JP2010022416A - Medical manipulator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To easily and appropriately determine the service life of a flexible member. <P>SOLUTION: The medical manipulator 10 includes: an actuator block 30 provided with motors 40a-40c; a connection part 15 freely attachable and detachable to/from the actuator block 30 and provided with pulleys 50a-50c connected to the rotary shafts of the motors 40a, 40b and 40c; a distal end operation part 12 provided on the distal end of a connection shaft 48 extended from the connection part 15 and linked with the pulleys 50a-50c through wires 54a-54c; a current sensor 118 for detecting the torque T of the motors 40a-40c; and a controller 27. The controller 27 compares the torque T with drive force thresholds A1 and A2, obtains an excess torque integrated value X for a part of the torque T exceeding the drive force thresholds A1 and A2, and performs prescribed coping processing when the excess torque integrated value X exceeds a first integrated threshold B1 and a second integrated threshold B2. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a medical manipulator that drives a distal end working unit provided at the distal end of a connecting shaft via a flexible member by driving a motor from a control unit.

  In endoscopic surgery (also called laparoscopic surgery), a plurality of holes are made in a patient's abdomen, etc., and a trocar (tubular instrument) is inserted as a passing port of the instrument, and then a shaft is provided. The distal end of the forceps is inserted into a body cavity through a trocar and the affected area is operated. A gripper, a scissors, an electric scalpel blade, and the like are attached to the distal end of the forceps as a working unit for gripping a living tissue.

  Endoscopic surgery using forceps requires a certain amount of training because the inside of the body cavity, which is the working space, is narrow and the forceps are operated using the trocar as a fulcrum. In addition, since the forceps that have been used in the past do not have a joint at the distal end working portion, the degree of freedom is small, and the distal end working portion can only operate on the extension line of the shaft. Therefore, there are limits to the cases that can be performed by normal training, and a considerably high level of training and proficiency is required to apply to various other cases.

  From such a viewpoint, a conventional forceps has been improved and a forceps having a plurality of joints in a working unit has been developed (for example, see Patent Document 1). The manipulator described in Patent Document 1 includes an operation unit that is operated manually and a work unit that is detachably attached to the operation unit. In such a manipulator, there are no restrictions or inconveniences like conventional forceps, the procedure is easy, the number of applicable cases increases, and various types of procedures can be handled by exchanging the types of working parts. Can do.

  On the other hand, a medical robot system that drives such a manipulator with a robot arm has been proposed (see, for example, Patent Document 2).

JP 2004-105451 A US Pat. No. 6,331,181

  As described above, the working unit in the medical manipulator may be configured to be replaceable with respect to the operation unit. This makes it possible to wear various types according to the procedure, clean only the working part after the procedure is completed, and replace only the working part with a new one periodically. Sufficient reliability can be ensured. That is, since the operation unit is provided with many electrical components and is relatively expensive, it is desirable that the operation unit can be used for as long as possible. Therefore, it is desirable to replace the tip operation unit with a new one at an appropriate time in consideration of mechanical life and damage caused by cleaning with steam and heat. As described above, it is assumed that the working unit is periodically replaced with a new one, and it is only necessary to have an appropriate life, and it is not necessary to have an excessively high strength.

  On the other hand, the working part has a connecting part connected to the actuator part and a connecting shaft extending from the connecting part, and the tip operating part is provided at the tip of the connecting shaft and is wound around the pulley of the connecting part. Interlocks with a flexible member such as a plurality of wires. These flexible members repeat the arc state wound around the pulley according to the reciprocating motion and the linear state apart from the pulley, and are repeatedly subjected to bending stress. In particular, the lifetime is relatively short. Therefore, it is preferable to consider the lifetime of these flexible members in determining the lifetime of the working part. For example, the lifetime has been reached due to other factors such as the number of times of use, usage time, and durable years. Even if not, it is desirable to replace the working part when the flexible member reaches the end of its life.

  However, the lifespan of the flexible member may vary considerably depending on the operation method and procedure, and automatic detection is difficult, and there is no choice but to rely on visual appearance judgment.

  The present invention has been made in view of such problems, and an object thereof is to provide a medical manipulator that can easily and appropriately detect the life of a flexible member in a detachable working part. .

  A medical manipulator according to the present invention includes an actuator unit including a motor, a connection unit that is detachably attached to the actuator unit and connected to a rotation shaft of the motor, and a connecting shaft extending from the connection unit. A distal end operating unit that is provided at the distal end of the motor and interlocks with the rotating body via a flexible member, a driving force detecting unit that detects the driving force of the motor, and the driving force obtained from the driving force detecting unit. A control unit that compares a driving force threshold value, obtains an integrated value of an excess amount at a location where the driving force exceeds the driving force threshold value, and performs predetermined response processing when the integrated value exceeds the integrated threshold value It is characterized by that.

  As described above, by calculating the integrated value of the excess amount for the location where the driving force of the motor exceeds the driving force threshold value, the flexible member reaches the end of its life when the integrated value exceeds the integrated threshold value, or is in a state equivalent thereto. It is possible to easily and appropriately determine that it has become, and a predetermined response process can be performed.

  The working unit includes a nonvolatile storage unit that holds the integrated value, and the control unit reads and reads the integrated value from the nonvolatile storage unit when the working unit is mounted on the actuator unit. The integration may be further performed based on the integration value, and the integration result may be recorded in the nonvolatile storage unit at a predetermined timing. By recording the integrated value in the non-volatile storage unit in this way, even if the working unit is once removed from the actuator unit, the integrated value is held in the non-volatile storage unit when next installed, Continuous integration is possible. Further, it is not necessary to manage and hold the integrated value for each individual working unit on the control unit side, which is simple.

