JP2006043349A - Operation support apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an operation support apparatus capable of feeding back loads of driving parts to a controller more accurately and speedily, and capable of improving the controllability. <P>SOLUTION: A manipulator driving mechanism is provided in a manipulator 3. A direct-driving type slave-side motor 14 is provided in the manipulator driving mechanism 21, and a direct-driving type master-side motor 6 is provided in a joint part of the controller 1. The controller 1 is controlled to receive force/torque feedback from the manipulator 3. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a master-slave type surgery support apparatus including a manipulator that supports a surgical instrument and has a joint, and an operating device that remotely operates the manipulator.

A conventional surgical support apparatus includes a surgical instrument for inserting a patient's body surface into a body through an incised hole, a robot arm for supporting the surgical instrument, and an operation for an operator to operate the surgical instrument and the robot arm. Equipped with a bowl. With such a surgery support device, it is possible to perform a minimally invasive surgery on a patient (see, for example, Patent Document 1).
In order to improve the operability of the robot arm, several proposals have been published regarding a method for detecting the load force of the surgical instrument portion.

JP 2002-159509 A

  However, the conventional surgery support apparatus as described above can only detect the load force of the entire surgical instrument, and is necessary for each part, that is, each drive unit necessary for performing a fine work such as suture suture. There was a problem that only the load force could not be detected separately. On the other hand, although a load force detecting means using power transmission by a wire or a rod has been studied, there are many problems to be solved for practical use because of a large noise in detecting a load force due to friction or the like.

  The present invention has been made in order to solve the above-described problems, and is capable of feeding back the load of each drive unit to the operating device more accurately and quickly, and can improve the operability. The object is to obtain a device.

  A surgical operation support apparatus according to the present invention includes a manipulator that has a manipulator drive mechanism and supports a surgical instrument, and an operating device that has a joint portion corresponding to the manipulator drive mechanism and that remotely operates the manipulator. Is provided with a direct drive type slave side motor, and a direct drive type master side motor is provided at the joint part of the operating unit so that the operating unit receives force feedback from the manipulator. Be controlled.

  In the surgery support apparatus of the present invention, the manipulator drive mechanism is provided with a direct drive type slave side motor, and the joint part of the operating device is provided with a direct drive type master side motor. Since the device is controlled to receive force feedback from the manipulator, the load of each drive unit can be fed back to the operating device more accurately and quickly, and the operability can be improved.

The best mode for carrying out the present invention will be described below with reference to the drawings.
Embodiment 1 FIG.
FIG. 1 is a block diagram showing a surgery support apparatus according to an example of an embodiment of the present invention. The operating device 1 on the master side is operated by the operator 2. The slave manipulator 3 is driven in response to an operation command from the operation device 1. Thereby, a surgical technique is performed in the body of the patient 4. At this time, patient information is fed back to the operator 2 through the operation device 1. Based on this feedback information, the surgeon 2 can input the next action.

  FIG. 2 is a block diagram showing the surgery support apparatus of FIG. The operation device 1 includes an operation input unit 5, a master side motor 6, a master side encoder 7, a master side motor control unit 8, an overall control unit 9, a display 10 as patient information transmission means, and a master side communication device 11. It has been.

  An input operation by the surgeon 2 is performed on the operation input unit 5. The operation input unit 5 has a joint corresponding to the joint of the manipulator 3. A change in the position of the joint portion of the operation input unit 5 is detected by the master side encoder 7. The position change of the joint part detected by the master side encoder 7 is input to the overall control part 9 as input information through the master side motor control part 8. In the overall control unit 9, an operation command is generated based on the input information. The operation command is output from the master side communication device 11 to the manipulator 3.

  Further, feedback information (such as reaction force information and image information) from the manipulator 3 is input to the overall control unit 9 via the master side communication device 11. The reaction force information in the feedback information is input from the overall control unit 9 to the master side motor control unit 8. Thereby, the master side motor 6 is driven and controlled by the master side motor control unit 8, and torque (reaction force) is applied to the corresponding joint portion of the operation input unit 5.

