JP2013192623A - Endoscope operation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an endoscope operation system capable of providing highly accurate operability by obtaining an operation feeling closer to actual touch.SOLUTION: An endoscope operation system includes a master device 3 for instructing an operation of a soft endoscope, a slave device 2 for operating the soft endoscope E by an instruction from the master device 3, and a controller 4 for controlling the master device 3 and the slave device 2. By generating drive signals to the master device 3 and the slave device 2 by bidirectional force sense feedback based on master state signals from the master device 3 and slave state signals from the slave device 2, the controller 4 outputs operation force added to the master device 3 to the slave device 3, and outputs force generated in the slave device 2 to the master device 3.

Description

  The present invention relates to an endoscope operation system that can operate and control a flexible endoscope.

Flexible endoscopes are important medical devices used for examinations such as polyps and ulcers in the digestive tract such as the large intestine, esophagus, stomach, and duodenum, and endoscopic submucosal dissection (ESD). It is. An operator who conducts an examination using a flexible endoscope requires considerable concentration so as not to overlook abnormalities. In addition, in surgery, not only concentration but also physical strength is required because the operation takes a long time.
An endoscope operation system that reduces the burden on an operator who performs an examination or operation that requires concentration or physical strength is known (for example, see Patent Document 1).

  An endoscope remote control system described in Patent Document 1 holds a digestive tract endoscope inserted into a digestive tract of a subject, and drives each part of the digestive tract endoscope. And an operation control unit for giving an instruction. If the flexible endoscope is remotely controlled, examinations and operations can be performed even in a sitting position.

  On the other hand, examinations using flexible endoscopes, especially endoscopic examinations of the large intestine, are accompanied by pains such as fullness and pain, although there are differences in degree. Some women express their feelings that they were more painful and painful than childbirth. The first cause of such pain occurs when the mesentery, which plays a role in supporting the large intestine in the abdominal cavity, is excessively extended by insertion of a flexible endoscope. Therefore, an endoscopist needs a technique for inserting a flexible endoscope so as not to cause this overextension as much as possible.

Therefore, in order to improve the insertability and operability when remotely operating the flexible endoscope, an endoscope operation device has been developed to notify the operation side that the insertion portion of the flexible endoscope has become difficult to advance. (For example, see Patent Document 2).
In Patent Document 2, a passive control for controlling a servo motor for pulling / relaxing two pairs of four wires that bend the bending portion of an endoscope vertically and horizontally is a position signal (encoder signal) from the servo motor. ) And the position signal from the potentiometer, it is determined that an external force accompanying the insertion operation has been applied, so that a bending driving means or an endoscope is generated so as to generate a reaction force corresponding to the operation force amount. A medical control device that passively controls drive means for driving advancement and retraction of an insertion portion is described.

JP 2010-279688 A JP 2005-137701 A

  The insertion operation of the flexible endoscope relies on the rotation of the scope with the left hand and the “internal sensation” of the insertion operation with the right hand. On the other hand, patient's pain due to overextension due to insertion operation and other causes does not necessarily occur due to excessive insertion with strong force. Insertion into the large intestine, which is a soft body and does not have certain physical characteristics, does not cause pain in proportion to the force, insertion speed, and acceleration by insertion. Even with a small force / insertion speed / acceleration, for example, if it works in the direction that stretches the mesentery, it will cause strong pain, and if it works in a direction that does not, it will hardly feel pain even with a large force / insertion speed / acceleration. There is also. In order to shorten the examination time, there is a scene where a large force, insertion speed, and acceleration are used for the insertion operation while feeling a strong reaction force from the organ side in a scene where pain is not felt.

  Therefore, not only the force sense / reaction force (force / insertion speed / acceleration) from the organ side is accurately fed back to the sense of the endoscopist, but also the force / insertion speed / acceleration due to the insertion operation also on the organ side. Must be transmitted and output at the same time in equal and equal amounts. At present, when a manual endoscope insertion operation is performed as usual, the endoscopist unconditionally assumes this transmission.

  However, in spite of the actual situation of the endoscopist, the medical control device described in Patent Document 2 is a unidirectional force feedback based on the reaction force from the organ side. Does not guarantee the unconscious assumption of the endoscopist.

  Therefore, an object of the present invention is to provide an endoscope operation system capable of achieving highly accurate operability by obtaining an operation feeling closer to an actual feeling.

  An endoscope operation system according to the present invention includes a master device for instructing an operation of a flexible endoscope, a slave device for operating a flexible endoscope according to an instruction from the master device, the master device, and the slave device A control device for controlling the operation, the master device is an operation means for instructing the operation of the flexible endoscope, a master detection means for detecting an operation state of the operation means and outputting a master state signal, and a drive Master driving means for driving a reaction force against the operating force applied to the operating means by a signal, and the slave device drives the flexible endoscope by a driving means and a supporting means for holding the flexible endoscope. Slave driving means; and slave detection means for detecting an operating state of the flexible endoscope and outputting a slave state signal; and the control device includes the master A drive signal to the master device and the slave device is generated by bidirectional force feedback based on a master state signal from the device and a slave state signal from the slave device, and is added to the master device. The operation force is output to the slave device, and the force generated in the slave device is output to the master device.

  According to the present invention, since the control device controls the operation state from both the master device and the slave device, the operation state of the slave device is simply reflected on the master device, and a reaction force to the operation force is generated. In addition, the operation state of the master device by operating the master device is reflected in the slave device, and the operation state generated in the slave device is reflected in the master device. Therefore, the force sense when the operator unconsciously operates the flexible endoscope can be reproduced by the operation of the master device by the bidirectional force feedback.

  The control device calculates a speed command correction value, which is a correction value for the current speed, based on a difference between a master state signal indicating position information from the master detection means and a slave state signal indicating position information from the slave device. At the same time, based on the master state signal indicating the force information from the master detecting means and the slave state signal indicating the force information from the slave device, a new dynamic model combining a virtual spring, a virtual damper, and a virtual mass is used. Bidirectional force feedback by bilateral control becomes possible by generating a correct command speed and generating a drive signal to the master device and the slave device.

