electronic sound, for example. Alternatively, a light emitting means such as a lamp may be used,
The operation of the treatment tool 4 and the endoscope 5 may be forcibly stopped.

Hereinafter, a detailed description will be given of the logic when the above-described comparison operation unit 14 determines the presence or absence of interference between a plurality of manipulators. For the sake of simplicity, the operation of the two manipulators A and B will be described with reference to the geometric diagram of FIG. 2 and the flowchart of FIG.

FIG. 2 geometrically shows the positional relationship between the manipulator and the patient. The insertion point of the manipulator A into the patient is A1, and the insertion point of the manipulator B is B1. When the manipulators A and B are inserted into the body cavity of the patient 1, the stimulating points A1 and B1 are stored in the comparison operation unit (steps S1 and S1 'in FIG. 3). Two manipulators A and B are inserted into the body cavity, and manipulators A
At the time when the operation by the first and second operations is started, the coordinates A2 and B2 of the distal ends of the manipulators A and B are stored (steps S2 and S2 'in FIG. 3).

At this time, the comparison operation unit further calculates a straight line A passing through the two points A1 and A2 for the manipulator A, and a straight line B passing the two points B1 and B2 for the manipulator B. (Steps S3 and S3 'in FIG. 3). Here, it is assumed that the operator operates the operation input unit to move the manipulator A from A2 to A3 (step S4). At this time, the comparison operation unit obtains information on the new movement target coordinate A3 from the coordinate calculation unit, and calculates a plane a including A3, A2, and A1 (step S5). The plane a is the manipulator A from A2 to A
This indicates a plane to pass when moving to 3.

Next, it is calculated whether or not this plane a geometrically intersects with the straight line B of the axis of the manipulator B calculated in advance in step S3 (step S6). If there is a coordinate that becomes a common solution when the plane a intersects the straight line B, the manipulator A collides with the manipulator B due to the movement of the manipulator A from A2 to A3. When this determination is made, a command is issued to the warning means to warn the operator that the two manipulators A and B interfere with each other (step S7).

On the other hand, the control means determines that the two manipulators A and B do not interfere with each other if there is no coordinate having a common solution between the plane a and the straight line B. The coordinate value A3 is transmitted to the drive unit to move to the coordinate A3 in the same manner, and the manipulator A
Is operated (step S8).

According to the first embodiment, when operating the manipulators, the space (coordinates) occupied by each manipulator is calculated in advance, and the space occupied by each manipulator is compared. The operation of the manipulator can be automatically stopped, and a warning can be given to the operator. In this way, the operator can know in advance the interference between the endoscope and the treatment tool that is not intended by the operator, so that a multi-functional manipulator with good operability can be provided.

(Second Embodiment) FIG. 4 is a diagram showing a configuration of a multi-function manipulator according to a second embodiment of the present invention. In the second embodiment, in addition to the first embodiment, still another treatment tool 4b is supported by a third manipulator 7b and connected to the control means 12 via a second drive unit 17b. The coordinate calculation unit 13 of the control means 12 can confirm whether or not there is interference between the endoscope 5 and the three treatment tools 4 and 4b.

According to the above-described second embodiment, the same effects as in the first embodiment can be obtained.

(Third Embodiment) FIG. 5A is a diagram showing a configuration of a multi-function manipulator according to a third embodiment of the present invention. FIG. 5B is a diagram showing the configuration of the distal end of the surgical instrument 23. The multi-function manipulator according to the third embodiment includes a master manipulator 22 as a first manipulator, a slave manipulator 21 as a second manipulator, and a coordinate calculation unit 13 and a comparison calculation unit for controlling related operations of both manipulators. And the control means 12 having the main configuration 14.

The slave manipulator 21 is a surgical instrument 2
3 and a scope holder 25 supporting the same. The surgical instrument 23 is detachably mounted on the arm tip 24 of the scope holder 25. The surgical instrument 23 here includes an endoscope 5 and a pair of treatment tools 4a and 4b.

The insertion portion 26 of the endoscope 5 and the pair of treatment tools 4a and 4b are inserted through a common sheath 27 and arranged in the same direction. The sheath 27 is inserted into the body cavity 2 through the trocar 3 through an insertion hole formed in the body wall of the patient 1. The endoscope 5 is provided with a two-degree-of-freedom curved portion 28 at an intermediate portion on the distal end side of the insertion portion 26 protruding from the distal end of the sheath 27. The endoscope 5 can be inserted into the insertion section 26 by the bending section 28.
The observation can be performed by changing the direction in the vertical and horizontal directions.

The pair of treatment tools 4a and 4b disposed on the left and right sides of the endoscope 5 are provided with two curved portions 30 in the longitudinal direction in the middle of the arm 29 protruding from the sheath 27. The arm 29 rotates around its central axis, and can move along the outer wall of the insertion section 26 of the endoscope 5. An actuator for rotating the arm 29 and moving along the outer wall of the endoscope 5 is provided inside the motor unit 31 at the base end of the arm 29. A gripper 32 for treatment work is provided on the distal end of the arm 29 of the treatment tool 4.
Is provided. Further, a color marker 33 is arranged near the tip of the arm 29. Two treatment tools 4a,
4b is substantially symmetrical with respect to the axis of the insertion portion 26.

The scope holder 25 is a support mechanism installed on the bedside, and has a multi-joint arm structure. The operation is performed by a pair of master manipulators 22. Each master manipulator 22 includes an arm 34 having three rotating joints and an operation gripper 35 provided at the tip of the arm 34.