  Further, the image information in the feedback information is input from the overall control unit 9 to the display 10. As a result, an image of the affected part during the operation is displayed on the display 10.

  The manipulator 3 is provided with a slave side communication device 12, a slave side motor control unit 13, a slave side motor 14, a slave side encoder 15, and forceps 16 as a surgical instrument.

  Signal transmission / reception (wired or wireless) to / from the master side communication device 11 is performed by the slave side communication device 12. An operation command from the operation device 1 is input to the slave side motor control unit 13 via the slave side communication device 12. Thereby, the slave motor 14 is driven and controlled by the slave motor controller 13. The drive amount of the slave side motor 14 is detected by the slave side encoder 15. Further, by driving the slave side motor 14, torque is applied to the corresponding joint portion of the forceps 16, and the surgical technique is performed on the patient 4 by the forceps 16.

  When performing a surgical procedure, the forceps 16 receives a reaction force from the patient 4. This reaction force is given to the slave encoder 15 as an external force. The reaction force / movement amount information detected by the slave encoder 15 is sent to the controller 1 via the slave motor controller 13 and the slave communication device 12. The forceps 16 can acquire image information by an endoscope or the like, and the image information acquired by the forceps 16 is sent to the operation device 1 via the slave side communication device 12.

  FIG. 3 is a perspective view showing a main part of the manipulator 3 of FIG. The first to fourth slave arm members 17 to 20 are connected in series. A manipulator drive mechanism 21 is provided between the slave arm members 17 to 20 adjacent to each other. A pair of forceps 16 is connected to the fourth slave arm member 20 via a manipulator driving mechanism 21. That is, the manipulator driving mechanism 21 is provided at the joint portion of the manipulator 3. With such a configuration, complicated operations in the body of the patient 4 are possible.

  Next, a specific structure of the manipulator driving mechanism 21 will be described. In the following example, the manipulator driving mechanism 21 between the third slave arm member 19 and the fourth slave arm member 20 is shown as an example, but the same configuration can be applied to the manipulator driving mechanism 21 at other positions. Of course.

  First, FIG. 4 is a perspective view showing a first example of the internal structure of the manipulator drive mechanism 21 of FIG. The slave arm members 19 and 20 are connected to each other via a bearing 22 so as to be rotatable. That is, the fourth slave arm member 20 can be driven only in the rotational direction with respect to the third slave arm member 19.

  The slave arm members 19 and 20 are driven by the slave side motor 14. As the slave motor 14, a direct drive motor (DD motor) is used. The slave side motor 14 has a stator 23 mounted on the third slave arm member 19 and a rotor 24 mounted on the fourth slave arm member 20.

  The rotor 24 is connected between the two short-circuit rings 25 and 26 arranged in the axial direction inside the fourth slave arm member 20 and between the short-circuit rings 25 and 26 so as to cover the inner wall of the fourth slave arm member 20. And a plurality of conductors 27.

  The stator 23 has two sets of stator divided pieces divided in the circumferential direction of the rotor 24. Each stator segment includes a stator winding that generates a rotating magnetic field when supplied with multiphase alternating current. The stator 23 is disposed coaxially with the rotor 24 and is disposed so as to face the inner peripheral surface of the rotor 24.

  When a rotating magnetic field is generated in the stator 23, a voltage is excited on the conductor 27 of the rotor 24. This voltage causes a current to flow through the conductor 27, generating torque in the rotor 24, and the fourth slave arm member 20 is rotated with respect to the third slave arm member 19.

  The number of divisions of the stator 23 is not limited to two, and may be divided into three or more stator divided pieces. The stator 23 may not be divided. Further, when the stator 23 is divided, the rotor 24 is caused to have a speed unevenness when the stator divided pieces are the same or substantially the same and the intervals between the circumferentially adjacent stator divided pieces are equal. And can be rotated smoothly.

