JP2019177212A - Robotic bed, and intraoperative mri system - Google Patents

Abstract

To achieve effective and correct transfer of a patient between MRI photographing and MRI surgical operation.SOLUTION: A robotic bed comprises: a table on which a patient is mounted; a robot arm configured to move the table to a plurality of different positions; and a slide mechanism for sliding the table. The plurality of different positions include, a mount position where the patient is mounted on the table, a treatment position where an operator treats the patient, and an MRI photographing preparation position which is separated from an MRI photographing position where the patient is photographed by an MRI device. The robot arm is configured to move the table to the mount position, the treatment position and the MRI photographing preparation position. The slide mechanism is configured to move the table to the MRI photographing preparation position and the MRI photographing position.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a robotic bed for intraoperative MRI (Magnetic Resonance Imaging) and an intraoperative MRI system.

  In recent years, there is an increasing need for intraoperative MRI in which an MRI apparatus is disposed in an operating room and treatment is performed in the same room immediately after biometric information is captured by the MRI apparatus. Typically, intraoperative MRI has been used in neurosurgery to remove brain tumors (see Non-Patent Document 1).

  As one of the methods for performing intraoperative MRI, a swivel slide type bed (with a swivel mechanism and a slide mechanism provided below a table on which a patient is placed) is used in an open type or donut type MRI apparatus. A method of transporting a patient from the head side is used (for example, see Patent Document 1). In this method, a base point is set at a position distant from the MRI apparatus, and a surgical space is set in an angle direction of 90 degrees from the base point. The swivel slide bed includes a base with casters, and the base is swung around a pin fixed to the base point to move the bed between the surgical space and the front of the MRI apparatus. When the bed is moved to the front of the MRI apparatus, the table is inserted into the MRI apparatus by the slide mechanism, and the transportation of the patient is completed.

  In addition, the patient's head is farthest from the MRI apparatus (from the MRI apparatus) by using a rotating slide type bed (with a rotating mechanism and a sliding mechanism provided below the table on which the patient is placed). Craniotomy was performed on the outside of the 5 gauss line, and then the bed was rotated 180 degrees and slid toward the open MRI apparatus to transport the patient's head into the MRI apparatus. (For example, refer nonpatent literature 2).

  On the other hand, in radiotherapy, a robotic bed (a table on which a patient is placed is moved by a robot arm) can be used to adjust the position and orientation of the table, and automatic patient alignment and repositioning can be performed. It is performed to determine an accurate radiation irradiation position (see, for example, Patent Document 2). In addition, a thin tube called a catheter is guided from the arteries such as the base of the foot, elbow, and wrist to the target organ, and a contrast medium (iodine contrast medium) that does not transmit X-rays is injected into the blood vessel. In angiography that performs image processing using simple X-rays, a robotic bed is used for the same purpose as radiotherapy (for example, see Patent Document 3).

JP 2010-94291 A JP 2009-131718 A U.S. Pat. No. 8,548,629 Special table 2007-503237 gazette

“Intraoperative MRI Guidelines”, Committee for Intraoperative MRI Guidelines, Japan Intraoperative Imaging Information Society, July 2014 Taiichi Hirota, 1 other person, “Brain THEATER: MRI-guided / neuro-navigation integrated neurosurgery operating room and operation support information network system”, MEDIX, Hitachi Medical, Inc., September 2006, vol. 45, p. 4 -9

  As described in Patent Document 4 and Non-Patent Document 1, since an MRI apparatus usually has a strong static magnetic field, surgical instruments such as scissors and a scalpel are affected (for example, levitated) to injure a patient. Safety considerations are indispensable, for example, securing a surgical position outside the 5 Gauss line is recommended. In addition, it is necessary to consider that the magnetic field formed during imaging in the MRI apparatus is affected by the external environment and does not lead to deterioration of the MRI image. Therefore, there are many restrictions on designing an operating room for performing intraoperative MRI, and careful examination is required.

  In this regard, the swivel slide type bed that has been used conventionally can set the surgical space far from the MRI apparatus, but when moving the bed between the surgical space and the front of the MRI apparatus, The bed had to be pushed manually and swiveled, and it took time to move the table. Moreover, since it is moved manually, vibration during transportation is avoided, and it is necessary for the person to ensure the accuracy of the transportation position.

  On the other hand, the rotating slide type bed has a problem that the surgical space cannot be sufficiently separated from the MRI apparatus, and there is a limitation in the surgical instrument to be used.

  Furthermore, there is an MRI mobile type (for example, see Non-Patent Document 1) in which an MRI apparatus is moved to perform intraoperative MRI so that it is not necessary to move the patient and the MRI apparatus can cope with a static magnetic field. There were problems in terms of the mechanism for moving the MRI apparatus and the need for a large space, moving speed, cost, and the like.

  Note that the robotic beds disclosed in Patent Documents 2 and 3 are for positioning radiation and X-ray irradiation positions, and are not designed to satisfy specific requirements for other uses such as intraoperative MRI.

  In the medical field, it is required to realize efficient and accurate transfer of patients between MRI imaging and surgery as the number of intraoperative MRI cases increases.

  Accordingly, an object of the present invention is to realize efficient and accurate transfer of a patient between MRI imaging and surgery.

  In order to solve the above problems, the present invention provides a table for placing a patient, a base, a plurality of movable elements connected by a plurality of joints, and the plurality of joints assigned to each of the plurality of joints. A plurality of actuators for driving a movable element; and a plurality of position detectors for detecting positions of the plurality of movable elements; and a robot arm configured to move the table to a plurality of different positions; A slide mechanism for sliding the table, and the plurality of different positions include a placement position for placing the patient on the table, a treatment position for the surgeon to treat the patient, and a patient An MRI imaging preparation position at a position distant from the MRI imaging position for imaging with an MRI apparatus, and the robot arm has the mounting position, The table is configured to move to a treatment position and the MRI imaging preparation position, and the slide mechanism is configured to move the table to the MRI imaging preparation position and the MRI imaging position. Providing a characteristic robotic bed.

  According to the above configuration, since the table can be moved between the treatment position and the MRI imaging position or the MRI imaging preparation position by driving the robot arm, the patient can be efficiently and accurately transferred between the MRI imaging and the operation. Can be realized.

  According to the present invention, it is possible to realize efficient and accurate transfer of a patient between MRI imaging and surgery. As a result, it is possible to contribute to promoting a remarkable effect of improving surgical results.

It is a side view of the 1st example of composition of a robot arm. It is a conceptual diagram at the time of uniting an actuator, a positioning device, and a brake mechanism. It is a side view which shows the example of a structure which has the minimum freedom degree in the 1st structural example of a robot arm. It is a top view of the medical room where the 1st example of composition of a robot arm is arranged, and shows the state where a table exists in a loading position. It is a top view of the medical room where the 1st example of composition of a robot arm is arranged, and shows the state where a table exists in a test preparation position. It is a top view of the medical room where the 1st example of composition of a robot arm is arranged, and shows the state where a table exists in an inspection position. It is a side view of the 2nd example of composition of a robot arm. It is the perspective view which showed the state which has a table in a MRI imaging position in the 2nd structural example of a robot arm. It is a perspective view of the 3rd example of composition of a robot arm. It is a side view of the 3rd example of composition of a robot arm. It is a side view of the modification of the 3rd structural example of a robot arm. It is a side view which shows the example of the structure which has the minimum freedom degree of the 3rd structural example of a robot arm. It is a top view of the medical room where the 3rd structural example of a robot arm is arrange | positioned, and shows the state which has a table in a mounting position. It is a top view of the medical room by which the 3rd structural example of a robot arm is arrange | positioned, and shows the state in the middle of the table moving to the test | inspection position. It is a top view of the medical room where the 3rd example of composition of a robot arm is arranged, and shows the state where a table exists in an inspection position. It is a perspective view of the 4th example of composition of a robot arm. It is a side view of the 4th example of composition of a robot arm. It is a side view which shows the example of the structure which has the minimum freedom degree of the 4th structural example of a robot arm. It is a top view of the medical room by which the 4th structural example of a robot arm is arrange | positioned, and shows the state which has a table in a mounting position. It is a top view of the medical room where the 4th example of composition of a robot arm is arranged, and shows the state in the middle of a table moving to an inspection position. It is a top view of the medical room where the 4th example of composition of a robot arm is arranged, and shows the state where a table exists in an inspection position. It is a figure which shows the example of the slide mechanism used for the 5th structural example of a robot arm. It is a figure which shows the example of the slide mechanism which can be controlled to be slid by the drive of an actuator used for the 5th structural example of a robot arm. It is a top view of the medical room where the 5th example of composition of a robot arm is arranged, and shows the state where a table is in a loading position. It is a top view of the medical room where the 5th example of composition of a robot arm is arranged, and shows the state where a table exists in a test preparation position. It is a top view of the medical room where the 5th example of composition of a robot arm is arranged, and shows the state where a slide board is in an inspection position. It is a side view of other examples of the 5th example of composition of a robot arm. It is a top view of the medical room by which the other example of the 5th structural example of a robot arm is arrange | positioned, and shows the state which has a table in a mounting position. It is a top view of the medical room by which the other example of the 5th structural example of a robot arm is arrange | positioned, and shows the state in the middle of the table moving to the test preparation position. It is a top view of the medical room where the other example of the 5th example of composition of a robot arm is arranged, and shows the state where it reached the inspection position by the slide mechanism after the table reached the inspection preparation position. It is a figure which shows the example which controls a robot arm by a bending correction function. It is a figure which shows the other example which controls a robot arm by a bending correction function. It is a perspective view of an MRI apparatus. It is a perspective view at the time of other examples of the 5th example of composition of a robot arm being applied to intraoperative MRI, and shows the state where a table is in a treatment position. It is a perspective view at the time of other examples of the 5th example of composition of a robot arm being applied to intraoperative MRI, and shows the state where a table exists in a MRI imaging preparation position. It is a perspective view at the time of other examples of the 5th example of composition of a robot arm being applied to intraoperative MRI, and shows the state where a table exists in a MRI imaging position. It is a perspective view at the time of combining the 4th structural example of a robot arm with an angio apparatus, and shows the state before a table is inserted in the C-type arm of an angio apparatus. It is a perspective view at the time of combining the 4th structural example of a robot arm with an angio apparatus, and shows the state after a table is inserted in the C-type arm of an angio apparatus. It is a perspective view at the time of combining the 4th structural example of a robot arm with a surgery assistance robot. It is a block diagram which shows the structure of a control apparatus.

  In the medical field, attempts are being made to improve the medical field for efficient, highly accurate treatment, inspection, and measurement while maintaining safety in various situations. In the present invention, by introducing a robotic bed in which a table on which an object is placed is supported by a robot arm having multiple degrees of freedom (more than 3 degrees of freedom) to a medical site, these are promoted. suggest.

[Robotic bed configuration]
(First configuration example)
FIG. 1 shows a side view of a robotic bed according to a first configuration example of the present invention. The robot arm 101 used for the robotic bed has multiple degrees of freedom (3 degrees of freedom or more), and supports the table 108 on which the placement target is placed at the tip thereof. The table 108 and the robot arm 101 constitute a robotic bed.

  As shown in FIG. 1, the robot arm 101 includes a base 121, a plurality of movable elements (first to fourth movable elements 122 to 125 in this configuration example), and a plurality of joints (first configuration in this configuration example). -6th joints 131-136).

