JP2019165839A - Treatment device - Google Patents

Abstract

To provide a technology to facilitate an appropriate robot operation according to a treatment scene.SOLUTION: A treatment head 3 includes a radiation part 31 and a diagnostic probe 32, and is provided at the tip of a robot arm 2 having six degrees of freedom. The radiation part 31 radiates a convergent ultrasonic wave. The diagnostic probe 32 is protrusively provided from the center of the radiation part toward the radiation direction of the convergent ultrasonic wave, and transmits/receives an ultrasonic wave for diagnosis, which is different from the convergent ultrasonic wave. A control part 5 acquires the position of the tip of the diagnostic probe as a base point at the time when a control mode is switched to a restriction mode by a switching instruction from a direct operation part 24 or a remote operation part 6. Also, when the control mode is the restriction mode, the control part 5 restricts the movement of the treatment head 3 to a movement restrained by the acquired base point.SELECTED DRAWING: Figure 1

Description

  The present disclosure relates to a treatment apparatus that performs treatment using a treatment head attached to a robot arm.

  In the following Patent Document 1, a diagnostic probe for ultrasonic diagnosis and an irradiation unit for convergent ultrasonic wave (hereinafter, HIFU) irradiation are attached to the tip of a robot arm, and an affected part of a patient is observed using the diagnostic probe. Describes an ultrasonic therapy apparatus that treats the affected area by irradiating the affected area with HIFU. HIFU is an abbreviation for High Intensity Focused Ultrasound.

  In general, when observing the affected area, the affected area is observed in a state where the patient is pressed with a diagnostic probe in order to suppress movement of the organ due to respiration. In addition, treatment is performed by moving the treatment head while keeping the pressed state so as not to overlook the found affected part. Furthermore, observation and treatment are performed while confirming an image obtained by ultrasonic waves emitted from the diagnostic probe.

Japanese Patent No. 4131580

However, as a result of detailed studies by the inventors, the following problems have been found in the prior art described in Patent Document 1.
In the prior art, in general, the control of the robot arm and the display of the diagnostic image obtained from the diagnostic probe are orthogonal coordinates including the probe axis passing through the center of the region irradiated with ultrasonic waves as the coordinate axis, with the tip of the diagnostic probe as the origin. A system (hereinafter referred to as probe coordinate system) is used. The diagnostic image is displayed with the direction along the probe axis in the diagnostic image aligned with the vertical direction of the display screen.

  Here, for example, when the probe axis of the diagnostic probe is orthogonal to the horizontal plane of the ground coordinate system, which is an orthogonal coordinate system based on the ground, the horizontal direction of the display coordinate system and the horizontal direction of the ground coordinate system ( Hereinafter, it simply corresponds to the horizontal direction). However, when the posture of the diagnostic probe is inclined, the horizontal direction of the display screen does not coincide with the horizontal direction, and the horizontal direction indicates an oblique direction in the display screen. For this reason, when the diagnostic probe is moved in the left-right direction of the display screen according to the probe coordinate system, the diagnostic probe moves in a direction inclined with respect to the horizontal plane when viewed in the ground coordinate system. In other words, when such a movement is performed while the diagnostic probe is in contact with the patient, depending on the movement direction, the amount of biting of the diagnostic probe with respect to the patient is increased along with the movement, and consequently the pressing force to the patient by the diagnostic probe increases. In some cases, the patient felt painful.

  In addition, since the ultrasound used for observation and treatment of the affected area is reflected at a high-density site such as bone, if the affected area is inside the rib, avoid the rib and focus on the affected area from the intercostal space to irradiate the HIFU The operation to do is necessary. However, in a robot arm having a high degree of freedom of movement, if the position and posture of the diagnostic probe are changed for observation or treatment, the tip of the diagnostic probe may be disengaged from the intercostal space, making operation difficult.

  One aspect of the present disclosure is to provide a technique that facilitates accurate robot operation according to a treatment situation.

A treatment apparatus according to an aspect of the present disclosure includes a robot arm, a treatment head, a control unit, an instruction input unit, and a base point acquisition unit.
The robot arm has 6 degrees of freedom. The treatment head is provided at the tip of the robot arm and has an irradiation unit and a diagnostic probe. The irradiation unit irradiates convergent ultrasonic waves. The diagnostic probe protrudes from the center of the irradiation unit toward the irradiation direction of the convergent ultrasound, and transmits / receives diagnostic ultrasound different from the convergent ultrasound. The control unit has a free mode and a restriction mode as control modes, and controls the operation of the robot arm according to an input from the outside. The free mode is a control mode that arbitrarily changes the position and posture of the treatment head. The restriction mode is a control mode for changing the position and posture of the treatment head with restriction. The instruction input unit receives at least a switching instruction to switch the control mode of the control unit to either the free mode or the restriction mode. The base point acquisition unit acquires, based on the switching instruction from the instruction input unit, the position of the tip of the diagnostic probe at the time when the control mode of the control unit is switched to the restriction mode as a base point. And a control part restrict | limits the movement of a treatment head to the movement restrained by the base point acquired in the base point acquisition part, when control mode is a restriction | limiting mode.