  Based on the master state signal indicating the position information from the master detection means, the control device generates a drive signal to the slave device that becomes a new designated speed, and also shows the force information from the master detection means Bidirectional force feedback is possible even if a drive signal to the master device having a new indicated speed is generated based on the difference between the master state signal and the slave state signal indicating the force information from the slave device. It becomes.

  The slave device is provided as the support means, and holds the slave rail part for sliding the flexible endoscope in the advancing and retracting direction, the slave pedestal part for sliding the slave rail part, and the flexible endoscope. A holding portion provided in the slave pedestal portion that rotates in the state in a state, a slave advancing / retreating direction driving portion provided as the slave driving means for sliding the slave pedestal portion in the advancing / retreating direction, and the flexible endoscope Based on the force applied to the first force detection unit and the holding unit, which is provided as the slave detection unit and detects information based on the force applied to the slave pedestal unit as the first force information. A second force detection unit that detects the detected information as a second detection force, and the control device includes a first detection force from the first force detection unit. Et al., The second value obtained by subtracting the detected force from the second force detecting unit, it is desirable to slave status signal indicating the force information from the slave device.

  The flexible endoscope is held by the holding portion, is mounted on the slave pedestal portion, and slides by the slave rail portion. Therefore, the detection force from the first force detection unit that detects the first force information based on the force applied to the slave pedestal unit is a value that takes into account at least the weight of the holding unit. The control device uses a value obtained by subtracting the second force information from the second force detection unit from the first force information from the first force detection unit as a slave state signal indicating the force information from the slave device, and a new instruction speed. Therefore, the force applied to the flexible endoscope itself can be indirectly calculated and controlled. Therefore, control with little error can be performed.

  The master device is provided as the operation means, and is a master rail unit for instructing the advance / retreat direction of the flexible endoscope, and the operation of the flexible endoscope is performed by sliding the master rail. A reaction force to the sliding force of the master pedestal portion provided as a master pedestal portion, an indication portion provided in the pedestal portion for instructing the axial rotation of the flexible endoscope, and the master drive means A master advancing / retreating direction driving unit that drives, and a master shaft rotation driving unit that drives a reaction force against the shaft rotation of the indicating unit, and provided as the master detecting means in the advancing / retreating direction operating state It is desirable to include a master advancing / retreating direction detecting unit for detecting the movement and a master shaft rotation detecting unit for detecting an operation state of the pointing unit in the shaft rotating direction. .

  By configuring the master device in such a manner, when the operator advances and retracts the flexible endoscope, the master pedestal portion is slid on the master rail portion, and when the flexible endoscope is axially rotated, the instruction portion is rotated. . Accordingly, since the master device may be operated in the same direction as the operation direction of the flexible endoscope, an intuitive operation is possible.

  The master device is provided as the operation means, an operation rod for instructing the advance / retreat direction of the flexible endoscope and the axis rotation of the flexible endoscope, and the operation provided as the master detection means A joystick having an operation detection unit that detects an inclination angle and an inclination direction of the rod as an operation state, and a forward / backward direction of the flexible endoscope, an advancing / retreating direction by the operation rod, and an axis rotation provided as the master driving unit It is desirable that the operation panel includes an operation rod drive unit that drives a reaction force against the operation force.

  With such a configuration of the master device, when the operator advances or retracts the flexible endoscope or pivots the flexible endoscope, the joystick can be tilted or rotated to easily move the flexible endoscope. The endoscope can be operated.

  When the control device has a function of causing the display device to display the status of the slave status signal from the slave device and / or the master status signal from the master device, the control device is visually applied to the flexible endoscope. You can grasp the power.

  The endoscope operation system according to the present invention can reproduce force sensation when the operator unconsciously operates the flexible endoscope by bidirectional force feedback, even by operating the master device. Operation feeling close to touch is obtained. Therefore, since highly accurate operability can be achieved, it is possible to satisfy the use of an operator who is manually performing an endoscope insertion operation.

It is a figure showing an endoscope operation system concerning an embodiment of the invention. It is a perspective view of the slave apparatus of the endoscope operation system shown in FIG. It is a right view of the slave apparatus of the endoscope operation system shown in FIG. It is an expansion perspective view of the front-end part of the slave apparatus of the endoscope operation system shown in FIG. It is an expansion perspective view of the rear end part of the slave apparatus of the endoscope operation system shown in FIG. It is an expansion perspective view of the movable part of the slave apparatus of the endoscope operation system shown in FIG. It is a right view of the movable part of the slave apparatus of the endoscope operation system shown in FIG. It is a front view of the movable part of the slave apparatus of the endoscope operation system shown in FIG. It is a rear view of the movable part of the slave apparatus of the endoscope operation system shown in FIG. It is a perspective view of the master apparatus of the endoscope operation system shown in FIG. It is an expansion perspective view of the movable part of the master apparatus of the endoscope operation system shown in FIG. It is a right side surface of the master apparatus of the endoscope operation system shown in FIG. It is a front view of the master apparatus of the endoscope operation system shown in FIG. It is a rear view of the master apparatus of the endoscope operation system shown in FIG. It is a block diagram which shows the control apparatus of the endoscope operation system shown in FIG. It is a block diagram which shows the endoscope operation system shown in FIG. 1, and is a figure at the time of operating a flexible endoscope in an advancing / retreating direction. It is a block diagram which shows the endoscope operation system shown in FIG. 1, and is a figure at the time of operating a flexible endoscope to an axial rotation direction. It is a block diagram which shows the endoscope operation system shown in FIG. 1, and is a figure at the time of operating the insertion part of a flexible endoscope up and down and right and left. It is a figure which shows the advancing / retreating direction control part of the control apparatus shown in FIG. It is a figure which shows the shaft rotation control part of the control apparatus shown in FIG. It is a figure which shows an example of the display screen displayed on the display apparatus by the display control part of the control apparatus shown in FIG. It is a perspective view which shows an example which used the master apparatus of the endoscope operation system as the operation panel. It is the schematic which shows the structure of the joystick of the operation panel shown in FIG. It is a figure which shows the advancing / retreating direction control part of a control apparatus when the operation panel shown in FIG. 22 is employ | adopted. It is a figure which shows the shaft rotation control part of a control apparatus when the operation panel shown in FIG. 22 is employ | adopted.