  The predetermined timing may correspond to a process of automatically returning the distal end working unit to a reference posture and stopping it. In the medical manipulator, the distal end working unit is returned to the reference posture before removing the working unit. Therefore, by recording and rewriting the integrated value at this timing, it is not necessary to rewrite the accumulated value many times, and the rewriting is surely performed before the working unit is removed.

  The working unit includes an ID holding unit that holds an individual signal for identification, and the actuator unit includes an ID recognition unit that recognizes the individual signal of the ID holding unit and supplies the individual signal to the control unit. The unit includes a non-volatile storage unit that distinguishes and holds the integrated value for each individual signal, and reads the individual signal from the ID recognition unit when the working unit is attached to the actuator unit. An integrated value corresponding to the individual signal may be read from the nonvolatile storage unit and integrated, and the integrated result may be recorded in the nonvolatile storage unit at a predetermined timing. In this way, if the integrated value is held for each solid signal of the work unit on the control unit side, reliable integration is possible, and the storage unit for writing the integrated value is not required on the work unit side, The structure of a part becomes simple.

  The response process may be a process for generating an alarm. By such an alarm, the operator can recognize that the flexible member has reached the end of its life or is in a state equivalent thereto, and can perform flexible response processing based on the operator's judgment.

  As the integration threshold, a first integration threshold and a second integration threshold larger than the first integration threshold are provided, and the control unit generates a first alarm when the integration value exceeds the first integration threshold. And a second alarm may be generated when the integrated value exceeds the second threshold value. By generating the first alarm before the second alarm is generated in this way, the operator can take appropriate measures in advance.

  The handling process may be a process of automatically returning the distal end working unit to a reference posture and stopping it. Thus, by automatically returning the distal end working unit to the reference posture, the tip working unit can be easily extracted from the trocar.

  As the integration threshold, a first integration threshold and a second integration threshold larger than the first integration threshold are provided, and the control unit generates an alarm when the integration value exceeds the first integration threshold, When the integrated value exceeds the second threshold value, the distal end working unit may be returned to a reference posture and stopped. In this way, if the integrated value exceeds the first integrated threshold before the integrated value exceeds the second integrated threshold and the tip action unit is stopped, an appropriate response is taken in advance. Can do.

  A positive and negative value may be provided as the driving force threshold value, and the control unit may obtain an absolute integrated value of a portion where the integrated value exceeds the positive and negative reference values. Thus, by performing integration corresponding to plus and minus values, it is possible to deal with bidirectional rotation of the motor.

  The flexible member may be a wire.

  In the medical manipulator according to the present invention, the flexible member becomes a life when the integrated value exceeds the integrated threshold value by obtaining the integrated value of the excess amount for the location where the driving force of the motor exceeds the driving force threshold value, Alternatively, it can be determined simply and appropriately that the state conforming to that is achieved, and a predetermined response process can be performed.

  DESCRIPTION OF EMBODIMENTS Hereinafter, a medical manipulator according to the present invention will be described with reference to FIGS.

  As shown in FIGS. 1, 2, and 3, the medical manipulator 10 according to the present embodiment is for performing a predetermined treatment by holding a part of a living body or a curved needle or the like on the distal end working unit 12. Usually, it is also called a grasping forceps or a needle driver (needle holder).

  The medical manipulator 10 includes an operation unit 14 that is manually held and operated, and a work unit 16 that is detachable from the operation unit 14, and a controller that is detachable from the operation unit 14 via a connector 24. A manipulator system having a (control unit) 27 is configured.

  The medical manipulator 10 has an operation unit 14 and a working unit 16 as a basic configuration. A controller 27 controls the medical manipulator 10 electrically, and extends from the lower end of the grip handle 26. The existing cable 62 is connected via the connector 24. For example, part or all of the functions of the controller 27 serving as the control unit can be integrally mounted on the operation unit 14.

  In the following description, the width direction in FIG. 1 is defined as the X direction, the height direction is defined as the Y direction, and the extending direction of the connecting shaft 48 is defined as the Z direction. Further, the right side is defined as the X1 direction, the left side as the X2 direction, the upward direction as the Y1 direction, the downward direction as the Y2 direction, the forward direction as the Z1 direction, and the backward direction as the Z2 direction. Further, unless otherwise specified, the description of these directions is based on the case where the medical manipulator 10 is in the reference posture (neutral posture). These directions are for convenience of explanation, and it is needless to say that the medical manipulator 10 can be used in any orientation (for example, upside down).

  The working unit 16 connects the tip operating unit 12 that performs the work, the connection unit 15 connected to the actuator block (actuator unit) 30 of the operation unit 14, and the tip operating unit 12 and the connection unit 15. A long and hollow connecting shaft 48. The working unit 16 can be detached from the operation unit 14 by a predetermined operation in the actuator block 30 and can perform cleaning, sterilization, maintenance, and the like.

  The distal end working unit 12 and the connecting shaft 48 are configured to have a small diameter, and can be inserted into a body cavity 22 from a cylindrical trocar 20 provided in a patient's abdomen or the like. Various procedures such as excision of the affected area, grasping, suturing and ligation can be performed.

  The operation unit 14 includes a grip handle 26 that is gripped by a human hand, a bridge 28 that extends from the top of the grip handle 26, and an actuator block 30 that is connected to the tip of the bridge 28.

  The connecting portion 15 includes an engagement piece 200 on the left and right side surfaces, and three fitting holes 202a, 202b, and 202c that open on the upper and lower surfaces. The three fitting holes 202a to 202c are provided in the vicinity of the ends in the Z1 direction and the Z2 direction, and extend in the Y direction.

