JP2001276091A - Medical manipulator - Google Patents

Medical manipulator

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Publication number
JP2001276091A
JP2001276091A JP2000092161A JP2000092161A JP2001276091A JP 2001276091 A JP2001276091 A JP 2001276091A JP 2000092161 A JP2000092161 A JP 2000092161A JP 2000092161 A JP2000092161 A JP 2000092161A JP 2001276091 A JP2001276091 A JP 2001276091A
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JP
Japan
Prior art keywords
medical manipulator
unit
operating
portion
operation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2000092161A
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Japanese (ja)
Inventor
Nobuhito Matsuhira
Atsushi Sadamoto
信人 松日楽
敦史 貞本
Original Assignee
Toshiba Corp
株式会社東芝
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Publication date
Application filed by Toshiba Corp, 株式会社東芝 filed Critical Toshiba Corp
Priority to JP2000092161A priority Critical patent/JP2001276091A/en
Publication of JP2001276091A publication Critical patent/JP2001276091A/en
Application status is Pending legal-status Critical

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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28Surgical forceps
    • A61B17/29Forceps for use in minimally invasive surgery
    • A61B17/2909Handles
    • A61B2017/291Handles the position of the handle being adjustable with respect to the shaft
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • A61B34/74Manipulators with manual electric input means
    • A61B2034/742Joysticks

Abstract

PROBLEM TO BE SOLVED: To provide a medical manipulator which is improved in operability by adding multiple degrees of freedom to forceps to enhance their function. SOLUTION: This medical manipulator has a moving section having >=2 degrees of freedom at the front end 10 of the forceps and a rear end 5 of the forceps has its control section. The control section has the first control section 60 for positioning and the second control section 70 for positioning the front end of the forceps. Since the positioning control and the control to determine the posture of the front end are carried out by the separate control, the influence of the interference by each other's control is small and the fine control is made easy. The medical manipulator having high reliability and safety can be provided.

Description

【発明の詳細な説明】 DETAILED DESCRIPTION OF THE INVENTION

【0001】 [0001]

【発明の属する技術分野】本発明は医療用マニピュレータに係り、特に手術用の鉗子などが具備される医療用マニピュレータに関する。 The present invention relates to relates to a medical manipulator, a medical manipulator including in particular a forceps surgical are provided.

【0002】 [0002]

【従来の技術】従来、胆のう摘出手術など腹腔鏡下手術においては図8に示すように患者150の腹部に小さな穴151、152、153を数カ所あけ、それらにトラカール154を取付け、トラカール154を介してそれらの穴に内視鏡161、鉗子171、172等を挿入し、術者(通常、外科医)160が内視鏡161の映像をモニタ162を見ながら手術を行っている。 Conventionally, opened several places a small hole 152, 153 in the patient's abdomen 150 as shown in FIG. 8 in laparoscopic surgery such as gallbladder removal surgery, attached to trocar 154 to them, through the trocar 154 the endoscope 161, a forceps 171 and 172 or the like is inserted into the holes Te, operator (typically a surgeon) is performed surgery while watching the monitor 162 an image of the endoscope 161 160.

【0003】このような手術は開腹しないので患者への負担が少なく、術後の回復や退院までの日数が大幅に軽減し、今後、適用分野の拡大が期待されている手術方法である。 [0003] Such surgery is less burden on the patient because it does not laparotomy, the number of days until the post-operative recovery and hospital discharge was significantly reduced, which is a surgical method that is expected to expand in the future, the field of application.

【0004】 [0004]

【発明が解決しようとする課題】しかしながら、上述したような従来の腹腔鏡下手術は患者150への負担が少なく優れた手術方法ではあるが術者160が実際に術部を見れないこと、また、鉗子171、172には通常開閉する把持部しか設けられていないため、把持部の開閉動作以外である把持部の姿勢(方向)を変えることができず操作性が悪くなる可能性があった。 [SUMMARY OF THE INVENTION However, the conventional laparoscopic surgery as described above can not see some but operator 160 actually operative part in surgical method excellent little burden on the patient 150, also , the forceps 171 and 172 for normally only provided gripper for opening and closing, the operability can not be changed posture of the grip portion is other than opening and closing operation of the gripping portion (direction) there is likely to be poor .

