JP2010214128A - Treatment instrument system and manipulator system - Google Patents
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Abstract
Description
本発明は、内視鏡装置の挿入部に挿通される能動処置具を備える処置具システムに関する。 The present invention relates to a treatment instrument system including an active treatment instrument inserted through an insertion portion of an endoscope apparatus.
一般に、マスタスレーブ型アームロボットの１つとして、複数のロッド間が関節部により自在接ぎ手接続され、湾曲が自在なマニピュレータが知られている。例えば、内視鏡装置の内視鏡挿入部の処置具孔に挿通されて、種々の処置を行う処置具に用いられるマニピュレータがある。このマニピュレータは、先端部には用途に応じた種々の処置具例えば、電気メスや鉗子等が取り付けられている。このマニピュレータの各ロッド内には、それぞれ駆動用ワイヤが接続され、そのワイヤを牽引することにより、関節部が折曲される。 In general, as one of master-slave type arm robots, a manipulator in which a plurality of rods are freely jointed by joints and can be bent is known. For example, there is a manipulator that is used for a treatment tool that is inserted into a treatment tool hole of an endoscope insertion portion of an endoscope apparatus and performs various treatments. In this manipulator, various treatment tools such as an electric knife and forceps are attached to the tip portion according to the application. A drive wire is connected to each rod of the manipulator, and the joint is bent by pulling the wire.
ワイヤ牽引動作を行う場合、１つの関節部に即ち、１自由度に対して少なくとも２本のワイヤが用いられるため、関節数の２倍の本数のワイヤが配設されている。これらのワイヤの牽引量を加減することで、所望する位置姿勢に変位させることができる。
通常、マニピュレータのワイヤは、処置具挿入部内に配設されている。処置具挿入部は、内視鏡挿入部に挿嵌され、内視鏡の基端側に引き出された通じたワイヤが、駆動部であるアクチュエータに接続されている。
When performing the wire pulling operation, since at least two wires are used for one joint portion, that is, for one degree of freedom, the number of wires is twice as many as the number of joints. By adjusting the pulling amount of these wires, it can be displaced to a desired position and orientation.
Usually, the wire of a manipulator is arrange | positioned in the treatment tool insertion part. The treatment instrument insertion portion is inserted into the endoscope insertion portion, and a continuous wire drawn out to the proximal end side of the endoscope is connected to an actuator that is a drive portion.
このマニピュレータは、スレーブ側であり、外部に配設されたマスタ側の操作手段の操作に応じた動作を行う。一般的には、マニピュレータの湾曲動作は、操作手段の操作量に応じた動作量となるが、操作者の個性を考慮したものとして、例えば、特許文献１に記載されるような電動湾曲機構を搭載するシステムがある。このシステムでは、操作者の個性に合わせた固定の制御パラメータで操作手段の実際の操作量を調整した駆動信号を生成し、その駆動信号に従った電動湾曲動作を実現する。つまり、その操作者の癖や熟練度を考慮して、マニピュレータの移動量や移動速度を制御することにより、より安全度と操作性の向上を実現している。
This manipulator is on the slave side, and performs an operation according to the operation of the operating means on the master side provided outside. In general, the bending operation of the manipulator is an operation amount corresponding to the operation amount of the operation means. For example, an electric bending mechanism as described in
前述した処置具のマニピュレータは、軟性内視鏡装置に用いられた場合、内視鏡の挿入部の処置具孔に挿通される可撓性を持つ挿入部分と、先端側に設けられた自由度が大きい多関節構造の湾曲部とに用いられている。多関節構造の湾曲部は、ワイヤの牽引により関節部が曲折される。従って、湾曲部の先端に設けられたエンドエフェクタ（例えば、処置具）の位置姿勢は、それぞれの関節部の関節パラメータ（この場合は、関節間で成す角度）によって、決定されるため、エンドエフェクタの位置姿勢を操作者の目標位置姿勢と一致させるための関節パラメータの目標値を求める逆問題を解き、その後、現在の関節パラメータ値が目標パラメータ値と一致するように駆動制御を行っている。つまり、処置具の使用時には、挿入部と湾曲部は、患者の体腔内の形状に合わせて湾曲されている。 When the manipulator of the treatment instrument described above is used in a flexible endoscope apparatus, the flexible insertion portion inserted into the treatment instrument hole of the insertion portion of the endoscope and the degree of freedom provided on the distal end side. Is used for curved portions of large articulated structures. The bending portion of the multi-joint structure is bent by pulling the wire. Accordingly, the position and orientation of the end effector (for example, the treatment tool) provided at the distal end of the bending portion is determined by the joint parameter of each joint portion (in this case, the angle formed between the joints). The inverse problem of obtaining the target value of the joint parameter for matching the position and orientation of the operator with the target position and orientation of the operator is solved, and then drive control is performed so that the current joint parameter value matches the target parameter value. That is, when the treatment tool is used, the insertion portion and the bending portion are curved in accordance with the shape in the body cavity of the patient.
従って、内視鏡装置の挿入部に設けられた処置具孔又は、内視鏡装置に装着されたオーバーチューブの処置孔に通して使用する場合は、操作者の操作程度（入力）が同じであっても、内視鏡の挿入部の湾曲状態によって、実際の動きが変わってしまう。 Therefore, when used through the treatment tool hole provided in the insertion portion of the endoscope apparatus or the treatment hole of the overtube attached to the endoscope apparatus, the degree of operation (input) by the operator is the same. Even if it exists, an actual motion will change with the curved state of the insertion part of an endoscope.
これは、特許文献１に記載されるような制御パラメータは、内視鏡の挿入部内及び湾曲部の形状によって変化する場合があると考えられる。このため、操作者が想定していた動き（移動速度や曲がり具合）と異なる事態が発生する。通常、湾曲した状態は、真っ直ぐな状態に比べて、処置具までのワイヤの経路が長くなり、動作し難くさせる負荷が大きくなるため、処置具の動作が遅くなったり、操作量で想定していた位置まで達しない場合がある。
This is considered that the control parameters described in
そこで本発明は、内視鏡挿入部の湾曲状態を検知し、その湾曲状態に応じて、挿入部に挿通される処置具及びマニピュレータにおける動作を調整し、操作性がよくスムーズに動作する処置具システムを提供することを目的とする。 Therefore, the present invention detects a bending state of an endoscope insertion portion, adjusts the operation of a treatment tool and a manipulator inserted through the insertion portion according to the bending state, and has a good operability and smoothly operates. The purpose is to provide a system.