  In the actuator block 30, motors 40a and 40b and a motor 40c are provided in parallel along the Z direction corresponding to the mechanism of three degrees of freedom that the distal end working unit 12 has. These motors 40 a to 40 c rotate under the action of the controller 27 based on the operation of the operation unit 14. The motors 40a to 40c are small and have a small diameter, and the actuator block 30 is configured in a compact flat shape. The motors 40a, 40b, and 40c incorporate speed reducers 42a, 42b, and 42c. The reduction gears 42a to 42c are, for example, planetary types, and the reduction ratio is about 1: 100 to 1: 300.

  The actuator block 30 is provided below the end of the operation unit 14 in the Z1 direction. Here, the actuator block 30 means a place where the working unit 16 is mounted, and is not limited to a place where the motors 40a, 40b, and 40c are stored, and a connection surface 30a (see FIG. 3) with the bridge 28 is provided. Including.

  The motors 40 a, 40 b and 40 c are provided with rotary encoders 44 a, 44 b and 44 c that can detect the rotation angle, and the detected angle signals are supplied to the controller 27.

  As shown in FIGS. 2 and 3, the grip handle 26 extends from the end of the bridge 28 in the Y2 direction and has a length suitable for being gripped by a hand. Is provided with input means for the operation of the distal end working unit 12. That is, as such an input means, the trigger lever 32 and the switch 36 are provided in the Z1 direction close to the grip handle 26, and the composite input unit 34 and the operation switch 35 are provided in the Y1 direction.

  An LED 29 is provided at an easily visible position on the upper surface of the bridge 28 in the Z1 direction of the operation switch 35. The LED 29 is an indicator that indicates the control state of the medical manipulator 10, is a size that can be easily recognized by an operator, and is sufficiently small and light enough that there is no hindrance to the operation.

  A cable 62 connected to the controller 27 is provided at the lower end of the grip handle 26. The grip handle 26 and the cable 62 may be connected by a connector.

  The operation switch 35 is an input means for setting whether the operation state of the medical manipulator 10 is valid or invalid. The LED 29 is an indicator that indicates the control state of the medical manipulator 10, is a size that can be easily recognized by an operator, and is sufficiently small and light to such an extent that the operation is not hindered. The LED 29 is provided at a position with good visibility at a substantially central portion on the upper surface of the bridge 28. Since the LED 29 is arranged side by side with the operation switch 35, for example, the LED 29 is lit in synchronization with an ON operation by the operation switch 35. Thus, the operator can reliably recognize the input state by the LED 29 while operating the operation switch 35.

  In this case, the controller 27 reads the state of the operation switch 35, sets the operation mode when it is in the on state, and sets the motors 40a to 40c to a predetermined origin as an automatic home position return operation when switching from the on state to the off state. Return to the home position after returning to the origin. The operation mode is a mode in which the operation commands of the operation unit 14 are validated to drive the motors 40a to 40c. The stop mode is a mode in which the motors 40a to 40c are stopped regardless of the presence or absence of an operation command from the operation unit 14. These modes and operations are distinguished and controlled by the controller 27, and the lighting state of the LED 29 is switched.

  That is, the LED 29 is lit in green in the operation mode, lit in red in the stop mode, and flashes red in the automatic origin return mode in which the operation mode is changed to the stop mode.

  The composite input unit 34 is a composite input unit that gives rotation commands in the roll direction (axial rotation direction) and yaw direction (left-right direction) to the distal end working unit 12, and is, for example, a first input unit that operates in axial rotation. The roll direction can be instructed by using the second input means operating in the lateral direction. The trigger lever 32 is an input means for giving an open / close command to the gripper 60 (see FIGS. 1 and 5) of the distal end working unit 12.

  The composite input unit 34 and the trigger lever 32 are provided with input sensors 39a, 39b, and 39c for detecting operation amounts, respectively, and supply the detected operation signals to the controller 27.

  The trigger lever 32 is a lever that slightly protrudes in the Z1 direction slightly below the bridge 28, and is provided at a position where the operation with the index finger is easy.

  The trigger lever 32 is connected to the grip handle 26 by an arm 98 and is configured to advance and retreat with respect to the grip handle 26. The arm 98 is connected to the input sensor 39 c in the grip handle 26, and the advance / retreat amount of the trigger lever 32 is measured by the input sensor 39 c and supplied to the controller 27. The trigger lever 32 is configured to be able to perform an operation of applying a finger and pulling in the direction of the grip handle 26 (that is, the Z2 direction) and an operation of pushing out from the grip handle 26 in the Z1 direction. An open / close command can be given.

  Note that the switch 36 provided in the Y2 direction of the trigger lever 32 is an alternate type, and the gripper 60 is opened or closed by the trigger lever 32 by operating the switch 36, for example, a closed state. Can be held.

  On the upper surface 30b of the actuator block 30 on which the connecting portion 15 is placed, working portion detecting means 107 for detecting the presence or absence of the connecting portion 15 is provided in the vicinity of the end in the Z2 direction. The working unit detection means 107 is configured as a photo interrupter composed of an LED 107a that is a projector and a photodiode 107b that is a light receiver provided at opposite positions, and is connected between the LED 107a and the photodiode 107b. When the light shielding piece 109 (see FIG. 2) at the rear end of the portion 15 is inserted and shielded from light, it can be detected that the connecting portion 15 is mounted. The LED 107a and the photodiode 107b are provided in positions close to each other in the direction facing the X direction.

  The actuator block 30 further includes two independent engaging portions 210 that hold the connecting portion 15 of the working portion 16, and three alignment pins 212 a, 212 b, and 212 c that have a positioning function and a holding mechanism for the connecting portion 15. Is provided.

  The two engaging portions 210 are provided at symmetrical positions on the left and right side surfaces (X1 and X2 side surfaces) of the actuator block 30, and have an operation surface 204 and a lever 206 extending from the operation surface 204 in the Y1 direction. . The lever 206 slightly protrudes in the Y1 direction from the upper surface of the actuator block 30, and the inside of the tip is tapered. The engaging portion 210 is elastically biased in the direction in which the lever 206 is directed inward by an elastic member (not shown).