【0005】このような要因により、前述の手術方法で適切な処置を行える術者が限られること、また、熟練するまでに時間がかかることが問題となっている。 [0005] By such factors, it surgeon to perform the appropriate action in the above surgical methods is limited, also, it takes time to skilled to have a problem.

【0006】このような課題に対して、マスタスレーブマニピュレータなど遠隔操作型ロボット技術の応用がいくつか研究されている。 [0006] In order to solve such a problem, the application of remote controlled robotic techniques such as master-slave manipulator is studied several. しかしながら、これらは術者が操作するマスタアームと手術を行うスレーブアームとが完全に分離したロボットシステムであり、マスタアームの指令値が電気信号としてスレーブアームに伝わるものである。 However, these are the robot system in which the slave arm to perform an operation with the master arm surgeon to operate completely separated, the command value of the master arm in which transmitted to the slave arm as an electric signal.

【0007】したがって、通常、マスタ、スレーブともに6自由度以上の関節数を有し構造が複雑であり、それぞれにコントローラが必要なことから電気的にも部品、 Accordingly, components usually master, the structure has a joint number of 6 or more degrees of freedom to the slave both is complicated, also electrically since the controller is required for each,
配線、制御系などが増えた複雑なシステムとなるため信頼性が低下する恐れがある。 Wires, reliability for a complex system is increased such control system may be reduced.

【0008】また、装置自体が大掛かりとなり、購入費用やメンテナンス費用も増大する。 [0008] In addition, the device itself becomes large-scale, also increases the cost of purchasing and maintenance costs.

【0009】さらに、術者は離れたところから操作するので万一出血などの緊急自体と成った場合にすぐに患者を処置することができないといった問題が発生する恐れもあった。 [0009] In addition, the operator was also cause problems as soon as such can not be treated the patient in the case where became the unlikely event the emergency itself, such as bleeding because the operation from a distance.

【0010】そこで本発明は上記従来の問題点に鑑みてなされたもので、作業部を少なくとも2自由度以上の多自由度を有する構成とし操作部にて作業部の位置と姿勢とを操作することによって、作業部の操作性を向上させた医療用マニピュレータの提供を目的とする。 [0010] The present invention has been made in view of the above conventional problems, to manipulate the position and orientation of the working unit on the operation unit is configured to have at least two degrees of freedom or more multiple-degree-of-freedom working portion it allows an object to provide a medical manipulator having improved operability of the working portion.

【0011】 [0011]

【課題を解決するための手段】上記目的を達成するための本発明の医療用マニピュレータは、少なくとも2自由度を有しており作業対象物に接触する作業部と、前記作業部が一端に設けられ他端に前記作業対象物に対する前記作業部の位置決めを行う第1の操作部と前記作業部の姿勢決めを行う第2の操作部とを有する操作部とから構成される。 Means for Solving the Problems The medical manipulator of the present invention for achieving the above object, a working unit in contact with the workpiece has at least two degrees of freedom, provided the working portion at one end composed of an operation portion is a second operation unit for performing a first operation unit for positioning the working unit relative to the work object at the other end and the posture determined in the working unit.

【0012】このような本発明によれば、作業部を少なくとも2自由度を有する構造にすることで操作性を向上させると共に高機能化が達成でき、またマスタスレーブマニピュレータに比べて装置全体の不必要な自由度を大幅に減少し機構も単純化されることで信頼性が向上し費用も抑制することができる。 According to the present invention, the working portion higher functionality can be achieved along with improved operability by a structure having at least two degrees of freedom, also of the entire apparatus compared to the master-slave manipulator not cost increases reliability by being greatly reduced even simplified mechanism flexibility required can be suppressed. また緊急時には術者が患者近傍に存在しているため迅速に患者に対して処置ができ、安全性の高い手術を実現することができる。 Further the emergency operator can treat against rapid patient because it exists in the vicinity of the patient, it is possible to realize a secure operation. さらに従来、熟練医しかできなかった手術が簡単に安全に行うことができる。 In addition conventional, can be skilled physician can only did not surgery is easily carried out safely.