  According to such a configuration, the movement of the treatment head in the restriction mode is restricted to the movement constrained to the base point. In the restriction mode, by appropriately applying restrictions in accordance with the movement of the treatment head assumed from the actual treatment scene, it is possible to easily perform an accurate robot operation according to the scene.

  Note that the reference numerals in parentheses described in this column and in the claims indicate the correspondence with the specific means described in the embodiment described later as one aspect, and the technical scope of the present disclosure It is not limited.

It is a schematic diagram which shows the outline | summary of a treatment apparatus. It is a block diagram which shows the functional structure of a treatment apparatus. It is a flowchart of a mode switching process. It is a flowchart of the drive process in free mode. It is a flowchart of the drive processing in plane limited mode. It is a flowchart of the drive process in rotation limited mode. It is explanatory drawing which shows the relationship between the attitude | position of a treatment head, and the movement amount in horizontal limited mode. It is explanatory drawing regarding the focus adjustment control of HIFU. It is explanatory drawing regarding the evacuation control of a diagnostic probe. It is explanatory drawing regarding a diagnostic image. It is explanatory drawing regarding the diagnostic image of other embodiment.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.
[1. Constitution]
A treatment apparatus 1 illustrated in FIGS. 1 and 2 is an apparatus that performs treatment by irradiating a treatment target 101 supported by a treatment table 100 with focused ultrasound (hereinafter, HIFU). HIFU is an abbreviation for High Intensity Focused Ultrasound. The treatment device 1 includes a robot arm 2, a treatment head 3, an ultrasonic diagnostic device 4, a control unit 5, and a remote operation unit 6.

[1-1. Treatment head]
The treatment head 3 is a device that irradiates the treatment target 101 with HIFU, which is a treatment ultrasound, and diagnostic ultrasound, which is an ultrasound different from the HIFU.

The treatment head 3 includes an irradiation unit 31, a diagnostic probe 32, a water bag 33, and a probe driving unit 34.
The irradiation unit 31 has an irradiation surface formed in a concave surface, and irradiates the HIFU toward one point as a focal point. The distance from the irradiation unit 31 to the focal point is constant.

  The diagnostic probe 32 is an axial member that protrudes from the center of the irradiation surface of the irradiation unit 31 toward the irradiation direction of the HIFU. The diagnostic probe 32 transmits and receives diagnostic ultrasonic waves at its tip. The diagnostic probe 32 irradiates diagnostic ultrasound toward a direction in which a central axis (hereinafter referred to as a probe axis) is extended, that is, a preset angle range centering on a protruding direction with respect to the irradiation unit 31, and the reflection thereof. Receive waves.

  The water bag 33 is a watertight bag that covers the irradiation unit 31 and the diagnostic probe 32. The water bag 33 is filled with water serving as a HIFU transmission medium in order to suppress attenuation of the HIFU irradiated from the irradiation unit 31. Further, diagnosis and treatment for the treatment target 101 are performed in a state where the water bag 33 of the treatment head 3 is in contact with the treatment target 101. As for the water bag 33, the site | part which the front-end | tip of the diagnostic probe 32 contacts from the inside normally, or the site | part located on a probe axis | shaft contacts the treatment object 101. FIG.

  The probe drive unit 34 is an actuator that moves the diagnostic probe 32 along the probe axis. The amount of projection of the diagnostic probe 32 relative to the irradiation unit 31 (hereinafter referred to as probe position), and thus the tip of the irradiation unit 31 and the diagnostic probe 32. The relative positional relationship with is changed.

[1-2. Robot arm]
The robot arm 2 has a treatment head 3 attached to its tip, and is used for controlling the position and posture of the treatment head 3. The robot arm 2 includes an articulated arm 21, an arm driving unit 22, a force sensor 23, and a direct operation unit 24.

  The multi-joint arm 21 has a plurality of links connected by a plurality of joints, and realizes movement with six degrees of freedom. The arm drive unit 22 has a plurality of motors installed at each joint of the multi-joint arm 21. The arm driving unit 22 changes the shape of the articulated arm 21 in accordance with an instruction from the control unit 5.

  The force sensor 23 is provided at the tip of the articulated arm 21. That is, the treatment head 3 is attached to the tip of the multi-joint arm 21 and thus the tip of the robot arm 2 via the force sensor 23. The force sensor 23 detects the magnitude and direction of the force transmitted to the robot arm 2 via the treatment head 3 and notifies the control unit 5 of it.

  The direct operation unit 24 is provided near the tip of the robot arm 2 and is gripped by the operator 102 when the robot arm 2 is manually operated. The direct operation unit 24 has a plurality of switches for inputting instructions to the control unit 5.

The plurality of switches include an operation changeover switch S1, a control changeover switch S2, an adjustment instruction switch S3, and a retraction instruction switch S4.
The operation changeover switch S1 is a switch operated when the operation mode of the robot arm 2 is switched to either the manual mode or the remote mode. The manual mode is set when the robot arm 2 is manually operated. The remote mode is set when the robot arm 2 is remotely operated via the remote operation unit 6.