An endoscope operation system according to an embodiment of the present invention will be described with reference to the drawings. In this specification, the direction in which the flexible endoscope is inserted into or removed from the body of the subject is referred to as the forward / backward direction, and the insertion portion of the flexible endoscope that is inserted into the body of the subject. Rotation around the axis is referred to as axial rotation.
As shown in FIG. 1, an endoscope operation system 1 includes a slave device 2 on the subject side, a master device 3 on the operation side, and a control device 4 that controls the slave device 2 and the master device 3. Motor driver devices 5 and 6 (see FIGS. 16 to 18), a display device 7 and an input device 8 are provided.

First, the configuration of the slave device 2 will be described with reference to FIGS.
The slave device 2 is a suspension that supports the base portion 21 that supports the entire slave device 2, the movable portion 22 that moves in the forward and backward directions, and the insertion portion of the flexible endoscope E that is suspended along the forward and backward directions. Part 23.

  The base portion 21 (support means) includes a frame portion 211 provided with casters and support legs, two rail portions 212 arranged along the longitudinal direction (advancing and retreating direction) of the frame portion 211, and a rail portion. An advance / retreat direction drive unit 213 that moves the movable unit 22 guided by 212 in the advance / retreat direction, and a rotary encoder 214 that detects an operation state of the advance / retreat direction drive unit 213 are provided.

The frame portion 211 is formed in a rectangular shape in plan view by fixing both ends of two parallel bar members 211a with a connecting member 211b.
The rail part 212 (slave rail part) is formed by two parallel round bar members arranged between the connecting members 211b.
The advancing / retreating direction driving unit 213 (slave driving means, slave advancing / retreating direction driving unit) includes an endless belt 213a connected and fixed to the movable unit 22, a driven pulley 213b and a driving pulley 213c for moving the endless belt 213a, and a driving pulley 213c. A pulley 213d arranged coaxially is provided with a motor 213e that rotationally drives via an endless belt.
The rotary encoder 214 (slave detection means) outputs rotation information of the motor 213e as position information (slave position) by a forward / backward direction position signal (slave state signal).

  The movable portion 22 is supported by a pedestal portion 221 that slides on the rail portion 212, a slider 222 provided on the pedestal portion 221, and a support member provided on the slider 222, and an axis that rotates the flexible endoscope E The rotary drive unit 223, the rotary encoder 224a that detects the operating state of the shaft rotary drive unit 223, the torque sensor 224b, the holding unit 225 that holds the flexible endoscope E, and the handle unit of the flexible endoscope E are driven. Provided between two handle driving units 226, a handle detection unit (not shown) for detecting the operating state of the handle unit of the flexible endoscope E, and the fixed side (the pedestal unit 221 side) and the movable side of the slider 222 And a load cell 228a fixed to both and an acceleration sensor 228b for detecting the acceleration of the movable portion 22.

The pedestal part 221 (support means, slave pedestal part) is a moving stage attached to the rail part 212.
The slider 222 is composed of a rectangular plate body (fixed side) whose longitudinal direction is the longitudinal direction and a plate body having a concave cross section (movable side) covering the plate body in a groove, and the movable side is the forward / backward direction. Slide to.
The shaft rotation drive unit 223 (slave drive means, slave shaft rotation drive unit) includes a motor 223a serving as a drive source, a drive pulley 223b that is rotationally driven by the motor 223a, an endless belt 223c that rotates around the drive pulley 223b, and an endless And a driven pulley 223d that rotates around the belt 223c and rotates the holding portion 225.

The rotary encoder 224a (slave detection means) detects the rotation of the movable portion 22 by the motor 223a, and the position information (slave position) of the axis rotation of the slave device 2 is converted to the axis rotation position signal (slave state signal). Output as operating status.
The torque sensor 224b (slave detection means, first force detection unit) detects the first force information based on the axial rotation force of the movable portion 22 by the motor 223a, and detects the first force information of the axial rotation of the slave device 2 ( (Slave detection force) is output as the shaft rotation operation state by the shaft rotation force signal (slave state signal).
The holding part 225 (supporting means) rotates the shaft while the handle part of the flexible endoscope E is accommodated and the handle driving part 226 (the vertical handle driving part 226a and the left and right handle driving part 226b) is attached.

The handle driving unit 226 includes an upper / lower handle driving unit 226a for driving the upper / lower angle handle and a left / right handle driving unit 226b for driving the left / right angle handle.
The vertical handle driving unit 226 a includes a spur gear that encloses the vertical angle handle and a motor that serves as a driving source, and is provided on the back side of the top plate of the holding unit 225.
Similarly, the left and right handle drive unit 226b includes a spur gear that encloses the left and right angle handles and a motor that serves as a drive source, and is provided on the back side of the top plate of the holding unit 225.
The handle detection unit is a rotary encoder that includes an upper and lower handle detection unit and a left and right handle detection unit, and detects the operating state of the upper and lower angle handles and the left and right angle handles.

The load cell 228a (slave detection means, first force detection unit) applies strain to the movable unit 22 (soft endoscope E), which is caused by sliding of the slider 222 due to the load of each unit mounted on the slider 222. The first force information based on the applied force is detected, and the first force information (slave detection force) in the advancing / retreating direction of the slave device 2 is output as the operation state in the advancing / retreating direction by a force signal (slave state signal) in the advancing / retreating direction. It is a strain sensor.
The acceleration sensor 228 b (slave detection means, second force detection unit) is provided in the holding unit 225. The acceleration sensor 228b detects the advance / retreat direction of the movable unit 22 (soft endoscope E) and the acceleration of the shaft rotation as second force information based on the force applied to the holding unit 225, and the advance / retreat direction or shaft rotation of the slave device 2 is detected. The second force information at is output as an advancing / retreating direction acceleration signal (detected acceleration).

The suspension part 23 supports a long insertion part inserted into the body of the subject of the flexible endoscope E.
The suspension part 23 includes three substantially L-shaped support parts 231 provided on one side of the base part 21, a beam part 232 provided on each of the support parts 231, and a support part 231. The fixing member 233 provided on the upper portion of the first member, the rail section 234 having a concave cross section laid on the fixing member 233, and the insertion portion of the flexible endoscope E are inserted into the ring at one end and suspended, and the other end is And a suspension member 235 that slides on the rail portion 234.