上記目的を達成するために、本発明に従う実施形態は、所定の径を有する挿通路に挿通可能な外形に形成された先端部と、前記挿通路に挿通可能な外形に形成されるとともに前記先端部に対して連接される第１の可動部と、前記先端部と前記第１の可動部の連接部に設けられ、前記先端部と前記第１の可動部とを相対的に動作可能なように連結する第１の関節部と、前記挿通路に挿通可能な外形に形成されるとともに前記第１の可動部に対して連接される第２の可動部と、前記第１の可動部と前記第２の可動部の連接部に設けられ、前記第１の可動部と前記第２の可動部とを相対的に動作可能なように連結する第２の関節部と、前記先端部、前記第１の関節部、前記第１の可動部、前記第２の関節部、前記第２の可動部からなるマニピュレータ部を任意に操作可能な操作手段と、前記挿通路から前記マニピュレータ部に加わる外力を検知可能な検知手段と、前記検知手段からの検知結果に基づいて、前記マニピュレータ部の駆動状態を制御する制御手段と、を備えたマニピュレータシステムを提供する。 In order to achieve the above object, an embodiment according to the present invention includes a tip formed in an outer shape that can be inserted into an insertion passage having a predetermined diameter, an outer shape that can be inserted into the insertion passage, and the tip. A first movable part that is connected to a part, and a connecting part between the tip part and the first movable part so that the tip part and the first movable part can be operated relatively. A first joint portion connected to the first movable portion, a second movable portion formed in an outer shape that can be inserted into the insertion passage and connected to the first movable portion, the first movable portion, and the A second joint portion provided at a connecting portion of the second movable portion and operatively connecting the first movable portion and the second movable portion; the tip portion; Manipulation comprising one joint part, the first movable part, the second joint part, and the second movable part An operation means capable of operating the part arbitrarily, a detection means capable of detecting an external force applied to the manipulator part from the insertion passage, and a control for controlling a driving state of the manipulator part based on a detection result from the detection means And a manipulator system comprising the means.
この処置具システムは、内視鏡装置の挿入部に挿通された処置具又は及びマニピュレータが、内視鏡装置の挿入部が湾曲した状態で掛かる力の変化に対して、その湾曲状態に応じた制御パラメータを生成して、処置具及びマニピュレータを駆動するための駆動信号に付加され、操作者が所望する位置や角度に関節動作させる。 This treatment tool system responds to the bending state of a treatment tool or a manipulator inserted through the insertion portion of the endoscope apparatus in response to a change in force applied when the insertion portion of the endoscope apparatus is bent. A control parameter is generated and added to a drive signal for driving the treatment instrument and the manipulator, and the operator performs a joint operation at a position and an angle desired by the operator.
本発明によれば、内視鏡挿入部の湾曲状態を検知し、その湾曲状態に応じて、挿入部に挿通される処置具及びマニピュレータにおける動作を調整し、操作性がよくスムーズに動作する処置具システムを提供することができる。 According to the present invention, the bending state of the endoscope insertion portion is detected, and the operation of the treatment tool and the manipulator inserted through the insertion portion is adjusted according to the bending state, so that the operability is smoothly operated. Tool system can be provided.
以下、図面を参照して本発明の実施形態について詳細に説明する。
本発明に従う第１の実施形態における処置具システムについて説明する。図１は、処置具システムの構成を示すブロック図である。図２（ａ），（ｂ）は、本実施形態における処置具等に用いられる多関節のマニピュレータ２の具体的な構成を示す図である。
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
A treatment instrument system in a first embodiment according to the present invention will be described. FIG. 1 is a block diagram showing the configuration of the treatment instrument system. FIGS. 2A and 2B are diagrams showing a specific configuration of the
本実施形態の処置具システム１は、内視鏡装置２０の内視鏡挿入部２７の処置具孔（鉗子チャンネル孔）内又は、内視鏡外側に装着するオーバーチューブの処置具孔内を挿通し、先端から延出する処置具及びマニピュレータを、例えば、関節部とワイヤ牽引による湾曲動作及び処置動作を行うマスタスレーブ型電動処置具である。尚、以下の各実施形態に記載される内視鏡や処置具は、モータ等の動力源により関節部の屈曲動作や処置具の可動部位における開閉，把持等の動作を行う能動内視鏡及び能動処置具であるものとし、以下の説明では、単に内視鏡や処置具と称している。また、動力源としては、モータ等の磁力により駆動する電気駆動源の他にも、油圧駆動源や気体圧駆動源もその範疇に含まれている。
The
この処置具システム１は、大別して、内視鏡挿入部２７の処置具孔に挿通され、進退可能で湾曲自在な処置具挿入部１８と、処置具挿入部１８の先端に設けられ内視鏡挿入部２７の処置具孔口２７ａから延出するマニピュレータ２と、操作者が動作指示を行う操作部３と、操作部３の操作量に応じた操作信号を生成するマスタ部４と、後述する湾曲状態情報を生成する湾曲状態情報生成部５と、マニピュレータ２を駆動するマニピュレータ駆動部（アクチュエータ）６と、マスタ部４からの操作信号を制御パラメータで調整した制御信号を生成し、マニピュレータ駆動部６を駆動制御する処置具制御部７と、湾曲状態情報に基づき操作信号に対してマニピュレータ２の駆動量を調整するための制御パラメータを算出して処置具制御部７に提供する制御パラメータ部８と、で構成される。
The
尚、本実施形態では、軟性の内視鏡挿入部に挿通される処置具及びマニピュレータの関節部の湾曲動作を例として説明するが、これらの関節部は屈曲動作だけではなく、例えば、直動・処置具の開閉動作を行う関節部もあり、この関節部においても容易に適用できる。
尚、本実施形態では、マスタ部４、湾曲状態情報生成部５、処置具制御部７及び制御パラメータ部８が筐体に収容され、処置具システム１の制御部として機能としている。
また、以下の実施形態では、主としてマニピュレータ２の関節動作を例に挙げて説明する。
In this embodiment, the bending operation of the joint portion of the treatment instrument and the manipulator inserted through the flexible endoscope insertion portion will be described as an example. -There is also a joint part that opens and closes the treatment tool, and this joint part can be easily applied.
