JP2000312684A - Manipulator system for medical treatment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a manipulator system for medical treatment capable of improving the safety and efficiency of operation without damaging remote controllability. SOLUTION: This system is provided with a manipulator 1 for medical treatment having multiple spindles to be driven by remote control for observing and/or treating a portion in a living body, a master arm 14 having multiple spindles for performing remote control and a controller 21 for controlling the operation of the manipulator 1 for medical treatment on the basis of operation information from the master arm 14, the respective spindles of the manipulator 1 for medical treatment are provided with motors 11a-11c, the respective spindles of the master arm 14 are provided with encoders 15A-15C and brakes 16A-16C and the controller 21 converts displacement signals from the encoders 15A-15C on the respective spindles of the master arm 14 with a preset magnification, transmits these signals to the motor 11 on the corresponding spindle of the manipulator 1 for medical treatment and transmits a control signal for generating braking power corresponding to the magnification of the displacement signal to the brakes 16A-16C of the master arm 14.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a medical manipulator device which is driven by remote control to observe and treat an in-vivo site.

[0002]

2. Description of the Related Art For example, an endoscope or a treatment tool is percutaneously inserted into a body cavity through a hole in a body wall such as an abdominal cavity to perform various treatments in the body cavity. Surgery has been conventionally performed, and such an operation is performed as a minimally invasive operation that does not require a large incision in cholecystectomy or operation for removing a part of the lung.

In such an endoscopic operation, it has been desired that an endoscope or a treatment instrument inserted into a body cavity can operate in a wide range within the body cavity as much as possible. Therefore, Japanese Patent Laid-Open No. 7-1
JP-A-36173 and JP-A-8-117238 have proposed a medical manipulator device having a multi-joint structure insertion section having a large degree of freedom.

[0004] Each of these prior arts employs an articulated structure having the same degree of freedom as a medical manipulator for a remote control device used for remotely operating an articulated medical manipulator. . Moreover,
In general, the structure of the remote control device is similar to a medical manipulator as much as possible in order to facilitate the operation of the operator. If the structure is the same, the operation shape taken by each axis of the remote operation device can be projected on the manipulator as it is, so that the operation becomes easy and intuitive. However, if medical manipulators spread widely in the future, it is considered that various types of medical manipulators suitable for a target surgical procedure will appear.

[0005] At this time, if the remote control device is a dedicated machine corresponding to each manipulator, problems such as storage space and learning of an operation method arise. Therefore, it is useful to use the remote control device as widely as possible and realize a device that can be easily adapted to any manipulator.

[0006]

In the medical manipulator device described above, basically, if the degree of freedom of the remote control device is equal to or greater than the degree of freedom of the manipulator, the manipulator can be operated. Become. However, even in the case of a general-purpose remote control device, even if the condition of the degree of freedom is satisfied, the operation shape may be completely different, which impairs the remote controllability and lowers the safety and efficiency of the operation. There was a problem.

[0007] The present invention has been made in view of such problems, and a purpose thereof is to provide a medical manipulator capable of improving the safety and efficiency of surgery without impairing remote operability. It is to provide a device.

[0008]

In order to achieve the above object, a medical manipulator device of the present invention is driven by remote control and has a multi-axis for observing and / or treating an in-vivo site. A medical manipulator,
A remote control device having multiple axes for performing remote control;
A control device for controlling the operation of the medical manipulator based on operation information from the remote operation device, and a driving unit provided on each axis of the medical manipulator; and The control device includes a displacement detection unit and a braking unit, and the control unit converts a displacement signal from the displacement detection unit of each axis of the remote control device at a preset magnification to drive a corresponding axis of the medical manipulator. And a control signal for generating a braking force according to the magnification of the displacement signal is transmitted to a braking means of the remote control device.

[0009]

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

(First Embodiment) FIGS. 1 to 4 are views for explaining a first embodiment of the present invention. FIG. 1 is a diagram showing a configuration of a medical manipulator (hereinafter, simply referred to as a manipulator) 1 according to the present embodiment, which can be inserted into a body cavity through a manipulator main body 3 and an insertion hole 8 formed in a living body wall 70. And a straight insertion portion 2 having a small diameter. The manipulator body 3 is an arm mechanism having a link mechanism and an adjustment mechanism as means for positioning the small-diameter insertion section 2. The small-diameter insertion section 2 is connected to the manipulator body 3 so as to be able to advance and retreat. I have. The link mechanism, the adjusting mechanism, and the connecting mechanism of the insertion portion described above are disclosed in detail in JP-A-7-136173.