Next, the master device 3 will be described with reference to FIGS.
The master device 3 includes a base portion 31 that supports the entire master device 3, a movable portion 32 that moves in the forward / backward direction, a linear encoder 33, and a shaft motor 34.

The base portion 31 includes a frame portion 311 having a rectangular shape in plan view, and a guide plate 312 having a guide groove for making the slide of the movable portion 32 stable.
The guide plate 312 (master rail portion) is provided with linear grooves on both side surfaces as guide grooves for the movable portion 32 to move along the longitudinal direction.

  The movable portion 32 is supported by a pedestal portion 321 that slides on the guide plate 312, a slider 322 provided on the pedestal portion 321, a support member provided on the slider 322, and a bearing, and moves the flexible endoscope E forward and backward. An instruction unit 323 for instructing to rotate or instructing shaft rotation, a rotary encoder 324a and a torque sensor 324b for detecting the operating state of the instruction unit 323, and shaft rotation for driving a reaction force against the operating force of the operator Provided between the drive unit 325, the handle instruction unit 326 for instructing the driving of the vertical and horizontal angle handles of the flexible endoscope E, and the fixed side (the pedestal unit 321 side) and the movable side of the slider 322. , And a load cell 327 fixed to both.

The pedestal 321 (master pedestal) is a moving stage attached to the guide plate 312 and the shaft motor 34.
The slider 322 is composed of a rectangular plate body (fixed side) whose longitudinal direction is the longitudinal direction and a plate body having a concave cross section (movable side) that covers the plate body in a groove, and the movable side is in the forward / backward direction. Slide to.
The instruction unit 323 (operation means) is a handle that is gripped by the operator and moves or rotates the movable unit 32 in the forward / backward direction.
The rotary encoder 324a (master detection unit) detects the rotation of the movable unit 32 by the instruction unit 323, and rotates the shaft rotation position information (master position) of the master device 3 by the shaft rotation position signal (master state signal). Is output as the operating state.

The torque sensor 324b (master detection means) detects the axial rotation force of the movable unit 32 by the instruction unit 323, and the axial rotation force information (master detection force) of the master device 3 is used as the axial rotation force signal (master). Status signal) is output as the operating state of the shaft rotation.
The shaft rotation drive unit 325 (master drive means, master shaft rotation drive unit) is a motor that drives a reaction force against the operation force of the shaft rotation on the instruction unit 323.
The handle instruction unit 326 (operation means) moves the operation rod back and forth, left and right, and the built-in operation detection unit detects the inclination angle and the inclination direction of the operation rod as an operating state and notifies the control device 4 of the softness. 3 is a joystick for instructing the bending direction to the distal end of the insertion portion of the endoscope E. FIG.

  The load cell 327 (master detection means) detects the strain of the load cell 327 generated by sliding the slider 322 by the operation of the instruction unit 323 as a force applied to the movable unit 32, and information on the force of the master device 3 in the advancing / retreating direction ( It is a strain sensor that outputs a master detection force) as an operation state in the advancing / retreating direction by a force signal in the advancing / retreating direction (master state signal).

The linear encoder 33 (master detection means) includes a scale unit 331 and a sensor unit 332.
The scale part 331 is provided in the frame part 311. The scale unit 331 indicates a position in the forward / backward direction, and an optical system is used in the present embodiment. The sensor unit 332 converts the return light reflected by the irradiated light to the scale unit 331 into an electrical signal and outputs the electrical signal, thereby obtaining the position information (master position) of the master device 3 in the forward / backward direction. A master state signal) is output as an operation state in the forward / backward direction.

The shaft motor 34 (master driving means, master advancing / retreating direction driving unit) drives a reaction force against an operating force in the advancing / retreating direction. The shaft motor 34 includes a shaft portion 341 and a mover 342. The shaft portion 341 is disposed along the longitudinal direction (advancing and retracting direction) of the frame portion 311 and is formed by a round bar member having a magnet built therein.
The mover 342 paired with the shaft portion 341 is a cylindrical body with a built-in coil, and moves along the shaft portion 341.

Next, the control device 4 will be described with reference to FIGS.
The control device 4 is realized by a computer on which an endoscope control program operates on a computer. As shown in FIG. 15, the control device 4 includes an advancing / retreating direction control unit 41, a shaft rotation control unit 42, a handle control unit 43, a display control unit 44, an input control unit 45, a storage unit 46, and an output. Part 47.

The advance / retreat direction control unit 41 controls the movement of the flexible endoscope E in the advance / retreat direction. The shaft rotation control unit 42 controls the shaft rotation of the flexible endoscope E. The handle control unit 43 controls the vertical and horizontal angle handles of the flexible endoscope E. Drive signals from the advancing / retreating direction control unit 41, the shaft rotation control unit 42, and the handle control unit 43 are sent to the slave device 2 and the master device 3 through the motor driver devices 5 and 6.
The display control unit 44 has a function of receiving information from the advance / retreat direction control unit 41, the shaft rotation control unit 42, and the handle control unit 43 and displaying the information on the display device 7. The input control unit 45 controls the entire control device 4 based on input information from the input device 8.

The storage unit 46 stores data of the advancing / retreating direction and the axial rotation position and force when operated by the master device 3, and the bending position and force of the insertion unit in the vertical and horizontal directions. The storage unit 46 can be a high-capacity hard disk or flash memory that can be accessed at high speed.
The output unit 47 outputs the data stored in the storage unit 46 to the outside via a LAN (Local Area Network) or a USB (Universal Serial Bus). Although any output format of the output unit 47 can be adopted, for example, CSV (Comma Separated Values) or binary data can be used.
Since each data can be saved by the storage unit 46 and data can be taken out by the output unit 47, an unskilled operator can later learn the operation of a skilled operator and improve the proficiency level.

  The motor driver devices 5 and 6 receive a drive signal from the control device 4 and generate a control current for driving each motor. Further, the motor driver devices 5 and 6 have a function of receiving appropriate signals of respective operation states and performing appropriate control. The motor driver devices 5 and 6 can use general commercial products, and can be omitted depending on the situation.

  The display device 7 displays on a display based on a display signal from the control device 4. The display device 7 can be a CRT, LCD, or organic EL display. The input device 8 can be a keyboard if the control device 4 is a computer. Further, the input device 8 can be an operation panel having start / stop / several control keys.