  The slave encoder 15 is provided in the manipulator drive mechanism 21. Furthermore, the slave encoder 15 is provided on the fourth slave arm member 20 and is rotated integrally with the fourth slave arm member 20, and the third slave arm member 19 is opposed to the rotary plate 28. And an encoder detector 29 provided. In the rotating plate 28, radial slits are punched at equal intervals in the circumferential direction.

  The encoder detection unit 29 optically reads the slit of the rotating plate 28. When the fourth slave arm member 20 rotates, the rotating plate 28 also rotates equally, so that the position of the slit changes. Therefore, the encoder detection unit 29 detects the relative rotation amount of the fourth slave arm member 20 with respect to the third slave arm member 19 by reading the position change of the slit.

  The fourth slave arm member 20 is provided with a brake device 30. The brake device 30 includes a braking member 31 that can be brought into and out of contact with the third slave arm member 19, and a laminated piezoelectric actuator 32 that operates the braking member 31. When power is not supplied to the laminated piezoelectric actuator 32, the braking member 31 is pressed against the third slave arm member 19.

  Further, when the laminated piezoelectric actuator 32 is supplied with electric power, electric energy is converted into axial displacement, and the braking member 31 is expanded accordingly, so that the pressure contact state of the braking member 31 with respect to the third slave arm member 19 is released. . As a result, the fourth slave arm member 20 can rotate with respect to the third slave arm member 19.

  When power supply is not performed due to an accident or the like, the braking member 31 returns to the pressure contact state, so that the rotation of the fourth slave arm member 20 is prevented and patient damage due to uncontrolled operation is prevented.

  The elements of the bearing 22, the slave side motor 14, the slave side encoder 15, and the brake device 30 can be arranged in series along the axial direction of the slave arm members 19 and 20. By arranging these elements in order inside the manipulator drive mechanism 21, the shape of the slave arm members 19 and 20 can be made tubular without impairing the sealing performance.

  Thus, the cavity 33 extending along the axial direction is provided in the center of the manipulator drive mechanism 21. In the hollow portion 33, control wiring and a cooling tube for motor cooling (both not shown) can be arranged without impairing the sealing performance of the manipulator.

  Next, FIG. 5 is a perspective view showing a second example of the internal structure of the manipulator drive mechanism 21 of FIG. Here, the difference from the first example will be mainly described. As the slave motor 14, a direct drive motor (DD motor) is used. The slave-side motor 14 has a rotor 34 mounted on the third slave arm member 19 and a stator 35 mounted on the fourth slave arm member 20.

  The rotor 34 includes two short-circuit rings 36 and 37 having different diameters arranged coaxially with the third slave arm member 19, and a plurality of conductors 38 connected between the short-circuit rings 36 and 37.

  The stator 35 has two sets of stator divided pieces divided in the circumferential direction of the rotor 34. Each stator segment includes a stator winding that generates a rotating magnetic field when supplied with multiphase alternating current. The stator 35 is disposed so as to face the rotor 34.

  When a rotating magnetic field is generated in the stator 35, a voltage is excited on the conductor 38 of the rotor 34. This voltage causes a current to flow through the conductor 38, generating torque in the rotor 34, and the fourth slave arm member 20 is rotated with respect to the third slave arm member 19.

  The number of divisions of the stator 35 is not limited to two, and may be divided into three or more stator divided pieces. Further, the stator 35 may not be divided. Further, when the stator 35 is divided, each rotor divided piece is the same or substantially the same, and the interval between the stator divided pieces that are adjacent in the circumferential direction is made equal, the speed variation of the rotor 34 is reduced. And can be rotated smoothly.