  The control changeover switch S2 is a switch that is operated when the control mode of the robot arm 2 is switched to any one of the free mode, the plane limited mode, and the rotation limited mode. The free mode is a control mode in which the position and posture of the treatment head 3 can be arbitrarily changed. The plane limited mode is a control mode in which the movement of the treatment head 3 is limited to movement on a designated plane set to include the base point. The rotation limited mode is a control mode in which the movement of the treatment head 3 is limited to a rotation operation around the base point. The base point is a point where the tip of the diagnostic probe 32 is located when the control mode is switched to the plane limited mode or the rotation limited mode.

  The adjustment instruction switch S3 is a switch operated to input an adjustment instruction when adjusting the focus of the HIFU. The retraction instruction switch S4 is a switch operated to input a counter instruction when the diagnostic probe is moved to a retraction position where the HIFU is blocked by the diagnostic probe 32.

[1-3. Operation unit]
The remote operation unit 6 has functions necessary for remote control of the treatment apparatus 1 and is operated by the operator 103. Specifically, the remote operation unit 6 has at least a function of receiving an instruction input equivalent to the plurality of switches S1 to S4 included in the direct operation unit 24 and a function of receiving an instruction input related to the movement of the treatment head 3.

  The remote operation unit 6 may be a dedicated device, or may be, for example, a general-purpose personal computer in which an application necessary for remote control of the treatment device 1 is installed.

[1-4. Ultrasonic diagnostic equipment]
The ultrasonic diagnostic apparatus 4 includes a diagnosis control unit 41 and a monitor 42.
In accordance with an instruction from the control unit 5, the diagnosis control unit 41 irradiates diagnostic ultrasound from the diagnostic probe 32 and performs image processing on the reflected wave received by the diagnostic probe 32, thereby expressing the internal state of the treatment target 101. Two-dimensional image data is generated. The diagnosis control unit 41 displays a diagnostic image based on the image data on the monitor 42 and supplies the image data to the control unit 5.

  Further, as illustrated in FIG. 10, the diagnosis control unit 41 displays a grid G having an interval according to the treatment accuracy by irradiation of the HIFU from the irradiation unit 31 on the monitor 42 so as to be superimposed on the diagnosis image. For example, if 5 mm treatment accuracy is required, a 5 mm square grid is displayed on the monitor 42.

[1-5. Control unit]
The control unit 5 includes a microcomputer having a CPU 5a and a semiconductor memory (hereinafter referred to as memory) 5b such as RAM or ROM. Each function of the control unit 5 is realized by the CPU 5a executing a program stored in a non-transitional tangible recording medium. In this example, the memory 5b corresponds to a non-transitional tangible recording medium that stores a program. Also, by executing this program, a method corresponding to the program is executed. The control unit 5 may include one microcomputer or a plurality of microcomputers.

  The control unit 5 includes an arm controller 51, a HIFU controller 52, and a system controller 53 as functional unit blocks. The method of realizing the functions of the respective units included in the control unit 5 is not limited to software, and some or all of the functions may be realized using one or a plurality of hardware. For example, when the function is realized by an electronic circuit that is hardware, the electronic circuit may be realized by a digital circuit, an analog circuit, or a combination thereof.

  The arm controller 51 drives the arm drive unit 22 according to the detection result of the force sensor 23 and the instruction from the system controller 53 to change the shape of the articulated arm 21, so that the position and posture of the treatment head 3 are changed. To control. Further, the arm controller 51 notifies the system controller 53 of the state of the robot arm 2 (hereinafter referred to as the arm state). It should be noted that the arm controller 51 is given, as instructions from the system controller 53, setting of the operation mode and control mode, the presence / absence of an adjustment instruction and a retract instruction, and an instruction to move the treatment head 3. The arm controller 51 executes different driving processes for each control mode. Details thereof will be described later.

  When the operation mode is the manual mode, the arm controller 51 detects the magnitude and direction of the acting force that the operator 102 applies to the robot arm 2 by the force sensor 23, and instructs the movement of the treatment head 3 from the detection result. In accordance with this movement instruction, the control amount of each motor belonging to the arm drive unit 22 is calculated to drive each motor. Further, when the operation mode is the remote mode, the arm controller 51 receives a treatment head 3 movement instruction input from the remote operation unit 6 and notified through the system controller 53, or a treatment calculated according to a preset program. An instruction to move the head 3 is acquired, and a control amount of each motor belonging to the arm drive unit 22 is calculated in accordance with the movement instruction to drive each motor.

  In addition, the movement instruction | indication of the treatment head 3 shows a movement direction and a movement amount using a probe coordinate system. The probe coordinate system is a three-dimensional configuration in which the tip of the diagnostic probe 32, that is, the transmission / reception point of diagnostic ultrasound is the origin, the direction along the probe axis is the Z-axis direction, and the plane perpendicular to the Z-axis is the XY plane. Cartesian coordinate system. The X axis and the Y axis are set so that an image on the XZ plane is displayed on the monitor 42. Hereinafter, the X axis of the probe coordinate system is represented by Xp, the Y axis is represented by Yp, and the Z axis is represented by Zp.

