JP2006239278A - Medical master operation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a medical master operation device in a master/slave system facilitating the operation, dispensing with any special skill level, and easily performing surgery of a micro-region. <P>SOLUTION: This medical master operation device in the master/slave system which actuates an end effector in the slave side by operating the master-side operation device, diagnoses and treats a region of a biotissue, is installed with pen masters, or a pair of pen-shaped operation devices being operated with both hands on a turntable, relative angles and positions of the operation devices can be selected arbitrarily by an operator, the operation device has a double structure comprising an exterior part and an interior part, the exterior part is provided with three-dimensional displacement sensor in its both upper/lower ends, the interior part is provided with a rotating means having a rotation sensor, and the outer circumference of the exterior part is provided with a finger tip insertion part mounted with a sensor switch. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a medical master operation device in a master-slave system that operates an end effector such as a slave-side endoscope or a treatment tool by operating a master-side operation device, and diagnoses and treats a part of a living tissue. .

  For example, in a surgical operation in which a biological tissue such as a blood vessel in a body cavity is sutured, an operator percutaneously inserts an endoscope for observing the inside of the body cavity and treatment tools such as tweezers, needles, and threads required for the suture into the body cavity. In addition to the conventional endoscopic surgery performed by insertion, the operator remotely operates the master arm by hand instead of the operator, measures the movement with a control device, calculates the operation command, and based on this value A master-slave type operation that is performed by operating an endoscope or a treatment instrument via a manipulator or the like is generally known.

  Of these, the former is caused by a lack of freedom, and it is difficult to perform a desired operation by moving an endoscope or treatment tool inserted into a narrow body cavity from a hole formed in a body wall. Such operations are not limited to large incisions. On the other hand, the latter is a surgery performed using a surgical manipulator having a multi-joint structure insertion portion with a high degree of freedom, and a sufficient degree of freedom can be obtained.

  For example, Patent Document 1 discloses a medical device in which an operator operates an operation gripper that is a master operation device, and transmits a movement following the operation to a slave arm having a plurality of degrees of freedom to perform a surgical operation. A master-slave type master operating device is disclosed. Patent Document 2 discloses a medical master-slave type master in which an operator operates an arm of a portable arm operation unit and inputs a command signal to a control device to remotely control a slave arm to perform a surgical operation. An operating device is disclosed.

However, any of these conventional operating devices are often used for surgery performed with a large incision, and most of them operate one-to-one on the master side and the slave side by remote control. For this reason, in the case of performing a surgical operation on a minute part, for example, a suture operation on a thin blood vessel having a thickness of about 0.3 to 0.5 mm, fine operation control is necessary. Regardless of the operator or the operator, it is difficult to perform a desired operation with these operating devices, and there is a problem that a high level of skill and skill are required for the operation.
JP-A-8-224246 JP 7-194609 A

  The present invention has been made in view of the above-described circumstances, and the object of the present invention is that it is easy to operate and does not require a special skill level, and can be easily performed even in a surgical operation of a minute part. An object of the present invention is to provide a medical master operating device in a master / slave system.

  The above-described object of the present invention is a medical master operation device in a master-slave system in which a slave-side end effector is operated by operating a master-side operation device to diagnose and treat a part of a living tissue, A pen master, which is a pair of pen-shaped operation devices that can be operated, is installed on a turntable, and the relative angle of the pen master can be selected at any position and angle of the operator. The exterior part is provided with three-dimensional displacement sensors at both upper and lower ends, the interior part is provided with a rotation operation means equipped with a rotation sensor, and a sensor switch is provided on the outer periphery of the exterior part. This is achieved by providing a medical master operating device characterized in that it is provided with an attached fingertip insertion portion.

  Further, the object of the present invention is that the three-dimensional displacement sensors provided at the upper and lower ends of the exterior part control the posture of the end effector, and the three-dimensional displacement sensor on the lower end side is the end effector. A signal for instructing the movement direction, movement amount, and movement speed of the tip end portion is output, and the three-dimensional displacement sensor on the upper end side instructs the movement direction, movement amount, and movement speed of the rear end portion of the end effector. This is achieved more effectively by providing a medical master operating device characterized by outputting a signal for the purpose.

  Further, the above object of the present invention is to place the fingertip insertion part at a position where the operator's index finger can be inserted on the outer periphery of the exterior part, and at a position where the operator's thumb can contact the outer periphery of the exterior part. Is achieved more effectively by providing a medical master operating device characterized in that a window for rotating the rotation operating means is provided.

  Further, the above object of the present invention is more effectively achieved by providing a medical master operating device in which the sensor switch performs an opening / closing operation of the end effector.

  Further, the above object of the present invention is characterized in that the interior part is held on the central axis of the exterior part by springs provided at the upper and lower ends inside the exterior part and is rotatable in a floating state. This is achieved more effectively by providing a medical master operating device.