The endoscope 5 has a CCD (not shown) at the distal end thereof, and sends an image signal to the CCU 9 placed outside the body.
Face-mounted display 10 connected to 9
, The endoscope image can be observed. Also, CCU
9 is connected to an image control device 36.
Is electrically connected to the control means 12 so that information communication can be performed. In the image control device 36, the treatment tool 4a,
The color marker 33 of the treatment instrument 4a is captured in the observation image, and the endoscope bending section 2 is operated so that the color markers 33 of the two treatment tools 4a and 4b always operate in the observation image.
Then, the coordinates of the tip of the point 8 are calculated, and the coordinate signal is transmitted to the control means 12. The control means 12 drives the endoscope bending section 28 so that the endoscope bending section 28 moves to the coordinate position received from the image control device 36.

The operator 40 operates the master manipulator 22
Is operated, and one of the movements is instructed, the movement signal from the master manipulator 22 calculates the coordinates to be moved by the treatment tools 4a and 4b in the coordinate calculation unit 13 of the control means 12, and moves to the calculated coordinates. The coordinate value is transmitted to the drive unit 16 as described above. The drive unit 16 transmits a drive signal for moving the treatment tools 4a and 4b to the instructed coordinate values to an actuator in the motor unit 31, and operates the rotation, movement, bending, and opening and closing of the gripper 32 of the arm unit 29. Let it.

The coordinate calculation unit 13 is connected to a comparison operation unit 14 which compares the coordinate data of the endoscope 5 with the coordinate data of the two treatment tools 4a and 4b. It is calculated whether or not they interfere with each other, and if it is determined that they do interfere with each other, a warning signal is sent to a warning means 15 controlled by the control means 12, and the operator 4 is notified by the warning means 15.
At 0, the interference between the endoscope 5 and the treatment tools 4a, 4b is notified. The warning means 15 is a means for generating a buzzer or an electronic sound. Alternatively, light emitting means such as a lamp may be used. Alternatively, the operations of the treatment tools 4a and 4b and the endoscope 5 may be forcibly stopped as a warning to the operator 40. Alternatively, a warning display may be performed in the face-mounted display 10.

According to the third embodiment, the same effects as those of the first embodiment can be obtained.

(Supplementary Note) The invention having the following configuration is extracted from the above specific embodiment.

1. An actuator for operating a plurality of manipulators for observing or treating the inside of a body cavity, control means for controlling the actuators, and operation input means for providing operation information of the manipulators to the control means; Means, based on the operation information from the operation input means, coordinate calculating means for calculating the coordinates occupied by each manipulator at the time of movement, and based on the coordinates of each manipulator calculated by the coordinate calculating means, the manipulators A multi-function manipulator comprising: comparison operation means for calculating whether or not they interfere with each other.

2.1. In the above, the manipulator is a forceps.

3.1. In the above, the manipulator is an endoscope.

4.1. , The manipulator includes a scope holder installed outside the body and operated by the actuator.

5.1. , The plurality of manipulators includes one endoscope and a plurality of treatment manipulators inserted along the endoscope in parallel with the endoscope.

6.1. , Further includes a warning means for giving a warning when a plurality of manipulators interfere with each other as a result of comparing and calculating the space occupied by the plurality of manipulators.

7.6. , The warning means is a device that emits sound.

8.6. , The warning means is a lamp.

9.1. In the above, as a result of comparing and calculating the space occupied by a plurality of manipulators,
When a plurality of manipulators interfere with each other, control is performed to stop the operation of the manipulators.

[0040]

According to the present invention, even if a plurality of manipulators including an endoscope and a treatment tool are simultaneously operated in a body cavity, a multifunctional manipulator with good operability which does not interfere with each other is provided. can do.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of a multifunction manipulator according to a first embodiment of the present invention.

FIG. 2 is a geometric diagram for explaining a logic in a comparison operation unit that determines whether or not there is interference between a plurality of manipulators;

FIG. 3 is a flowchart for explaining logic in a comparison operation unit that determines whether or not there is interference between a plurality of manipulators;

FIG. 4 is a diagram illustrating a configuration of a multi-function manipulator according to a second embodiment of the present invention.

FIG. 5 is a diagram illustrating a configuration of a multi-function manipulator according to a third embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... patient, 2 ... inside abdomen, 3 ... trocar, 4 ... treatment tool, 5 ... endoscope, 6 ... 1st manipulator, 7 ... 2nd manipulator, 8 ... CCD camera, 9 ... CCU, 10 ... monitor Reference numeral 11: Endoscope operation input means, 12: Control means, 13: Coordinate calculation section, 14: Comparison operation section, 15: Warning means, 16: First drive unit, 17: Second drive unit, 18 ... Treatment tool operation input means.

Continued on the front page (72) Inventor Shinsho Yasui 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside Olympus Optical Industrial Co., Ltd. (72) Inventor Kenichi Kimura 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus In Optical Industry Co., Ltd. (72) Katsumi Sasaki 2-43-2 Hatagaya, Shibuya-ku, Tokyo Orinpass Optical Industry Co., Ltd. (72) Toshihiko Suzuda 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Inside Optical Co., Ltd. (72) Inventor Hiroshi Takahashi 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Hideyuki Adachi 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Within Optical Industry Co., Ltd. (72) Inventor Takeaki Nakamura 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Industry Co., Ltd. F-term (reference) 3F059 AA10 BC01 CA06 DB01 DB05 DB07 EA00

Claims (1)

[Claims] 1. A driving means for operating a plurality of manipulators for observing or treating a body cavity, a control means for controlling the driving means, and an operation input means for providing operation information of the manipulator to the control means. Wherein the control means comprises: coordinate calculation means for calculating coordinates occupied by each manipulator during movement based on operation information from the operation input means; and coordinates of each manipulator calculated by the coordinate calculation means. And a comparison operation means for calculating whether or not the manipulators interfere with each other based on the following.