【0013】 [0013]

【発明の実施の形態】以下、図面を参照して本発明の医療用マニピュレータの実施の形態について説明する。 BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter will be described an embodiment of the medical manipulator of the present invention with reference to the drawings.

【0014】図1乃至図4は本発明の実施の形態による医療用マニピュレータを示す構成概略図である。 [0014] FIGS. 1 to 4 is a structural schematic diagram showing a medical manipulator according to an embodiment of the present invention. 尚、本発明の医療用マニピュレータは鉗子を想定している。 In addition, the medical manipulator of the present invention contemplates the forceps.

【0015】医療用マニピュレータは、作業部である鉗子先端部10には矢印方向に回転可能な第1の回転関節20と第1の回転間接20に対し90度回転軸がずれた位相である矢印方向に回転可能な第2の回転関節30と作業対象物を把持することが可能で開閉することができる把持開閉部40を有し、鉗子後端部50には術者が把持可能な第1の操作部である操作桿60と2つの回転関節を操作する第2の操作部であるジョイスティック70 The medical manipulator, the forceps tip 10 is the working portion is a first rotary joint 20 which can be rotated in the arrow direction a first rotation indirect 20 to the phase shifted by 90 degrees rotation axis arrow has a gripping opening and closing part 40 capable of opening and closing is possible to grip the workpiece and the second rotating joint 30 which can be rotated in the direction, the the forceps rear portion 50 can be gripped is operator 1 which is the operation unit operating rod 60 and the joystick 70 is a second operation unit for operating the two revolute joints
と開閉を操作するためのレバー80を有しており、このような構成からなる。 It has a lever 80 for operating the opening and closing and, thus configured. 尚、医療用マニピュレータには、 It should be noted that, in the medical manipulator,
医療用マニピュレータの動作を制御するための制御部乃至電源に接続されるコード(図示しない)が設けられている。 Code (not shown) is provided which is connected to the control unit to the power supply for controlling the operation of the medical manipulator.

【0016】このような構成からなる第1の実施の形態の動作について説明する。 [0016] In operation of the first embodiment thus configured.

【0017】ジョイスティック70にはポテンショメータなどの角度検出器が備えられており、上下左右の動きを検出する。 [0017] The joystick 70 is provided with an angle detector such as a potentiometer, detects the vertical and horizontal movement. その検出角度は図示していない制御装置に電気的に送られる。 The detection angle is fed electrically and have no control device shown. 同様に開閉部操作用のレバーにも変位検出器がある。 Similarly, the lever for opening and closing unit operation is a displacement detector. また、鉗子先端の2つの回転関節と開閉部は後端部側に設置されたモータ90、91、92によりワイヤ、プーリ、歯車などを介して前記制御装置からの駆動信号により駆動される。 Also, two revolute joints and closing of the forceps tip wire by a motor 90, 91, 92 installed on the rear end side, the pulley is driven by a drive signal from the control unit via a gear.

【0018】操作者は操作桿60を握り、親指をジョイスティックの上(平坦部)にかけ、上下左右に動かすことで、その操作量を角度検出器で読み取り、鉗子先端の第1の回転関節と第2の回転関節をそれぞれ操作量に応じて駆動する。 The operator grips the operating rod 60, subjected on the thumb joystick (flat portion), by moving vertically and horizontally, reads the operation amount by the angle detector, first a first rotational joint of the forceps tip 2 of the rotary joints driven according to each operation amount. 同様にレバー80の位置を検出して鉗子先端部10の開閉量を制御する。 Likewise to detect the position of the lever 80 for controlling the opening and closing of the forceps tip 10. その他の操作については従来の鉗子の操作と同様である。 The other operation is the same as the operation of the conventional forceps.