  The slave-side encoder 15 is provided on the third slave arm member 19 and is provided on the fourth slave arm member 20 so as to face the rotary plate 39 and the rotary plate 39 rotated integrally with the third slave arm member 19. And an encoder detection unit 40. In the rotating plate 39, radial slits are punched at equal intervals in the circumferential direction.

  The encoder detection unit 40 optically reads the slit of the rotating plate 39. When the third slave arm member 19 rotates relative to the fourth slave arm member 20, the rotating plate 39 also rotates equally, so the position of the slit changes. Therefore, the encoder detection unit 40 detects the relative rotation amount of the third slave arm member 19 with respect to the fourth slave arm member 20 by reading the positional change of the slit.

  FIG. 6 is a perspective view showing the operation device 1 of FIG. In the control unit housing 41, the master side motor control unit 8, the overall control unit 9, and the master side communication device 11 shown in FIG. The display 10 is placed on the control unit housing 41.

  FIG. 7 is an exploded perspective view showing a main part of the operation input unit 5 of FIG. The operation input unit 5 includes a lever 42, a dial 43, a vertical operation unit 44, and first to third joint units 45, 46 and 47. The lever 42 is provided with a grip 42a. The joint portions 45, 46, and 47 are rotatable about the X axis, the Y axis, and the Z axis that are orthogonal to each other. The lever 42, the dial 43, the vertical operation portion 44, and the joint portions 45, 46, 47 are provided with the master side motor 6 and the master side encoder 7 shown in FIG. As the master side motor 6, a direct drive type motor (DD motor) is used. The operation input unit 5 can detect an operation input of the operator and can transmit feedback (reaction force) from the manipulator 3 to the operator.

  Next, an operation example of the surgery support apparatus in this embodiment will be described. 8 is a perspective view showing an initial state of the operating device 1 and the manipulator 3 in FIG. 1, and FIG. 9 is a perspective view showing movement of the manipulator 3 when the lever 42 in FIG. 7 is moved. When the surgeon grasps and moves the lever 42, the joint portions 45, 46, and 47 detect a three-dimensional movement and operate the manipulator 3.

  FIG. 10 is a perspective view showing the movement of the manipulator 3 when the dial 43 of FIG. 7 is turned. By rotating the dial 43, the angle of the forceps 16 in the twisting direction is changed.

  FIG. 11 is a perspective view showing the movement of the manipulator 3 when the lever 42 of FIG. 7 is moved in the front-rear direction. By moving the lever 42 back and forth, the position of the vertical operation unit 44 changes, and the forceps 16 are moved forward and backward.

  12 is a perspective view showing the movement of the manipulator 3 when the grip 42a of FIG. 7 is opened, and FIG. 13 is a perspective view showing the movement of the manipulator 3 when the lever 42 of FIG. 12 is advanced. By opening the grip 42a, the pair of forceps 16 is opened. By moving the lever 42 forward in this state, the forceps 16 can be inserted into both sides of the lesion 48 in the patient.

  FIG. 14 is a perspective view showing the movement of the manipulator 3 when the grip 42a of FIG. 13 is gripped. By grasping the grip 42 a from the state of FIG. 13, the forceps 16 are closed, and the lesioned part 48 is clamped by the forceps 16. At this time, a reaction force that pushes and opens the forceps 16 is generated in the sandwiched lesioned part 48, so that the master side motor 6 provided between the grip 42a and the lever 42 opens the grip 42a. The surgeon receives force feedback (load feedback). Thereby, the surgeon can recognize that the lesioned part 48 is grasped not only by the image on the display 10 but also by force feedback.

  FIG. 15 is a perspective view showing the movement of the manipulator 3 when the lever 42 of FIG. 14 is retracted. By retracting the lever 42 while holding the grip 42 a, the forceps 16 is also retracted while holding the lesioned part 48. By such a series of operations, the lesioned part 48 can be picked up in the surgical procedure. At this time, a reaction force is generated in the lesioned portion 48 to return to the original shape. Therefore, a force in a direction in which the lever 42 is moved forward is generated in the master side motor 6 provided in the vertical operation portion 44. The surgeon receives force feedback (load feedback).