  Two alignment pins 212a to 212c are provided near the end in the Z1 direction on the upper surface of the actuator block 30 and one near the end in the Z2 direction at positions facing the fitting holes 202a to 202c, and extend in the Y1 direction. Exist. Two alignment pins 212a and 212b are provided side by side in the X direction in the vicinity of the end in the Z1 direction.

  Thus, since the three alignment pins 212a to 212c are provided, the connecting portion 15 is supported at three points, and positioning can be performed easily and reliably. In addition, since the three alignment pins 212a to 212c are not linearly arranged, the connection portion 15 can be stably held against twisting in any direction. If two or more of the alignment pins 212a to 212c are provided, the connecting portion 15 is reliably positioned and stably held. In this case, it is more stable if two separated in the Z direction are selected.

  When removing the connection portion 15 from the operation portion 14, the levers 206 provided on both side surfaces of the actuator block 30 are pushed and tilted so as to open outward, and the wedge portion 206 a of the lever 206 is moved to the connection portion 15. It releases from the engagement piece 200 provided in the both sides | surfaces. As a result, the connecting portion 15 can be pulled upward (Y1 direction) from the operation portion 14 and can be removed. When the three alignment pins 212 on the upper surface 30 b of the actuator block 30 are fitted into the fitting holes 202 provided in the pulley housing 300, the connection portion 15 can be stably held.

  When attaching the connection portion 15 to the operation portion 14, the three alignment pins 212 are fitted into the fitting holes 202, respectively, and the connection portion 15 is pushed down (Y2 direction). As a result, the lever 206 once expands outward and then returns to its original position to engage with the engaging piece 200 and the connection is completed.

  As shown in FIGS. 1, 2 and 4, the connecting portion 15 of the working portion 16 is covered with a resin cover 37 and is connected to the drive shafts of motors (DC motors) 40a, 40b and 40c to be driven. The pulleys 50a, 50b and 50c to be rotated are rotatably held. The pulleys 50 a to 50 c are stored in the pulley storage body 300.

  Wires 54 a, 54 b and 54 c (see FIGS. 5 and 6) are wound around the pulleys 50 a, 50 b and 50 c, and extend to the distal end working unit 12 through the hollow portion of the connecting shaft 48. The wires 54a to 54c are partially fixed so as not to slip with respect to the pulleys 50a to 50c (and 57a to 57c). The wires 54a to 54c can be of the same type and the same diameter.

  At the lower ends in the Y2 direction of the pulleys 50a, 50b and 50c constituting the connecting portion 15, cross-shaped coupling convex portions 51a, 51b and 51c are provided, respectively, on the rotation shafts of the motors 40a, 40b and 40c constituting the actuator block 30. Are provided with cross-shaped coupling recesses 41a, 41b and 41c. The coupling convex portions 51a to 51c and the coupling concave portions 41a to 41c can be engaged with each other. That is, in a state where the connection portion 15 is mounted on the actuator block 30, the rotation of the motors 40a to 40c is relative to the pulleys 50a to 50c. Is transmitted reliably. These engaging portions are not limited to a cross shape.

  As shown in FIG. 5, the wires 54 a, 54 b and 54 c inserted through the connection shaft 48 are respectively wound around corresponding pulleys 57 a, 57 b and 57 c of the distal end working unit 12 including the gripper 60.

  Accordingly, when the pulley 50a is rotationally driven by the motor 40a with the wire 54a wound between the pulley 50a and the pulley 57a, the rotational driving force is transmitted to the pulley 57a via the wire 54a, The pulley 57a is rotated. Then, the rotation of the pulley 57a is sequentially transmitted to, for example, a gear, and the gripper 60 can be opened and closed.

  As shown in FIG. 4, an RFID (Radio Frequency Identification (ID holding unit)) 104 positioned by the stay 102 is provided in the vicinity of the rear end of the connection unit 15. RFID is a wireless authentication system that stores individual product information in a small IC chip and reads and updates information using wireless communication, and is also called a wireless tag, IC tag, or mu chip. The RFID 104 includes information such as individual information, specifications, time stamp (manufacturing date, etc.), serial number, and upper limit of the number of times of use of the working unit 16. The individual information held by the RFID 104 is given a different value so that it can be identified for each working unit. The RFID 104 is writable and stores unique information such as the number of uses, use time, error history, sterilization date, phase correction value (or origin correction value), and the like. The RFID 104 is a nonvolatile storage unit that does not require an external power source to hold information.

  The RFID 104 further records overtorque integrated values Xa, Xb, and Xc (hereinafter also referred to as overtorque integrated values X) corresponding to the wires 54a to 54c. The overtorque integrated values Xa, Xb, and Xc are initialized to 0 when the working unit 16 is manufactured, and are read by the controller 27 when the working unit 16 is mounted, and integration processing is performed according to the procedure described later. Prior to removing the working unit 16 from the actuator block 30, the overtorque integrated value X is written / updated in the RFID 104.

  In the actuator block 30, a transceiver (ID recognition unit, data transmission unit) 106 is provided at a position facing the RFID 104 in a state where the connection unit 15 is connected, and transmission and reception are performed with respect to the RFID 104 using radio waves. I do. When the connection unit 15 is attached to the actuator block 30, the relative position and orientation of the RFID 104 and the transceiver 106 are fixed, so that the directivity of each radio wave is narrowed and the directivity main When the lobe is pointed in the direction of the other party and the radio wave in that direction is strengthened, transmission / reception is reliably performed with power saving.