  The HIFU controller 52 controls irradiation of the HIFU by the irradiation unit 31 in accordance with an instruction from the system controller 53. Further, the HIFU controller 52 drives the probe driving unit 34 according to an instruction from the system controller 53 to change the probe position. Further, the HIFU controller 52 notifies the system controller 53 of the probe position.

  The system controller 53 includes an input from the remote operation unit 6 or an input from the switch groups S1 to S4 of the direct operation unit 24, an arm state from the arm controller 51, a probe position from the HIFU controller 52, and a diagnosis control unit 41. The operation of the arm controller 51 and the HIFU controller 52 and the display on the monitor 42 are controlled in accordance with the image data from.

The system controller 53 executes at least target display processing, focus display processing, instruction calculation processing, and mode switching processing.
As shown in FIGS. 8 and 10, the target display processing sets the target range T including the affected part to be irradiated with HIFU and notifies the diagnosis control unit 41 so that the target range is displayed on the diagnostic image on the monitor 42. Is superimposed and displayed. The target range T may be, for example, an area extracted as an affected area by image processing on image data from the diagnosis control unit 41, or an area set in accordance with an input from the remote operation unit 6 after confirmation on the monitor 42 It may be.

  In the focus display process, the focus position F of the HIFU is calculated from the arm state and the probe position and notified to the diagnosis control unit 41 so that the focus position F is superimposed on the diagnostic image of the monitor 42. In the focus display process, in addition to the focus position F, a focus range (not shown) that is a range of focus positions that can be changed by changing the probe position is calculated and displayed on the monitor 42. Also good.

  When the target range T is set, the instruction calculation process automatically generates a movement instruction for changing the arm state so that the probe axis passes through the center of the target range. The instruction calculation process is executed when the operation mode is the remote mode and the setting for generating the movement instruction is made without using the input from the remote operation unit 6.

[2. processing]
[2-1. Mode switching process]
The mode switching process repeatedly executed by the system controller 53 will be described with reference to the flowchart of FIG.

In the initial state, the diagnostic probe 32 is set to an intermediate position within a range that can be taken by the probe position, for example. However, the position is not limited to this, and may be set at the most protruded position.
In S110, the system controller 53 determines whether or not the operation mode has been switched via the remote operation unit 6 or the direct operation unit 24. If it is determined that the operation mode has not been switched, the process proceeds to S120. If it is determined that the operation mode has been switched, the process proceeds to S130.

  In S120, the system controller 53 sets the operation mode to either the manual mode or the remote mode according to the content of the switching operation that has been performed, and advances the process to S130.

  In S130, the system controller 53 determines whether or not the control mode has been switched via the remote operation unit 6 or the direct operation unit 24. If it is determined that the control mode has been switched, the process proceeds to S140. If it is determined that the control mode has not been switched, the process ends.

  In S140, the system controller 53 sets the control mode to any one of the free mode, the plane limited mode, and the rotation limited mode according to the contents of the switching operation that has been performed, and advances the process to S150.

  In S150, the system controller 53 determines whether or not the control mode set in S140 is the free mode. If it is determined that the set control mode is the free mode, the process ends. If it is determined that the set control mode is not the free mode but the plane limited mode or the rotation limited mode, the process proceeds to S160.

In S160, the system controller 53 acquires the position of the tip of the diagnostic probe 32 as a base point, stores it in the memory 5b, and ends the process.
[2-2. Free mode]
A drive process that is repeatedly executed by the arm controller 51 when the control mode is the free mode will be described with reference to the flowchart of FIG.

  In S210, the arm controller 51 determines whether there is an input of a movement instruction for changing the position and posture of the treatment head 3. If it is determined that there is a movement instruction input, the process proceeds to S220. If it is determined that there is no movement instruction input, the process ends. The movement instruction is calculated from the detection result of the force sensor 23 when the operation mode is the manual mode, and is input from the system controller 53 when the operation mode is the remote mode. The movement amount input from the system controller 53 may be input from the remote operation unit 6 or may be automatically generated by instruction calculation processing.

In S220, the arm controller 51 calculates the control amount of the robot arm 2, that is, the control amount of each motor belonging to the arm drive unit 22, based on the instruction input and the arm state.
In S230, the arm controller 51 changes the position and posture of the treatment head 3 by driving the arm drive unit 22 according to the control amount calculated in S220 to change the arm state.

  In S240, the arm controller 51 determines whether or not a force equal to or greater than a preset pressure threshold is detected by the force sensor 23. The pressure threshold value is set to a size that does not cause pain to the treatment subject, for example, considering the degree of pain that occurs in the treatment subject 101 when the treatment head 3 is pressed against the treatment subject 101. If it is determined that a force equal to or greater than the pressure threshold is detected, the process proceeds to S250. If it is determined that a force equal to or greater than the pressure threshold is not detected, the process proceeds to S260.