  One end of the base 121 and the first movable element 122 is connected by a first joint 131 that is a vertical rectilinear joint, and the movable element 122 can move in the first axial direction (vertical direction). The other end of the first movable element 122 and one end of the second movable element 123 are connected by a horizontal rotary joint, and the movable element 123 can rotate around the second axis (vertical direction). The other end of the second movable element 123 and one end of the third movable element 124 are connected by a horizontal rotary joint, and the third movable element 124 can rotate about the third axis (vertical direction). The fourth to sixth joints 134 to 136 between the third movable element 124 and the fourth movable element 125 are rotary joints around the fourth to sixth axes, respectively. The fourth axis is a direction in which the third movable element 124 extends, the fifth axis is a direction orthogonal to the fourth axis rotated by the fourth joint 134, and the sixth axis is rotated by the fifth joint 135. The direction is perpendicular to the fifth axis. In FIG. 1, the operating directions of the first to sixth joints 131 to 136 are represented by arrows JT1 to JT6.

  The second movable element 123 and the third movable element 124 have rod shapes extending in a specific direction, and the length is appropriately designed according to the necessary movable range of the robot arm 101. The “one end” of the movable element extending in a specific direction refers to one of two regions on both sides when the movable element is divided into three equal parts in the specific direction (longitudinal direction). “Part” means an end on the opposite side to one end of two regions on both sides when the movable element is divided into three equal parts in a specific direction (longitudinal direction). When it is simply referred to as “end part”, it means either one end part or the other end part. The part between both ends is called “central part”.

  The fourth movable element 125 is located at the tip of the robot arm 101. In this configuration example, the tip of the robot arm 101 is fixed to the lower surface of one end of the table 108 extending in a specific direction.

  The robot arm 101 includes a plurality of actuators (in this configuration example, the first to sixth actuators 141 that move or rotate the first to fourth movable elements 122 to 125 corresponding to the first to sixth joints 131 to 136. 146), a plurality of position detectors (in the present configuration example, first to sixth position detectors 151 to 156) that are incorporated in the respective joints and detect the positions of the respective movable elements, and driving of the respective actuators The control apparatus 107 (refer FIG. 1) which controls is included. The control device 107 is located in the base 121, but may be an external independent device, for example.

  The first to sixth actuators 141 to 146 are, for example, servo motors. As a position detector, an encoder that detects the rotation angle and direction of a motor is generally used, but a resolver or a potentiometer may be used.

  The robot arm 101 preferably includes first to sixth electromagnetic brakes 161 to 166 corresponding to the first to sixth joints 131 to 136, respectively. When the electromagnetic brake is not provided, the posture of the robot arm 101 is kept constant by driving the plurality of actuators 141 to 146. However, if the electromagnetic brake is included, the driving of the actuator of a certain part is turned off. Also, by turning on the electromagnetic brake function, the posture of the robot arm 101 can be kept constant.

  When the electromagnetic brake is provided, each of the first to sixth electromagnetic brakes 161 to 166 turns on the brake function when the drive current is not supplied to the actuator, and turns off the brake function when the drive current is supplied to the actuator. Is configured to do.

  The motor as the actuator, the encoder as the position detector, and the brake are often configured as an integrated unit as shown in FIG. Further, each of the first to sixth actuators 141 to 146 is provided with a power transmission speed reduction mechanism and a coupling.

  As described above, the robot arm 101 shown in FIG. 1 has six degrees of freedom. However, the degree of freedom of the robot arm of the present invention does not necessarily have to be 6, and may be 5 or less, or 7 or more. May be. However, the degree of freedom of the robot arm is preferably 3 or more so that the table 108 can be moved linearly at least in the space. FIG. 3 shows an example of a robotic bed having 3 degrees of freedom. In FIG. 3, the robot arm 301 includes a base 321 and two movable elements 322 and 323. One end of the base 321 and the first movable element 322 is connected by a first joint 331 that is a vertical rectilinear joint. The one movable element 322 can move in the first axial direction (vertical direction). The other end of the first movable element 322 and one end of the second movable element 323 are connected by a horizontal rotary joint, and the second movable element 323 can rotate around the second axis (vertical direction). The other end of the second movable element 323 constitutes the tip of the robot arm 301 and is connected to one end of the table 308 by a horizontal rotary joint.

  By using the robotic bed configured as described above, after placing the placement object on the table, the table can be accurately and quickly moved to a target position such as an inspection position or a treatment position, The efficiency of examination and treatment in the medical field can be greatly improved. For example, compared to moving a patient with a table with casters, the table can be moved smoothly without giving a large vibration to the patient, and a code associated with many medical devices existing on the floor of a medical room It is possible to avoid tangles with tubes and tubes attached to medical devices and table rattling caused by straddling them, and safety and movement efficiency can be improved.

  The target position of the robotic bed includes a mounting position for mounting a mounting target such as a human body or an animal, an inspection position for performing an inspection by a specific inspection device or measuring device, CT / MRI / An imaging position for imaging a specific part of an object to be placed by angiography, a treatment preparation position for nurses to give care before treatment, a treatment position (operating position) where a doctor or assistant performs treatment (including surgery) Etc.). For example, when different treatments are performed at a plurality of places, the same purpose may be moved to different positions. Specifically, before moving the table to the MRI imaging position, the table is moved to an inspection position for inspecting by the inspection apparatus whether an implant or the like that affects MRI imaging is included in the mounting object. Before moving the patient to be placed to the surgical position, the table is moved to the examination position for detecting the amount of radioactive substance attached by the detection device, or surgery is performed to perform skin surgery on the patient to be placed. Before moving to a position, a table is placed at the imaging position by the MRI apparatus to perform tomographic imaging of the brain before moving to an examination position for examining the skin condition or to moving to an operating position for brain tumor extraction surgery. It can be used for moving.

  The operation of moving the table 108 supported by the robot arm 101 according to this embodiment between a plurality of positions will be described with reference to FIGS.

  FIG. 4 shows a state in which the table 108 is positioned at the mounting position when a subject to be mounted is moved from the mounting position to an inspection position for inspection by a certain inspection apparatus. In FIG. 5, the second movable element 123 and the third movable element 124 are moved as indicated by arrows by the control device 107, and the table 108 is moved as indicated by the arrows by rotation around the sixth axis (in some cases, the first movable element is movable). The height of the element 122 is adjusted by moving in the vertical direction, and the tilt of the table is finely adjusted by rotation around the fourth axis and / or the fifth axis). The subject's head is directed toward the inspection device 414. It shows a state. FIG. 6 shows a state where the table 108 is inserted into the inspection apparatus 414 and the subject reaches the inspection position. The position of the table 108 in FIG. 4 can also be a treatment position, and the table 108 moves back from the inspection position in FIG. 6 to the position in FIG. 4 to return to the original position. Thus, the doctor 412 can perform treatment.

  The movement of the table 108 between the positions by the robot arm 101 can be performed by giving a command to the control device 107 by, for example, a teach pendant and moving the movable element of the robot arm 101. Further, if each position such as the treatment position and the examination position is stored in the control device 107 in advance, for example, the movable element operates to move to the target position in the shortest time only by giving a forward command to the control device. The table 108 can be moved to the target position more quickly and smoothly. Furthermore, if the target position and some positions on the route to be moved are designated, for example, it is possible to automatically reach the target position along the desired route only by giving a movement start command to the control device 107. it can. In order to record each position, the robot arm 101 may be directly stored by moving the robot arm 101 to the target position by the teach pendant, or specified by inputting x, y, z coordinates. Also good.

(Second configuration example)
In FIG. 7, the side view of the robotic bed which concerns on the 2nd structural example of this invention is shown. The robot arm 701 used for the robotic bed is a so-called vertical articulated robot arm, which has multiple degrees of freedom (3 degrees of freedom or more), and supports the table 708 on which the object to be placed is placed at the tip. The table 708 and the robot arm 701 constitute a robotic bed.

  As shown in FIG. 7, the robot arm 701 includes a plurality of movable elements (first to third movable elements 722 to 724 in the present embodiment) and a plurality of joints (first to sixth joints in the present embodiment). 731-736).

  The base 721 has a horizontal rotation joint that rotates around a first axis (vertical direction). One end of the base 721 and the first movable element 722 is connected by a vertical rotary joint 732 that rotates about a second axis orthogonal to the first axis. The other end of the first movable element 722 and one end of the second movable element 723 are connected by a vertical rotary joint that rotates about the third axis that is rotated by the second axis and parallel to the second axis. The second movable element 723 has a rod shape extending in a specific direction, and includes a rotary joint 734 that is rotated by a third axis and is rotatable around a fourth axis with the specific direction as an axis. The other end of the second movable element 723 is connected to one end of the third movable element 724 by a vertical rotation joint 735 that rotates about the fifth axis that is rotated by the fourth axis and orthogonal to the fourth axis. The third movable element 724 further includes a rotary joint 736 that is rotated by the fifth axis and is rotatable about a sixth axis that is orthogonal to the fifth axis.

  Similarly to the second movable element 723, the first movable element 722 has a rod shape extending in a specific direction, and the length of these movable elements is appropriately designed according to the necessary movable range of the robot arm 701.

  The third movable element 724 is located at the tip of the robot arm 701. In this configuration example, the tip of the robot arm 701 is fixed to the lower surface of one end of a table 708 extending in a specific direction. The position where the tip of the robot arm supports the table 708 may be the end of the table 708 or the center. The definitions of “one end”, “other end”, “end”, and “center” are the same as in the first configuration example.

  The robot arm 701 includes a plurality of actuators that move or rotate the first to third movable elements 722 to 724 corresponding to the first to sixth joints 731 to 736 (in the present configuration example, the first to sixth actuators 741). 746), a plurality of position detectors (in the present configuration example, first to sixth position detectors 751 to 756) that are incorporated in the respective joints and detect the positions of the respective movable elements, and driving of the respective actuators Including a control device 707 (see FIG. 7). The control device 707 is located in the base 721, but may be an external independent device, for example.

  The first to sixth actuators 741 to 746 are, for example, servo motors. As in the first configuration example, an encoder, a resolver, or a potentiometer can be used as the position detector.

  The robot arm 701 also preferably includes first to sixth electromagnetic brakes 761 to 766 corresponding to the first to sixth joints 731 to 736, respectively. When the electromagnetic brake is not provided, the posture of the robot arm 701 is kept constant by driving the plurality of actuators 741 to 746. However, if the electromagnetic brake is included, the driving of the actuator of a certain part is turned off. Also, by turning on the electromagnetic brake function, the posture of the robot arm 701 can be kept constant.

  When the electromagnetic brake is provided, each of the first to sixth electromagnetic brakes 761 to 766 turns on the brake function when the drive current is not supplied to the actuator, and turns off the brake function when the drive current is supplied to the actuator. Is configured to do.

  As in the first configuration example, the motor as the actuator, the encoder as the position detector, and the brake are often configured as an integrated unit as shown in FIG. Further, each of the first to sixth actuators 741 to 746 is provided with a power transmission speed reduction mechanism and a coupling.

  The robot arm 701 shown in FIG. 7 has six degrees of freedom, but the degree of freedom of the robot arm of the present invention does not necessarily have to be 6, and may be 5 or less, or 7 or more. Good. However, the degree of freedom of the robot arm is desirably 3 or more so that the table 708 can move at least linearly in the space.