  As shown in FIG. 6, the power transmission member including pulleys 50a to 50c, wires 54a to 54c, and pulleys 57a to 57c causes the distal end working unit 12 to move in the roll direction (Or axis rotation direction) and the yaw direction (Oy axis as a reference). Left and right direction) and a gripper opening and closing (opening and closing with the Og axis as a reference). Since the three-degree-of-freedom mechanism has an operation mechanism interference, the motors 40a to 40c cooperate to compensate for the mechanism interference.

  The motors 40a to 40c are driven based on signals obtained from input sensors 39a, 39b, and 39c that detect the operation amounts of the composite input unit 34 and the trigger lever 32 under the action of the controller 27.

  As shown in FIG. 7, the controller 27 includes a calculation unit 110, a power supply unit 112, a driver 116, and a current sensor (driving force detection unit) 118. The power supply unit 112 adjusts the electric power obtained from the external power supply 119 and supplies it to the respective units, and also charges the battery 112a to automatically supply power from the battery 112a even when no power is supplied from the external power supply 119. It functions as a so-called uninterruptible power supply. The battery 112a is connected in series or in parallel to the internal transformer rectifier.

  The current sensor 118 is, for example, a sensor using a Hall element, detects a current supplied from the driver 116 to the motors 40a to 40c, and supplies the detected current to the calculation unit 110. Based on the current value obtained from the current sensor 118, the calculation unit 110 calculates torques (driving forces) Ta, Tb, and Tc (hereinafter also referred to as torque T) generated by the motors 40a to 40c. To do.

  About the detection of the torque T, you may calculate based on the deviation of the angle command value with respect to motor 40a-40c, and the angle signal obtained from encoder 44a-44c (driving force detection part).

  The calculation unit 110 is connected to the encoders 44a, 44b, 44c, and the input sensors 39a, 39b, 39c, determines the operation of the medical manipulator 10 based on signals obtained from these units, and determines predetermined command signals. Is supplied to the driver 116 and the state quantity is displayed. The arithmetic unit 110 includes a CPU, a ROM, a RAM, and the like, and executes predetermined software processing by reading and executing a program. The calculation unit 110 further includes a nonvolatile storage unit 128 (a hard disk, a recording disk, a flash memory, or the like) for storing predetermined parameters.

  The driver 116 is connected to the motors 40a, 40b, and 40c, and drives the motors 40a, 40b, and 40c based on a command obtained from the calculation unit 110. In FIG. 7, one driver 116 and one current sensor 118 are shown for simplicity, but in reality, each of the motors 40 a to 40 c is provided.

  The calculation unit 110 includes an input / output unit (ID recognition unit) 120, a removal determination unit 121, a tip control unit 122, an overtorque integration unit 124, and a warning unit 126.

  The input / output unit 120 can read information such as an ID held by the RFID 104 via the transceiver 106 and can write information such as an overtorque integrated value X into the RFID 104.

  The removal determination unit 121 determines whether or not the work unit 16 has been removed from the operation unit 14 based on a signal obtained from the work unit detection unit 107.

  The front end control unit 122 determines the angle of each operation axis of the front end operation unit 12 and the angle of the motors 40a to 40c based on signals obtained from the input sensors 39a to 39c, and from the encoders 44a to 44c via a predetermined counter. The motors 40a to 40c are driven while referring to the angle signals obtained in this way.

  The warning unit 126 generates alarms such as sound, sound, and lamp under the action of the overtorque integrating unit 124 and the like.

  The overtorque integrating unit 124 compares the torque T generated by the motors 40a to 40c obtained from the current sensor 118 with the driving force thresholds A1 and A2, and the excess amount for the portion where the torque T exceeds the driving force thresholds A1 and A2. Is integrated to obtain an overtorque integrated value X.

  As shown in FIG. 8, in the integrating process, the overtorque integrated value X is integrated for hatched portions where the torque T exceeds the driving force thresholds A1 and A2. The driving force threshold values A1 and A2 are provided as positive and negative values having the same absolute value, and the absolute value (that is, the area of the hatched portion) of the excess amount where the overtorque integrated value X exceeds the driving force threshold values A1 and A2. Find the integrated value of. Thereby, it can respond to bidirectional | two-way rotation of motor 40a-40c, and is suitable for the medical manipulator 10. FIG.

  In the no-load state, the distal end working unit 12 can be operated with a small torque T, and does not exceed the driving force thresholds A1 and A2. However, for example, in order to stably and surely grip the curved needle with the gripper 60, a certain amount of force is required, and for example, the torque T needs to be increased to the extent that the elastic limit of the wires 54a to 54b is slightly exceeded. There is. Based on this, the driving force thresholds A1 and A2 may be set corresponding to, for example, the elastic limit of the wires 54a to 54b or slightly smaller elongation, and can be set based on calculation, experiment, simulation, or the like.

  Specifically, as shown in FIG. 9, the torque T is recognized as a digitized discrete value, and when the torque T exceeds the driving force threshold A1, the integration is performed as X ← X + | T−A1 | × Δt. Done. Similarly, when the torque T exceeds the driving force threshold A2 in the minus direction, X ← X + | T−A2 | × Δt. Here, Δt is a control cycle in which integration is performed. If the first integrated threshold value B1 and the second integrated threshold value B2 to be compared with the overtorque integrated value X are values that take Δt into consideration, the multiplication of Δt in the overtorque integrated value X integration process is unnecessary. When the torque T is between the driving force threshold value A1 and the driving force threshold value A2, the value of the overtorque integrated value X is maintained as it is.

  Further, as shown in FIG. 10, the overtorque integration unit 124 t1, when the overtorque integration value X (at least one of Xa, Xb, and Xc) exceeds the first integration threshold B1 and the second integration threshold B2. A predetermined response process is performed at t2.