In the present embodiment, the
Further, in the following embodiment, description will be given mainly taking the joint operation of the
本実施形態では、マニピュレータ２の先端に、処置具ユニット９として、電気メス９ａ及び把持具（例えば、鉗子）９ｂが設けられた例を示している。さらに、電気メス９ａを用いたため、電気メス９ａに高周波電源を供給する電源装置１０と、術者の足操作により高周波電気メスに高周波電源を供給する指示を行うフットスイッチ１１と、電源装置１０に接続され処置をする患者１２の体表面に貼られる対極板１３とを備えている。尚、処置具は、電気メス９ａや鉗子等以外にも、一般的な処置具又は、これらの組み合わせを備えてもよい。
In the present embodiment, an example in which an
電源装置１０には、電源の供給状態等を表示するディスプレイ１４と、出力ワット数入カパネル１５と、出力モード選択パネル１６と、電力出力端子１７とが設けられている。電力出力端子１７は、内部に設けられている電源ユニット（図示せず）から出力された高周波電力を電気メス９ａに供給する。
The
内視鏡装置２０は、内視鏡挿入部２７の先端に設けられた撮像部２１により撮像された画像データに対して種々の画像処理やデータ処理を行う画像処理部２２と、撮像部に２１に隣接して配置され、図示しないライトガイドファイバを通じて照明光窓２３から病変部１２ａを含む観察視野に照射する照明光を生成する光源部２４と、内視鏡装置システム全体の制御及び演算処理等を行う内視鏡制御部２５と、撮像された画像及びその画像に関するデータ及び装置状態や操作指示等を表示するモニタ２６と、患者の体腔１２内に進退可能に挿入され、先端部分にマニピュレータ２と同等の多関節機構を備え湾曲可能な内視鏡湾曲部２７ｂを有する内視鏡挿入部２７と、内視鏡湾曲部２７ｂを電動で湾曲させる電動湾曲操作部２８と、内視鏡の湾曲操作を指示するための湾曲用ジョイスティック２９と、で構成される。
The
内視鏡装置２０の電動湾曲操作部２８は、後述するマニピュレータ駆動部６と略同等の構成であり、複数の牽引用ワイヤ５１と、各ワイヤ５１の他端に連結する複数のプーリ５２と、各プーリ５２が回転軸に嵌装されたモータ５３と、それぞれのモータ５３を個別に駆動するモータ駆動部５４と、各モータ５３に設けられたエンコーダ５５と、エンコーダ５５が検出した値に基づき、モータ駆動部５４を制御する湾曲制御部５６と、各ワイヤ５１に働く張力値を検出する張力センサ及び内視鏡挿入部２７の歪み量を検出する歪みゲージを有するセンサ部５７と、を備えている。さらに湾曲制御部５６は、湾曲用ジョイスティック２９に接続され、湾曲操作の指示が入力される。また、湾曲状態情報生成部５は、センサ部として機能するエンコーダ５５により検出されたプーリ５２におけるプーリ角度情報（ワイヤ牽引情報）から湾曲状態情報を生成する。
The electric bending operation unit 28 of the
また、電動湾曲操作部２８は、装置本体２０との間をケーブル５８で接続される。このケーブルには、照明光を送光するライトガイドファイバと画像信号線及び制御信号線等からなる信号線を含んでいる。また、本実施形態では、内視鏡及び処置具のそれぞれにジョイスティックを設けた構成例を示したが、これらの操作機能を１つのジョイスティックに集約して構成してもよい。
The electric bending operation unit 28 is connected to the apparatus
また本実施形態の処置具システムは、電動湾曲操作部２８と内視鏡挿入部２７とが接続固定された構成の内視鏡装置に適用した例について説明しているが、内視鏡挿入部が電動湾曲操作部とは着脱可能に構成された内視鏡装置であっても同様に適用することは可能である。
Moreover, although the treatment tool system of this embodiment is described as an example applied to an endoscope apparatus having a configuration in which the electric bending operation unit 28 and the
尚、１つの電動湾曲操作部に複数の内視鏡挿入部を交換して接続できる構成であったならば、後述する内視鏡挿入部毎に固有の制御パラメータを制御部内に設けられたメモリのテーブルに予め登録しておき、接続時にその内視鏡挿入部に該当する制御パラメータを読み出して設定すればよい。また、内視鏡挿入部の湾曲状態を検出するためのセンサ等は本実施形態と同等に設けられていることが望ましい。 If the configuration is such that a plurality of endoscope insertion portions can be exchanged and connected to one electric bending operation portion, a memory provided with a control parameter unique to each endoscope insertion portion described later in the control portion And the control parameters corresponding to the endoscope insertion unit may be read out and set at the time of connection. In addition, it is desirable that a sensor or the like for detecting the bending state of the endoscope insertion portion is provided in the same manner as in this embodiment.
本実施形態の処置具システムについて詳細に説明する。
まず、実施形態のマニピュレータ２の構成について説明する。図２（ａ）は、マニピュレータ２の外観構成例を示し、図２（ｂ）は、マニピュレータ２の断面構成例を示す。
このマニピュレータ２は、複数の円筒形状の湾曲駒４１（４１-1，４１-2，４１-3，４１-4，４１-5）と、これらの湾曲駒４１を折曲自在に連結する軸部材４２（４２-1，４２-2，４２-3，４２-4）と、マニピュレータ２の先端側の湾曲駒４１-1に設けられた電気メス９ａ（又は、把持部９ｂ）と、比較的柔らかに弾性的に曲がり得る処置具挿入部１８と、処置具挿入部１８と基端側の湾曲駒４１-1とを連結する連結部材４４と、を有している。
The treatment instrument system of this embodiment will be described in detail.