An end effector as a working part is connected to the distal end of the small-diameter insertion part 2 in a bendable manner.
This end effector differs depending on the working purpose of the manipulator 1, and FIG. 1 shows a grasping forceps 5. The grasping forceps 5 has an opening / closing mechanism for grasping and peeling a living tissue, grasping a needle for suturing, and the like.

The treatment with the manipulator 1 is performed under observation through an endoscope inserted through another insertion hole (not shown).

As shown in the figure, only one bent portion is provided between the grasping forceps 5 and the small-diameter insertion portion 2. The length of the grasping forceps 5 is sufficiently smaller than the length of the small-diameter insertion portion 2.

The number of axes of the manipulator 1 is determined from the degree of freedom regarding the position and orientation of the end effector and the constraint regarding the position of the insertion hole 8. Regarding the former, in order to treat an organ or the like at an arbitrary position in a body cavity in an arbitrary orientation, generally 6
A degree of freedom is required. For the latter, the body cavity wall 7
In order for zero force to be applied, three degrees of freedom are required.

When both are added, nine degrees of freedom are required, but it can be realized with six degrees of freedom by the point lock mechanism. Details are disclosed in JP-A-7-136173.

In each of the six axes of the manipulator,
A drive mechanism and an encoder are installed. The drive mechanism includes a motor and a transmission mechanism. These details are also disclosed in JP-A-7-136173.

FIG. 2 is a diagram showing a configuration of a master arm 14 as a remote control device for giving an operation command for operating the above-described manipulator 1. In the present embodiment, a so-called master-slave method is adopted, in which the operator directly operates the master arm to determine the operation of the manipulator.

The master arm 14 is a pantograph mechanism 1
7 is a multi-degree-of-freedom manipulator configured by combining a plurality of .7. Three pantographs 17 and three rotating pairs 18 are attached to the output node 12, and scissor-like opening / closing mechanisms 19 are attached to the upper surface of the output node 12. On the axes of each panda graph 17, the paired shaft 18, and the opening / closing mechanism 19,
The encoder 20 is connected. A disk 31 as shown in FIG. 3 is integrally provided on each of the shafts, and a brake 32 is operably provided on the surface of the disk 31. From the above, the master arm 14 has a total of 7
It has a degree of freedom.

FIG. 4 is a block diagram of the medical manipulator device described above. The control device 21 includes a variable transmission magnification circuit 22, a motor drive signal generation circuit 24, a position detection circuit 25, and a brake drive signal generation circuit 23. The transmission magnification variable circuit 22 includes the master arm 1
Encoder 15 (15A, 15A, 1
5B, 15C,...) And converts the signal into an arbitrary magnification. This arbitrary magnification is input by the operator from the setting input device 26 disposed outside the control device 21. The motor drive signal generation circuit 24 drives the drive motors 11 (11a, 11b, 11c,...) As drive means of the manipulator 1 in response to the signal after the magnification conversion. The position detection circuit 25 is provided for each encoder 10 of the manipulator 1.
(10a, 10b, 10c,...), The attitude of the manipulator 1 is detected in response to the output signal, and fed back to the motor drive signal generation circuit 24. The brake drive signal generation circuit 23 receives the signal from the transmission magnification variable circuit 22 and drives each of the brakes 16 (16a, 16b, 16c,...) As braking means of the master arm 14.

The operation of the above configuration will be described below. The operating range of each axis of the manipulator 1 and the master arm 1
4 does not match the operation range of each axis. Therefore, the operator inputs in advance to the control device 21 using the setting input means 26 how many times the displacement of the master arm 14 is transmitted to the manipulator 1 for each axis. Motor drive signal generation circuit 2
Reference numeral 4 drives the drive motors 11 on the manipulator 1 according to the magnifications set in this way.

The brake drive signal generation circuit 23
The brake 16 on the master arm 14 side is driven according to the set magnification. For example, if the set magnification of a certain axis is large, the manipulator 1 can be largely displaced only by slightly displacing the master arm 14. Further, if the set magnification of a certain axis is small, even if the master arm 14 is largely displaced, the manipulator 1 moves only slightly.