  By using the robotic bed configured as described above, after placing the placement object on the table, the table can be accurately and quickly moved to a target position such as an inspection position or a treatment position, The efficiency of examination and treatment in the medical field can be greatly improved. For example, the table 708 can be moved smoothly without giving a large vibration to the patient as compared with the case where the patient as a placement target is moved by a table with casters, and there are many on the floor of the medical room. It is possible to avoid entanglement with cords attached to medical devices and tubes attached to medical devices and rattling of the table by straddling them, and safety and movement efficiency can be improved.

  The example of the position where the robotic bed should be targeted is the same as in the first configuration example, and the description thereof is omitted here.

  The robot arm 701 according to this configuration example can also move the table between a plurality of positions by a free route as long as it is in a movable range, and therefore the table is the same as FIGS. 4 to 6 described in the first configuration example. It can be moved to the inspection device or the like along the same locus. For reference, FIG. 8 shows a perspective view when the table is moved from the placement position and reaches the MRI photographing position when the subject is the subject to be placed and the target moving position is the MRI photographing position.

(Third configuration example)
FIG. 9 is an external view of a robotic bed according to a third configuration example of the present invention, and FIG. 10 is a side view thereof. The robot arm 1001 used for the robotic bed has multiple degrees of freedom (three degrees of freedom or more), and supports the table 1008 on which the placement target is placed at the tip thereof. The table 1008 and the robot arm 1001 constitute a robotic bed.

  As shown in FIG. 10, the robot arm 1001 includes a base 1021, a plurality of movable elements (first to third movable elements 1022 to 1024 in the present configuration example), and a plurality of joints (first configuration in the present configuration example). -5th joints 1031-1035).

  One end of the base 1021 and the first movable element 1022 is connected by a first joint 1031 which is a vertical rectilinear joint, and the first movable element 1022 can move in the first axial direction (vertical direction). The other end of the first movable element 1022 and one end of the second movable element 1023 are connected by a horizontal rotary joint, and the second movable element 1023 can rotate around the second axis (vertical direction). The third to fifth joints 1033 to 1035 between the second movable element 1023 and the third movable element 1024 are rotary joints around the third to fifth axes, respectively. The third axis is a direction in which the second movable element 1023 extends, the fourth axis is a direction orthogonal to the third axis rotated by the third joint 1033, and the fifth axis is rotated by the fourth joint 1034. The direction perpendicular to the fourth axis.

  The first movable element 1022 and the second movable element 1023 have a rod shape extending in a specific direction, and the length is appropriately designed according to the necessary movable range of the robot arm 1001. The first movable element 1022 moves up and down while maintaining a state parallel to the horizontal plane, and the second movable element 1023 rotates around the second axis while maintaining a state parallel to the first movable element 1022. ing. With such a configuration, it is not necessary to perform gravity compensation in the vertical direction in the second actuator 1042, and the motor can be made small. This is an advantageous configuration for reducing the size of the robot arm 1001, and is advantageous for introducing the robot arm 1001 into a medical site where only a limited space can be secured, or for providing more space for treatment and surgery.

  Further, the robotic bed of this configuration example has a specific direction (longitudinal direction) parallel to the first movable element 1022 and the second movable element 1023 whose ends are connected by a horizontal rotary joint when looking down from the upper side in the vertical direction. In such a state, the table 1008 does not come into contact with the robot arm 1001 regardless of how the table 1008 is rotated (for example, rotated 360 degrees) while maintaining a state parallel to the horizontal plane. ing. Specifically, when the first movable element 1022, the second movable element 1023, and the table 1008, whose ends are connected by a horizontal rotary joint, are in a state parallel to the horizontal plane, the table 1008 has a height different from that of the other movable elements. It is comprised so that it may be located in the uppermost part without covering. That is, when the robot arm 1001 has the lowest position that can be taken by the tip of the robot arm 1001 and the table 1008 is in a posture parallel to the horizontal plane, the first and second movable elements of the robot arm 1001 are moved from the lower surface of the table 1008. The position is also low. In this configuration example, since the adjustment width in the height direction of the table 1008 is increased, the base 1021 takes the lowest position among the positions that the tip of the robot arm 1001 can take, and the table 1008 is parallel to the horizontal plane. Even in the case of a proper posture, it is higher than the lower surface of the table 1008. With the configuration as described above, each movable element of the robot arm 1001 is stored below the table 1008, so that a limited space in the medical field is available while ensuring a vertical movement width. It is effective to utilize.

  This advantage is apparent with reference to FIGS. 13 to 15 showing the operation of the robotic bed according to the third configuration example. As can be understood from FIG. 13, the robotic bed in this configuration example can take a position where each movable element and the table 1008 overlap each other when looking down from the upper side in the vertical direction. In the example and the second configuration example, for example, in order to secure a treatment space, if the table is positioned as close to the base as possible, the second movable as shown in FIG. 4 in the first configuration example. The element 123 and the third movable element 124 cannot be positioned under the table 108, which is obstructive. In the second configuration example, if the position of the table 708 is very high, the position of the table 708 is positioned higher than each movable element. Although it is theoretically possible, the table 708 is placed at a very high position in the treatment, examination, and placement of the placement object. Is inconvenient impossible in practice be located. As described above, in the case of a vertical articulated robot arm, gravity compensation is necessary, so a large actuator is required, and as can be seen from the conceptual diagram of FIG. 8, the table 708 is supported below while supporting the table 708 below. It is difficult to position each movable element in the position.

  The width of the table 1008 is preferably larger than the width of each movable element of the robot arm 1001. For example, when looking down from the upper side in the vertical direction, the specific direction (longitudinal direction) of the first movable element 1022 and the second movable element 1023 whose ends are connected by a horizontal rotary joint and the specific direction (longitudinal direction) of the table 1008 are defined. In a parallel state, when the table 1008 covers the first movable element 1022 and the second movable element 1023 in the specific direction (longitudinal direction) when looking down from the upper side in the vertical direction, the specific direction (the first movable element 1022, the first movable element 1022, It is desirable that the first movable element 1022 and the second movable element 1023 are hidden by the table 1008 in a direction orthogonal to the second movable element 1023 and the direction in which the longitudinal direction in which the table 1008 extends is parallel. With such a configuration, at least the portion of the robot arm 1001 covered in the length direction of the table 1008 in the width direction of the table 1008 (direction orthogonal to the extending specific direction) (in the example of FIG. All of the second movable element 1023 and the third movable element 1024 other than one end of the movable element 1022 are housed under the table 1008 (see, for example, FIG. 13).

  9 and 10, one of the two movable elements (the first movable element 1022 and the second movable element 1023) whose end portions are connected by a horizontal rotary joint (the first movable element 1022) is the base 1021. However, it may be indirectly connected to the base via, for example, a further horizontal rotary joint or a vertical rotary joint. In this case as well, the above-described positional relationship is ensured, and a plurality of movable elements can be connected to the table 1008. As long as it is stored under the space, it is possible to obtain the effects of securing space and compactness.

  The third movable element 1024 is located at the tip of the robot arm 1001. In this configuration example, the tip of the robot arm 1001 is fixed to the lower surface of one end of a table 1008 extending in a specific direction. With such a configuration, the other end of the table 1008 can be operated so as to be positioned as far as possible from the base 1021. The range of movement of the table 1008 is wider when the table 1008 is supported at one end, but the table 1008 may be supported at the center when priority is given to the support strength.

For the definitions of “one end”, “other end”, “end”, and “center” in the above description,
This is the same as the first and second configuration examples.

  The robot arm 1001 corresponds to the first to fifth joints 1031 to 1035, and includes a plurality of actuators (in this configuration example, the first to fifth actuators 1041 that move or rotate the first to third movable elements 1022 to 1024). 1045), a plurality of position detectors (first to fifth position detectors 1051 to 1055 in the present configuration example) that are incorporated in the respective joints and detect the positions of the respective movable elements, and drive the respective actuators. A control device 1007 (see FIG. 10) for controlling is included. The control device 1007 is located in the base 1021, but may be an external independent device, for example.

  The first to fifth actuators 1041 to 1045 are, for example, servo motors. As the position detector, an encoder, a resolver, and a potentiometer can be used as in the first and second configuration examples.

  The robot arm 1001 also preferably includes first to fifth electromagnetic brakes 1061 to 1065 corresponding to the first to fifth joints 1031 to 1035, respectively. When the electromagnetic brake is not provided, the posture of the robot arm 1001 is kept constant by driving the plurality of actuators 1041 to 1045. However, if the electromagnetic brake is included, the driving of the actuator of a certain part is turned off. Also, by turning on the electromagnetic brake function, the posture of the robot arm 1001 can be kept constant.

  When the electromagnetic brake is provided, each of the first to fifth electromagnetic brakes 1061 to 1065 turns on the brake function when the drive current is not supplied to the actuator, and turns off the brake function when the drive current is supplied to the actuator. Is configured to do.

  As in the first and second configuration examples, the motor as the actuator, the encoder as the position detector, and the brake are often configured as an integrated unit as shown in FIG. Furthermore, each of the first to fifth actuators 1041 to 1045 is provided with a power transmission speed reduction mechanism and a coupling.

  In the example shown in FIG. 10, the first movable element 1022 is connected by the horizontal rotary joint 1032 so as to be positioned above the second movable element 1023. However, as a modification of this configuration example, the first movable element 1122 is connected. FIG. 11 shows a robot arm 1101 connected by a horizontal rotary joint 1132 so that is positioned below the second movable element 1123.

  In this modification, one end of the base 1121 and the first movable element 1122 is connected by a first joint 1131 that is a vertical rectilinear joint, and the first movable element 1122 moves in the first axial direction (vertical direction). Can do. The other end of the first movable element 1122 and one end of the second movable element 1123 are connected by a horizontal rotary joint, and the second movable element 1123 is above the first movable element 1122 around the second axis (vertical direction). Can be rotated. The third to fifth joints 1133 to 1135 between the second movable element 1123 and the third movable element 1124 are rotary joints around the third to fifth axes, respectively. The third axis is a direction in which the second movable element 1123 extends, the fourth axis is a direction orthogonal to the third axis rotated by the third joint 1133, and the fifth axis is rotated by the fourth joint 1134. The direction perpendicular to the fourth axis.

  The third movable element 1124 is located at the tip of the robot arm 1101. In this configuration example, the tip of the robot arm 1101 is fixed at the center to the lower surface of the table 1108 extending in a specific direction. With such a configuration, the table 1108 can be supported with priority on the support strength. Of course, the table 1108 may be supported at one end portion with priority given to the movement range of the table 1108. However, in that case, the lengths of the movable elements 1122 to 1124 and the table 1108 should be appropriately designed so that the table 1108 does not come into contact with the robot arm 1101 even if the table 1108 is freely rotated while maintaining a state parallel to the horizontal plane. is required.