  The second integration threshold value B2 is greater than the first integration threshold value B1, and the overtorque integration value X exceeds the first integration threshold value B1 at t1 to perform the first handling process, and then when the second integration threshold value B2 is exceeded, t2. A second response process is performed. In the example illustrated in FIG. 10, the sections N1, N2, N3, N4, N5, and N6 indicate the first to sixth use in order for the predetermined working unit 16, and the overtorque integrated value X is the first integrated threshold value in the section N6. B1 is exceeded, and then the second integration threshold B2 is exceeded.

  In FIG. 10, the overtorque integrated value X is shown as a continuous graph. However, a considerable interval may be provided between adjacent use times, and another working unit 16 is used between them. May be.

  The first response process should be referred to as a preliminary warning or a preliminary warning that is performed before the second response process. The first response process is performed by voice, sound, or a lamp (for example, a yellow lamp) or the like. Call attention. Thereby, the operator can take an appropriate response in advance before the second response process (first alarm). In other words, the operator can make physical preparations and mental preparations required before the second response process occurs by the first response process. For example, the operator can speed up the procedure or change the order of the procedures. It is efficient because it is possible to take measures such as avoiding unnecessary load on the distal end working unit 12 or making preparations so that a new working unit 16 can be used.

  The second response process should be called a main alarm for prompting the operation of the working unit 16 to be stopped. The sound, sound (for example, louder or higher frequency than the first response process), or lamp (for example, red) A warning is generated to the operator when the lamp is turned on (second alarm). In this case, the distal end working unit 12 is not automatically stopped, and the subsequent response is left to the operator's judgment. That is, it is determined that the overtorque integrated value X has exceeded the second integrated threshold value B2 or the like, but it has been determined that the lifetime has reached a certain value. However, the second integrated threshold value B2 takes into account a predetermined safety factor and Since there is no deterioration, the operator can continue the procedure up to a good break by his / her own judgment, and can respond flexibly.

  Further, the second handling process may be a process of automatically returning the distal end working unit 12 to the reference posture and stopping it (that is, the process of the automatic origin return mode). When the overtorque integrated value X exceeds the second integrated threshold B2, basically, the operation of the working unit 16 is stopped, and then the connecting shaft 48 and the distal end operating unit 12 are removed from the trocar 20, so that the second If the distal end working unit 12 is returned to the reference posture as a corresponding process, the distal end working unit 12 can be easily extracted from the trocar.

  By the way, the operation unit 14 is provided with a lot of electric parts and can be used for a long time although the cost is higher than that of the working unit 16. On the other hand, the working unit 16 is inexpensive because there are no weakly energized parts, and the distal end working unit 12 operates in the body cavity 22 to receive a load. Consider replacing it with a new one at an appropriate time. That is, it is assumed that the working unit 16 is periodically replaced with a new one, and it is sufficient that the working unit 16 has an appropriate life.

  The wires 54a to 54c repeat an arc state wound around the pulleys 50a to 50c and 57a to 57c according to a reciprocating operation and a linear state apart from each other, and are subjected to repeated bending stress. Among these components, the lifetime is short, and the specifications are not excessively long on the assumption that the working unit 16 is replaced.

  The first integration threshold value B1 and the second integration threshold value B2 may be set by calculation, experiment, simulation, or the like in consideration of the characteristics of the wires 54a to 54c.

  Next, the operation of the medical manipulator 10 configured as described above will be described.

  First, the operator attaches the operation unit 16 selected according to the procedure to the operation unit 14.

  Accordingly, in step S1 of FIG. 11, the controller 27 detects that the working unit 16 is attached to the operation unit 14 based on the signal from the working unit detection means 107. The RFID 104 in the working unit 16 faces the transmitter / receiver 106 in the operation unit 14, and the controller 27 reads various information including the overtorque integrated value X stored in the RFID 104. At this time, the distal end working unit 12 of the working unit 16 is in a predetermined reference posture, and the controller 27 causes the LED 29 to emit red light as a stop mode. Thereafter, the operator inserts the distal end working unit 12 and the connecting shaft 48 into the body cavity 22 from the trocar 20.

  In step S2, based on the presence / absence of operation of the operation switch 35 and the switch 36 and the mode at that time, the mode determination for maintaining the mode or changing the mode is performed. The operation mode moves to step S3, the automatic origin return mode moves to step S5, and the stop mode moves to step S6.

  In step S3, that is, in the operation mode, the LED 29 is lit in green.

  Next, operation mode processing is performed in step S4. The operation mode process will be described later with reference to FIG.

  In step S5, that is, in the automatic origin return mode, the LED 29 blinks red.

  In step S6, the overtorque integrated values Xa, Xb, and Xc at that time are written / updated in the RFID 104 via the working unit detecting means 107.

  In step S7, automatic origin return mode processing is performed in which the distal end working unit 12 is automatically returned to the reference posture at a predetermined speed and stopped. The automatic origin return mode process can be interrupted by a predetermined operation and forcibly shifted to the stop mode or the operation mode. When the tip operating unit 12 reaches the reference posture in the automatic origin return mode, the process proceeds to step S8 in the stop mode.

  In step S8, that is, in the stop mode, the LED 29 is lit red.

  After steps S4 and S8, the process returns to step S2 to perform mode determination processing.

  In the medical manipulator 10, basically, it is confirmed that the LED 29 is lit red in the stop mode, and the working unit 16 is removed from the actuator block 30. That is, before removing the working unit 16, the distal end working unit 12 is returned to the reference posture in the automatic origin return mode. The overtorque integrated value X is recorded on the RFID 104 in correspondence with the timing of the automatic home return mode in which the integrated result at that time is automatically returned to the reference posture.