  Also, the above object of the present invention is to provide a medical master operating device characterized in that the pair of pen masters that can be operated with both hands has a structure in which the operator can set each to an arbitrary position and angle. This is achieved more effectively.

  Furthermore, the above object of the present invention is such that the pair of pen masters that can be operated with both hands has an idle area within a predetermined distance from the pen master axis, and when the operator releases the hand from the pen master axis, The slave maintains the position immediately before releasing the hand, and this is achieved more effectively by providing the medical master operating device according to any one of claims 1 to 6.

  As described above, the medical master operating device according to the present invention allows the pen master, which is a pair of pen-shaped operating devices, to be gripped lightly with both hands so that all the movements on the slave side can be expressed only with the fingertips. Since it is configured to transmit to the side, it is easy to operate and does not require skill, and in particular, it is possible to easily perform a surgical operation on a minute part.

  Hereinafter, the contents of the present invention will be described based on one embodiment, specifically, when a surgical operation for suturing an extremely thin blood vessel in a fingertip is performed. The present invention is not necessarily limited to the following embodiments, and it goes without saying that the configuration can be variously changed without departing from the scope of the claims.

  FIG. 1 is a block diagram showing the configuration of a master-slave type medical system to which the present invention is applied. In the figure, 100 is a master medical operation device (hereinafter referred to as “the master operation device”) according to an embodiment of the present invention, 200 is a control device, 300 is a slave including a slave end effector 310 and the like. A device 400 is a display device for observing the movement on the slave side. In this medical system, the operation signal S1 from the master operation device 100 is sent to the control device 200, the movement on the master side is reduced (for example, reduced to about 1/5 to 1/10), and this signal S2 is converted to the slave device 300. The end effector 310 is actuated based on the signal S 2, and the actuating signal S 3 is fed back to the control device 200 so that its movement is displayed on the display device 400. Here, the internal configurations of the control device 200 and the display device 400 are not exceptional, and are generally well known in the art, and therefore, detailed description thereof will be omitted. In this embodiment, an electric tweezer 310P, which will be described later, is used as one of the end effectors 310.

  2A and 2B are diagrams showing the configuration of the master operating device 100, wherein FIG. 2A is a plan view thereof, and FIG. 2B is a partial cross-sectional view taken along the line XX of FIG. 3 is a YY cross-sectional view of FIG. 2B, and FIG. 4 is a ZZ cross-sectional view of FIG.

  As shown in FIGS. 2A and 2B, the master operating device 100 includes a pair of operating devices formed in a pen shape on the upper surface of a turntable 110 that rotates about a vertical axis A, that is, a pair of operating devices. The pen masters 140A and 140B are installed in an inverted C shape. As shown in FIG. 2A, the pair of pen masters 140A and 140B are installed not only in a straight line on the X axis, but also slid around the center of the turntable 110 as described later. Thus, the operator can easily work.

  The turntable 110 is rotatably supported on the upper surface of a fixed table 112 supported by a stand 111 via a rotation support roller 113 and a bearing 119. By making the turntable 110 rotatable in this way, the entire operation unit including the pen masters 140A and 140B mounted on the upper surface can be simultaneously rotated, whereby the master side coordinate axis and the slave side coordinate axis Can be automatically matched, so that operability and operability are improved. The rotation direction and rotation angle of the turntable 110 can be manually rotated and fixed at an arbitrary angle. When the slave shows an abnormal operation such as runaway against the operator's intention, an emergency stop button 115 which is a rotation stop means provided on the upper surface of the turntable 110 is pressed.

  A signal transmission slip ring 116 is provided on the fixed table 112 side, and all command signals from the master side are indicated by dotted lines in FIG. 2B via the communication cable 117, the signal transmission slip ring 116, and the signal cable 118. As shown, it is sent to the control device 200.

  The pen master 140A (as well as the pen master 140B) has a double structure composed of an exterior portion 146 and an interior portion 145, as shown in a sectional view in FIG. The exterior portion 146 is formed of a cylindrical body whose end is closed, and a first support shaft 142 provided with a three-dimensional displacement sensor 141 is provided at the upper end portion, and a three-dimensional displacement sensor 143 is provided at the lower end portion. A second support shaft 144 is provided. Each of these support shafts 142 and 144 is inclined upwardly by an arm-type support member 120 and a trapezoidal support member 130 installed on the upper surface of the turntable 110 via compression coil springs 122 and 132, which will be described later. And is supported. The support member 120 can move along the slide groove 123 formed in an arc shape around the vertical axis A on the upper surface of the turntable 110, and can be set at a position and an angle desired by the operator.