First, the configuration of the
The
これらの湾曲駒４１と軸部材４２との連結形態の内部には、１つの湾曲駒４１毎に先端部分がロウ付け等により固着される少なくとも２本が組となるワイヤ［ワイヤ］４３（４３-1，４３-2，４３-3，４３-4）と、各ワイヤ４３を挿通し各湾曲駒４１からアクチュエータ６のコネクタまで貫くように設けられる可撓性コイル４５（４５-1，４５-2，４５-3，４５-4）と、電気メス９ａに高周波電源を供給するための電源供給線４６と、内視鏡挿入部２７の基端側から先端の湾曲駒４１-1まで電源供給線４６が挿通されて設けられる可撓管４７と、で構成される。
Inside the connection form of the bending
湾曲駒４１と軸部材４２との連結形態について説明する。
マニピュレータ２における先端と幹端（基端側）に配置される湾曲駒を除く各湾曲駒４１には、先端側に湾曲駒円筒中心を挟んで設けられる舌片状の２つの先端側突出部と、基端側に、先端側突出部と直交する方向（９０度の回転）で円筒中心を挟んで設けられる舌片状の２つの基端側突出部とがそれぞれに設けられている。
A connection form between the bending
Each bending
湾曲駒４１間の連結構成は、図２（ａ）に示すように、例えば、湾曲駒４１-2の基端側突出部Ａと、湾曲駒４１-3の先端側突起部Ｂとにそれぞれ穴を開けて、穴を重ね合わせ、リベット形状の軸部材４２-2を嵌装させて回動即ち、折曲自在に連結される。このような湾曲駒４１間を軸部材４２により自在接ぎ手連結を行い、複数段に連結する。この連結により湾曲駒４１は前後の湾曲駒との間で９０度ずれた連結形態となる。
As shown in FIG. 2A, the connecting configuration between the bending
このように湾曲駒４１の軸部材４２の接続位置が交互に９０度ずれた自在接ぎ手接続の形態において、所望する湾曲駒４１のワイヤ４３の一方を引くことにより、２つの軸部材４２を中心軸として振り動かされる。従って、所望する湾曲駒４１のワイヤ４３の引き具合により、各湾曲駒４１間を自在に折曲又は直線的に延伸させる所謂、関節動作を行い、電気メス９ａや把持部９ｂを３次元的に所望する位置に変位させることができる。
Thus, in the form of a universal joint connection in which the connection positions of the
マニピュレータ駆動部６は、処置具制御部７からの制御信号により、マニピュレータ２を電動駆動する。マニピュレータ駆動部６は、マニピュレータ２の湾曲駒４１に一端が接続される複数のワイヤ３０と、各ワイヤ３０の他端に連結する複数のプーリ３１と、ワイヤ牽引の駆動源となる各プーリ３１が回転軸に嵌装されたモータ３２と、それぞれのモータ３２を個別に駆動するモータ駆動部３３と、各ワイヤ３０の張力を検出する張力センサ３４と、で構成される。
The manipulator driving unit 6 electrically drives the
操作部３は、図１に示すように、簡易化された多関節のアーム機構を有するアーム操作部３ａ，３ｂで構成される。アーム操作を検出するセンサとしては、磁気センサや加速度センサ等を用いて、アーム機構における各湾曲駒の動作量と動作方向を検出する。その他のセンサとしては、各湾曲駒に発光源（例えば、レーザ発光素子）を設けて、支柱などの固定部材に受光素子を配置する。その受光素子に入射した光の入射角度や信号強度（減衰加減）等により、動作量と移動方向を検出することも可能である。
As shown in FIG. 1, the
ユーザによるアーム操作部３ａ，３ｂの移動量（操作指示量）に基づく操作信号がマスタ部４で生成され、処置具制御部７に出力される。操作部３は、アーム機構以外の一般的な入力部位としては、例えば、ボタンスイッチ、ジョイスティック、キーボード等を用いることができる。操作部３による操作指示は、マニピュレータ２に対して主従の関係を持ち、主となる操作部３による操作指示に従って、従となるマニピュレータ２が湾曲動作及び処置を実行する。また、マニピュレータ２は、体腔内に挿入されて遠隔操作されるため、処置具を直接的に視認できない。そのため、内視鏡に撮像された動画像をモニタ２６で見ながら操作部３を操作して、マスタ部４から指示を送ることとなる。
An operation signal based on the movement amount (operation instruction amount) of the arm operation units 3 a and 3 b by the user is generated by the
処置具のマニピュレータ２における湾曲状態は、張力センサ３４の張力値から位置姿勢を知ることができる。ここで、マニピュレータ２の湾曲動作について説明する。
図３には、本実施形態のマニピュレータ２の５つの湾曲駒４１-1〜４１-5と４つの関節部４２-1〜４２-4による４自由度の多関節構造モデルを示す。尚、図３に示していないが、通常のマニピュレータ２の基端側には、マニピュレータ２全体を軸方向に折曲させる軸部材と、マニピュレータ２全体を軸回り方向に動かす軸部材が設けられている。４つの軸部材４２-1〜４２-4は、交互に軸方向と軸回り方向に湾曲駒を折曲する。
The bending state in the
FIG. 3 shows a four-degree-of-freedom multi-joint structure model including five bending pieces 41-1 to 41-5 and four joint portions 42-1 to 42-4 of the
これらの構成において、例えば、図３には、軸部材４２-1と軸部材４２-3がそれぞれ回動して、湾曲駒４１-1と湾曲駒４１-2間と、湾曲駒４１-3と湾曲駒４１-4間が折曲された状態を示す。
現在の多関節マニピュレータ２の位置姿勢を検出する。各軸部材１８の関節角度（所謂、制御パラメータの１つである関節パラメータ）を次式（１）、
In these configurations, for example, in FIG. 3, the shaft member 42-1 and the shaft member 42-3 are respectively rotated, and between the bending pieces 41-1 and 41-2, and the bending pieces 41-3. The state between the bending pieces 41-4 is shown.
The current position and orientation of the articulated
これら以外の軸部材４２の折曲角度は、初期位置から変化が無ければ、関節パラメータが０のままとなる。電気メス９ａの位置姿勢は、
If the bending angle of the
で表すことができる。ここで、電気メス９ａの現在の位置姿勢を次式、
を満たすΦに変更する必要がある。これらの関係式は、非線形であるため、Φpを求めるためには、ＥpをΦの要素で偏微分したヤコビアン行列Ｊ（Φ）は、 It is necessary to change to Φ that satisfies Since these relational expressions are nonlinear, in order to obtain Φp, the Jacobian matrix J (Φ) obtained by partial differentiation of Ep with respect to the element of Φ is
湾曲状態情報生成部５について説明する。
湾曲状態情報生成部５は、センサ部５７の検出値から内視鏡挿入部２７及び湾曲部２７ｂにおける湾曲状態情報（湾曲姿勢位置）を生成する。
The bending state
The bending state
ここで、湾曲状態情報は、少なくとも、内視鏡挿入部２７の湾曲状態情報、内視鏡挿入部２７の先端側に設けられる湾曲部２７ｂの湾曲状態情報、プーリ５２の回転量又はその回転量により牽引されたワイヤ５１のワイヤ長又は送り出されたワイヤ長の湾曲状態情報とからなる。これらのうち、内視鏡２０の挿入部２７の湾曲状態情報は、センサ部５７の歪みゲージを用いて検出された挿入部２７の歪み量に関する情報である。
Here, the bending state information includes at least the bending state information of the
この歪み量から挿入部２７の現状の湾曲状態を想定することができる。尚、センサ部５７の張力センサを用いて挿入部２７の湾曲の変化を検出することも可能である。湾曲部２７ｂが直線状態（即ち、処置具の湾曲用ワイヤに負荷が掛からない形態の時）の張力センサの張力値を初期値とすれば、張力値の変化で湾曲部２７ｂの湾曲の程度を知ることができる。
From this amount of distortion, the current bending state of the
次に、制御パラメータ部８について説明する。
まず、制御パラメータの変更の必要性について説明する。
本実施形態においては、処置具による患部の処置にあたって、モータを駆動源として、ワイヤの牽引によりマニピュレータ２が湾曲駆動されて、患部の所望する位置に処置具を宛がっている。この処置具の挿入部１８は、患者の体腔内の形状に合わせて湾曲されている内視鏡挿入部２７内及び湾曲部２７ｂ内を挿通している。そのため、内視鏡挿入部２７や湾曲部２７ｂにおける湾曲の弧が小さい又は湾曲箇所の数が多いほど、処置具挿入部１８内に配設されるワイヤ３０の経路長が変化し、且つ負荷が変化して掛かっている。
Next, the
First, the necessity of changing the control parameter will be described.