  The operation and use state of the embodiment of the present invention configured as described above will be described with reference to FIGS. FIGS. 16 to 18 are block diagrams when the flexible endoscope E is moved in the forward / backward direction, the shaft is rotated, and the distal end of the insertion portion is moved in the vertical direction and the horizontal direction, respectively. However, in this embodiment, control of the advance / retreat direction of the flexible endoscope E and control of shaft rotation will be described.

  When the operator holds the instruction unit 323 of the master device 3 and moves the movable unit 32 in the forward / backward direction, the control device 4 moves the movable unit 22 of the slave device 2 in the same direction.

As shown in FIG. 16, when the movable portion 32 of the master device 3 moves in the forward / backward direction, position information in the forward / backward direction is output from the linear encoder 33 to the control device 4, and a force signal is output from the load cell 327.
When the movable portion 22 of the slave device 2 moves in the forward / backward direction, position information in the forward / backward direction is output from the rotary encoder 214 to the control device 4, a force signal is output from the load cell 228a, and an acceleration signal is output from the acceleration sensor 228b. Is done.
In the control device 4, each information is input to the forward / backward direction control unit 41.

Here, the bilateral control performed by the forward / backward direction control unit 41 will be described with reference to FIG.
As shown in FIG. 19, the advancing / retreating direction control unit 41 has position information (master position) in the advancing / retreating direction from the linear encoder 33 of the master device 3 and position information (slave position) in the advancing / retreating direction from the rotary encoder 214 of the slave device 2. ) Is subtracted by the subtracter 411, and a position deviation which is a difference between the master position and the slave position is calculated. The position deviation obtained by subtraction by the subtractor 411 is converted into a speed by the calculator 412, and this speed is calculated as a speed command correction value in the forward / backward direction that is a correction value for the current speed. In the present embodiment, the calculation by the calculator 412 is performed based on a proportional expression that multiplies the position deviation by a coefficient. Although this coefficient can be determined by various methods, the calculator 412 of the present embodiment experimentally obtains a large value that does not oscillate.

  Further, in the advancing / retreating direction control unit 41, force information in the advancing / retreating direction from the load cell 327 of the master device 3 and force information in the advancing / retreating direction from the load cell 228a of the slave device 2 are input to the speed generator 413 based on the virtual model. However, the force information in the advancing / retreating direction from the load cell 228a of the slave device 2 is calculated in advance from the detected acceleration from the acceleration sensor 228b of the slave device 2 F = ma (where m is from the slider 222 on which the load cell 228a is mounted). The weight of the movable part 22 above, a is the acceleration detected by the acceleration sensor 228b) is converted into a value converted into force by the calculator 414, and subtracted by the subtractor 415.

  This is because the force information in the advancing / retreating direction from the load cell 228a of the slave device 2 is a value in which the weight of the entire movable unit 22 including the holding unit 225 that holds the flexible endoscope E is added. By subtracting the force information based on the acceleration detected by the acceleration sensor 228b from the force information in the advancing / retreating direction from the load cell 228a by the subtractor 415, the weight of the movable part 22 including the holding part 225 and the flexible endoscope E is obtained. Can be countered. Therefore, the flexible endoscope E can be used as it is without remodeling, and control with few errors can be performed.

In the present embodiment, the acceleration sensor 228b is used as the second force detection unit, and the force is converted into the force by the calculator 414 of the control device 4. However, if the force applied to the holding unit 225 can be directly detected, the acceleration sensor 228b. May be a force sensor. Moreover, as long as the information (second force information) that can estimate the force applied to the movable unit 22 can be detected, the second detection unit may be configured by using other information.
Also, in the load cell 228a, as long as information (first force information) that can estimate the force applied to the holding unit 225 can be detected, the other one may be used to configure the first force detection unit.
In this case, like the calculator 414 in the advance / retreat direction control unit 41, the first force information or the second force information is converted into force by the calculator as necessary.
For example, position information can be converted into force information by differentiating twice and multiplying by mass, or speed information by differentiating once and multiplying by mass.

  In the speed generator 413, the force indicated by the force information in the advancing / retreating direction from the load cell 327 of the master device 3 and the force indicated by the force information from the subtractor 415 are combined into a virtual model combining the virtual spring, the virtual damper, and the virtual mass. Is applied to move the virtual model and generate velocity. In the virtual model of the present embodiment, since the virtual spring constant is 0, the speed generator 413 shown in FIG. 19 does not show the virtual spring, but the virtual spring constant is set according to the target control. A numerical value may be given. Since the speed generator 413 generates the speed using the virtual model, control according to the setting of the dynamic model is possible, and it is also possible to generate a marginal speed that does not oscillate as the indicated speed.

The advancing / retreating direction control unit 41 outputs the speed of the virtual model in the speed generator 413 as a speed command value (slave drive signal) in the advancing / retreating direction to the slave device 2 that is an instruction speed in the new advancing / retreating direction.
Further, the advancing / retreating direction control unit 41 adds the speed of the virtual model by the speed generator 413 to the adder 416 to the speed command correction value obtained by converting the position deviation (difference between the master position and the slave position) to the speed by the calculator 412. Is added as a speed command value in the forward / backward direction to the master device 3.
By such control, the advance / retreat direction control unit 41 performs control so that the operation of the master device 3 in the advance / retreat direction is forcibly matched with the slave device 2.

  In this way, the control device 4 is based on the position information and the force information in the advancing and retreating directions of the slave device 2 and the master device 3, and the speed command correction value that is a relative value to the correction speed and the speed command that is the target speed. By performing bilateral control to calculate the value and instruct the slave device 2 and the master device 3, the operation force applied to the master device 3 is output to the slave device 2, and the force generated in the slave device 2 is It can be generated in the master device 3 as it is.

  Therefore, the endoscope operation system 1 not only accurately feeds back force sense / reaction force (force / insertion speed / acceleration) from the organ side to the sense of the endoscopist, but also to the organ side. Since the force, insertion speed, and acceleration of the insertion operation are transmitted simultaneously in equal quality and equal amount, the operator can obtain an operation feeling closer to the actual feeling than bilateral control in this bidirectional force feedback, so accuracy High operability can be achieved. Therefore, it is possible to satisfy the use of the operator who is manually performing the endoscope insertion operation. In addition, an endoscope insertion operation that requires experience based on the “built-in sensation” can be performed remotely.