【0019】したがって従来よりも、先端に2つの回転関節がある分、自在に鉗子先端の方向を指先の操作だけで変えることができ、より縫合作業などの繊細な手術作業を容易に行うことができる。 [0019] Thus than conventional amount that there are two rotary joints at the tip, freely the direction of the forceps tip can vary fingertips only be performed easily delicate surgical operations, such as more suturing operation it can. さらに、鉗子の位置決め操作は操作桿60を握り動かし、先端部の姿勢は親指の操作で行うため術者の操作が容易となる。 Furthermore, the positioning operation of the forceps move gripping the operating rod 60, the attitude of the distal end portion is facilitated operation of the operator for performing the operation of the thumb.

【0020】また、アクチュエータは電磁力モータの他に、形状記憶合金や静電アクチュエータなどでも良い。 Further, the actuator in addition to the electromagnetic motor, or the like shape memory alloy or an electrostatic actuator.
また操作側にもアクチュエータを設けることで、先端の力を操作者に返すことも可能である。 Also by providing the actuator to the operating side, it is possible to return the force of the tip to the operator. 例えば、把持部に掛かる力を歪ゲージなどからなる力センサで検出して、 For example, the force applied to the grip portion is detected by a force sensor consisting of a strain gauge,
その検出した力に応じた力を操作側のレバーで指に対して発生させることにより、操作者は把持している力を感じることができる。 By generating relative finger force the operating side of the lever in response to the detected force, the operator can feel the force which is gripped. 2つの回転関節20、30に対しても同様である。 The same applies for the two rotational joints 20 and 30. また、鉗子先端部10の開閉動作はレバーでなくとも、ジョイスティック70を上から押すことで機能するスイッチを設けて動作させることもできる。 Also, opening and closing operation of the forceps tip 10 is not necessarily a lever may be operated by a switch that functions by pressing the joystick 70 from above.
例えばジョイスティック70を一度押すと鉗子先端部1 For example pressing the joystick 70 Once the forceps tip 1
0が閉じて再度押すと開くような構成とすることもできる。 0 can also be configured as open Pressing again closed.

【0021】さらに、ジョイスティック70は並進や傾きなどの変位量ではなく、多軸方向の力を検出できる力センサにより、術者が動かしたい方向に掛かる力を検出して、この検出された力の方向へ鉗子先端部10を動かすこともできる。 Furthermore, the joystick 70 is not the amount of displacement of such translational and tilt, by the force sensor capable of detecting a force in the multi-axial, to detect a force exerted in the direction you want to move the operator, the detected force it is also possible to move the forceps tip 10 in the direction.

【0022】操作桿60は図1に示す様に、長手方向と直角方向に取付いていても良いし、図3(a)に示す様に長手方向に取付いていても良いし、角度を付けて取り付けても良い。 The operating rod 60 is, as shown in FIG. 1, may also be had attached to the longitudinal direction perpendicular to the direction, it may also be had attached longitudinally as shown in FIG. 3 (a), at an angle mounted may be. さらに図3(b)に示す様に鉗子後端部50と操作棹60との間に回転軸100を設け、術者が任意の角度に設定することもできる。 Further the rotary shaft 100 between the forceps rear portion 50 and the operating rod 60 as shown in provided FIG. 3 (b), the can also be surgeon set to an arbitrary angle. 手術内容や術者の使用しやすい角度で使用することにより操作性が向上する。 Operability can be improved by using in the easy-to-use angle of surgery content and the operator.

【0023】このほかに、図4(a)に示す様にジョイスティック70の代わりにスイッチ200でも良く、例えば、左210、右220、上230、下240の4つのボタンスイッチがあり、ボタンを押している間のみ鉗子先端が動くような動作をさせることも可能である。 [0023] In addition, it may even switch 200 instead of the joystick 70 as shown in FIG. 4 (a), for example, the left 210 and right 220, upper 230, there is at 240 four-button switch, button it is also possible to act like forceps tip moves only while you are. あるいは図4(b)に示す様にダイヤル250、260でも良いし、図4(c)に示す様にパソコンのマウスに使われているようなトラックボール270を取付け操作しても良い。 Or may be the dial 250 and 260 as shown in FIG. 4 (b), may be operated fitted with a track ball 270, such as are used in the computer's mouse, as shown in Figure 4 (c).