Furthermore, when the set magnification is large, the force generated by the brake 16 is also large, so that the surgeon feels strong resistance. Conversely, if the set magnification is small, the brake 16
Since the generated force is small, the operator can operate the arm with a small force.

According to the above-described first embodiment, even if the master arm is a general-purpose device having an operation range different from that of the manipulator, the surgeon can set in advance the correspondence between the two operations. A medical manipulator device without impairing operability can be realized.

In particular, since the brake device generates a force corresponding to the transmission magnification, even if the operator mistakenly operates the master arm more than necessary, a strong braking force is applied. There is no movement. Therefore, it is possible to guarantee a safe operation range for the living body on the manipulator side.

Further, since it is a general-purpose master arm,
If the degree of freedom is higher than that of the manipulator, it is possible to lock any axis of the master arm by applying sufficient force to brake it. In this way,
It is also possible to match the degrees of freedom of the master arm and the manipulator.

(Second Embodiment) FIGS. 5 to 8 are views for explaining a second embodiment of the present invention. FIG. 5 (A)
FIG. 4 is a diagram illustrating a configuration of a medical manipulator device according to a second embodiment. FIG. 5B is a diagram illustrating a configuration around the endoscope 38.

The medical manipulator 35 includes a manipulator main body 36 and a small-diameter insertion portion 37. Small diameter insertion part 3
As shown in FIG. 5 (B), a bendable endoscope 38 and slave manipulators 41 and 42 attached to both sides thereof are mounted on the distal end portion 7 (refer to Japanese Unexamined Patent Publication No. Hei 8- 117238)). Also, 2
One of the master arms 44 and 45 is a rotary console 4
7 and is operated by an operator. The configuration of each master arm 44 (45) is the same as in the first embodiment.
Each of the master arms 44 and 45 corresponds to a slave manipulator. Further, the surgeon wears a head-mounted display 46 on which a three-dimensional position sensor (not shown) as a bending operation means of the endoscope 38 is mounted. The medical manipulator 35 and each of the above-mentioned operation means are connected via the complex control device 43.

FIG. 6 is a block diagram of the medical manipulator device described above. The composite control device 43 includes a motor drive signal generation circuit 50, an A control device 52, a coordination circuit 54, a B control device 53, and a C control device 55. The console drive motor 51 is connected to the motor drive signal generation circuit 50 and the image processing circuit 49.
An endoscope image 48 is input via the. A control device 52
Is connected to the a slave manipulator 41, the A master arm 44, and the A setting input device 57. further,
The B control device 53 includes the b slave manipulator 42, B
The master arm 45 and the B setting input device 58 are connected. The C manipulator body 3 is provided in the C control device 55.
6, a three-dimensional position sensor 56 and a C setting input device 59 are connected. A coordination circuit 54 as a coordination control means is a device for connecting the A control device 52 and the B control device 53, which will be described later. In the above configuration, the A control device 52 and the B control device 53 provided corresponding to the two master arms 44 and 45 have the same configuration as the control device 21 described in the first embodiment.

The signal from the three-dimensional position sensor 56 is input to the C control device 55 to control the driving of the manipulator body 36, but the detailed description is omitted here. The image processing circuit 49 has a function as displacement detecting means, calculates the position of the endoscope in the endoscope image 48, and sends the position information to the motor drive signal generation circuit 50. The motor drive signal generation circuit 50 controls the drive of the console motor 51 for rotating the console 47 based on the position information at this time.

The operation of the above configuration will be described below with reference to FIG. In the upper left diagram of FIG. 7, the manipulators 41,
42 project from the left and right of the endoscope image 48. At this time, the master arms 44 and 45 on the console 47 are at positions parallel to the operator.

Next, when the endoscope 38 is bent or the manipulators 41 and 42 move in a complicated manner, for example, the manipulator is displayed on the endoscope image 48 from above and below as shown in the upper right figure. May protrude. Then, based on the position information calculated by the image processing circuit 49, the console 4
Since 7 rotates 90 °, the master arms 44 and 45 are in a position in series with the operator. In this way, the operator can operate the two master arms in the same positional relationship as the manipulator seen in the endoscope image.