  Next, a case where the operator holds the instruction unit 323 of the master device 3 and rotates the movable unit 32 with reference to FIGS. 17 and 20 will be described. In FIG. 17, the same components as those in FIG. 16 and FIG. 20 in FIG.

When the operator rotates the instruction unit 323 of the master device 3, the control device 4 rotates the movable unit 22 of the slave device 2 in the same direction.
As shown in FIG. 17, when the movable portion 32 of the master device 3 rotates, the position information of the shaft rotation is output from the rotary encoder 324a to the control device 4, and the force signal is output from the torque sensor 324b.
When the movable portion 22 of the slave device 2 rotates, the rotary encoder 224a outputs the position information of the shaft rotation to the control device 4, the force signal is output from the torque sensor 224b, and the acceleration signal is output from the acceleration sensor 228b. The

In the control device 4, each piece of information is input to the shaft rotation control unit 42 as shown in FIG. 20.
The shaft rotation control unit 42 outputs the speed of the virtual model in the speed generator 413 as a shaft rotation speed command value (slave drive signal) to the slave device 2 in the same manner as the advance / retreat direction control unit 41.
In addition, the shaft rotation control unit 42 adds the speed of the virtual model by the speed generator 413 to the speed command correction value obtained by converting the position deviation (difference between the master position and the slave position) into the speed by the calculator 412 and the adder 416. The sum is output as a speed command value in the forward / backward direction to the master device 3.

  In the present embodiment, the torque sensor 224b is used as the first force detection unit. However, as with the load cell 228a, if information that can estimate the force applied to the holding unit 225 (first force information) can be detected, the other You may comprise a 1st force detection part using a thing.

  With such control, the shaft rotation control unit 42 performs control so that the shaft rotation operation of the master device 3 is forcibly matched with the slave device 2.

  In this way, the control device 4 uses the speed command correction value that is a relative value to the correction speed and the target speed based on the position information and the force information of the shaft rotation between the slave device 2 and the master device 3. By calculating a certain speed command value, the same effect as the forward / backward direction control unit 41 can be obtained.

  The display control unit 44 displays various information on the display screen 70 of the display device 7. In the display screen shown in FIG. 21, a force graph display 71 in the advancing / retreating direction, a bar graph display 72 in the advancing / retreating direction, a position graph display 73 in the advancing / retreating direction, a force graph display 74 of the shaft rotation, a rotation amount display 75, a bending A status display 76 and a connection status display 77 are displayed.

The advancing / retreating direction force graph display 71 displays the force information from the subtracter 415 of the advancing / retreating direction control unit 41 as the advancing / retreating direction force applied to the flexible endoscope E, the ordinate indicates the force, and the abscissa indicates the elapsed time. It is a graph.
The bar graph display 72 in the advance / retreat direction is a level meter that displays the force in the advance / retreat direction applied to the flexible endoscope E in real time by the expansion / contraction of the bar.
The position graph display 73 in the advance / retreat direction indicates the position in the advance / retreat direction of the flexible endoscope E obtained from the master position or the slave position, and is a graph in which the vertical axis indicates the position and the horizontal axis indicates the elapsed time.
The shaft rotation force graph display 74 is a subtracter 415 of the shaft rotation control unit 42 indicating the master detection force from the master device 3 or the slave detection force of the slave device 2 as the shaft rotation force applied to the flexible endoscope E. This is a level meter that displays force information from the hand by rotating the pointer.
The rotation amount display 75 indicates the angle (direction I) of the axis rotation of the flexible endoscope E obtained from the master position from the rotary encoder 324a of the master device 3 or the slave position from the rotary encoder 224a of the slave device 2 by rotating the pointer. Display by direction.
The bending state display 76 displays the bending direction and the bending force in the vertical and horizontal directions of the insertion portion of the flexible endoscope E by the direction and length of the pointer.
The connection state display 77 indicates a connection state in which the slave device 2 operates when the master device 3 is operated or a disconnected state in which the slave device 2 does not operate even when the master device 3 is operated.

  In this way, the display control unit 44 displays the force applied to the flexible endoscope E, the position of the flexible endoscope E, etc., so that it can be grasped visually as well as the touch of the hand. Operation becomes possible.

This connected state or disconnected state can be switched by instructing with a predetermined key or a predetermined lever of the input device 8.
In the connected state, each control unit from the advance / retreat direction control unit 41 to the handle control unit 43 performs a normal operation in which the slave device 2 follows the master device 3.
In the disconnected state, the input control unit 45 that has received an instruction from the input device 8 stops the operation of each control unit from the advance / retreat direction control unit 41 to the handle control unit 43.

  For example, when the length of the base portion 31 of the master device 3 is shorter than the base portion 21 of the slave device 2, the movable portion 32 can be advanced from one end to the other end of the base portion 31. The base part 21 of the slave device 2 can still be advanced, and the movable part 32 needs to be further advanced in order to insert deeply into the body of the subject. In such a case, by instructing the cutting state with the input device 8, the movable portion 32 is once returned from the other end of the base portion 31 to one end, and then set in the connected state, and then again the movable portion. By moving 32 from one end to the other end, the movable part 32 can be advanced further.

  In the master device 3 according to the present embodiment, when the operator advances and retracts the flexible endoscope E, the guide unit 312 is caused to slide the movable portion 32 by holding the instruction portion 323, and the flexible endoscope E is rotated. In some cases, since the operation can be performed by rotating the instruction unit 323, the master device may be operated in the same direction as the operation direction of the flexible endoscope E. Therefore, an intuitive operation is possible.

However, the master device can also be realized with an operation panel. The master device shown in FIG. 22 is an operation panel using a joystick.
The operation panel 9 shown in FIG. 22 is provided with two joysticks 92 and 93 in a box-shaped main body 91.

When the operation stick 92a is tilted back and forth, the joystick 92 can instruct the flexible endoscope to move in the forward / backward direction. Further, when the operation rod 92a is tilted to the left and right, it is possible to instruct the axis rotation of the flexible endoscope.
In addition, when the operation rod 92a is tilted back and forth, the joystick 93 can be instructed to bend the distal end of the insertion portion in the vertical direction, and when the operation rod 92a is tilted left and right, the lateral direction of the distal end of the insertion portion. Can be instructed to bend.