【0024】以上述べたような第1の実施の形態では、 [0024] In the above mentioned first such embodiment,
作業部を少なくとも2自由度以上の多自由度を有する構成とし操作部にて作業部の位置と姿勢とを操作することによって、作業部の操作性を向上させることができる。 By manipulating the position and orientation of the working unit in configuration and operate unit having at least two degrees of freedom or more multiple-degree-of-freedom working portion, thereby improving the operability of the working portion.

【0025】また、作業部を操作する際にはジョイスティック70、レバー80を用いるため、術者が鉗子を手放すことなく位置または姿勢を変更することができ、また術者の手首を回転させたり折り曲げたりせずに位置または姿勢を変更することが可能であるため、作業部と作業部が作業を行う患部との相対的な位置ずれの発生を抑制することができる。 Further, since the use of joystick 70, the lever 80 is in operating the working unit, can surgeon to change the position or attitude without relinquishing forceps, also bent or rotate the wrist of the operator since or it is possible to change the position or attitude without, it is possible to suppress the occurrence of relative positional deviation between the affected area working unit and the working unit is performing work.

【0026】次に本発明の第2の実施の形態の医療用マニピュレータについて図5を用いて説明する。 [0026] Next, the medical manipulator according to the second embodiment of the present invention will be described with reference to FIG. 図5は第2の実施の形態の操作部の説明図である。 Figure 5 is an explanatory view of the operation unit of the second embodiment.

【0027】操作部は第1の操作部である操作桿300 [0027] The operation unit is the first of the operation unit operating rod 300
と第2の操作部であるつまみ部310からなる。 To consist of a knob portion 310 is a second operation unit. 操作桿300を把持すると指がつまみ部310にかかり、つまみ部310は直交する2つの回転軸320、330で支持されている。 Joystick takes 300 to the finger grip portion 310 gripping the, the knob portion 310 is supported by two rotational axes 320 and 330 orthogonal. つまみ部310で鉗子先端のロール軸3 Roll axis 3 of the forceps tip knob 310
20、ヨー軸330の操作が可能であり、先端の姿勢操作は、操作桿300を動かして行う位置決め操作とは異なった操作部で行うので微細な操作が実現できる。 20, it can be operated in the yaw axis 330, the attitude altering the tip, fine operation can be achieved is performed in different operation portion and the positioning operation performed by moving the operating rod 300. ここでつまみ部を支持する関節の順序は問わない。 The order of the joint support is not limited here knob.

【0028】図6(a)は図5の関節配置を示し、ヨー軸330a、ロール軸320aの順でつまみ部310に接続されている。 [0028] FIG. 6 (a) shows the joint arrangement of Figure 5, the yaw axis 330a, and is connected to the knob 310 in the order of the roll shaft 320a. 図6(b)は逆の順の関節配置を示し、ロール軸320b、ヨー軸330bの順でつまみ部310に接続されている。 6 (b) is shown the reverse order of the joint arrangement, the roll shaft 320b, is connected to the knob 310 in the order of yaw axis 330b. ともにつまみ部の中心340 Both the knob portion of the center 340
は、マニピュレータ長手方向350、ロール軸320、 The manipulator longitudinal 350, roll shaft 320,
ヨー軸330が交わった点となっている。 It has become a point at which the yaw axis 330 intersect.