The operation of the manipulators 41 and 42 by the master arms 44 and 45 is the same as that of the first embodiment.

FIG. 8 shows the second operation of the second embodiment.
6 is a flowchart illustrating an operation algorithm of the cooperative circuit. The cooperation circuit 54 is a circuit for preventing the movements of the master arms 44 and 45 from interfering with each other. Here, it is assumed that the manipulators 41 and 42 have more degrees of freedom than the master arm.

First, the A master arm 4 from the encoder
4 and the position of the B master arm 45 is detected (step S3). Next, the operation of the slave manipulators 41 and 42 is simulated based on the detected signals. Step S
2. In S4, the shape of the manipulator with an arbitrary axis of the manipulator fixed is calculated. In step S6, it is determined from the obtained operation result whether or not the two manipulator shapes cause interference. If they do interfere with each other, the process proceeds to step S7, in which the axes to be fixed are sequentially shifted to step S7.
2. Repeat S4. In this case, the position of the slave tip,
The other degree of freedom of the slave arm also operates so that the direction does not change.

If it is determined that no interference occurs, the process proceeds to step S6, and the manipulator is actually driven with its axis fixed.

According to the second embodiment described above, the console rotates so that the master arm has the same positional relationship in accordance with the position of the manipulator on the endoscope image. Movement can be grasped with the same positional relationship, and workability is improved.

Also, by incorporating a cooperative circuit 54 having an algorithm as shown in FIG. 8, it is possible to prevent operation interference between manipulators, so that a complicated procedure performed by simultaneously operating a plurality of manipulators can be safely performed. Can be implemented.

In the above embodiment, two pairs of manipulators and a master arm have been described, but more pairs may be used.

(Third Embodiment) FIG. 9 is a diagram showing a configuration of a third embodiment of the present invention. Here, only portions different from the first embodiment will be described. A large number of light receiving type optical sensors 64 are provided on the surface of the manipulator 63.
The output of the optical sensor 64 is input to the light amount measuring device 65 to determine whether the light amount falls below a certain set value. When the value falls below a certain set value, a warning means 66 including a buzzer / lamp is activated.

The operation of the above configuration will be described below. The manipulator 63 performs a treatment within the visual field of the endoscope 61. The light supplied from the light guide 62 is emitted from a distal end of the endoscope 61 within a certain illumination range. Since the optical sensor responds to the illumination light in the portion of the manipulator 63 that is within the illumination range, it is possible to identify that the manipulator is within the field of view by monitoring the optical sensor. If the manipulator goes out of the field of view, the output of the optical sensor decreases, so that a signal is output from the light amount measuring device 65 to the warning means 66 to warn the operator.

According to the third embodiment, when the manipulator goes out of the field of view, a warning signal is issued, so that the operator can safely proceed with the operation.

(Fourth Embodiment) FIG. 10 is a diagram showing a configuration of a fourth embodiment of the present invention. The configuration of the fourth embodiment is as follows.
In the third embodiment, the control unit 2 is used instead of the warning unit.
This is a configuration in which a danger signal is input to No. 1. Light intensity measurement device 65
Is preferentially input to the brake drive signal generation circuit 23 in the control device 21. The brake drive signal generation circuit 23 operates each brake of the master arm.

In the above configuration, when the light amount measuring device detects that the manipulator has deviated from the illumination range, the output of the encoder of the master arm is ignored, and a sufficient braking force is generated in each brake of the master arm. I do.

According to the above-described fourth embodiment, there is an effect that safety is improved.

(Fifth Embodiment) FIGS. 11 to 13 are views for explaining a fifth embodiment of the present invention. FIG. 11 is a diagram showing the configuration of the distal end of the insertion section 37 according to the fifth embodiment. Here, as shown in FIG. 11, a tissue rejection hood 72 for excluding the tissue / organ 73 is provided at the distal end of the small-diameter insertion portion 37 so as to surround the slave manipulators 41 and 42. As shown in FIG. 13, a bone made of a shape memory alloy wire 74 is embedded in a cylindrical transparent resin sheet 75 at an appropriate interval in the tissue retraction hood 72. The shape memory alloy wire 74 deforms into an arch shape at a temperature slightly higher than the body temperature.