  In S250, the arm controller 51 drives the probe driving unit 34 via the HIFU controller 52 so that the tip of the diagnostic probe 32 moves by a predetermined amount in the direction approaching the irradiation unit 31, and returns the process to S240. . Thereby, the pressing force to the treatment target 101 by the treatment head 3 is reduced.

  In S260, the arm controller 51 determines whether or not the driving of the robot arm 2 based on the process of S230 has been completed. If it is determined that the driving has not ended, the process returns to S240. If it is determined that the driving has been completed, the process ends.

  By the processing of S240 to S260, the probe position is changed until the pressing force becomes equal to or less than the pressure threshold value. That is, it is possible to suppress the treatment object 101 from feeling pain as the position and posture of the treatment head 3 change.

[2-2. Plane limited mode]
A driving process that is repeatedly executed by the arm controller 51 when the control mode is the plane-limited mode will be described with reference to the flowchart of FIG.

A plane that includes the base point P acquired in S160 and is parallel to the support surface 100a that supports the treatment target 101 in the treatment table 100 that supports the treatment target 101 is referred to as a designated plane.
In S310, the arm controller 51 determines whether there is an input of a movement instruction for changing the position and posture of the treatment head 3. This determination is the same as in S110. If it is determined that there is a movement instruction input, the process proceeds to S320, and if it is determined that there is no movement instruction input, the process ends.

  In S320, the arm controller 51 determines whether or not the movement direction indicated by the movement instruction is the X-axis direction. If it is determined that the movement direction is the X-axis direction, the process proceeds to S330. If it is determined that the movement direction is not the X-axis direction, the process proceeds to S340.

  In S330, the arm controller 51 converts the amount of movement ΔXp in the X-axis direction of the probe coordinate system indicated in the movement instruction into the amount of movement ΔXh in the X-axis direction on the designated plane using equation (1). , The process proceeds to S350. Note that θ is the inclination of the designated plane in the X-axis direction with respect to the X-axis of the probe coordinate system.

ΔXh = ΔXp / cos θ (1)
In S340, the arm controller 51 uses the movement amount ΔXh calculated in S330 to move the position of the treatment head 3 by the movement amount ΔXh in the X-axis direction of the designated plane while maintaining the posture of the treatment head 3. The control amount of the robot arm 2 is calculated, and the process proceeds to S370.

  In S350, the arm controller 51 determines whether or not the movement direction indicated by the movement instruction is the Y-axis direction. If it is determined that the moving direction is the Y-axis direction, the process proceeds to S360. If it is determined that the movement direction is not the Y-axis direction, that is, if it is determined that the movement direction is the Z-axis direction, the process proceeds to S380.

  In S360, the arm controller 51 uses the amount of movement ΔYp in the Y-axis direction of the probe coordinate system indicated in the movement instruction to change the position of the treatment head 3 to the Y of the designated plane while maintaining the posture of the treatment head 3. A control amount of the robot arm 2 for moving in the axial direction by ΔYp is calculated, and the process proceeds to S370.

  In S370, the arm controller 51 changes the position of the treatment head 3 by driving the arm drive unit 22 and changing the arm state according to the control amount of the robot arm calculated in S340 or S360, and ends the process. .

  In S380, the arm controller 51 determines whether or not an adjustment instruction is input. The adjustment instruction is input from the adjustment instruction switch S3 or the remote operation unit 6. If it is determined that no adjustment instruction has been input, the process is terminated. If it is determined that an adjustment instruction has been input, the process proceeds to S390.

  In S390, the arm controller 51 uses the movement amount ΔZp in the Z-axis direction indicated in the movement instruction to change the position of the treatment head 3 while maintaining the posture of the treatment head 3, in the Z-axis direction of the probe coordinate system. Then, the control amount of the robot arm 2 for moving by the movement amount ΔZp is calculated. Further, the probe position is changed in synchronization with the movement of the robot arm 2 so that the distal end position of the diagnostic probe 32 in the designated plane does not change with respect to the movement of the treatment head 3 along the Z-axis direction. Calculate the control for

  In S400, the arm controller 51 performs focus adjustment control for synchronously driving the arm drive unit 22 and the probe drive unit 34 according to the control amount of the robot arm 2 and the control amount of the probe position calculated in S390, and performs processing. finish.

  By driving S400, the probe position changes while the distal end position of the diagnostic probe 32 is fixed, so that the HIFU focal position F in the treatment target 101 changes along the Z-axis direction as shown in FIG. .

[2-3. Rotation limited mode]
A drive process that is repeatedly executed by the arm controller 51 when the control mode is the rotation-limited mode will be described with reference to the flowchart of FIG.

  In S510, the arm controller 51 determines whether there is an input of a movement instruction for changing the position and posture of the treatment head 3. If it is determined that there is a movement instruction input, the process proceeds to S520. If it is determined that there is no movement instruction input, the process proceeds to S540.

  In S520, the arm controller 51 moves the distal end of the robot arm 2 to which the treatment head 3 is attached along the spherical surface centered on the base point acquired in S160 according to the movement amounts ΔXp and ΔYp indicated in the movement instruction. Thus, the control amount of the robot arm 2 for changing the posture of the treatment head 3 is calculated.