The operation rod 92a of the joystick 92 is provided with strain gauges 92b and 92c, motors 92d and 92e, and encoders 92f and 92g.
The strain gauge 92b (master detection means) outputs the inclination force that indicates the advance / retreat direction as force information (master detection force) in the advance / retreat direction by a force signal (master state signal) in the advance / retreat direction.
The strain gauge 92c (master detection means) outputs a force of inclination (indicating a shaft rotation direction) as force information (master detection force) in the shaft rotation direction as a shaft rotation force signal (master state signal).
The motor 92d (master shaft rotation drive unit) drives a reaction force against the operation force to the shaft rotation of the operation rod 92a detected by the strain gauge 92c.
The motor 92e (master advance / retreat direction drive unit) drives a reaction force with respect to the operation force in the advance / retreat direction of the operation rod 92a detected by the strain gauge 92b.
The encoder 92f (master detection means) detects the angle of inclination of the operating rod 92a that indicates the advancing / retreating direction by the rotation of the motor 92d, and uses the position signal (master status signal) for the advancing / retreating direction as position information (master position) for the advancing / retreating direction. ).
The encoder 92g (master detection means) detects the angle of inclination of the operating rod 92a instructing the shaft rotation by the rotation of the motor 92e, and uses the shaft rotation position signal (master state signal) as the shaft rotation position information (master position). ).

Similarly, the operation bar 93a of the joystick 93 is provided with strain gauges 93b and 93c, motors 93d and 93e, and encoders 93f and 93g.
The strain gauge 93b (master detection means) uses an inclination force that instructs bending of the distal end of the insertion portion in the vertical direction as force information (master detection force) in the vertical direction, and a force signal in the vertical direction (master state signal). To output.
The strain gauge 93c (master detection means) uses a tilting force instructing bending of the distal end of the insertion portion in the left-right direction as force information (master detection force) in the left-right direction, and a force signal in the left-right direction (master state signal). To output.
The motor 93d (master left and right direction drive unit) drives a reaction force against the operation force in the left and right direction on the operation rod 93a detected by the strain gauge 93c.
The motor 93e (master vertical drive unit) drives a reaction force against the vertical operating force applied to the operating rod 93a detected by the strain gauge 93b.
The encoder 93f (master detection means) detects the angle of inclination of the operating rod 92a that indicates the vertical direction by the rotation of the motor 93d, and uses the vertical position signal (master status signal) as vertical position information (master position). ).
The encoder 93g (master detection means) detects the inclination angle of the operation bar 92a that indicates the left and right direction by the rotation of the motor 93e, and uses the position signal (master state signal) in the left and right direction as position information (master position) in the left and right direction. ).

Here, the advancing / retreating direction control unit of the control device when the operation panel 9 is adopted as the master device will be described with reference to FIG.
As shown in FIG. 24, in the advance / retreat direction control unit 41x, position information (master position) in the advance / retreat direction from the encoder 92f of the master device 3 is converted into a speed by the calculator 417, and this speed is a correction value for the current speed. It is calculated as a speed command correction value in a certain forward / backward direction and is output to the slave device 2.

Further, in the advance / retreat direction control unit 41x, the force information in the advance / retreat direction from the strain gauge 92b of the master device 3 and the force information in the advance / retreat direction from the load cell 228a of the slave device 2 are added by the adder 418. Similarly to the advancing / retreating direction control unit 41 described with reference to FIG. 19, force information in the advancing / retreating direction from the load cell 228 a of the slave device 2 is obtained in advance by detecting the acceleration detected from the acceleration sensor 228 b of the slave device 2 by the calculator 414. The subtracter 415 subtracts the converted value.
The addition by the adder 418 is such that when the operating rod 92a is tilted in the traveling direction, the force information from the strain gauge 92b becomes a positive value, and when the operating rod 92a is tilted in the backward direction, the strain gauge 92b This is because the force information becomes negative.

The force information indicating the force deviation added by the adder 418 is converted into a speed by the calculator 418, and this speed is calculated as a speed command correction value in the forward / backward direction, which is a correction value for the current speed. Is output.
By performing such control by the advancing / retreating direction control unit 41x, it is possible to obtain the same effect as that of the advancing / retreating direction control unit 41 that performs bilateral control.

  The position information (slave position) in the advancing / retreating direction from the rotary encoder 214 of the slave device 2 is sent to a comparator (not shown) for checking the movable limit position of the movable portion 22 of the slave device 2. Can be entered. By doing so, an excessive operation instruction to the movable part 22 of the slave device 2 can be prevented.

Next, the shaft rotation control unit 42x shown in FIG. 25 has the same configuration as the forward / backward direction control unit 41x shown in FIG. .
In this manner, the flexible endoscope can be rotated in the clockwise or counterclockwise direction while moving the flexible endoscope in the forward / backward direction with one joystick 92, and the tip of the flexible endoscope can be moved up and down with one joystick 93. It can be bent in the left-right direction while being bent in the direction.

In the slave device 2 according to the present embodiment, the flexible endoscope E is held and operated by the master device 3. However, the slave device can also function on a computer.
That is, the slave device includes a computer, a flexible endoscope, a supporting unit that holds the flexible endoscope, a slave driving unit that drives the flexible endoscope by a slave driving signal, and an operating state of the flexible endoscope. It is possible to operate a simulation program for a slave device that is made to function as slave detection means that detects and outputs as a slave status signal.
By making the slave device have a simulation program operated by a computer, the endoscope operation system can be a training simulation device.
At this time, in the simulation program, the soft endoscope, the support unit, the slave drive unit, and the slave detection unit are reproduced by further combining a virtual model in which a virtual spring, a virtual damper, and a virtual mass are combined, and an electrical signal is transmitted to the control device 4. As an interface, it outputs a slave state signal. Further, an interface is set so as to operate according to a drive signal from the control device 4. In this way, the computer can function as a slave device.

  In the present embodiment, the speed controlled by the control device 4 is generated based on the position information from the linear encoder 33 and the rotary encoders 214, 224a, 324a. Since it is possible to convert to, speed or acceleration may be used.