【0029】つまみ部310によりロール軸を操作するとその角度を検出して、制御部を介してモータが駆動され、それに対応する角度に先端部が動作する。 [0029] The knob unit 310 by operating the roll axis by detecting the angle, which the motor is driven via a control unit, operates the tip angle corresponding thereto. 同様にヨー軸を操作すると、先端のヨー軸が対応する角度だけ動作する。 Similarly Operating the yaw axis, it operates by an angle yaw axis corresponding tip. 先端の関節は必ずしも操作部と同じ関節に対応している必要はなく、座標変換を介して操作性が良くなる様に自由に対応させることができる。 The tip of the joint is not necessarily required to correspond to the same articulation as the operating unit, it is possible to freely correspond as better operability through the coordinate transformation.

【0030】また、つまみ部310には押しスイッチ3 [0030] In addition, the switch 3 push the knob portion 310
60があり、押し込めば鉗子把持部が閉じ再度押せば把持部が開く。 There are 60, the grip portion pressing forceps gripper again closes if pushed to open. あるいは指を挿入することが可能な部材が設けられ、この部分に指を挿入して指を開閉させることにより開閉量を検出しこの開閉量に対応するように把持部を開閉させることもできる。 Or capable member is provided to insert a finger, by inserting a finger into this portion to detect the opening and closing amount by opening and closing the fingers may be opening and closing the gripper so as to correspond to the opening amount.

【0031】以上述べたような第2の実施の形態では、 [0031] In the above mentioned second such embodiment,
作業部を少なくとも2自由度以上の多自由度を有する構成とし操作部にて作業部の位置と姿勢とを操作することによって、作業部の操作性を向上させることができる。 By manipulating the position and orientation of the working unit in configuration and operate unit having at least two degrees of freedom or more multiple-degree-of-freedom working portion, thereby improving the operability of the working portion.

【0032】また関節にはモータなどアクチュエータを取り付けることで、第1の実施の形態と同様に操作時の反力を操作者に返すことができ、より操作性を向上させることができる。 [0032] Further, by attaching the actuator such as a motor for the joint, the reaction force at the time of operation as in the first embodiment can be returned to the operator, it is possible to further improve the operability.

【0033】また、作業部の位置と姿勢の操作を別々の操作部で行うことができるため、従来では位置操作部と姿勢操作部とが同じであったために姿勢操作を行った場合に作業部の位置が多少なりともその影響を受けて動いてしまい先端部の微細な作業が困難であったが本形態によれば簡単に実施することができる。 Further, the working unit when it is possible to operate the position and orientation of the working unit in a separate operating unit, conventionally a position operating section and the attitude operation unit performs an attitude altering to were the same Although the position of was more or less difficult to fine work of causes tip moving affected it can be easily carried out according to the present embodiment.

【0034】次に本発明の第3の実施の形態の医療用マニピュレータについて図7を用いて説明する。 [0034] Next, a third embodiment of the medical manipulator of the present invention will be described with reference to FIG. 図7は第3の実施の形態の操作部の説明図である。 Figure 7 is an explanatory view of the operation unit of the third embodiment.

【0035】操作者の手首(もしくは腕)は第1の操作部として鉗子後端部400にベルトなどの固定部410 The operator's wrist (or arms) of the fixing portion 410 such as a belt to the forceps rear portion 400 as a first operating portion
で固定され、指先で同じく後端部400に固定された第2の操作部であるジョイスティック420を操作する。 In fixed, the joystick 420 is a second operation unit which is also fixed to the rear end portion 400 with a fingertip.
手首を動かすことでマニピュレータ全体を動かし、指先でジョイスティック410を操作することで鉗子先端の姿勢を変えることができる。 Moving the entire manipulator by moving the wrist, it is possible to change the attitude of the forceps tip by operating the joystick 410 with a fingertip. また、このような方式では長手方向に長くなり操作性が低下する可能性があり、折り曲がる関節部430を設けて任意の位置で固定することで長手方向は短くなり操作が容易となる。 Further, in the above method may operability longer in the longitudinal direction is reduced, the longitudinal direction by fixing at any position provided joint 430 that is bent becomes the operation is facilitated shortened. この場合、 in this case,
固定機構440は電磁ブレーキでも良いし、ねじやロック機構などで機械的に固定しても良い。 It securing mechanism 440 may be an electromagnetic brake may be mechanically fixed like a screw or a locking mechanism. 400aは関節部430を回転した形態を示す。 400a shows an embodiment in which rotating the joint 430.