  Therefore, by recording and rewriting the overtorque integrated value X in the automatic home position return mode, it is not necessary to rewrite it many times, and rewriting is performed reliably before the working unit 16 is removed. Further, even if the working unit 16 is once removed from the actuator block 30, since the overtorque integrated value X is held in the RFID 104 when it is mounted next time, continuous integration is possible. Further, it is not necessary to manage and hold the integrated value for each individual working unit 16 on the controller 27 side, which is simple.

  Next, the operation mode in step S4 will be described.

  In step S101 in FIG. 12, the tip control unit 122 outputs a drive command to drive the motors 40a to 40c based on signals obtained from the input sensors 39a to 39c.

  In step S102, the overtorque integrating unit 124 compares the torque T and the driving force threshold A1, and if T> A1, the overtorque integrated value X is integrated as X ← X + | T−A1 | × Δt. The process (step S103) is performed.

  In step S104, the overtorque integrating unit 124 compares the torque T and the driving force threshold A2, and if T <A2, the overtorque integrated value X is integrated as X ← X + | T−A2 | × Δt. (Step S105) is performed. T <A2 means that the torque T is lower than the driving force threshold A2 in mathematical expression, but it can be said that the torque T exceeds the driving force threshold A2 in the minus region with 0 as a reference.

  In step S106, the overtorque integration unit 124 compares the overtorque integration value X with the first integration threshold B1, and if X> B1, the process proceeds to step S107, and if X ≦ B1, the process proceeds to step S110.

  In step S107, the overtorque integration unit 124 compares the overtorque integration value X with the second integration threshold B2. If X> B2, the process proceeds to step S109, and if X ≦ B2, the process proceeds to step S108.

  In step S108, the first corresponding process is performed. That is, the operator is alerted by voice, sound, lamp lighting, or the like as a warning or preliminary warning. The alarm by sound and sound may be stopped after the time has reached a level that can be recognized by the operator.

  In step S109, the second corresponding process is performed. That is, as the warning, the operator is alerted by voice, sound, lamp lighting, or the like, and the distal end working unit 12 is automatically returned to the reference posture and stopped. The automatic return of the distal end working unit 12 to the reference posture is the same as the automatic origin return mode process in step S7. In step S <b> 109, only one of a warning by voice or the like or a process of returning the distal end working unit 12 to the reference posture may be performed. Which of the corresponding processing is performed is based on the design condition, and the transition destination after step S109 is omitted in FIG.

  Conventionally, the lifetimes of the wires 54a to 54c may vary considerably depending on the operator and the procedure, are difficult to detect, and have to rely on visual appearance judgment.

  On the other hand, as described above, in the medical manipulator 10 according to the present embodiment, the overtorque integrated value X for the portion where the torque T of the motors 40a to 40c exceeds the driving force thresholds A1 and A2 is obtained, When the overtorque integrated value X exceeds the second integrated threshold B2, the wires 54a to 54c reach the end of their lives, and when the overtorque integrated value X exceeds the first integrated threshold B1, it can be simply and appropriately determined that the state has been reached. One corresponding process and a second corresponding process can be performed.

  As a result, the wires 54a to 54c do not need to have an excessively long life specification, and the cost of the working unit 16 can be reduced.

  In the controller 27, even if the overtorque integrated value X is lower than the first integrated threshold value B1 and the second integrated threshold value B2, other factors such as the number of times that the corresponding working unit 16 is used, the usage time, the durable years, etc. When it is determined that the lifetime is reached, a predetermined alarm may be generated.

  In the above embodiment, the overtorque integrated value X integrated by the controller 27 is recorded in the RFID 104 in the corresponding working unit 16, but the recording location may be the non-volatile storage unit 128 in the controller 27. . In this case, the ID holding unit that holds the solid signal of the working unit 16 is not a writable medium such as the RFID 104, but a barcode reader (ID) such as a camera as a binary code such as a QR code. The recognition unit may supply the individual signal to the controller 27. Of course, the recognition of the solid signal may be performed by either the bar code reader or the controller 27.

  Based on the supplied individual signal, the controller 27 reads the overtorque integrated value X (Xa, Xb, Xc) corresponding to the solid signal from the non-volatile storage unit 128, and the overtorque integrated value that differs for each working unit 16. X is obtained, and an alarm is generated when the first integration threshold B1 and the second integration threshold B2 are exceeded. Thus, if the controller 27 side holds the overtorque integrated value X for each solid signal of the working unit 16, reliable integration is possible, and the overtorque integrated value X is written to the working unit 16 side. Therefore, the storage unit is not required, and the configuration of the working unit 16 is simplified.

  Further, in this case, the timing for recording the overtorque integrated value X may correspond to the automatic home position return mode as described above, but it is determined that the working unit 16 has been removed from the actuator block 30. You may record in the non-volatile memory | storage part 128, after detecting by the detection means 107. FIG.

  The storage location of the information related to the working unit 16 does not need to be the non-volatile storage unit 128 in the controller 27, but is stored in a common terminal (including a host computer, a server, etc.) accessible from the plurality of controllers 27. It may be left.

  The above embodiment may be applied to a medical robot system 800 as shown in FIG. 13, for example.

  The medical robot system 800 includes an articulated robot arm 802 and a console 804, and the working unit 806 is connected to the tip of the robot arm 802. A manipulator 808 having a mechanism similar to that of the medical manipulator 10 is provided at the tip of the robot arm 802. The robot arm 802 may be any means that moves the working unit 806, and is not limited to a stationary type, but may be an autonomous moving type, for example. The console 804 may take a configuration such as a table type or a control panel type.

  If the robot arm 802 has six or more independent joints (such as a rotation axis and a slide axis), the position and orientation of the working unit 806 can be arbitrarily set. The manipulator 808 at the tip is integrated with the tip 810 of the robot arm 802. Instead of the actuator block 30 (see FIG. 1), the manipulator 808 has an actuator block 812 having a proximal end connected to the distal end portion 810 and accommodating a motor therein.