In the above configuration, as shown in FIG. 12, when the tissue rejection hood 72 is pressed against the tissue / organ 73 to be treated and hot air is supplied from the air supply channel of the endoscope, the shape memory alloy wire 74 is formed. Is deformed and the tissue retraction hood 72
Evacuates surrounding tissue and secures the surgical field of view. Further, by securing the space, it is possible to prevent the manipulators 41 and 42 from damaging unintended tissues during operation.

The invention having the following configuration is extracted from the specific embodiment described above.

1. A medical manipulator driven by remote operation and having multiple axes for observing and / or treating an in-vivo site, a remote operation device having multiple axes for performing remote operation, and operation from the remote operation device A control device that controls the operation of the medical manipulator based on the information, and a driving unit is provided for each axis of the medical manipulator, and a displacement detection unit and a braking unit are provided for each axis of the remote operation device. The control device converts the displacement signal from the displacement detection means of each axis of the remote control device at a preset magnification and transmits the converted signal to the drive means of the corresponding axis of the medical manipulator,
A medical manipulator device, wherein a control signal for generating a braking force according to a magnification of the displacement signal is transmitted to a braking means of the remote control device.

2. The medical manipulator device according to Configuration 1, wherein the degree of freedom of the medical manipulator is set to be larger than the degree of freedom of the remote control device.

3. The medical manipulator device according to Configuration 1, wherein the braking unit is a unit that generates a mechanical frictional force.

4. The medical manipulator device according to Configuration 1, wherein the displacement detecting means is an encoder device.

5. The medical manipulator device according to Configuration 1, wherein the displacement detecting means comprises an image processing device on the endoscope image side.

6. In the configuration 2, the medical manipulator forms a part of a medical manipulator device.

7. The medical manipulator device according to configuration 6, comprising a plurality of medical manipulators, a plurality of corresponding remote operation devices, and a control device corresponding to each pair.

8. In the configuration 7, cooperative control means for avoiding interference of the operation of each manipulator is provided between the control devices, and the cooperative control means sequentially performs calculations when the axes are constrained, and takes a shape in which each manipulator does not automatically interfere. Medical manipulator device characterized by such control.

9. In the configuration 1, each of the distal end operation units of the medical manipulator includes a plurality of optical sensors, and a device for measuring the amount of light received by the optical sensors. The operation units of the manipulator are arranged within the endoscope field of view based on the measured amounts of light. A medical manipulator device comprising means for determining whether or not there is, and feeding back to the braking means.

10. The medical manipulator device according to the ninth aspect, further comprising means for judging whether or not each operation part of the manipulator is within the visual field of the endoscope based on the measured light amount and alerting the operator.

11. The medical manipulator device according to configuration 5, wherein the remote control device is disposed on a table provided with a moving mechanism, and controls the moving mechanism based on direction information of the manipulator in the endoscope field of view.

12. The medical manipulator device according to Configuration 1, wherein a tissue retraction hood that covers the distal end of the manipulator is provided.

According to the above configuration, the transmission magnification of the operation of each axis of the remote operation device and the medical manipulator can be set arbitrarily in advance, so that a delicate operation can be performed so as not to apply an excessive force upon contact with the living body. By setting the transmission magnification low for an axis that requires, and setting the transmission magnification high for an axis that requires a large operation in the procedure, the safety and efficiency of surgery can be improved.

Further, since a braking force corresponding to the transmission magnification acts on each axis of the remote control device, even if an unexpected external force is applied to the remote control device, a large braking force is applied to the shaft having a high transmission magnification, and the The axis of the operating device does not move significantly.
As a result, the manipulator does not make an unexpected large movement and can be used safely. Further, it is not necessary to manufacture dedicated remote control devices for various types of medical manipulators having various forms and numbers of axes.

Further, in the remote control device of the present configuration, the braking force is set to infinity for the axes not used in accordance with the number of axes of the manipulators to be combined, and for the axes to be used, the braking force is set within the movable range of the corresponding manipulator axes. By setting the transmission magnification in advance, it can be used intuitively without discomfort.

[0063]

According to the present invention, even if the remote control device is a general-purpose device having an operation range different from that of the manipulator, the surgeon can set in advance the correspondence between the two operations. A medical manipulator device that does not impair the performance can be realized.

In particular, since the force corresponding to the transmission magnification is generated by the braking means, even if the operator mistakenly operates the remote control device more than necessary, a strong braking force is applied. The device does not move. Therefore, it is possible to guarantee a safe operation range for the living body on the manipulator side.