  In such a surgical operation support device, force feedback can be given to the operating device 1 without using a special sensor, so that the load of each driving unit can be fed back to the operating device 1 more accurately and quickly. Operability can be improved. In addition, the entire apparatus can be reduced in size. Furthermore, since direct drive type motors are used as the master side motor 6 and the slave side motor 14, fine force feedback is possible, which is particularly suitable for a surgical support device.

  Here, when an operation reaction force or the like is transmitted from the slave side to the master (operator) side, it is necessary to transmit information by some parameter related to force, speed, or the like. At this time, since there is an element (disturbance) that degrades the transmission information, such as mechanical friction, control is performed to reduce it.

  Such control includes feedback control that corrects the influence of the disturbance after it has been affected, and feedforward control that detects information about the disturbance in advance and applies corrections that reduce the influence of the disturbance in advance. To do.

  Among these, the feedback control has a drawback that the corrective action is followed, so that a disturbance is surely affected (although it eventually converges). This shortcoming is a serious problem in the master-slave reaction force transmission where real-time characteristics are important.

  On the other hand, in order to perform feedforward control, it is necessary to detect or predict a disturbance in advance. Since the centrifugal force and the movement of the center of gravity due to the movement of the arm can be calculated at the stage when the operation command is sent, it can be predicted in advance. On the other hand, mechanical friction and backlash are difficult to predict and cause problems in feedforward control.

  Arranging a device other than an actuator such as a force sensor may increase backlash and is not suitable for feedforward control. On the other hand, speed / acceleration, which is an element that can be obtained only by the motor and the encoder arranged coaxially therewith, is suitable as a parameter for reaction force transmission. Therefore, direct drive motors (eg, non-contact linear motors) are used as the slave and master side motors, and acceleration control (force sensorless control) is executed to greatly reduce friction and more accurate operation. Reaction force can be transmitted.

It is a block diagram which shows the surgery assistance apparatus by an example of embodiment of this invention. It is a block diagram which shows the surgery assistance apparatus of FIG. It is a perspective view which shows the principal part of the manipulator of FIG. It is a perspective view which shows the 1st example of the internal structure of the manipulator drive mechanism of FIG. It is a perspective view which shows the 2nd example of the internal structure of the manipulator drive mechanism of FIG. It is a perspective view which shows the operation device of FIG. It is a perspective view which decomposes | disassembles and shows the principal part of the operation input part of FIG. It is a perspective view which shows the initial state of the operation device and manipulator of FIG. It is a perspective view which shows a motion of the manipulator when moving the lever of FIG. It is a perspective view which shows a motion of the manipulator when turning the dial of FIG. It is a perspective view which shows a motion of the manipulator when moving the lever of FIG. 7 in the front-back direction. It is a perspective view which shows the motion of the manipulator when the grip of FIG. 7 is opened. FIG. 13 is a perspective view showing the movement of the manipulator when the lever of FIG. 12 is advanced. FIG. 14 is a perspective view showing the movement of the manipulator when the grip of FIG. 13 is gripped. FIG. 15 is a perspective view showing the movement of the manipulator when the lever of FIG. 14 is retracted.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 Operation device, 3 Manipulator, 6 Master side motor, 14 Slave side motor, 21 Manipulator drive mechanism.

Claims (1)

In a master-slave type surgery support apparatus comprising a manipulator having a manipulator drive mechanism and supporting a surgical instrument, and an operation unit having a joint corresponding to the manipulator drive mechanism and operating the manipulator remotely.
The manipulator drive mechanism is provided with a direct drive type slave side motor, and the joint part of the operating device is provided with a direct drive type master side motor, and the operating device is connected to the manipulator from the manipulator. An operation support apparatus that is controlled so as to receive a force feedback.

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