  As described above, the robot arms 1001 and 1101 shown in FIGS. 10 and 11 have five degrees of freedom. However, the degree of freedom of the robot arm of the present invention does not necessarily have to be five, and may be four or less. It may be 6 or more. However, the degree of freedom of the robot arm is preferably 3 or more so that the tables 1008 and 1108 can move at least linearly in the space. FIG. 12 shows an example of a robotic bed having 3 degrees of freedom. In FIG. 12, the robot arm 1201 includes a base 1221 and two movable elements 1222 and 1223, and one end of the base 1221 and the first movable element 1222 is connected by a first joint 1231 that is a vertical rectilinear joint. The element 1222 can move in the first axial direction (vertical direction). The other end of the first movable element 1222 and one end of the second movable element 1223 are connected by a second joint 1232 that is a horizontal rotary joint, and the movable element 1223 rotates around the second axis (vertical direction). Can do. The other end of the second movable element 1223 constitutes the tip of the robot arm 1201 and is connected to one end of the table 1208 by a third joint 1233 that is a horizontal rotary joint.

  If the robotic bed configured as described above is used, after placing an object to be placed on the table, the tables 1008, 1108, and 1208 are accurately and quickly moved to the target positions such as the examination position and the treatment position. It is possible to improve the efficiency of examinations and treatments in the medical field. For example, the table 1008, 1108, 1208 can be moved smoothly without giving a large vibration to the patient as compared with the case where the patient is moved by a table with casters. It is possible to avoid tangles with cords attached to devices and tubes attached to medical devices and table rattling caused by straddling the cords, and safety and movement efficiency can be improved.

  In addition, the robotic bed according to this configuration example always has a joint indicated by reference numerals 1032, 1132, 1232, and 1233, a movable element indicated by reference numerals 1023, 1123, and 1223, and a table indicated by reference numeral 1208. Since it is connected by a horizontal rotary joint that allows it to rotate in a state parallel to the horizontal plane, it can have higher rigidity than that connected by a vertical rotary joint. In other words, when connected by a vertical rotary joint, while the table is moving or maintaining a certain posture, the posture cannot be completely maintained by controlling the actuator alone due to the weight of the object to be placed, etc. However, in the case of a horizontal rotary joint, it does not rotate in the vertical direction, so such a situation hardly occurs. In addition, it is not necessary to consider vertical rotation at locations where horizontal rotation joints that allow rotation in a state that is always parallel to the horizontal plane, so even if the power is turned off, the electromagnetic The brake can be omitted. The same can be said for the horizontal rotary joints denoted by reference numerals 132, 133, 332, and 333 in the robotic bed according to the first configuration example, but this configuration example increases the rigidity. Furthermore, it has a structure that contributes to securing a treatment space, and is more suitable for introduction into a medical room.

  Since the example of the position where the robotic bed should be targeted is the same as the first and second configuration examples, the description thereof is omitted here.

  The operation of moving the table 1008 supported by the robot arm 1001 according to this configuration example between a plurality of positions will be described with reference to FIGS.

  FIG. 13 shows a state in which the table 1008 is located at the placement position when a subject who is a placement target is moved from the placement position to a certain inspection position. FIG. 14 shows that the second movable element 1023 and the table 1008 move as shown by the arrows under the control of the control device 1007 (in some cases, the first movable element also moves in the vertical direction to adjust the height, and the table 1008 The inclination of the subject is finely adjusted by rotation around the third axis and / or the fourth axis), and the subject's head moves from the oblique direction with respect to the inspection device 1314. FIG. 15 shows a state where the table 1008 is inserted into the inspection apparatus 1314 and the subject reaches the inspection position. The position of the table 1008 in FIG. 13 may also be a treatment position, and the table 1008 moves back from the inspection position in FIG. 15 to the position in FIG. 13 to return to the original position. Thus, the doctor 1312 can perform treatment.

  In the robot arm 1201 shown in FIG. 12, the table 1208 can move following a similar locus. The robot arm 1101 shown in FIG. 11 moves while the second movable element 1123 and the table 1108 rotate in the direction opposite to the arrow shown in FIG. 14 (in some cases, the first movable element 1122 also moves in the vertical direction to increase the height. The test position can be reached.

  The method for giving a command to operate the robot arm and the method for setting the target position for moving the table are the same as in the first and second configuration examples.

(Fourth configuration example)
A perspective view of a robotic bed according to a fourth configuration example of the present invention is shown in FIG. 16, and a side view thereof is shown in FIG. A robot arm 1701 used for the robotic bed has multiple degrees of freedom (three degrees of freedom or more), and supports a table 1708 on which a placement target is placed at the tip thereof. The table 1708 and the robot arm 1701 constitute a robotic bed.

As shown in FIG. 17, the robot arm 1701 includes a base 1721, a plurality of movable elements (first to fourth movable elements 1722 to 1725 in the present configuration example), and a plurality of joints (first configuration in the present configuration example). To sixth joints 1731 to 1736).

  One end of the base 1721 and the first movable element 1722 are connected by a first joint 1731 which is a vertical rectilinear joint, and the first movable element 1722 can move in the first axial direction (vertical direction). The other end of the first movable element 1722 and one end of the second movable element 1723 are connected by a horizontal rotary joint, and the second movable element 1723 can rotate around the second axis (vertical direction). The other end of the second movable element 1723 and one end of the third movable element 1724 are connected by a horizontal rotary joint, rotated by the second axis, and around a third axis (vertical direction) parallel to the second axis. The third movable element 1724 can rotate. The fourth to sixth joints 1734 to 1736 between the third movable element and the fourth movable element are rotary joints around the fourth to sixth axes, respectively. The fourth axis is a direction in which the third movable element 1724 extends, the fifth axis is a direction orthogonal to the fourth axis rotated by the fourth joint 1734, and the sixth axis is rotated by the fifth joint 1735. The direction is perpendicular to the fifth axis.

  The second movable element 1723 and the third movable element 1724 have a rod shape extending in a specific direction, and the lengths of these movable elements are appropriately designed according to the necessary movable range of the robot arm 1701. The first movable element 1722 moves up and down while maintaining a state parallel to the horizontal plane, and the second movable element 1723 and the third movable element 1724 rotate while maintaining a state parallel to the first movable element 1722. It has become. With such a configuration, it is not necessary to perform gravity compensation in the vertical direction in the second and third actuators 1742 and 1743, so that the motor can be made small. This is an advantageous configuration for reducing the size of the robot arm 1701, and is advantageous for introduction to a medical site where only a limited space can be secured, and for securing more space for treatment and surgery.

  In addition, the robotic bed of this configuration example reduces the height of the base 1721 in place of limiting the amount of movement of the first movable element 1722 in the vertical direction by the first joint, so that the table 1708 becomes a horizontal plane. Even if the first movable element 1722 is moved up and down (in the vertical direction) while maintaining the parallel state, and the table 1708 is rotated in any manner (for example, rotated 360 degrees), the robot arm 1701 It is configured not to touch. Therefore, in this configuration example, no matter what posture the robot arm takes, as long as the table 1708 is maintained in a state parallel to the horizontal plane, no matter how the table 1708 is rotated, the table There is no contact between the robot arm and the robot arm. Specifically, when the second movable element 1723, the third movable element 1724, and the table 1708 whose ends are connected to each other by a horizontal rotary joint are in a state parallel to the horizontal plane, the first movable element 1722 is moved to the bottom. Even if the robot arm is moved, even if the tip of the robot arm is at the lowest position, the table 1708 is configured to be positioned at the uppermost position without covering the other movable elements and the base 1721 at the height. With such a configuration, the movable element of the robot arm 1701 and the base 1721 are stored below the table 1708, which is effective for utilizing a limited space in the medical field.

  The width of the table 1708 is preferably larger than the width of each movable element of the robot arm 1701. For example, when looking down from the upper side in the vertical direction in a state where the specific directions of the second movable element 1723 and the third movable element 1724 whose ends are connected by a horizontal rotary joint are parallel when looking down from the upper side in the vertical direction It is desirable that all moving elements can be hidden behind the table 1708. Further, in the present configuration example, it is preferable that the length of the table 1708 is larger than the length of each movable element of the robot arm 1701. For example, when looking down from the upper side in the vertical direction, the second movable element 1723 and the third movable element 1724 whose ends are connected to each other by a horizontal rotary joint are parallel to each other in the specific direction, and the central part of the second movable element and the third movable element. It is desirable that the base 1721 is hidden by the table 1708 when looking down from the upper side in the vertical direction.

  In the example of FIGS. 16 and 17, one of the two movable elements (second movable element 1723 and third movable element 1724) whose end portions are connected by a horizontal rotary joint (second movable element 1723) is the base 1721. However, the second movable element 1723 may be directly coupled to the first joint 1731 which is a vertical rectilinear joint, for example. Moreover, it may be further indirectly connected to the base via a further horizontal rotary joint or a vertical rotary joint. Even in this case, as long as the above-described positional relationship is secured, it is possible to obtain the effects of space securing and compactness.

  The fourth movable element 1725 is located at the tip of the robot arm 1701. In this configuration example, the tip of the robot arm 1701 is fixed to the lower surface of the center portion of the table 1708 extending in a specific direction. With such a configuration, the table 1708 can be supported with high support strength, and the movable element and base of the robot arm 1701 can be easily stored under the table 1708. However, for example, the length of the third movable element 1724 may be shortened and the support position of the table 1708 may be one end, and even in this case, the effect of securing space and downsizing can be obtained. There is no.

  The definitions of “one end”, “other end”, “end”, and “center” in the above description are the same as in the first and second configuration examples.

  The robot arm 1701 has a plurality of actuators (in this configuration example, first to sixth actuators 1741 corresponding to the first to sixth joints 1731 to 1736 for moving or rotating the first to fourth movable elements 1722 to 1725. -1746), a plurality of position detectors (first to sixth position detectors 1751 to 1756 in the present configuration example) that are incorporated in the respective joints and detect the positions of the respective movable elements, and drive the respective actuators. A control device 1707 (see FIG. 17) for controlling is included. The control device 1707 is located in the base 1721, but may be an external independent device, for example.

  The first to sixth actuators 1741 to 1746 are, for example, servo motors. As the position detector, as in the first and second configuration examples, an encoder may be used, or a resolver or a potentiometer may be used.

  The robot arm 1701 also preferably includes first to sixth electromagnetic brakes 1761 to 1766 corresponding to the first to sixth joints 1731 to 1736, respectively. When the electromagnetic brake is not provided, the posture of the robot arm 1701 is kept constant by driving the plurality of actuators 1741 to 1746. However, when the electromagnetic brake is included, the driving of the actuator of a certain part is turned off. Also, by turning on the electromagnetic brake function, the posture of the robot arm 1701 can be kept constant.

  When the electromagnetic brake is provided, each of the first to sixth electromagnetic brakes 1761 to 1766 turns on the brake function when the drive current is not supplied to the actuator, and turns off the brake function when the drive current is supplied to the actuator. Is configured to do.

  As in the first to third configuration examples, the motor as the actuator, the encoder as the position detector, and the brake are often configured as an integrated unit as shown in FIG. Further, each of the first to sixth actuators 1741 to 1746 is provided with a power transmission speed reduction mechanism and a coupling.

  In the example shown in FIG. 17, the first movable element 1722 is connected by the horizontal rotary joint 1732 so as to be positioned above the second movable element 1723, but the first movable element 1722 is below the second movable element 1723. You may comprise so that it may be connected by the horizontal rotation joint 1732 so that it may be located in the side. In this way, the height can be compensated for by lowering the base 1721.