In this embodiment, when the affected part is treated with the treatment tool, the
前述したように、予め設定された制御パラメータ（関節パラメータ等の固定値）を用いて、操作の便宜を図ったとしても、湾曲状態により変化する負荷により、操作者が想定していた動き（移動速度や曲がり具合）とは異なる事態が発生する。 As described above, even if the control parameters (fixed values such as joint parameters) set in advance are used for convenience of operation, the movement (movement) assumed by the operator due to the load that changes depending on the bending state A situation that is different from the speed and bending) occurs.
本実施形態では、この制御パラメータは、予め定めた湾曲情報の変化量（信号値）を越える毎にパラメータ値を変更する。つまり、湾曲状態に対して、一定の変化毎に、挿入部内及び湾曲部の湾曲状態に応じて制御パラメータを変更（書き換え）させることにより、湾曲状態が変わったとしても、操作者の操作に従ったマニピュレータや処置具の動き（移動速度や曲がり具合）を実行する。尚、制御パラメータの変更は、湾曲情報の変化量だけではなく、予め定めた時間毎により変更するようにしてもよい。この制御パラメータの変更は、処置具又はマニピュレータ２が駆動している限り、継続して実行される。つまり、駆動中は、制御パラメータが常時、変更される。
In this embodiment, this control parameter changes the parameter value every time it exceeds a predetermined amount of change (signal value) in bending information. In other words, even if the bending state changes by changing (rewriting) the control parameter in accordance with the bending state in the insertion portion and the bending portion for every certain change with respect to the bending state, the operation of the operator is followed. The movement of the manipulator and treatment instrument (movement speed and bending condition) is executed. Note that the control parameter may be changed not only by the amount of change in the bending information but also by a predetermined time. The change of the control parameter is continuously executed as long as the treatment instrument or
本実施形態における制御パラメータ部８は、湾曲状態情報に基づき操作信号に対してマニピュレータ２の駆動量を調整するための制御パラメータを格納し、湾曲状態情報の変化に伴い、予め設定された演算式又はプログラムに従い随時算出し、処置具制御部７に設けられた制御テーブルの該当テーブルに随時、出力して更新を行う。
The
処置具制御部７は、マスタ部４からの操作指示及び制御パラメータ部からの機能の制御条件や制御パラメータを入力する機能制御入力部３５と、各種の演算処理及び各構成部位への指示を行う中央処理部（ＣＰＵ）３６と、画像及び通信データ等を保存するメモリ３７と、で構成される。ＣＰＵ３６は、張力センサ３４の検出信号により、マニピュレータ２の位置姿勢（湾曲状態を含む）と処置具９の動作状態を検知する。メモリ３７には、起動時の初期データと、選択可能な操作者別に動作条件を設定するためのＩＤパラメータ（個別入力比）とが記憶される。ＩＤパラメータは、操作者の操作の癖などを解消して標準的な操作又は適切な操作となるように調整するためのパラメータである。
The treatment instrument control unit 7 performs an operation instruction from the
制御パラメータとしては、観察用・処置用スレーブマニピュレータの教示データや、マスタースレーブスケール比、感度等が挙げられる。これらのうち、マスタースレーブスケール比は、操作部３におけるアームの動作量に対して、マニピュレータ２の動作量をどの程度にするのかを決定するパラメータである。アームの動作量において、処置具の移動距離であれば、例えば、マスタースレーブスケール比が１に設定されていれば、操作部３の先端の移動量が１０ｍｍの時には、処置具の移動量が１０ｍｍになるようにマニピュレータ２が動作する。一方、マスタースレーブスケール比が０．１であれば、操作部３の先端の移動量が１０ｍｍの時には、処置具の移動量が１ｍｍになるようにマニピュレータ２が動作する。この例は、位置の移動に対するスケール比であるが、マスタ側とスレーブ側との角度比についても同様である。
Examples of the control parameter include teaching data of the observation / treatment slave manipulator, master-slave scale ratio, sensitivity, and the like. Among these, the master / slave scale ratio is a parameter that determines how much the operation amount of the
また、制御パラメータとして感度を用いた場合、例えば、操作部３のアームに磁気センサを取り付けて、そのセンサ信号を湾曲状態情報として用いた場合に、入力感度を変化させることによって、マニピュレータ２の不感帯の大きさを変化させることができる。例えば、入力感度を１ｍｍに設定すると、磁気センサが１ｍｍ以上動かない限り、マニピュレータ２は動作しない。これによって、操作者の手ブレやふらつき等による、マニピュレータ２の無駄な動作を排除することができる。
When sensitivity is used as a control parameter, for example, when a magnetic sensor is attached to the arm of the
次に、湾曲状態情報を用いた制御パラメータの算出、及び湾曲状態情報の変化に伴う制御パラメータの変更（書き換え）の一例について説明する。
例えば、内視鏡の湾曲状態をεとすると、
湾曲状態がない（直線で湾曲していない） ε＝０
湾曲状態が正側（例えば、水平を０とすれば上方向に湾曲） ε＞０
湾曲状態が負側（例えば、水平を０とすれば下方向に湾曲） ε＜０
となる。また、左右方向も同様に正面を０として、右方向を正側、左方向を負側と設定して判断してもよい。勿論、この様な設定は、設計時に適宜決定すればよい。
Next, an example of calculation of the control parameter using the bending state information and a change (rewrite) of the control parameter accompanying the change of the bending state information will be described.
For example, if the bending state of the endoscope is ε,
No curved state (straight and not curved) ε = 0
Curved state is positive side (for example, if the horizontal is 0, it is curved upward) ε> 0
Curved state is negative (for example, if the horizontal is 0, it is curved downward) ε <0
It becomes. Similarly, the left and right directions may be determined by setting the front to 0, setting the right direction as the positive side, and the left direction as the negative side. Of course, such a setting may be appropriately determined at the time of design.