In S530, the arm controller 51 changes the posture of the treatment head 3 by driving the arm drive unit 22 according to the control amount calculated in S530, and ends the process.
In S540, the arm controller 51 determines whether or not a retraction instruction is input. The evacuation instruction is input from the evacuation instruction switch S4 or the remote operation unit 6. If it is determined that no save instruction has been input, the process is terminated. If it is determined that a save instruction has been input, the process proceeds to S550.

In step S550, the arm controller 51 executes retraction control for driving the probe drive unit 34 so that the diagnostic probe 32 moves to the retreat position, and ends this processing. The retracted position is set to a position moved to the irradiation unit 21 side from the probe position in the initial state.
[3. Operation]
Hereinafter, the operation of the treatment apparatus 1 will be described along a series of flows from diagnosis to treatment. The operation mode may be either the manual mode or the remote mode, and the operation mode setting may be switched at an arbitrary timing in the following procedure.

  First, the operator 102 or the operator 103 sets the control mode to the free mode, and causes the diagnostic probe 32 to transmit / receive diagnostic ultrasound to display a diagnostic image on the monitor 42. The operator 102 or the operator 103 searches the rough position of the affected part by arbitrarily changing the position and posture of the treatment head 3 while confirming the diagnostic image. At this time, the distal end of the treatment head 3, that is, the distal end of the diagnostic probe 32 is brought into contact with the treatment object 101 and a search is performed in a state where a pressing force smaller than the pressure threshold is applied. However, when the pressing force on the treatment target 101 exceeds the pressure threshold, the probe position changes in a direction to decrease the pressing force.

  When the worker 102 or the operator 103 finds an affected area, the operator 102 or the operator 103 switches the control mode from the free mode to the plane limited mode. At this time, the position of the tip of the treatment head that is in contact with the treatment object 101, that is, the position of the tip of the diagnostic probe 32 is stored as the base point P.

  In the plane limited mode, the movement of the treatment head 3 is limited to the designated plane. When the Z axis of the probe coordinate system, that is, the probe axis coincides with the vertical direction of the ground coordinate system, the X axis Xh of the designated plane on the monitor 42 coincides with the X axis Xp of the probe coordinate system. However, as shown in FIG. 10, when the Z axis of the probe coordinate system is inclined with respect to the vertical direction of the ground coordinate system, the X axis Xh of the designated plane on the monitor 42 is the X axis of the probe coordinate system. It is inclined with respect to the direction Xp.

  In the plane limited mode, a movement instruction along the X axis Xp direction of the probe coordinate system is converted into movement of the designated plane in the X axis Xh direction, and the movement amount is also converted into ΔXh. As shown in FIG. 7, the movement amount ΔXh is a movement head after movement when the movement amount ΔXh converted is moved in the Xh direction and when the movement amount ΔXp before X conversion is moved in the Xp direction. 3 are set so that the Z axes coincide with each other. That is, if the movement amount ΔXp is moved in the Xh direction without conversion, the treatment head 3 cannot be moved to a desired position confirmed using the grid on the monitor 42, for example, the front of the affected area. In other words, it is necessary to convert the movement amount in order to compensate for an error in the movement amount caused by moving along the designated plane.

  By using the plane limited mode, the treatment head 3 moves in the horizontal direction with respect to the treatment target 101 even when the posture of the treatment head 3 is tilted. Can be prevented from increasing and causing pain to the patient. Conversely, the pressing force on the treatment object 101 decreases as the treatment head 3 moves, and as a result, it is possible to suppress losing sight of the affected part due to movement of the built-in unit.

  The operator 102 or the operator moves the treatment head 3 to the front of the affected area, and then inputs a movement instruction in the Z-axis direction together with the adjustment instruction, thereby adjusting the focal position of the HIFU. At this time, as shown in FIG. 8, the monitor 42 is displayed so that the target range T is positioned in front of the treatment head 3, and the focal position F of the HIFU is also displayed. The amount of movement in the Z-axis direction can be easily specified so that the positions F overlap.

Thereafter, treatment is performed by irradiating the irradiation unit 31 with HIFU.
Next, the case where the affected part is inside the rib and the affected part is diagnosed and treated from between the ribs will be described.

  First, as in the case described above, the control mode is set to the free mode, and the diagnostic probe 32 is caused to transmit / receive diagnostic ultrasonic waves to display a diagnostic image on the monitor 42. The operator 102 or the operator 103 searches the affected part by arbitrarily changing the position and posture of the treatment head 3 while confirming the diagnostic image.

  When the worker 102 or the operator 103 finds the affected area, the operator 102 or the operator 103 switches the control mode to the rotation restriction mode after adjusting the position and posture of the treatment head 3 so that the affected area is located in front of the treatment head 3. Before the control mode is switched from the free mode to the rotation-limited mode, the control mode may be switched to the plane-limited mode, finely adjusting the position and adjusting the focal position, and then switched to the rotation-limited mode. . In any case, the position of the tip of the diagnostic probe 32 at the time of switching to the rotation limited mode is stored as the base point.