  The endoscope operation system of the present invention can be applied not only to an oral gastrointestinal endoscope but also to a lower gastrointestinal endoscope, and is suitable for inspection, surgery, and operation training using an endoscope.

DESCRIPTION OF SYMBOLS 1 Endoscope operation system 2 Slave apparatus 21 Base part 211 Frame part 211a Bar member 211b Connecting member 212 Rail part 213 Advancing / retreating direction drive part 213a Endless belt 213b Driven pulley 213c Drive pulley 213d Pulley 213e Motor 214 Rotary encoder 22 Movable part 221 Base part 222 Slider 223 Shaft rotation drive part 223a Motor 223b Drive pulley 223c Endless belt 223d Driven pulley 224a Rotary encoder 224b Torque sensor 225 Holding part 226 Handle drive part 226a Vertical handle drive part 226b Left and right handle drive part 228a Load cell 228b Acceleration sensor 23 Suspension Section 231 Post section 232 Beam section 233 Fixing member 234 Rail section 235 Hanging member 3 Master device 31 Base part 311 Frame part 312 Guide plate 32 Movable part 321 Base part 322 Slider 323 Instruction part 324a Rotary encoder 324b Torque sensor 325 Shaft rotation drive part 326 Handle instruction part 327 Load cell 33 Linear encoder 331 Scale part 332 Sensor part 34 Shaft motor 341 Shaft Unit 342 mover 4 control device 41, 41x advance / retreat direction control unit 411 subtractor 412 calculator 413 speed generator 414 calculator 415 subtractor 416 adder 42, 42x shaft rotation control unit 43 handle control unit 44 display control unit 45 input Control unit 46 Storage unit 47 Output unit 5,6 Motor driver device 7 Display device 70 Display screen 71 Force graph display in forward / backward direction 72 Bar graph display in forward / backward direction 73 Position graph display in forward / backward direction 74 Axis rotation Power graphical representation 75 rotation amount display 76 flexion display 77 connected state display 8 input device 9 control panel 91 the body 92 joysticks 92a, 93a operating rod 92b, 93 b strain gauge 92d, 92e motor 92f, 92 g encoder E Flexible endoscopes

Claims (7)

A master device for instructing the operation of the flexible endoscope, a slave device for operating the flexible endoscope according to an instruction from the master device, and a control device for controlling the master device and the slave device,
The master device includes an operation means for instructing the operation of the flexible endoscope, a master detection means for detecting an operation state of the operation means and outputting a master state signal, and an operation force applied to the operation means by a drive signal. Master drive means for driving the reaction force against
The slave device detects the operating state of the flexible endoscope by supporting means for holding the flexible endoscope, slave driving means for driving the flexible endoscope by a driving signal, and outputting a slave state signal. Slave detection means for outputting,
The control device generates a drive signal to the master device and the slave device by bidirectional force feedback based on a master state signal from the master device and a slave state signal from the slave device. An endoscope operation system that outputs an operation force applied to the master device to the slave device and outputs a force generated in the slave device to the master device. The controller is
A speed command correction value, which is a correction value for the current speed, is calculated based on a difference between a master state signal indicating position information from the master detection means and a slave state signal indicating position information from the slave device, and the master Based on the master state signal indicating the force information from the detection means and the slave state signal indicating the force information from the slave device, a new indication speed is generated by a dynamic model combining a virtual spring, a virtual damper and a virtual mass. The endoscope operation system according to claim 1, wherein bilateral control in bidirectional force feedback is performed by generating drive signals to the master device and the slave device. The controller is
Based on the master status signal indicating the position information from the master detection means, a drive signal to the slave device that becomes a new designated speed is generated, and the master status signal indicating the force information from the master detection means and the The endoscope operation system according to claim 1, wherein a drive signal to the master device having a new designated speed is generated based on a difference from a slave state signal indicating force information from the slave device. The slave device is
A slave rail portion provided as the support means for sliding the flexible endoscope in the forward / backward direction, a slave pedestal portion for sliding the slave rail portion, and a shaft rotating while holding the flexible endoscope A holding portion provided in the slave pedestal portion;
Provided as the slave drive means, a slave advance / retreat direction drive unit that slides the slave pedestal portion in the advance / retreat direction, and a slave shaft rotation drive unit that rotates the flexible endoscope.
A first force detection unit that is provided as the slave detection means and detects information based on the force applied to the slave pedestal as first force information and information based on the force applied to the holding unit is used as the second detection force. A second force detection unit for detecting,
The controller is configured to obtain a value obtained by subtracting the second detection force from the second force detection unit from the first detection force from the first force detection unit, and a slave state signal indicating force information from the slave device. The endoscope operation system according to claim 2 or 3. The master device is
A master rail portion for instructing the advancing / retreating direction of the flexible endoscope provided as the operating means, a master pedestal portion for operating the advancing / retreating direction of the flexible endoscope by sliding the master rail, and An indicator provided on the pedestal for instructing the shaft rotation of the flexible endoscope;
A master advancing / retreating direction driving unit for driving a reaction force against a sliding force of the master pedestal portion provided as the master driving means, and a master shaft rotation driving unit for driving a reaction force against the shaft rotation of the indicating unit
A master advancing / retreating direction detecting unit for detecting an operating state of the master pedestal in the advancing / retreating direction; and a master shaft rotation detecting unit for detecting an operating state of the pointing unit in the axis rotating direction, provided as the master detecting unit. The endoscope operation system according to claim 1 or 2, wherein The master device is
An operating rod provided as the operating means for instructing the advance / retreat direction of the flexible endoscope and an axial rotation of the flexible endoscope; and an inclination angle of the operating rod provided as the master detecting means; A joystick having an operation detection unit that detects an inclination direction as an operation state;
An operation rod drive unit that is provided as the master drive means and drives a reaction force against the operation force to the advance and retreat direction of the flexible endoscope and the advance and retreat direction by the operation rod and the shaft rotation;
The endoscope operation system according to claim 1 or 3, wherein the operation panel is provided with an operation panel.   The internal control according to any one of claims 1 to 6, wherein the control device has a function of causing a display device to display a state of a slave state signal from the slave device and / or a master state signal from a master device. Mirror operation system.