ここで、ε＝０の時、操作者により入力設定されたモータ目標角度をθ１、さらに、検出されたεによって決定するモータ目標角度をθ２とすると、
θ２＝Ｆ（θ１，ε）
で求められる。Ｆ（θ１，ε）は、例えば、
Ｆ（θ１，ε）＝θ１＋Ｄε （Ｄ：定数）
となる。
Here, when ε = 0, the motor target angle input and set by the operator is θ1, and further, the motor target angle determined by the detected ε is θ2.
θ2 = F (θ1, ε)
Is required. F (θ1, ε) is, for example,
F (θ1, ε) = θ1 + Dε (D: constant)
It becomes.
以上説明したように、本実施形態の処置具システムによれば、操作者による操作部の操作量と、処置具が設けられたマニピュレータとの動作量の関係を調整する制御パラメータが内視鏡挿入部の湾曲状態に応じて変更されるため、内視鏡挿入部の湾曲状態が変化しても、その変化における制御パラメータを算出して、以前の制御パラメータを書き換えることにより、操作者にとっては、常に同じ操作動作で同じマニピュレータの動作が行われるため、これまでのように内視鏡挿入部の湾曲状態が影響せずに、操作性が良好となり、処置に対する労力が軽減される。 As described above, according to the treatment instrument system of the present embodiment, the control parameter for adjusting the relationship between the operation amount of the operation unit by the operator and the operation amount of the manipulator provided with the treatment instrument is inserted into the endoscope. Therefore, even if the bending state of the endoscope insertion portion changes, by calculating the control parameter in the change and rewriting the previous control parameter, for the operator, Since the same manipulator operation is always performed with the same operation operation, the operability is improved and the labor for the treatment is reduced without the influence of the bending state of the endoscope insertion portion as before.
次に、処置具制御部７による処置具システムの駆動制御について説明する。
まず、処置具制御部７は、電源投入の起動と共に、初期化処理が実施される。この時、予め設定された教示データが初期データとして設定される。この時、操作者の操作の個性に応じて設定されているＩＤパラメータがある場合には、メモリファイルから読み出して条件設定を行う。併せて、使用する内視鏡装置の処置具挿入部１８毎に有する固有の制御パラメータ又は、使用する処置具毎に有する固有の制御パラメータを操作者が入力又は、制御パラメータ部８の図示しないメモリのテーブルに予め登録しておき、そのパラメータ群の中から選択して読み出して、初期設定を行う。
Next, drive control of the treatment instrument system by the treatment instrument controller 7 will be described.
First, the treatment instrument control unit 7 performs an initialization process when the power is turned on. At this time, preset teaching data is set as initial data. At this time, if there is an ID parameter set according to the individuality of the operation by the operator, the condition is set by reading from the memory file. In addition, the operator inputs a unique control parameter for each treatment
操作者（術者）は、操作部３を把持し、モニタ２６を見ながら、手術を実施する。その術者の手の動きに併せて、アーム操作部３ａ，３ｂから操作指示量を示す信号がマスタ部４に入力される。マスタ部４は、操作信号として生成し、機能制御入力部３５に出力する。
An operator (operator) holds the
また、センサ部５７及びエンコーダ５５により検知された内視鏡挿入部２７の湾曲状態から湾曲状態情報を生成して、機能制御入力部３５に出力する。同様に張力センサ３４から機能制御入力部３５に検知信号が出力される。機能制御入力部３５は、操作信号、湾曲状態情報及び制御パラメータをＣＰＵ３６に出力する。ＣＰＵ３６は、前述した演算手法により演算処理され、その演算結果に基づく制御信号がそれぞれのモータ駆動部３３，５４に出力されて各湾曲駒４１，４２からなる各関節部に関節動作（屈曲又は直線延伸）させて、術者が所望する位置に処置具が移動される。
Further, the bending state information is generated from the bending state of the
以上説明したように、本実施形態の処置具システムは、内視鏡装置の挿入部に挿通された処置具又は／及びマニピュレータが、内視鏡装置の挿入部が湾曲した状態で掛かる力の変化に対して、その湾曲状態に応じた制御パラメータを生成して、処置具及びマニピュレータにおける駆動信号を加減して、動作を調整し、操作者が所望する位置や角度に関節動作させて、操作性がよく且つスムーズに動作させることができる。 As described above, the treatment instrument system according to the present embodiment is configured such that the treatment tool or / and the manipulator inserted through the insertion portion of the endoscope apparatus changes in the force applied when the insertion section of the endoscope apparatus is curved. Therefore, the control parameters corresponding to the bending state are generated, the drive signals in the treatment instrument and the manipulator are adjusted, the operation is adjusted, and the joint is moved to the position and angle desired by the operator. And can be operated smoothly.
前述した実施形態には、以下の要旨が含まれている。
（１）内視鏡装置における湾曲自在な内視鏡挿入部内の処置具孔又は、内視鏡挿入部外側に装着するオーバーチューブの処置具孔に、基端側から処置具挿入部が挿通され、前記処置具孔から延出して先端に処置具が設けられ、複数の湾曲駒を関節部により複数の自由度を備えるように自在接ぎ手連結し、前記湾曲駒の各々にワイヤが固定されるマニピュレータと、
前記ワイヤを牽引して、前記関節部を軸に前記湾曲駒を関節動作させ、前記処置具を駆動するアクチュエータと、
前記処置具を駆動する指示入力及び、前記マニピュレータが所望する目標位置姿勢となるように指示入力を行う操作部と、
前記内視鏡挿入部及び処置具挿入部の湾曲状態を検出するセンサ部と、
前記センサ部により検出された検出信号から前記内視鏡挿入部及び処置具挿入部の湾曲状態情報を随時生成する湾曲状態情報生成部と、
前記湾曲状態情報生成部による湾曲状態情報から前記操作部の操作量を前記アクチュエータの操作量に調整する制御パラメータを生成し提供する制御パラメータ部と、
前記湾曲状態情報生成部による湾曲状態情報に変化があった場合には、その変化後に前記制御パラメータ部が生成した前記制御パラメータに変更して、前記マニピュレータ及び前記処置具を駆動する処置具制御部と、
を具備することを特徴とする処置具システム。
この処置具システムは、内視鏡挿入部の湾曲状態情報に変化があった場合には、制御パラメータを変更して、アクチュエータの駆動が操作部による指示入力と一致するように調整する。
The embodiments described above include the following gist.