  As described above, the robot arm 1701 shown in FIGS. 16 and 17 has six degrees of freedom, but the degree of freedom of the robot arm of the present invention does not necessarily have to be 6, and may be 5 or less, or 7 or more. It may be. However, the degree of freedom of the robot arm is desirably 3 or more so that the table 1708 can move at least linearly in space. FIG. 18 shows an example of a robotic bed according to this configuration having 3 degrees of freedom. In FIG. 18, the robot arm 1801 is composed of a base 1821 and two movable elements 1822 and 1823, and one end of the base 1821 and the first movable element 1822 is connected by a first joint 1831 which is a vertical rectilinear joint. One movable element 1822 can move in the first axial direction (vertical direction). The other end of the first movable element 1822 and one end of the second movable element 1823 are connected by a second joint 1832 that is a horizontal rotary joint, and the second movable element 1823 rotates around the second axis (vertical direction). can do. The other end of the second movable element 1823 constitutes the tip of the robot arm 1801 and is connected to the lower surface of the central portion of the table 1808 by a third joint 1833 that is a horizontal rotation joint.

  By using the robotic bed configured as described above, after placing the placement object on the table, the tables 1708 and 1808 can be accurately and quickly moved to the target positions such as the examination position and the treatment position. It is possible to greatly improve the efficiency of inspection and treatment in the medical field. For example, the table 1708 and 1808 can be moved smoothly without giving a large vibration to the patient as compared with the case where the patient to be placed is moved by a table with casters, and there are many on the floor of the medical room. It is possible to avoid entanglement with cords associated with existing medical devices and tubes associated with medical devices, and rattling of the table by straddling them, and safety and movement efficiency can be improved.

  Since the example of the position where the robotic bed should be targeted is the same as the first to third configuration examples, the description is omitted here.

  The operation of moving the table supported by the robot arm according to this configuration example between a plurality of positions is shown in the case of using the robot arm 1701 having 6 degrees of freedom shown in FIG. 17 as an example. Explained.

  FIG. 19 shows a state in which the table 1708 is located at the placement position when a subject as a placement target is moved from the placement position to a certain inspection position. In FIG. 20, the second movable element 1723 and the third movable element 1724 move as indicated by arrows under the control of the controller 1707, and the table 1708 rotates around the sixth axis and moves as indicated by arrows (in some cases, the first (1) the movable element 1722 is also moved in the vertical direction to adjust its height, and the table 1708 is rotated around the fourth axis and / or the fifth axis to finely adjust the tilt). It shows how it moves from an angle. FIG. 21 shows a state where the table 1708 is inserted into the inspection device 1914 and the subject reaches the inspection position. Note that the position of the table 1708 in FIG. 19 may also be a treatment position, and the table 1708 moves back from the inspection position in FIG. 21 to the position in FIG. 19 to return to the original position. Thus, the doctor 1912 can perform treatment.

  The robot arm 1801 shown in FIG. 18 can also move the table 1808 following a similar locus.

  The head direction of the subject may be the opposite side in the longitudinal direction of the tables 1708 and 1808. In this case, the inspection apparatus 1914 rotates while the rotation direction of the tables 1708 and 1808 is opposite to the moving direction of the table shown in FIG. Will be moved to. As described above, when the bases 1721 and 1821 are stored under the tables 1708 and 1808, the orientation of the object to be placed may be either. If the positions of the tables 1708 and 1808 in FIG. The person 1912 can perform the operation from either side of the tables 1708 and 1808, and has an excellent merit that the operator can be operated by surrounding the table including the assistant. Since the bases 1721 and 1821 do not get in the way, the doctor 1912 can perform treatment while sitting.

(Fifth configuration example)
The robotic bed according to this configuration example is characterized in that the table in the robotic bed according to the first to fourth configuration examples includes a slide mechanism.

  FIG. 22 is a diagram showing that the table 2208 includes a main body 2281 having a rail and a slide plate 2282 that fits into a groove of the rail. When the table in the robotic bed has such a configuration, for example, after the table is moved to the inspection preparation position by the robotic arm, the slide plate 2282 is manually slid to move the placement object further away. It can be moved to the inspection position.

  FIG. 23 is a view showing that a groove 2383 into which the slide mechanism 2309 is fitted is formed on the lower surface of the table 2308, and racks 2384 having a plurality of teeth are provided on both sides of the groove 2383. . The slide mechanism 2309 includes a main body 2391 connected to the tip of the robot arm, a pair of pinions 2392 that are rotatably supported by the main body 2391 and mesh with the rack 2384, and an actuator (not shown) that rotates the pinion 2392. When the table 2308 in the robotic bed has such a configuration, for example, after the table is moved to the inspection preparation position by the robotic arm, the table 2308 is slid by driving of the actuator, so that the placement object is moved. It can be moved further. The actuator is, for example, a servo motor.

  If the slide mechanism is provided, the degree of freedom in each configuration example is increased by one. In addition, if the configuration can be driven by an actuator, the robot arm movable element and the slide mechanism are operated simultaneously by driving simultaneously with a plurality of actuators of the robot arm according to each configuration example, so that the table can be efficiently placed at the target position. Can be transported.

  FIGS. 24 to 26 show examples in which the placement target is moved when a manual slide mechanism is adopted in the robotic bed according to the first configuration example.

  The placement position of the placement object shown in FIG. 24 is the same as the position of FIG. 4, and the position where the head is directed to the inspection apparatus shown in FIG. 25 (inspection preparation position) is the same as the position of FIG. In the first configuration example, the movable element of the robot arm 101 is moved as it is to transport the table 108 into the inspection apparatus 414. However, in this configuration example, the slide plate is manually slid to move into the inspection apparatus 414. I am letting.

  According to such a configuration, since the robot arm only needs to be extended to the inspection preparation position, there is an advantage that the movable range of the robot arm is small and each movable element can be made small. Along with this, it is possible to effectively utilize the limited space in the medical field. For example, in the transition from FIG. 5 to FIG. 6, the second movable element 123 and the third movable element 124 are respectively moved to the inspection device 414 side, but in the transition from FIG. 25 to FIG. Accordingly, the first movable element 123 and the third movable element 124 can be shortened accordingly.

  Next, an example in which the placement target is moved when an actuator-driven slide mechanism is employed in the robotic bed according to the third configuration example will be described.

FIG. 27 shows a side view of a robotic bed provided with a slide mechanism in the third configuration example.
The robot arm 2701 used for the robotic bed has multiple degrees of freedom (three degrees of freedom or more), and supports a table 2708 on which a placement target is placed at the tip thereof. The table 2708 and the robot arm 2701 constitute a robotic bed.

  The robot arm 2701 includes a base 2721, a plurality of movable elements (first to third movable elements 2722 to 2724 in the present configuration example), and a plurality of joints (first to fifth joints 2731 to 2735 in the present configuration example). )including.

  One end of the base 2721 and the first movable element 2722 is connected by a first joint 2731 which is a vertical rectilinear joint, and the first movable element 2722 can move in the first axial direction (vertical direction). The other end of the first movable element 2722 and one end of the second movable element 2723 are connected by a horizontal rotary joint, and the second movable element 2723 can rotate around the second axis (vertical direction). The third to fifth joints 2733 to 2735 between the second movable element 2723 and the third movable element 2724 are rotary joints around the third to fifth axes, respectively. The third axis is a direction in which the second movable element 2723 extends, the fourth axis is a direction orthogonal to the third axis rotated by the third joint 2733, and the fifth axis is rotated by the fourth joint 2734. The direction perpendicular to the fourth axis.

  The first movable element 2722 and the second movable element 2723 have a rod shape extending in a specific direction, and the length is appropriately designed according to the necessary movable range of the robot arm 2701. The first movable element 2722 is moved up and down while maintaining a state parallel to the horizontal plane, and the second movable element 2723 is rotated around the second axis while maintaining a state parallel to the first movable element. Yes. With such a configuration, it is not necessary to perform gravity compensation in the vertical direction in the second actuator 2742, so that the motor can be made small. This is an advantageous configuration for reducing the size of the robot arm 2701, and is advantageous for introduction to a medical site where only a limited space can be secured or for securing more space for treatment or surgery.

  The third movable element 2724 is located at the tip of the robot arm 2701. In this configuration example, the tip of the robot arm 2701 is connected to the slide mechanism 2709 of the table 2708.

  The robot arm 2701 corresponds to the first to fifth joints 2731 to 2735 and the slide mechanism 2709, and includes a plurality of actuators (in this configuration example) that move or rotate the first to third movable elements 2722 to 2724 and the slide mechanism 2709. , First to fifth actuators 2741 to 2745 and slide mechanism actuator 2749) and a plurality of position detectors (first to fifth positions in the present configuration example) that detect the positions of the respective movable elements. Detectors 2751 to 2755 and a slide mechanism position detector 2759), and a control device 2707 for controlling the driving of each actuator. The control device 2707 is located in the base 2721, but may be an external independent device, for example.

  The first to fifth actuators 2741 to 2745 and the slide mechanism actuator 2749 are, for example, servo motors. As the position detector, an encoder, a resolver, and a potentiometer can be used as in the first and second configuration examples.

  The robot arm 2701 preferably includes first to fifth electromagnetic brakes 2761 to 2765 and a slide mechanism electromagnetic brake 2769 corresponding to the first to fifth joints 2731 to 2735 and the slide mechanism 2709, respectively. When the electromagnetic brake is not provided, the posture of the robot arm 2701 is kept constant by driving a plurality of actuators 2741 to 2745 and the slide mechanism actuator 2749. By turning on the electromagnetic brake function even if the drive of is turned off, the posture of the robot arm 2701 can be kept constant.

  When the electromagnetic brake is provided, each of the first to fifth electromagnetic brakes 2761 to 2765 turns on the brake function when the drive current is not supplied to the actuator, and turns off the brake function when the drive current is supplied to the actuator. Is configured to do.

  The placement position of the placement object shown in FIG. 28 is the same as FIG. However, the direction of the table 2708 inserted into the inspection device 2814 in the robotic bed having the slide mechanism is reversed. That is, if it expresses that the table 1008 is inserted in the inspection apparatus 1314 from the one end side of the table 1008 in FIGS. 13-15, it will be inserted in the inspection apparatus 2814 from the other end side of the table 2708 in FIGS. Become.

  The position (inspection position) inserted from the head into the inspection apparatus 1314 shown in FIG. 15 is the same as the position in FIG. In the first configuration example, the movable element of the robot arm 1001 is moved as it is to convey the table 1008 into the inspection apparatus 1314 from an oblique direction. In this configuration example, after the table 2708 is once arranged to face the inspection apparatus 2814, The table 2708 is moved into the inspection apparatus 2814 by sliding by the actuator drive.

  As described above, the provision of the slide mechanism has an advantage that the size of the robot arm can be reduced, and the third type as shown in FIG. 10 (the robot arm 1001 supports one end of the table 1008). In the configuration example, there is an effect that it is possible to change in which direction the mounting target is directed at the mounting position. As for the latter, for example, when the placement position is a surgical position where brain or tooth surgery is performed, the head is directed toward the base 1021 when the patient returns from the inspection apparatus 1314 as shown in FIG. The surgeon 1312 is difficult to perform the operation because the base 1021 is in the way. However, when the patient returns from the inspection apparatus 2814 as shown in FIG. There is an effect that the operation on the side is easy. Since the base 2721 does not get in the way, the doctor 2812 can perform treatment while sitting.