  The robot arm 802 may operate under the action of the console 804, and may be configured to perform an automatic operation by a program, an operation following a joystick 814 provided on the console 804, and a composite operation thereof. The console 804 includes the function of the controller 27 (see FIG. 1). The working unit 806 is provided with the distal end working unit 12.

  The console 804 is provided with two joysticks 814 as operation command units and a monitor 816. Although not shown, two robot arms 802 can be individually operated by two joysticks 814. The two joysticks 814 are provided at positions that can be easily operated with both hands. On the monitor 816, information such as an image by an endoscope is displayed.

  The joystick 814 can move up and down, move left and right, twist, and tilt, and can move the robot arm 802 in accordance with these operations. The joystick 814 may be a master arm. The communication means between the robot arm 802 and the console 804 may be wired, wireless, network, or a combination thereof.

  The medical manipulator according to the present invention is not limited to the above-described embodiment, and various configurations can be adopted without departing from the gist of the present invention.

It is a perspective view of the medical manipulator concerning this embodiment. It is a side view of the manipulator which separated the work part and the operation part. It is a perspective view of an operation part. It is a partial cross section perspective view of a connection part. It is a perspective view of a front-end | tip operation | movement part. It is a schematic diagram which shows the basic composition of a pulley, a wire, and a front-end | tip operation | movement part. It is a block block diagram of a medical manipulator and a controller. It is a graph which shows the relationship between a torque and a driving force threshold value. It is a graph which shows the relationship between the torque in a micro time, and a driving force threshold value. It is a graph which shows the relationship between an overtorque integrated value, a 1st integration threshold value, and a 2nd integration threshold value. It is a main flowchart which shows the basic mode transition of a medical manipulator. It is a flowchart which shows the procedure of an operation mode. It is a perspective view of the medical robot system which connected the manipulator to the front-end | tip of a robot arm.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Medical manipulator 12 ... Tip operation | movement part 14 ... Operation part 15 ... Connection part 16,806 ... Working part 27 ... Controller (control part)
30, 812 ... Actuator block (actuator part)
32 ... Trigger lever 34 ... Composite input section 40a-40c ... Motor 48 ... Connection shaft 50a-50c, 57a-57c ... Pulley 54a-54c ... Wire (flexible member)
DESCRIPTION OF SYMBOLS 104 ... RFID 106 ... Transmitter / receiver 107 ... Working part detection means 110 ... Operation part 121 ... Removal judgment part 122 ... Tip control part 124 ... Overtorque integration part 126 ... Warning part 800 ... Medical robot system 802 ... Robot arm A1, A2 ... Driving force threshold B1 ... First integration threshold B2 ... Second integration threshold T ... Torque X ... Overtorque integration value

Claims (10)

An actuator unit equipped with a motor;
A connecting portion comprising a rotating body that is detachably attached to the actuator portion and connected to a rotating shaft of the motor;
A tip operating portion provided at a tip of a connecting shaft extending from the connecting portion and interlocking with the rotating body via a flexible member;
A driving force detector for detecting the driving force of the motor;
When the driving force obtained from the driving force detecting unit is compared with a driving force threshold, an integrated value of an excess amount is obtained for a location where the driving force exceeds the driving force threshold, and the integrated value exceeds the integrated threshold A control unit that performs predetermined response processing,
A medical manipulator characterized by comprising: The medical manipulator according to claim 1, wherein
The working unit includes a nonvolatile storage unit that holds the integrated value,
The control unit reads the integrated value from the non-volatile storage unit when the working unit is mounted on the actuator unit, further performs integration based on the read integrated value, and calculates the integrated result as a predetermined value. A medical manipulator characterized by recording in the non-volatile storage unit at a timing. The medical manipulator according to claim 2,
The medical manipulator according to claim 1, wherein the predetermined timing corresponds to a process of automatically returning the distal end working unit to a reference posture and stopping it. The medical manipulator according to claim 1, wherein
The working unit includes an ID holding unit that holds an individual signal for solid identification,
The actuator unit includes an ID recognition unit that recognizes the individual signal of the ID holding unit and supplies the signal to the control unit.
The control unit includes a nonvolatile storage unit that distinguishes and holds the integrated value for each individual signal, and reads and reads the individual signal from the ID recognition unit when the working unit is mounted on the actuator unit. An integrated value corresponding to the individual signal is read from the nonvolatile storage unit, integrated, and the integrated result is recorded in the nonvolatile storage unit at a predetermined timing. The medical manipulator according to any one of claims 1 to 4,
A medical manipulator characterized in that the corresponding processing is processing for generating an alarm. The medical manipulator according to any one of claims 1 to 4,
As the integration threshold, a first integration threshold and a second integration threshold larger than the first integration threshold are provided,
The control unit generates a first alarm when the integrated value exceeds the first integrated threshold, and generates a second alarm when the integrated value exceeds the second threshold. Medical manipulator. The medical manipulator according to any one of claims 1 to 4,
The handling process is a process for automatically returning the distal end working unit to a reference posture and stopping it. The medical manipulator according to any one of claims 1 to 4,
As the integration threshold, a first integration threshold and a second integration threshold larger than the first integration threshold are provided,
The control unit generates an alarm when the integrated value exceeds the first integrated threshold value, and returns the tip operating unit to a reference posture and stops when the integrated value exceeds the second threshold value. A medical manipulator characterized by In the medical manipulator according to any one of claims 1 to 8,
As the driving force threshold, positive and negative values are provided,
The said control part calculates | requires the integrated value of the absolute value about the part in which the said integrated value exceeds the said reference value of plus and minus, The medical manipulator characterized by the above-mentioned. The medical manipulator according to any one of claims 1 to 9,
The medical manipulator, wherein the flexible member is a wire.

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