【0036】以上述べたような第3の実施の形態では、 [0036] In the above mentioned such third embodiment,
作業部を少なくとも2自由度以上の多自由度を有する構成とし操作部にて作業部の位置と姿勢とを操作することによって、作業部の操作性を向上させることができる。 By manipulating the position and orientation of the working unit in configuration and operate unit having at least two degrees of freedom or more multiple-degree-of-freedom working portion, thereby improving the operability of the working portion.

【0037】また、術者は位置操作を操作桿を握る動作を意識せずに、腕を動かすことで自然と位置操作が可能になるため、より先端部の姿勢操作に集中でき微細作業が容易になる。 [0037] In addition, the operator without being aware of the operation gripping the joystick to position operation, in order to be in nature and position the operation to move the arm is possible, easy to fine work can concentrate on posture operation of more tip become.

【0038】尚、本発明は上記各実施の形態には限定されず種々変形して実施できることは言うまでもない。 [0038] The present invention is naturally modified in various ways not limited to the foregoing embodiments. 例えば、鉗子先端部の自由度は2自由度の場合を説明したが、必要に応じて3自由度以上の自由度を有しても良い。 For example, the degree of freedom of the forceps tip has been described the case of two degrees of freedom, 3 may have a degree of freedom or more degrees of freedom as necessary.

【0039】また、医療分野だけでなく、精密作業を行う装置にも適用することができる。 Further, not only the medical field can be applied to apparatus for performing precision work.

【0040】また、鉗子は術者によって支持されているが必要に応じて鉗子を支持する支持手段を設けることも可能である。 Further, forceps can be provided with a supporting means for supporting the forceps as needed are supported by the operator.

【0041】 [0041]

【発明の効果】以上述べたような本発明では、位置決め操作と姿勢決め操作との操作部を分離することで、互いの操作による干渉の影響が少なく、微細操作が容易となり、信頼性、安全性の高い医療用マニピュレータを提供することができる。 In as described above the present invention, to separate the operation unit of the positioning operation and the posture determined operation, less influence of interference due to mutual operations, it is easy to fine operation, reliability, safety it is possible to provide a highly sexual medical manipulator.

【図面の簡単な説明】 BRIEF DESCRIPTION OF THE DRAWINGS

【図1】 本発明の医療用マニピュレータの第1の実施の形態の概略斜視図。 1 is a schematic perspective view of a first embodiment of the medical manipulator of the present invention.

【図2】 本発明の医療用マニピュレータの第1の実施の形態の操作部を示す概略図。 2 is a schematic diagram showing the operation of the first embodiment of the medical manipulator of the present invention.

【図3】 本発明の医療用マニピュレータの第1の実施の形態の別の操作部を示す概略図。 Schematic diagram showing another operation of the first embodiment of the medical manipulator of the present invention; FIG.

【図4】 本発明の医療用マニピュレータの第1の実施の形態の姿勢操作方法を示す概略図。 First schematic diagram showing the attitude operation method of embodiment of the medical manipulator of the present invention; FIG.

【図5】 本発明の医療用マニピュレータの第2の実施の形態の操作部を示す概略斜視図。 Figure 5 is a schematic perspective view showing an operation unit of the second embodiment of the medical manipulator of the present invention.

【図6】 本発明の医療用マニピュレータの第2の実施の形態の操作部を示す模式図。 Figure 6 is a schematic view showing an operation unit of the second embodiment of the medical manipulator of the present invention.

【図7】 本発明の医療用マニピュレータの第3の実施の形態の操作部を示す概略斜視図。 [7] Third schematic perspective view showing an operation unit of the embodiment of the medical manipulator of the present invention.

【図8】 従来の医療用マニピュレータの概略構成図。 Figure 8 is a schematic block diagram of a conventional medical manipulator.