  In the two examples introduced here, the tip of the robot arm supports the end of the table, but a manual slide mechanism may be adopted in a configuration in which the tip of the robot arm supports the center of the table. Good. Further, the length of the table groove 2783 into which the actuator-driven slide mechanism 2709 is fitted may be limited to only the central portion. In this case, the slide width is shortened, but the table is smaller than the case where the slide width is large. Is less likely to occur.

  In the above-described example, an example in which a manually operated slide mechanism and an actuator-driven slide mechanism are applied to the first configuration example and the third configuration example, respectively. May be applied.

  Then, it is necessary to review the design of the compact size robotic bed in the third configuration example and the fourth configuration example by newly providing a slide mechanism. For the fourth configuration example, no matter how much the position of the table is changed by the slide mechanism, the table and the robot arm are in contact with each other no matter how the table is rotated as long as the table remains parallel to the horizontal plane. What is necessary is just to comprise so that it may not. As for the third configuration example, when looking down from the upper side in the vertical direction, the table position moves in the slide direction in a state where the specific directions of the two movable elements whose ends are connected by the horizontal rotary joint are parallel to each other. Even when the table having the slide mechanism is closest to the base and is rotated in a state parallel to the horizontal plane (for example, rotated 360 degrees), it is designed not to contact the robot arm. With such a design, it is possible to obtain the merit of adding the slide mechanism while maintaining the merit of the robotic bed in the third configuration example and the fourth configuration example.

[Characteristics common to robot arms according to each configuration example]
In the following, additional features applicable to all the first to fifth configuration examples will be described.

(Fixtures for tubes / cords)
When the object to be placed on the table in each configuration example is a patient, the patient may be equipped with a life support device, infusion, or other devices necessary for treatment.

  As described above, compared to moving a table with casters, by introducing the robotic table according to the first to fifth configuration examples, such tubes (tubes and (Or cable) can be avoided, and rattling caused by straddling this can be avoided, but in order to further ensure safety, in the robotic bed according to the present invention, the table, the base of the robot arm, Alternatively, at least one of the movable elements may be provided with fixtures 171, 371, 771, 1071, 1171, 1271, 1771, 1871, and 2771 for binding tubes extending from these devices. desirable. As a result, it is possible to more reliably avoid a situation where the tubes are tangled during the operation of the robot arm. It is possible to prevent doctors and assistants from getting their feet on the tubes, and to further improve safety. Tubes that require measures to prevent tangling are not limited to those connected to life-time devices, but electrical cords (cords) such as medical devices and displays are also preferably fixed with similar fixtures. . Also, if the position to move the table is decided, predict the approximate movement of the robot arm and decide the length of the remaining tubes / cords and the position to be fitted to the fixture on the tubes / cords side. It is desirable to keep it.

(Manual brake-off function)
When an electromagnetic brake corresponding to the horizontal rotary joint is provided, a switch or a lever that manually turns off the brake function when the drive current is not supplied to the actuator may be provided. In the case of the robot arm 101 shown in FIG. 1, among the first to sixth electromagnetic brakes 161 to 166, the second corresponding to the second, third, and sixth joints 132, 133, and 136 that are horizontal rotation joints. The second, third, and sixth electromagnetic brakes 162, 163, and 166 may be configured to manually turn off the brake function. In the case of the robot arm 301 shown in FIG. 3, the second and third electromagnetic brakes corresponding to the second and third joints 332 and 333 that are horizontal rotation joints among the first to third electromagnetic brakes 361 to 363. 362 and 363 may be configured to manually turn off the brake function. In the case of the robot arm 701 shown in FIG. 7, the first electromagnetic brake 761 corresponding to the first joint 731 which is a horizontal rotation joint among the first to sixth electromagnetic brakes 761 to 766 is manually turned off. It is good also as a structure which can do. In the case of the robot arm 1001 shown in FIG. 10, the second and fifth of the first to fifth electromagnetic brakes 1061 to 1065 corresponding to the second and fifth joints 1032 and 1035 that are horizontal rotation joints. The electromagnetic brakes 1062 and 1065 may be configured to manually turn off the brake function. In the case of the robot arm 1101 shown in FIG. 11, the second and fifth of the first to fifth electromagnetic brakes 1161 to 1165 corresponding to the second and fifth joints 1132 and 1135 which are horizontal rotation joints. The electromagnetic brakes 1162 and 1165 may be configured to manually turn off the brake function. In the case of the robot arm 1201 shown in FIG. 12, the second and third electromagnetic brakes corresponding to the second and third joints 1232 and 1233 which are horizontal rotation joints among the first to third electromagnetic brakes 1261 to 1263. 1262 and 1263 may be configured to manually turn off the brake function. In the case of the robot arm 1701 shown in FIG. 17, among the first to sixth electromagnetic brakes 1761 to 1766, the second, third, and sixth joints 1732, 1733, and 1736 corresponding to the horizontal rotation joints. The second, third, and sixth electromagnetic brakes 1762, 1762, and 1766 may be configured to manually turn off the brake function. In the case of the robot arm 1801 shown in FIG. 18, the second and third electromagnetic brakes corresponding to the second and third joints 1832 and 1833 which are horizontal rotation joints among the first to third electromagnetic brakes 1861 to 1863. 1862 and 1863 may be configured to manually turn off the brake function. Further, in the case of a robotic bed having a slide mechanism driven by a motor as shown in FIG. 27, an electromagnetic brake is also provided in the motor that drives the slide mechanism, and the brake function of the electromagnetic brake is manually turned off. Good.

  According to this configuration, even in the event of a power failure, by turning off the brake function and moving the movable element of the robot arm, a medical worker can move a patient who is a placement target to a safe place, for example.

  In addition, it is not necessary to apply to all the application parts of the manual brake-off function listed above, and it may be applied to at least a part or limited to a part that can move only in a state parallel to a horizontal plane. Of course.

(Distance sensor)
The robot arm in each configuration example is preferably provided with distance sensors 173, 373, 773, 1073, 1173, 1273, 1773, 1873, and 2773 that scan the movable range of the robotic bed. In FIG. 1, the movable range of the robot arm 101 is a radius from the end of the table 108 to the end of the table 108 when the robot arm 101 and the table 108 are extended to the maximum centered on the second axis that is the rotation center of the second joint 132. Is a fan-shaped range. In FIG. 3, the movable range of the robot arm 301 is a radius from the second axis that is the rotation center of the second joint 332 to the end of the table 308 when the robot arm 301 and the table 308 are extended to the maximum. Is a fan-shaped range. In FIG. 7, the movable range of the robot arm 701 is a radius from the first axis that is the rotation center of the first joint 731 to the end of the table 708 when the robot arm 701 and the table 708 are extended to the maximum. Is a fan-shaped range. In FIG. 10, the movable range of the robot arm 1001 is a radius from the second axis that is the rotation center of the second joint 1032 to the end of the table 1008 when the robot arm 1001 and the table 1008 are extended to the maximum. Is a fan-shaped range. In FIG. 11, the movable range of the robot arm 1101 has a radius from the second axis that is the rotation center of the second joint 1132 to the end of the table 1108 when the robot arm 1101 and the table 1108 are extended to the maximum. Is a fan-shaped range. In FIG. 12, the movable range of the robot arm 1201 is a radius from the second axis that is the rotation center of the second joint 1232 to the end of the table 1208 when the robot arm 1201 and the table 1208 are extended to the maximum. Is a fan-shaped range. In FIG. 17, the movable range of the robot arm 1701 is a radius from the second axis that is the rotation center of the second joint 1732 to the end of the table 1708 when the robot arm 1701 and the table 1708 are extended to the maximum. Is a fan-shaped range. In FIG. 18, the movable range of the robot arm 1801 is a radius from the second axis that is the rotation center of the second joint 1832 to the end of the table 1808 when the robot arm 1801 and the table 1808 are extended to the maximum. Is a fan-shaped range. In FIG. 27, the movable range of the robot arm 2701 is when the table 2708 is moved toward one end and extended to the maximum by the robot arm 2701 and the slide mechanism around the second axis that is the rotation center of the second joint 2732. This is a fan-shaped range having a radius extending to the end of the table 2708.

  When the distance sensors 173, 373, 773, 1073, 1173, 1273, 1773, 1873, 2773 as described above are provided, the control devices 107, 307, 707, 1007, 1107, 1207, 1707, 1807, 2707 When a foreign object (a person or an object) is detected within the movable range of the robot arm by the distance sensor, the operation of all actuators is stopped or prohibited. According to this configuration, even when a person who is not proficient in the operation of a robot such as a medical worker and who is difficult to predict the operation of the robot arm is in the vicinity of the robotic bed, the human robot arm Or dangers such as contact and collision with the table are avoided. Also, dangers such as contact and collision of the robot arm with the medical device are avoided.

  For example, when the table reaches the treatment position, it controls whether the distance sensor is activated or deactivated according to the position of the table so that a doctor or assistant who treats does not react even if the table surrounds the table. It is preferable to do so. However, a means such as a changeover switch for manually switching between active / inactive of the distance sensor should be provided. Alternatively, switching between active / inactive of the distance sensor may be performed by the control device.

(Height sensor)
For the table or robot arm, height sensors 174, 374, 774, 1074, 1174, 1274, 1774, 1874, which detect the height of the table 108, 308, 708, 1008, 1108, 1208, 1708, 1808, 2708, are used. 2774 is preferably provided. In this case, the control devices 107, 307, 707, 1007, 1107, 1207, 1707, 1807, and 2707 are moved before the tables 108, 308, 708, 1008, 1108, 1208, 1708, 1808, and 2708 are moved into the inspection device. Further, the heights of the tables 108, 308, 708, 1008, 1108, 1208, 1708, 1808, 2708 detected by the height sensors 174, 374, 774, 1074, 1174, 1274, 1774, 1874, 2774 are within a predetermined range. If it is not within the predetermined range, the table 108, 308, 708, 1008, 1108, 1208, 1708, 1808, 2708 is controlled not to move into the inspection apparatus. According to this configuration, the risk of contact or collision with the table or the test apparatus of the subject is avoided. In the above description, the inspection position is taken as an example of the movement target position, but the same applies even when this is inserted into a medical device such as a measurement position by a measurement device or a photographing position by an imaging device. .

(Bend compensation)
In addition, the robot arm in each configuration example has a function of compensating for this by controlling the robot arm with a control device in accordance with the bending of the table or the robot arm. FIG. 31 shows an example of correcting this when the table 3108 is bent due to the weight of the object to be placed. For example, when one point of the patient's head as a placement target is determined as a target point for tracking, the target is specified by specifying x, y, z coordinates from the tip of the robot arm 3101 (fixed portion of the table 3108). The point 3190 can be stored (FIG. 31A). When the table is bent as shown in FIG. 31 (b), the target point 3190 moves, for example, to the lower right, so that the deviation of the coordinate values is detected by the robot arm control device, and the control device detects this deviation. At least one of the actuators is controlled so as to return to the target point 3190 stored in advance in order to correct. In the example of FIG. 31C, the movable element with the robot arm is moved to the left side, and the vertical rotation joint is rotated clockwise to correct.

  FIG. 32 shows another example of deflection compensation. For example, as in the case of FIG. 31, when one point on the patient's head as the placement target is determined as a target point for tracking, x, y, and the like from the tip of the robot arm 3201 (fixed portion of the table 3208) The target point 3290 can be stored by designating the z coordinate or the like (FIG. 32A). When the table is bent and the target point 3190 moves downward, for example, as shown in FIG. 32 (b), a coordinate value shift is detected by the robot arm control device, and the control device corrects the shift in advance. At least one of the actuators is controlled so as to return to the stored target point 3290. In the example of FIG. 32C, the vertical rotation joint with the robot arm is rotated clockwise for correction.