  Here, the three-dimensional displacement sensors 141 and 143 control the posture of the end effector 310, and the three-dimensional displacement sensor 141 on the upper end side is the operation direction, operation amount, and operation speed of the rear end portion of the end effector 310. The three-dimensional displacement sensor 143 on the lower end side outputs a signal for instructing the operation direction, the operation amount, and the operation speed of the distal end portion of the end effector 310. For this sensor, for example, an eddy current sensor, a laser sensor, a PSD, a volume, a CCD camera, a displacement gauge, a strain gauge, or the like is applied.

  A circular recess 121 is formed in the support member 120, and as shown in FIG. 4, one end is fixed to the inner wall of the recess 121 and the other end extends toward the center of the recess 121. Three compression coil springs 122 are provided. Similarly, a circular recess 131 is also formed in the support member 130, and three compressions in which one end is fixed to the inner wall of the recess 131 and the other end extends toward the center of the recess 131. A coil spring 132 is provided. The first support shaft 142 of the pen master 140A is supported at the center position of the recess 121 by three compression coil springs 122 provided in the recess 121 of the support member 120. Similarly, the second support shaft 144 is supported by the support member 130. It is supported by three compression coil springs 132 provided in the recess 131. Thus, since both ends of the pen master 140A are supported in a floating state by the compression coil springs 122 and 132, an external force is applied to each end of the first support shaft 142 and the second support shaft 144, that is, the pen tip. (Specifically, when the pen tip is moved by the operator or operator's hand as will be described later), each pen tip has three axes, X, Y, and Z, respectively, as shown in FIG. That is, it is moved freely in the three-dimensional direction. The movements of the pen tip portions in the three-dimensional direction are detected by the three-dimensional displacement sensors 141 and 143, and all postures of the slave side end effector 310 (tweezers 310P in this embodiment) are controlled based on the detected values. 200 is controlled. In addition, by supporting both ends of the pen master 140A in a floating state in this way, even if vibration is applied to the master operating device 100 from the outside, the vibration can be absorbed by the compression coil springs 122 and 132. As a result, the axis of the master pen 140A can always be held at a predetermined center position.

  The interior portion 145 is inside the exterior portion 146, and a roller 147 is rotatable with the shaft portions 148 and 149 supported by bearings 150 and 151, respectively. A rotation sensor 152 is provided at the tip of the shaft 148, and a plurality of knurls 147r are engraved at the center of the main body of the roller 147 to prevent the fingertip from slipping during rotation. For example, an encoder or a resistance volume is applied to the rotation sensor 152.

  A window 146a is formed in the center of the upper surface side of the exterior portion 146 at a position where the fingertip of the operator or operator contacts, and a knurled portion 147r portion of the roller 147 is exposed from the window 146a. The fingertip of the operator or operator is inserted from this window 146a, and the knurled portion 147r is rotated. This rotation is detected by the rotation sensor 152, and the rotation of the tweezers 310P on the slave side is controlled based on the detected value. The position where the window 146a is provided is preferably a position where the thumb can easily contact from the viewpoint of operability, and the rotation angle is preferably set within ± 30 °.

  A fingertip insertion portion 155 having a built-in sensor switch for opening and closing the end effector 310 is provided on the outer periphery on the lower side of the exterior portion 146. FIG. 5 is an enlarged cross-sectional view showing the structure of the fingertip insertion portion 155. The whole is made of a plastic material or the like in the shape of a finger sac. The open sensor switch 153 is closed on the upper inner wall of the hollow interior, and the lower inner wall is closed. A sensor switch 154 is provided. The operator's or operator's index finger F is inserted into the hollow interior, and the index finger F is moved in the vertical direction indicated by an arrow so that the respective switches are activated. In this embodiment, when the open sensor switch 153 is activated, the tip gripping portion 310P1 of the tweezers 310P on the slave side is opened and the closed sensor switch 154 is activated as shown in FIG. Thus, the tip gripping portion 31P1 is closed.

  The structure of the pen master 140A, which is an operation device, has been described above, but the structure of the pen master 140B is substantially the same as described above. As described above, the pen master 140A and the pen master 140B are installed on the upper surface of the turntable 110 in an inverted C shape. It has been confirmed by practical skill that operability is improved when both are installed in this way.

Next, an operation method of the master operation device 100 configured as described above will be described.
In operation, the operator or the operator attaches the right hand to the rotation operation means 145 of the pen master 140A with the turntable 110 in front, the index finger F is mounted inside the fingertip insertion portion 155, and the thumb is the knurled portion 147r of the roller 147. And gently hold the operation unit main body 146 with the remaining fingers. At the same time, the left hand is attached to the pen master 140B side and lightly gripped in the same manner. Maintaining this state, the operator or operator moves the pen tip portions of the pen masters 140A and 140B to a desired direction and distance while looking at the screen of the display device 400, and rotates them to a desired angle as necessary. Thus, any movement is transmitted from the master side to the end effector 310 on the slave side, thereby performing a desired operation.