(1) The treatment instrument insertion portion is inserted from the proximal end into the treatment instrument hole in the endoscope insertion portion that can be bent in the endoscope apparatus or the treatment instrument hole of the overtube attached to the outside of the endoscope insertion portion. A manipulator that extends from the treatment tool hole, is provided with a treatment tool at the tip, and has a plurality of bending pieces jointed by a joint portion so as to have a plurality of degrees of freedom, and a wire is fixed to each of the bending pieces. When,
Pulling the wire, causing the bending piece to be articulated with the joint portion as an axis, and driving the treatment instrument; and
An instruction input for driving the treatment instrument, and an operation unit for inputting the instruction so that the manipulator has a desired target position and posture;
A sensor unit for detecting a bending state of the endoscope insertion unit and the treatment instrument insertion unit;
A bending state information generating unit that generates bending state information of the endoscope insertion unit and the treatment instrument insertion unit as needed from a detection signal detected by the sensor unit;
A control parameter unit that generates and provides a control parameter for adjusting the operation amount of the operation unit to the operation amount of the actuator from the bending state information by the bending state information generation unit;
When there is a change in the bending state information by the bending state information generation unit, the change is made to the control parameter generated by the control parameter unit after the change, and the treatment tool control unit that drives the manipulator and the treatment tool When,
A treatment instrument system comprising:
When there is a change in the bending state information of the endoscope insertion portion, the treatment instrument system changes the control parameter and adjusts the drive of the actuator to coincide with the instruction input from the operation portion.
（２）前記センサ部は、湾曲状態情報を得るために、内視鏡挿入部の湾曲を歪み量として検出する歪みゲージと、
前記アクチュエータの駆動源となるモータの軸に設けられたプーリの回転量を検出するエンコーダと、
処置具挿入部の先端側に設けられる湾曲部を湾曲動作するためのワイヤを牽引する際に掛かるワイヤ張力を検出する張力センサと、
を備えることを特徴とする前記（１）項に記載の処置具システム。
この処置具システムは、内視鏡挿入部の湾曲状態情報を得るために、歪みゲージ及びエンコーダと、処置具挿入部の湾曲状態情報を得る張力センサとを用いている。
(2) The sensor unit detects a bending of the endoscope insertion unit as a distortion amount in order to obtain bending state information;
An encoder that detects a rotation amount of a pulley provided on a shaft of a motor that is a drive source of the actuator;
A tension sensor for detecting a wire tension applied when pulling a wire for bending the bending portion provided on the distal end side of the treatment instrument insertion portion;
The treatment instrument system according to item (1), further comprising:
This treatment instrument system uses a strain gauge and an encoder and a tension sensor that obtains the curvature state information of the treatment instrument insertion portion in order to obtain the bending state information of the endoscope insertion portion.
（３）前記湾曲状態情報生成部に生成される前記湾曲状態情報は、少なくとも、
前記内視鏡挿入部に歪みゲージを用いて検出された該内視鏡挿入部の歪み量に関する湾曲状態情報と、
前記内視鏡挿入部の先端側に設けられる湾曲部におけるワイヤ張力に関する湾曲状態情報と、
前記エンコーダにより検出された前記プーリの回転量又は、該プーリに連結され、その回転量により牽引されたワイヤ長又は送り出されたワイヤ長に関する湾曲状態情報と、を含むことを特徴とする前記（２）項に記載の前記処置具システム。
この処置具システムの湾曲状態情報は、内視鏡挿入部の歪み量、ワイヤ張力、プーリの回転量又は、その回転量により牽引されたワイヤ長又は送り出されたワイヤ長がある。
(3) The bending state information generated by the bending state information generation unit is at least
Bending state information relating to the amount of distortion of the endoscope insertion portion detected using a strain gauge in the endoscope insertion portion;
Bending state information regarding wire tension in the bending portion provided on the distal end side of the endoscope insertion portion;
The rotation amount of the pulley detected by the encoder, or the bending state information related to the wire length connected to the pulley and pulled by the rotation amount or the wire length sent out (2) The treatment instrument system according to item).
The bending state information of the treatment instrument system includes the amount of distortion of the endoscope insertion portion, wire tension, the amount of rotation of the pulley, or the wire length pulled by the amount of rotation or the wire length sent out.
（４）内視鏡の処置具若しくは、内視鏡外側に装着するオーバーチューブの処置具孔を挿通させて装着する能動処置具と、
前記能動処置具を駆動させる能動処置具駆動手段と、
前記能動処置具駆動手段を制御するための駆動制御信号に予め設定された制御パラメータを反映させて制御する能動処置具制御手段と、
操作者が前記処置具若しくは前記能動処置具を操作するための能動処置具制御手段に指示を入力する入力手段と、
前記内視鏡の湾曲状態情報を獲得するための内視鏡湾曲状態獲得手段と、
で構成され
前記能動処置具制御手段は、前記内視鏡湾曲状態獲得手段からの湾曲状態情報によって制御パラメータを変更することを特徴とする内視鏡処置システム。
この処置具システムは、内視鏡挿入部の湾曲状態情報に変化に応じて、制御パラメータを変更して、能動処置具の駆動が入力手段による指示入力と一致するように調整する。
(4) An active treatment tool that is inserted through a treatment tool hole of an endoscope or a treatment tool hole of an overtube that is attached to the outside of the endoscope;
Active treatment instrument driving means for driving the active treatment instrument;
Active treatment tool control means for reflecting a control parameter set in advance in a drive control signal for controlling the active treatment tool drive means; and
An input means for an operator to input an instruction to an active treatment instrument control means for operating the treatment instrument or the active treatment instrument;
Endoscope bending state acquisition means for acquiring bending state information of the endoscope;
The endoscopic treatment system is characterized in that the active treatment instrument control means changes a control parameter according to bending state information from the endoscope bending state acquisition means.
In this treatment instrument system, the control parameter is changed in accordance with the change in the bending state information of the endoscope insertion portion so as to adjust the drive of the active treatment instrument to coincide with the instruction input by the input means.
（５）前記内視鏡は、操作者の指示に従って電動駆動により動作する能動内視鏡であり、内視鏡駆動手段、内視鏡制御手段及び、内視鏡入力手段を有することを特徴とする（４）項に記載の内視鏡処置システム。
（６）内視鏡の湾曲状態情報とは、内視鏡の湾曲管部の湾曲情報、内視鏡の湾曲管部を除く挿入部の湾曲情報、内視鏡を湾曲させるためのワイヤを引くためのプーリ回転量（回転角度）のいずれか、若しくは組み合わされた情報であることを特徴とする（４）項に記載の内視鏡処置システム。
湾曲状態情報は、湾曲管部及び内視鏡挿入部の湾曲状態と、プーリ回転量（回転角度）とする。
(5) The endoscope is an active endoscope that operates by electric driving in accordance with an instruction from an operator, and includes an endoscope driving unit, an endoscope control unit, and an endoscope input unit. The endoscope treatment system according to (4).