  According to such a configuration, it is always possible to accurately align the target point. Accordingly, for example, accurate transfer of the placement object is achieved, and dangers such as contact and collision of the table or the placement object with the inspection device, measurement device, imaging device, and the like are also avoided.

(Weight sensor)
Further, it is desirable that weight sensors 175, 375, 775, 1075, 1175, 1275, 1775, 1875, and 2775 for measuring the weight of the object to be placed are provided on the table or the robot arm. This makes it possible to always monitor the weight of a patient as a placement target, for example. According to this configuration, it is possible to monitor the patient as a placement target from the body weight side. For example, while storing the body weight before the start of the operation, the weight decreased due to bleeding is monitored, and the response at the time of surgery and policy change It can be used as a reference. For this reason, it is preferable to provide a display unit (for example, a display window or a display) for displaying the numerical value detected by the weight sensor on the table or the robot arm. In this display section, a plurality of recorded values (for example, immediately before surgery and immediately after surgery with bleeding) or a difference between a stored value and a current value (for example, a difference between the value before the operation and the current value) It is preferable that can be displayed. For this purpose, storage means such as a memory is provided, and the weight of the placement object at a certain point in time is stored in the storage means. The current weight of the placement object detected by the weight sensor and the stored weight It is preferable to provide a calculation unit such as a CPU for calculating the difference between the two. Further, in order to perform such management for each patient as a placement target, the storage means can select a patient in association with the patient ID, stores the weight at a certain point for each patient, It is preferable to calculate the difference so that it can be displayed on the display unit.

(Temperature sensor)
The table is preferably provided with temperature sensors 172, 372, 772, 1072, 1172, 1272, 1772, 1882 and 2772 for measuring the temperature of the object to be placed. This makes it possible, for example, to constantly monitor the temperature of a patient as a placement target. According to this configuration, the patient as the placement target can be monitored from the body temperature surface. For example, the body temperature can be monitored before surgery, during surgery standby, during surgery, and after surgery. Therefore, it is preferable to provide a display unit for displaying the numerical value detected by the temperature sensor on the table or the robot arm.

  If the patient's body temperature is too low or too high, the temperature rises to increase the surface temperature of the tables 108, 308, 708, 1008, 1108, 1208, 1708, 1808, 2708. It is preferable to provide means (such as a heater) or a temperature lowering means (such as a cooling device) for lowering. Thereby, a patient can be kept at a desirable body temperature.

  1, 3, 7, 10, 11, 12, 17, 18, and 27, each temperature sensor has a table 108 308 708 1008 1108 1208 1708 1808. Although it is arranged on the side surface of 2708, it may be embedded.

  In addition, another temperature sensor that detects the ambient temperature of the table is provided to maintain the patient's body temperature in the desired state while waiting for the start of surgery or resting after surgery. Move the robot arm to an area with a low temperature (for example, a low position or near a cooling device) or move the table position to a high temperature area (for example, near a high position or a heating device) when the ambient temperature is low May be controlled. The automatic movement of these may occur when the patient is resting after surgery or when waiting before treatment, and the table is moved so that the person who is placed does not feel the movement. It is preferable to move slowly. However, it is not desirable that the robot arm automatically moves during surgery, etc., so if the table position is in the treatment position, it can be set to be inactive, or the sensor can be set according to the area where the table is located. The active / inactive mode may be switched.

  In addition, it is preferable that the temperature sensor / ambient temperature sensor can be manually switched between active / inactive of the sensor function.

(Object sensor)
In addition, the table is provided with one or more object sensors for detecting objects around the table, and when the object is detected by the object sensor during the operation of the robot arm, the operation of the actuator for driving the robot arm is performed. It is preferable to stop or prohibit. When introducing a robotic bed as shown in the first to fifth configuration examples into a medical room, ensuring safety is an extremely important position. It is preferable to ensure safety.

  In addition, when the position of the table is in the treatment position, it is set so as to become inactive, or it is made active only between the placement position of the placement object and the examination position, or the area where the table is located The active / inactive state of the object sensor may be switched according to the above. The active / inactive switching of the object sensor may be performed by a control device, or may be performed by a manual switching unit provided in the object sensor.

  In addition, it is preferable that the temperature sensor / ambient temperature sensor can be manually switched between active / inactive of the sensor function.

(Configuration of control device)
As shown in FIG. 40, the control devices 107, 307, 707, 1007, 1107, 1207, 1707, 1807, 2707 are actuators of robot arms 101, 301, 701, 1001, 1101, 1201, 1701, 1801, 2701, Connected with electromagnetic brake and position detector. The control devices 107, 307, 707, 1007, 1107, 1207, 1707, 1807, 2707 include the above-described distance sensors 173, 373, 773, 1073, 1173, 1273, 1773, 1873, 2773, and height sensors 174, 374, 774, 1074, 1174, 1274, 1774, 1874, 2774, weight sensors 175, 375, 775, 1075, 1175, 1275, 1775, 1875, 2775, and temperature sensors 172, 372, 772, 1072, 1172, 1272 Can be connected to 1772, 1882, 2772. The control devices 107, 307, 707, 1007, 1107, 1207, 1707, 1807, and 2707 include storage means and, as a configuration for realizing the above-described deflection compensation, setting means for determining the position of the target point; A tracking means for tracking the target point may be included.

  Further, the control devices 107, 307, 707, 1007, 1107, 1207, 1707, 1807, 2707 may include the storage means and the calculation unit described above, or may be connected to the display unit described above. The display unit may be incorporated in the base of the robot arm or may be independent from the robot arm. Further, when the weights of a plurality of different placement objects are stored in the storage means of the control device, the control device may include selection means for selecting a specific placement object as shown in FIG. Good.

  Further, the control devices 107, 307, 707, 1007, 1107, 1207, 1707, 1807, 2707 can be connected to the temperature raising means and the temperature lowering means described above. Further, the control devices 107, 307, 707, 1007, 1107, 1207, 1707, 1807, 2707 can be connected to the above-described object sensors.

[Application to intraoperative MRI]
The robotic bed described above can be expected to exert a great effect when used in intraoperative MRI. In the case of intraoperative MRI for brain tumor removal, the number of times the patient is moved and the brain is imaged with an MRI device is 2 to 4 times, an average of 3 times. Securing postoperative QOL ", Hitachi Medical, Monthly Inner Vision September 2012 issue), there is a high need to reciprocate the patient's imaging position and treatment position accurately and quickly during surgery.

  In the following, a robotic bed as shown in the first to fifth configuration examples (in some cases, a robotic bed to which the above-mentioned common features are added) is used as a specific part of a patient to be placed by the MRI apparatus. A technique applied to intraoperative MRI in which an image is taken and then moved to a treatment position (including a surgical position) and immediately transferred to surgery will be described.

  In the following, by driving the robot arms 101, 301, 701, 1001, 1101, 1201, 1701, 1801, 2701, the tables 108, 308, 708, 1008, 1108, 1208, 1708, 1808, 2708 are set as treatment positions. A state of moving between the MRI imaging positions will be described with reference to the drawings.

  When the robotic bed of each configuration example is applied to intraoperative MRI, the devices 414, 1314, 1914, and 2814 placed in the medical room in the description of the movement of the table of each configuration example are MRI devices.

  FIG. 33 shows an open type MRI apparatus 3314. The open type MRI apparatus 3314 is an open type that opens forward and laterally. Specifically, it includes a substantially T-shaped upper inspection portion (upper magnet) 3315 and lower inspection portion (lower magnet) 3316 whose center portion projects forward, and between these inspection portions 3315 and 3316. A space for inserting a table on which a patient is placed is formed. Both ends of the upper inspection unit 3315 and the lower inspection unit 3316 are connected by a pair of support columns 3317. The MRI apparatus 3314 may be a donut shape. However, when applying to a case where the patient can be easily inserted into the MRI apparatus obliquely (as shown in FIG. 14), a table is placed in front of the cavity inside the donut. Since it is inserted into the cavity after being positioned, the movement of the robot arm may be a little cramped.

  A portion formed by a space sandwiched between the upper inspection unit (upper magnet) 3315 and the lower inspection unit (lower magnet) 3316 is an imaging space. When at least part of the table 108, 308, 708, 1008, 1108, 1208, 1708, 1808, 2708 overlaps with the imaging space, the table 108, 308, 708, 1008, 1108, 1208, 1708, 1808, It can be said that 2708 is at the MRI imaging position. The positions of the tables 108, 308, 708, 1008, 1108, 1208, 1708, 1808, and 2708 in the imaging space differ depending on the imaging region of the patient and the height and size of the patient, and are not always constant. .

  FIG. 4 shows a state where the table 108 is located at the placement position when the patient to be placed is moved from the placement position to the MRI imaging position using the robotic bed according to the first configuration example. Show. FIG. 5 shows that the second movable element 123 and the third movable element 124 move as indicated by arrows by the control of the control device 107, and the table 108 moves as indicated by arrows by the rotation of the sixth axis (in some cases, the first The movable element 122 is also moved in the vertical direction to adjust the height, and the tilt of the table is finely adjusted by rotation around the fourth axis and / or the fifth axis). The patient's head is directed toward the MRI apparatus 414. (State of being located at the MRI imaging preparation position). FIG. 6 shows a state where the table 108 is inserted into the MRI apparatus 414 and the table 108 has reached the MRI imaging position. After imaging by the MRI apparatus 414, when the operator 412 positions the table 108 at the treatment position in order to perform surgery on the patient, the table 108 moves from the MRI imaging position of FIG. 6 to the position of FIG. Moves in the opposite direction and returns to the original position, and the operator 412 can immediately shift to the operation while viewing the MRI image.

  FIG. 13 shows a state where the table 1008 is positioned at the mounting position when the patient as a mounting target is moved from the mounting position to the MRI imaging position using the robotic bed according to the third configuration example. Is shown. FIG. 14 shows that the second movable element 1023 and the table 1008 move as shown by the arrows under the control of the control device 1007 (in some cases, the first movable element also moves in the vertical direction to adjust the height, and the table 1008 The inclination of the patient is finely adjusted by rotation around the third axis and / or the fourth axis), and the patient's head moves from the oblique direction with respect to the MRI apparatus 1314. FIG. 15 shows a state where the table 1008 is inserted into the MRI apparatus 1314 and the patient has reached the examination position. After the imaging by the MRI apparatus 1314, when the operator 1312 places the table 1008 in the treatment position so as to perform an operation on the patient, the table 1008 moves from the MRI imaging position of FIG. 15 to the position of FIG. Moves in the reverse direction and returns to the original position, and the surgeon 1312 can immediately shift to the operation while viewing the MRI image.