【符号の説明】 DESCRIPTION OF SYMBOLS

10 鉗子先端部 20 第1の回転軸 30 第2の回転軸 40 開閉部 50 鉗子後端部 60 操作桿 70 ジョイスティック 80 レバー 90 モータ 100 回転軸 200 スイッチ 210、220、230、240 押しボタンスイッチ 250、260 ダイヤル 270 トラックボール 300 操作桿 310 つまみ部 320、320a、320b ロール軸 330、330a、330b ヨー軸 340 つまみ部中心 350 マニピュレータ長手方向 360 押しスイッチ 400 後端部 410 固定部 420 ジョイスティック 430 回転軸 440 固定機構 400a 回転後の後端部 10 forceps tip 20 first rotation shaft 30 second rotation shaft 40 switching unit 50 the forceps rear portion 60 the operating rod 70 joystick 80 lever 90 motor 100 rotates shaft 200 switch 210, 220, 230, 240 push button switch 250, 260 dial 270 trackball 300 operating rod 310 pinches portions 320,320a, 320b roll axis 330,330a, 330b yaw axis 340 pinches portions around 350 manipulator longitudinal 360 press switch 400 rear portion 410 fixed portion 420 joystick 430 rotary shaft 440 fixed the rear end of the rear mechanism 400a rotates

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Claims (6)

    【特許請求の範囲】 [The claims]
  1. 【請求項1】少なくとも2自由度を有しており作業対象物に接触する作業部と、前記作業部が一端に設けられ他端に前記作業対象物に対する前記作業部の位置決めを行う第1の操作部と前記作業部の姿勢決めを行う第2の操作部とを有する操作部とを具備したことを特徴とする医療用マニピュレータ。 And 1. A working portion in contact with at least two workpiece has a degree of freedom, the working unit is first for positioning the working unit relative to the work object at the other end provided at one end medical manipulator, characterized by comprising an operation section and a second operation unit for performing an operation unit posture determined in the working unit.
  2. 【請求項2】前記第1の操作部は前記医療用マニピュレータを操作する操作者の腕に固定され、 前記第2の操作部は前記操作者の指先で操作されることを特徴とする請求項1に記載の医療用マニピュレータ。 Wherein said first operating portion is fixed to the arm of the operator who operates the medical manipulator according to claim wherein the second operating unit, characterized in that the fingertips of the operator the medical manipulator according to 1.
  3. 【請求項3】前記第1の操作部は前記医療用マニピュレータを操作する操作者が把持可能な操作桿であり、前記第2の操作部は前記作業部を操作するために必要な自由度で支持されたつまみ部であることを特徴とする請求項1に記載の医療用マニピュレータ。 Wherein said first operating unit is operator graspable operating rod for operating the medical manipulator, wherein the second operating unit is a degree of freedom required for operating the working unit the medical manipulator according to claim 1, characterized in that the supported knob portion.
  4. 【請求項4】前記第2の操作部は少なくとも2自由度を操作可能なジョイスティックであることを特徴とする請求項1に記載の医療用マニピュレータ。 4. A medical manipulator according to claim 1, wherein the second operating unit is operable joystick at least two degrees of freedom.
  5. 【請求項5】前記つまみ部は直交する2軸回りに支持されていることを特徴とする請求項3に記載の医療用マニピュレータ。 5. A medical manipulator according to claim 3, wherein the knob portion is supported by the two axes perpendicular.
  6. 【請求項6】前記作業部は前記作業対象物を把持可能な端部を有しており前記つまみ部を把持し操作することによって前記把持部を開閉自在に操作可能とすることを特徴とする請求項3に記載の医療用マニピュレータ。 Wherein said working unit is characterized in that operable freely opening and closing the gripping portion by operating to grip the knob portion has a graspable end portion of said work object the medical manipulator according to claim 3.
JP2000092161A 2000-03-29 2000-03-29 Medical manipulator Pending JP2001276091A (en)

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