  Next, the operator 102 or the operator 103 inputs a retraction instruction to move only the diagnostic probe 32 to the retraction position while maintaining the position and posture of the treatment head 3 as shown in FIG. Thereby, it is possible to suppress the HIFU passing through the intercostal space from being blocked by the diagnostic probe 32.

  Thereafter, the operator 102 or the operator 103 performs treatment by irradiating the irradiation unit 31 with HIFU while changing the posture of the treatment head 3 around the base point P by inputting a movement instruction.

In this case, since the affected part is inside the rib, even if the pressing force by the diagnostic probe 32 is removed, the state around the affected part does not change, and an accurate treatment is realized.
[4. effect]
According to the first embodiment described in detail above, the following effects are obtained.

  (1) In the treatment apparatus 1, the tip of the diagnostic probe 32 when the control mode is switched from the free mode to the plane limited mode or the rotation limited mode is set as the base point P. In the plane limited mode and the rotation limited mode, the robot arm The movement of 2 is limited to the movement restrained by the base point P.

  In particular, in the plane limited mode, the movement of the treatment head 3 is limited to the movement along the designated plane including the base point P. Therefore, even when the posture of the treatment head 3 is inclined, the movement of the treatment head 3 is accompanied. It is possible to suppress an increase or decrease in the pressing force on the treatment target 101. As a result, it is possible to suppress the pressing force from increasing with the movement of the treatment head 3 and causing pain to the treatment target 101. Conversely, the pressing force decreases with the movement of the treatment head 3, and it is possible to suppress losing sight of the affected part due to the movement of the built-in part.

  Further, in the rotation limited mode, the movement of the treatment head 3 is limited to the rotation about the base point P, so that the contact area between the treatment head 3 and the treatment object 101 is held in the intercostal space etc. The irradiation direction can be easily changed, and treatment can be performed efficiently.

  (2) In the treatment apparatus 1, in the plane limited mode, not only the movement direction of the treatment head 3 is converted, but also the movement amount error caused by the movement instruction according to the probe coordinate system and the actual movement direction is different. The movement amount is also converted so as to be compensated. Therefore, even when the movement instruction is generated based on the display on the monitor 42 according to the probe coordinate system, the position of the treatment head 3 can be accurately controlled.

  (3) In the treatment apparatus 1, the probe position is changed while the distal end of the diagnostic probe 32 is held at the base point by inputting the movement instruction in the Z-axis direction together with the adjustment instruction in the plane limited mode. For this reason, the focal position of the HIFU can be appropriately adjusted without changing the internal state of the treatment target 101.

  (4) In the treatment apparatus 1, the diagnostic probe 32 is moved to the retracted position while maintaining the position and posture of the treatment head 3 by inputting the retract instruction in the rotation limited mode. For this reason, even when HIFU is irradiated from the intercostal space, the HIFU can be efficiently irradiated to the affected part without being blocked by the diagnostic probe 32.

  (5) In the treatment apparatus 1, in the free mode, the probe position of the diagnostic probe 32 is automatically controlled so that the pressing force applied to the treatment target 101 by the diagnostic probe 32 is smaller than the pressing threshold value. For this reason, it can suppress giving pain to the treatment object 101 by pressing the treatment head 3 strongly against the treatment object 101 for some reason.

[5. Other Embodiments]
As mentioned above, although embodiment of this indication was described, this indication is not limited to the above-mentioned embodiment, and can carry out various modifications.

  (A) In the above-described embodiment, the monitor is displayed according to the probe coordinate system in which the Z axis coincides with the vertical direction of the screen and the X axis coincides with the horizontal direction of the screen. However, the present disclosure is limited to this. It is not something. For example, when the control mode is the plane limited mode, as shown in FIG. 11, the image may be tilted and displayed on the monitor so that the X axis of the limited coordinate plane matches the horizontal direction of the screen. In this case, since the movement amount in the X-axis direction read from the monitor matches the movement amount in the X-axis direction within the limited coordinate plane, the movement amount can be used as it is without being converted.

  (B) In the above embodiment, the support surface 100a of the treatment table 100 on which the treatment target 101 is supported coincides with the horizontal plane of the ground coordinate system, but the present disclosure is not limited to this. For example, in order to support only the patient's arm as the treatment target 101, the support surface 100a may coincide with the vertical plane of the ground coordinate system.

  (C) A plurality of functions of one constituent element in the above embodiment may be realized by a plurality of constituent elements, or a single function of one constituent element may be realized by a plurality of constituent elements. . Further, a plurality of functions possessed by a plurality of constituent elements may be realized by one constituent element, or one function realized by a plurality of constituent elements may be realized by one constituent element. Moreover, you may abbreviate | omit a part of structure of the said embodiment. In addition, at least a part of the configuration of the above embodiment may be added to or replaced with the configuration of the other embodiment. In addition, all the aspects included in the technical idea specified from the wording described in the claims are embodiments of the present disclosure.