(6) The bending state information of the endoscope is bending information of the bending tube portion of the endoscope, bending information of the insertion portion excluding the bending tube portion of the endoscope, and a wire for bending the endoscope The endoscope treatment system according to item (4), characterized in that the information is any one of or a combination of pulley rotation amounts (rotation angles).
The bending state information includes the bending state of the bending tube portion and the endoscope insertion portion, and the pulley rotation amount (rotation angle).
（７）前記内視鏡湾曲状態獲得手段は、前記内視鏡に搭載されていることを特徴とする（４）項に記載の内視鏡処置システム。
（８）前記内視鏡湾曲状態獲得手段は、オーバーチューブに搭載されていることを特徴とする（４）項に記載の内視鏡処置システム。
（９）前記内視鏡湾曲状態獲得手段は、内視鏡とオーバーチューブの双方にそれぞれ搭載されて構成されることを特徴とする前記（４）項に記載の内視鏡処置システム。
（１０）前記内視鏡は、操作者の遠隔操作による指示に従って電動駆動する内視鏡であることを特徴とする（５）項に記載の内視鏡処置システム。
(7) The endoscope treatment system according to (4), wherein the endoscope bending state acquisition means is mounted on the endoscope.
(8) The endoscope treatment system according to (4), wherein the endoscope bending state acquisition means is mounted on an overtube.
(9) The endoscope treatment system according to (4), wherein the endoscope bending state acquisition means is mounted on both the endoscope and the overtube.
(10) The endoscope treatment system according to (5), wherein the endoscope is an endoscope that is electrically driven in accordance with an instruction by a remote operation by an operator.
この内視鏡処置システムは、マスタ−スレーブ方式の内視鏡装置に搭載される。
（１１）前記内視鏡は、内視鏡挿入部と、操作者の操作部位である前記内視鏡入力手段部とは、着脱可能に構成されることを特徴とする（５）項に記載の内視鏡処置システム。
（１２）前記着脱可能に構成される前記内視鏡は、前記電動湾曲操作部に交換して接続される複数の内視鏡挿入部毎の固有の制御パラメータを前記能動処置具制御手段に設けられたメモリのテーブルに予め登録され、接続時にその内視鏡挿入部に該当する制御パラメータを読み出して設定することを特徴とする（１１）項に記載の内視鏡処置システム。
この内視鏡処置システムは、各内視鏡挿入部のそれぞれに制御パラメータを付与し、個体差に生じているバラツキも考慮して制御パラメータが設定される。
This endoscope treatment system is mounted on a master-slave type endoscope apparatus.
(11) The endoscope according to (5), wherein the endoscope is configured to be detachable from an endoscope insertion portion and the endoscope input means portion that is an operation part of an operator. Endoscopic treatment system.
(12) The endoscope configured to be detachable is provided with a unique control parameter for each of a plurality of endoscope insertion portions connected to the electric bending operation portion in exchange for the electric bending operation portion. The endoscope treatment system according to item (11), wherein the control parameter is registered in advance in a stored memory table, and a control parameter corresponding to the endoscope insertion section is read out and set when connected.
In this endoscope treatment system, a control parameter is assigned to each of the endoscope insertion portions, and the control parameter is set in consideration of variations caused by individual differences.
１…処置具システム、２…マニピュレータ、３…操作部、４…マスタ部、５…湾曲状態情報生成部、６…マニピュレータ駆動部、７…処置具制御部、８…制御パラメータ部、９…処置具ユニット、９ａ…電気メス、９ｂ…把持具、１０…電源装置、１１…フットスイッチ、１２…患者、１２ａ…病変部、１３…対極板、１４…ディスプレイ、１５…出力ワット数入カパネル、１６…出力モード選択パネル、１７…電力出力端子、１８…処置具挿入部、２０…内視鏡装置、２１…撮像部、２２…画像処理部、２３…照明光窓、２４…光源部、２５…内視鏡制御部、２６…モニタ、２７…内視鏡挿入部、２７ａ…チャンネル口、２７ｂ…内視鏡湾曲部、２８…電動湾曲操作部、２９…湾曲用ジョイスティック、３０…ワイヤ、３１…プーリ、３２…モータ、３３…モータ駆動部、３４…張力センサ、３５…機能制御入力部、３６…中央処理部（ＣＰＵ）、３７…メモリ、５１…牽引用ワイヤ、５２…プーリ、５３…モータ、５４…モータ駆動部、５５…エンコーダ、５６…湾曲制御部、５７…センサ部。
DESCRIPTION OF
Claims (1)
前記挿通路に挿通可能な外形に形成されるとともに前記先端部に対して連接される第１の可動部と、
前記先端部と前記第１の可動部の連接部に設けられ、前記先端部と前記第１の可動部とを相対的に動作可能なように連結する第１の関節部と、
前記挿通路に挿通可能な外形に形成されるとともに前記第１の可動部に対して連接される第２の可動部と、
前記第１の可動部と前記第２の可動部の連接部に設けられ、前記第１の可動部と前記第２の可動部とを相対的に動作可能なように連結する第２の関節部と、
前記先端部、前記第１の関節部、前記第１の可動部、前記第２の関節部、前記第２の可動部からなるマニピュレータ部を任意に操作可能な操作手段と、
前記挿通路から前記マニピュレータ部に加わる外力を検知可能な検知手段と、
前記検知手段からの検知結果に基づいて、前記マニピュレータ部の駆動状態を制御する制御手段と、
を備えたマニピュレータシステム。 A tip formed in an outer shape that can be inserted into an insertion passage having a predetermined diameter;
A first movable portion formed in an outer shape that can be inserted into the insertion passage and connected to the tip portion;
A first joint portion provided at a connecting portion between the tip portion and the first movable portion, and operatively connecting the tip portion and the first movable portion;
A second movable portion formed in an outer shape that can be inserted into the insertion passage and connected to the first movable portion;
A second joint portion provided at a connecting portion between the first movable portion and the second movable portion and operatively connecting the first movable portion and the second movable portion so as to be relatively operable. When,
An operation means capable of arbitrarily operating the manipulator portion including the tip portion, the first joint portion, the first movable portion, the second joint portion, and the second movable portion;
Detecting means capable of detecting an external force applied to the manipulator part from the insertion path;
Control means for controlling the driving state of the manipulator unit based on the detection result from the detection means,
Manipulator system equipped with.
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