For example, prior to the operation of suturing the cut blood vessels, the right pen master 140A instructs the tweezers 310P to open and close and move to grasp one of the blood vessels, and the left pen master 140B similarly. A desired operation is performed by instructing the other tweezers 310P to perform the same operation, grasping the other blood vessel, and joining the blood vessels together.
This operation is performed using both hands, but depending on the contents of the operation, it can be performed with one hand.

  As described above, the master operating device according to the present invention is configured so that the pen master can be grasped lightly with both hands, all the movements on the slave side can be expressed only with the fingertips, and this can be transmitted to the slave side. There is an idle area at the midpoint of the holding position of the pen master, and when the operator releases his hand from the pen master for any reason, the slave keeps the stopped state just before releasing the hand, so the operation is simple and skilled In particular, it is possible to easily perform a surgical operation on a minute part. In addition, since both ends of the pen master are supported in a floating state by springs so that vibrations are absorbed, even when external vibrations are applied to the master operating device, the pen masters are also affected by these vibrations. Is not directly affected by this, so that a desired command can always be transmitted from the master side to the slave side.

  The content of the present invention has been described based on one embodiment. However, as described above, the present invention is not limited to the above embodiment.

  The present invention is not limited to medical use, and can be applied to fields such as assembly of fine precision parts and bioengineering.

1 is a block diagram of a configuration of a master-slave medical system to which the present invention is applied. It is a figure which shows the structure of the master operating device concerning one Example of this invention, Comprising: (A) is the top view, (B) is a fragmentary sectional view along the XX cross section of (A). It is YY sectional drawing of FIG. 2 (B). It is a ZZ cross-sectional arrow view of FIG. It is sectional drawing of a fingertip insertion part. It is a side view of the tweezers used as an end effector, (A) is an open state, (B) is a figure which shows a closed state.

Explanation of symbols

100 Master operation device 110 Turntable 111 Stand 112 Fixed table 113 Rotation support roller 114 Rotation detection encoder 115 Emergency stop button 116 Signal transmission slip ring 117 Communication cable 118 Signal cable 119 Bearing 120 Support member 121 Recess 122 Compression coil spring 123 (Support member ) Slide groove 130 Support member 131 Recess 132 Compression coil spring 140A, 140B Pen master (operation device)
141 Three-dimensional displacement sensor 142 First support shaft 143 Three-dimensional displacement sensor 144 Second support shaft 145 Interior portion 146 Exterior portion 147 Roller 148, 149 Shaft portion 150, 151 Bearing 152 Rotation sensor 153 Open sensor switch 154 Close sensor switch 155 Fingertip Insertion unit 200 Control device 300 Slave device 310 End effector 310P Tweezers 400 Display device

Claims (7)

  A master-slave-type medical master operating device that operates a slave-side end effector by operating a master-side operating device to diagnose and treat a biological tissue site, and can be operated with both hands. The pen master which is the operation device of the above is installed on a turntable, the relative angle of the pen master can be selected at any position and angle of the operator, and the pen master is composed of an exterior part and an interior part The exterior part is provided with three-dimensional displacement sensors at both upper and lower ends, the interior part is provided with a rotation operation means equipped with a rotation sensor, and the fingertip insertion part equipped with a sensor switch is provided on the outer periphery of the exterior part A medical master operating device characterized by comprising:   The three-dimensional displacement sensors provided at the upper and lower ends of the exterior part are for controlling the attitude of the end effector, and the three-dimensional displacement sensor on the lower end part side is an operation direction and an operation amount of the tip part of the end effector. And a signal for instructing the operation speed, and the three-dimensional displacement sensor on the upper end side outputs a signal for instructing the operation direction, the operation amount and the operation speed of the rear end portion of the end effector. The medical master operating device according to claim 1.   The fingertip insertion part is installed at a position where the operator's index finger can be inserted on the outer periphery of the exterior part, and the rotary operation means is rotated at a position where the operator's thumb can be contacted on the outer periphery of the exterior part. The medical master operating device according to claim 1, wherein a window for performing the operation is provided.   4. The medical master operating device according to claim 1, wherein the sensor switch performs an opening / closing operation of the end effector.   The said interior part is hold | maintained on the central axis of the said exterior part by the spring provided in the inner upper and lower ends of the said exterior part, and is rotatable in the floating state, The Claim 1 thru | or 4 characterized by the above-mentioned. The medical master operating device according to any one of the above.   The medical master operation according to any one of claims 1 to 5, wherein the pair of pen masters operable with both hands has a structure in which an operator can set each of them at an arbitrary position and angle. apparatus.   The pair of pen masters that can be operated with both hands has an idle area within a predetermined distance from the pen master axis, and when the operator releases the hand from the pen master axis, the slave maintains the position immediately before releasing the hand. The medical master operating device according to claim 1, wherein the medical master operating device is a medical master operating device.

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