  (D) In addition to the above-described treatment apparatus 1, a system including the treatment apparatus 1 as a constituent element, a program for causing a computer to function as the control unit 5 of the treatment apparatus 1, a non-transition such as a semiconductor memory in which the program is recorded The present disclosure can also be realized in various forms such as a practical recording medium and a robot arm control method.

 DESCRIPTION OF SYMBOLS 1 ... Treatment apparatus, 2 ... Robot arm, 3 ... Treatment head, 4 ... Ultrasonic diagnostic apparatus, 5 ... Control part, 5a ... CPU, 5b ... Memory, 6 ... Remote operation part, 22 ... Arm drive part, 23 ... Power Sense sensor, 24 ... Direct operation unit, 31 ... Irradiation unit, 32 ... Diagnostic probe, 34 ... Probe drive unit, 41 ... Diagnostic control unit, 42 ... Monitor, 51 ... Arm controller, 52 ... HIFU controller, 53 ... System controller, S1 ... operation changeover switch, S2 ... control changeover switch, S3 ... adjustment instruction switch, S4 ... retraction instruction switch.

Claims (8)

A robot arm (2) having 6 degrees of freedom;
An irradiation unit (31) that is provided at the tip of the robot arm and irradiates convergent ultrasound, and projects from the center of the irradiator toward the convergent ultrasound irradiation direction, and is different from the convergent ultrasound A treatment head (3) having a diagnostic probe (32) for transmitting and receiving medical ultrasound;
According to the input from the outside, it has a free mode which is a control mode for arbitrarily changing the position and posture of the treatment head, and a restriction mode which is a control mode for changing the position and posture of the treatment head with restriction A controller (5) configured to control the operation of the robot arm;
An instruction input unit (6, 24) configured to input at least a switching instruction to switch the control mode of the control unit to either the free mode or the restriction mode;
A base point acquisition unit (5: S160) configured to acquire, as a base point, the position of the tip of the diagnostic probe at the time when the control mode of the control unit is switched to the restriction mode in response to a switching instruction from the instruction input unit. )When,
With
The control unit is configured to limit the movement of the treatment head to a movement restrained by the base point acquired by the base point acquisition unit when the control mode is the restriction mode. The treatment device according to claim 1,
As one of the restriction modes, there is a plane restriction mode that restricts the movement of the treatment head to movement in a designated plane that is a plane that includes the base point and is parallel to the support surface on which the treatment target is supported. Therapeutic device. The treatment device according to claim 2,
A diagnostic image representing the inside of the treatment target obtained by transmitting and receiving the diagnostic ultrasound through the diagnostic probe is set along the protruding direction of the diagnostic probe with respect to the irradiation unit with the tip of the diagnostic probe as the origin An image display unit (4) configured to perform display according to a probe coordinate system which is a three-dimensional orthogonal coordinate system including one of the coordinate axes as one of coordinate axes;
The instruction input unit is configured to input a movement instruction representing a movement direction and a movement amount of the treatment head expressed in the probe coordinate system,
The said control part is a therapeutic apparatus comprised so that remote control which changes the position and attitude | position of the said treatment head according to the said movement instruction | indication could be performed. The treatment device according to claim 3,
The image display unit is configured to display the diagnostic probe so that the protruding direction of the diagnostic probe in the diagnostic image matches the vertical direction of the display screen when the control mode is the plane limited mode.
When the control mode is the plane-limited mode, the control unit responds to the movement instruction so that the position of the center axis of the diagnostic probe after the movement coincides with a case where the position is moved in the horizontal direction of the display screen. A therapeutic apparatus configured to perform the remote control by converting the amount of movement of the displayed display screen in the left-right direction into the amount of movement in the designated plane. The treatment device according to claim 3,
The said image display part is comprised so that the direction along the said support plane in the said diagnostic image may be made to correspond with the left-right direction of a display screen, when the said control mode is the said plane limited mode. A treatment device according to any one of claims 2 to 5,
A probe driving unit (34) for changing a protruding amount of the diagnostic probe with respect to the irradiation unit;
The instruction input unit is configured to receive an adjustment instruction for instructing adjustment of a focus of the convergent ultrasonic wave,
When the control mode is the plane-limited mode and the adjustment instruction is input, the control unit maintains the tip of the diagnostic probe on the designated plane and the tip of the irradiation unit and the diagnostic probe. A therapeutic apparatus configured to perform focus adjustment control for controlling the probe driving unit and the robot arm in synchronization with each other so that a relative position thereof changes. The treatment device according to claim 1,
As one of the restriction modes, the treatment apparatus has a rotation restriction mode for restricting the movement of the treatment head to the rotation around the base point. The treatment device according to claim 7,
A probe driving unit (34) for changing a protruding amount of the diagnostic probe with respect to the irradiation unit;
The instruction input unit is configured to input a retraction instruction to retreat the diagnostic probe,
When the control mode is the rotation limited mode and the retraction instruction is input, the control unit is configured to reach a preset retraction position at which blocking of the convergent ultrasonic wave by the diagnostic probe is suppressed. A treatment apparatus configured to perform retraction control for controlling the probe driving unit so that a diagnostic probe moves.