Since the remote control device is a general-purpose remote control device, if the degree of freedom is higher than that of the manipulator, it is possible to lock the remote control device by applying a sufficient force to brake an arbitrary shaft. In this way, the degrees of freedom of the remote control device and the manipulator can be matched.

[Brief description of the drawings]

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

FIG. 2 is a diagram showing a configuration of a master arm.

FIG. 3 is a diagram showing a configuration around each axis of a master arm.

FIG. 4 is a block diagram of the medical manipulator device according to the first embodiment.

FIG. 5 is a diagram showing a configuration of a medical manipulator device according to a second embodiment of the present invention.

FIG. 6 is a block diagram of a medical manipulator device according to a second embodiment.

FIG. 7 is a diagram for explaining the operation of the configuration of the second embodiment.

FIG. 8 is a flowchart showing an operation algorithm of a cooperative circuit as a second operation of the second embodiment.

FIG. 9 is a diagram showing a configuration of a third embodiment of the present invention.

FIG. 10 is a diagram showing a configuration of a fourth embodiment of the present invention.

FIG. 11 is a diagram showing a configuration of a fifth embodiment of the present invention.

FIG. 12 is a view showing a state in which a hood for excluding tissues and organs is provided at the distal end of the small-diameter insertion portion.

FIG. 13 is a view showing a state in which a shape memory alloy wire is provided on a tissue retraction hood.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Medical manipulator 2 Small diameter insertion part 3 Manipulator main body 5 Grasping forceps 8 Insertion hole 9 Drive mechanism 10 Encoder (10a, 10b, 10c ...) 11 Motor (11a, 11b, 11c ...) 12 Output node 14 Master arm 15 Encoder ( 15A, 15B, 15C ...) 16 Brake (16A, 16B, 16C ...) 17 Pantograph mechanism 18 Rotational / even shaft 19 Opening / closing mechanism 20 Encoder 21 Controller 22 Transmission magnification variable circuit 23 Brake drive signal generation circuit 24 Motor drive signal generation circuit 25 Position detection circuit 26 Setting input device 30 Rotating axis 31 Disk 32 Brake 35 Medical manipulator 36 Manipulator main body 37 Small diameter insertion section 38 Endoscope 41 a Slave manipulator 42 b Slave manipulator 43 Composite control unit 44 A master arm 45 B master arm 46 Head mounted display 47 Console 48 Endoscope image 49 Image processing circuit 50 Motor drive signal generation circuit 51 Console motor 52 A control device 53 B control device 54 Cooperative circuit 55 C control device 56 3 Dimensional position sensor 57 A setting input device 58 B setting input device 59 C setting input device 61 Endoscope 62 Light guide 63 Manipulator 64 Optical sensor 65 Light quantity measuring device 66 Warning means 70 Living body wall 72 Tissue retraction hood 73 Tissue / organ 74 Shape Memory alloy wire 75 resin sheet

Continued on the front page (72) Inventor Katsumi Sasaki 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside Olympus Optical Industrial Co., Ltd. (72) Inventor Toshihiko Suzuda 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Within Kogyo Co., Ltd. (72) Inventor Shinsho Yasukui 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Hiroshi Takahashi 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Inside the Optical Industry Co., Ltd. (72) Kenichi Kimura Inventor 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Company, Ltd. (72) Yuichi Ikeda 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 BA03 BA06 BC01 BC06 CA08 CA10 DA07 DB01 DD01 EA06 3F060 AA10 BA00 GB33 GD14 HA31

Claims (1)

[Claims] 1. A multi-axis medical manipulator driven by remote operation for observing and / or treating an in-vivo site, a multi-axis remote operation device for remote operation, A control device for controlling the operation of the medical manipulator based on operation information from an operation device, wherein a drive unit is provided for each axis of the medical manipulator, and displacement detection is performed for each axis of the remote operation device. Means and a braking means, the control device converts a displacement signal from the displacement detecting means of each axis of the remote control device at a preset magnification and transmits the converted signal to a driving means of a corresponding axis of the medical manipulator. And transmitting a control signal for generating a braking force according to a magnification of the displacement signal to a braking means of the remote control device. Pyureta apparatus.