  FIG. 19 shows a state in which the table 1708 is located at the placement position when the patient as a placement target is moved from the placement position to the MRI imaging position using the robotic bed according to the fourth configuration example. Is shown. In FIG. 20, the control unit 1707 moves the second movable element 1723 and the third movable element 1724 as indicated by the arrows, and the table 1708 rotates around the sixth axis and moves as indicated by the arrows (in some cases, the first movable element The height of the element 1722 is adjusted by moving in the vertical direction, and the table 1708 is rotated around the fourth axis and / or the fifth axis, and the tilt is finely adjusted). It shows how it moves from an angle. FIG. 21 shows a state in which the table 1708 has been inserted into the MRI apparatus 1914 and the table 1708 has reached the MRI imaging position. After the imaging by the MRI apparatus 1914, when the operator 1912 places the table 1708 in the treatment position so as to perform an operation on the patient, the table 1708 moves from the MRI imaging position in FIG. 21 to the position in FIG. Moves in the reverse direction and returns to the original position, and the operator 1912 can immediately shift to the operation while viewing the MRI image.

  FIGS. 24 to 26 show an example in which the fifth configuration example is applied to intraoperative MRI when a manual slide mechanism is adopted in the robotic bed according to the first configuration example.

  The placement position of the placement object shown in FIG. 24 is the same as the position of FIG. 4, and the position where the head is directed to the MRI apparatus 414 shown in FIG. 25 (MRI imaging preparation position) is the same as the position of FIG. is there. When the robotic bed according to the first configuration example is used, each movable element of the robot arm 101 is moved as it is to transport the table 108 into the MRI apparatus 414. However, the robotic bed according to the fifth configuration example is used. In this case, the slide plate 2481 is manually moved at the MRI imaging preparation position to be moved into the MRI apparatus 414.

  FIGS. 28 to 30 show an example in which the fifth configuration example in the case of adopting the actuator-driven slide mechanism in the robotic bed according to the third configuration example is applied to intraoperative MRI.

  The patient placement position shown in FIG. 28 is the same as in FIG. However, the rotation direction of the table 2708 inserted into the MRI apparatus 2814 in the robotic bed having the slide mechanism is reverse. That is, if it expresses that the table 1008 is inserted in the inspection apparatus 1314 from one end side of the table 1008 in FIGS. 13-15, it will be inserted in the MRI apparatus 2814 from the other end side of the table 2708 in FIGS. Become.

  The position (MRI imaging position) inserted from the head into the MRI apparatus 1314 shown in FIG. 15 is the same as the position shown in FIG. When the robotic bed according to the third configuration example is used, the movable element of the robot arm 1001 is moved as it is to convey the table 1008 into the MRI imaging apparatus 1314 obliquely. The robotic bed according to the fifth configuration example When the table 2708 is once arranged so as to face the MRI apparatus 2814, the table 2708 is slid by actuator driving to be moved into the MRI apparatus 2814.

  FIGS. 34 to 36 are perspective views showing the movement of the robotic bed when the fifth configuration example is applied to intraoperative MRI in the case of adopting the actuator-driven slide mechanism in the robotic bed according to the third configuration example. Used to show. FIG. 34 shows the placement position and the surgical position of the patient. The second movable element 2723 rotates horizontally, and at the same time, the table 2708 rotates about the fifth axis and moves to the MRI imaging preparation position shown in FIG. . Then, the table 2708 slides to a position where it overlaps with the imaging space of the MRI apparatus by driving the actuator, and the movement of the table 2708 to the MRI imaging position is completed.

  Note that the second movable element 2723 in the MRI imaging preparation position in FIG. 35 has a different orientation from that in the MRI imaging preparation position during the transition from FIG. 29 to FIG. 30 (between FIGS. 29 and 30). In this case, the second movable element 2723 is oriented perpendicularly to the MRI apparatus 2814, but in the case of FIG. 35, the second movable element 2723 is oriented obliquely with respect to the MRI apparatus 2814). The movement of the robot arm varies depending on the dimensions of each movable element.

  When the robotic bed according to the fifth configuration example is used, since the slide mechanism is provided, there is an advantage that the size of the robot arm can be reduced, and as shown in FIG. 10 (the robot arm 1001 is a table). In the robotic bed according to the third configuration example (supporting one end of 1008), there is an effect that it is possible to change which direction the patient's head is directed at the treatment position. Regarding the advantage of the latter, for example, when the purpose of using intraoperative MRI is brain tumor extraction surgery or dental surgery, the head is directed toward the base 1021 when the patient returns from the MRI apparatus 1314 as shown in FIG. If the patient is returned from the MRI imaging position as shown in FIG. 27, the head 1312 is facing away from the base 2721. The head side operation is easy to perform. Since the base 2721 does not get in the way on the head side at the time of surgery, the operator 2812 can perform treatment while sitting.

  The MRI imaging preparation positions shown in FIGS. 5 and 25 are positions where the tables 108 and 2408 do not overlap with the imaging space of the MRI apparatus, and the vicinity of the imaging space (the distance from the imaging space is a fixed distance). In the following). At this position, the movement is temporarily stopped. For example, the assistant prepares for MRI imaging (confirms that there is no metal object and corrects the position and posture of the patient), and then transports the tables 108 and 2408 to the MRI apparatus. May be. Of course, the MRI imaging preparation position may be simply passed, and the table may be smoothly moved to the MRI imaging position without temporarily stopping at this position. Further, the MRI imaging preparation position does not necessarily have the patient's head directly facing the MRI apparatus. For example, the position of the table 1008 in FIG. 14 located in the vicinity of the imaging space may be set as the MRI imaging preparation position.

  In the above description, the patient is moved from the placement position to the MRI imaging position and returned to the same place as the placement position as the treatment position. However, the treatment position is different from the placement position of the patient. It may be.

  The treatment position in the intraoperative MRI is a position where the table is not in the vicinity of the imaging space, that is, a position separated from the imaging space by a certain distance or more. In the above example, surgical instrument tables 413, 1313, 1913, and 2813 for placing surgical instruments used by the surgeons 412, 1312, 1912, and 2812 are installed in the vicinity of the treatment position. If the instrument is placed near the MRI apparatus, the treatment position may be far away from the MRI apparatus because it may be affected by the permanent magnet of the MRI apparatus (for example, levitating) and injure the patient or the person handling it. It is desirable that the distance is more than 5 gauss lines.

  Furthermore, it is preferable that the bases 121, 321, 721, 1021, 1121, 1221, 1721, 1821, and 2721 of the robot arm are disposed outside the 5 gauss line L. The robot arm bases 121, 321, 721, 1021, 1121, 1221, 1721, 1821, and 2721 are provided with large motors. If they are located near the MRI apparatus, they are formed in the imaging space of the MRI apparatus. This is because the applied magnetic field is distorted, leading to deterioration of the captured image.

  If the robot arms according to the first to fifth configuration examples are used, the tables 108, 308, 708, the length of the robot arms 101, 301, 701, 1001, 1101, 1201, 1701, 1801, 2701 are the same. 1008, 1108, 1208, 1708, 1808, 2708 can be separated from the MRI apparatus 414, 1314, 1914, 2814. Thereby, the treatment position can be separated from the MRI apparatuses 414, 1314, 1914, and 2814 at a maximum by twice the length of the robot arms 101, 301, 701, 1001, 1101, 1201, 1701, 1801, and 2701. . That is, the treatment position can be easily set outside the 5 Gauss line L by using the robot arms 101, 301, 701, 1001, 1101, 1201, 1701, 1801, 2701. As a result, the burden caused by the influence of the magnetic field on the surgeons 412, 1312, 1912, and 2812 can be reduced. In addition, the surgeon 12 can take the desired standing position.

  As described above, by introducing the robotic bed shown in the first to fifth configuration examples into the intraoperative MRI, the patient placed on the table by driving the robot arm can be set between the treatment position and the MRI imaging position. Can be moved quickly and accurately between. Thereby, it can contribute to promoting a remarkably excellent effect of improving surgical results. According to the above-mentioned literature ("survival improvement and postoperative QOL secured by state-of-the-art brain tumor complete excision system", Hitachi Medical, Monthly Inner Vision September 2012 issue) In contrast to brain tumor removal surgery that had been performed in a separate room, intraoperative MRI was performed in the same room, and intraoperative MRI was applied (and information-guided surgery was applied). The survival rate was about 25%, grade 7 was 7%, grade 3 was 78%, grade 4 was 19%, about 3 times the conventional average. By introducing the robotic bed shown in the first to fifth configuration examples into the intraoperative MRI, the table on which the patient is placed as described above can be transported quickly and accurately, and MRI imaging and brain tumor removal surgery are performed. Can be performed efficiently, and it can be greatly expected to contribute to further improvement of the survival rate. In particular, as described above, for brain tumor extraction surgery, MRI imaging and brain tumor extraction surgery are not performed once, but are reciprocated several times, so that the patient can be quickly and easily moved between the treatment position and the MRI imaging position. The expectation of moving accurately is great.

  When the robotic bed shown in the first to fifth configuration examples is introduced into the intraoperative MRI, the tables 108, 308, 708, 1008, 1108, 1208, 1708, 1808, 2708 reach the MRI imaging position. After that, before starting to shoot the object to be photographed placed on the table, the drive current to the plurality of actuators mounted on the robot arms 101, 301, 701, 1001, 1101, 1201, 1701, 1801, 2701 Control is performed by the control devices 107, 307, 707, 1007, 1107, 1207, 1707, 1807, and 2707 so that the functions of a plurality of electromagnetic brakes provided corresponding to the actuators are turned on while the supply is stopped. Is preferred. This is because the MRI apparatus captures an image by applying a static magnetic field, so that the MRI image is prevented from being deteriorated by the influence of the magnetic field generated when the actuator is driven. This control may be performed automatically upon detecting that the table has reached the MRI imaging position and has been stationary for a certain period of time, or may be manually given, but at the start of MRI imaging (for example, the main When the power is turned on or when the actuator is in the active state, the robot arm actuator is checked to check the operating state, and if the actuator is operating, it is controlled to forcibly turn off and switch on the brake function. It is preferable. For this reason, the control devices 107, 307, 707, 1007, 1107, 1207, 1707, 1807, and 2707 are provided with MRI operation monitoring means, whether the main power supply is turned on to the MRI apparatus, whether it is in an active state, etc. It is desirable to monitor.

  The robot arm according to the fifth configuration example may be provided with a manual slide mechanism, so that the tables 108, 308, 708, 1008, 1108, 1208, 1708, 1808, 2708 have reached the MRI imaging preparation position. At this time, the supply of drive current to the plurality of actuators mounted on the robot arms 101, 301, 701, 1001, 1101, 1201, 1701, 1801, 2701 is stopped, and a plurality of corresponding actuators are provided. Control can also be performed by the control devices 107, 307, 707, 1007, 1107, 1207, 1707, 1807, and 2707 so that the electromagnetic brake function is turned on. After the actuator is turned off and the electromagnetic brake function is turned on, the patient is moved to the MRI imaging position by sliding the slide plate.

  The movement of the table between the surgical position and the MRI imaging position by the robot arm may be performed by operating the robot arms 101, 301, 701, 1001, 1101, 1201, 1701, 1801, and 2701 with the teach pendant. . However, if the operation position and the MRI imaging position are stored in the control devices 107, 307, 707, 1007, 1107, 1207, 1707, 1807, 2707 in advance, the table 108 between the operation position and the MRI imaging position, Movement of 308, 708, 1008, 1108, 1208, 1708, 1808, 2708 can be performed more quickly and smoothly.

  When the robot arm automatically moves the table between the surgical position and the MRI imaging position, the surgical field is reliably returned to the same place after the MRI imaging due to the positioning accuracy of the robot arm. Also, as an advantage of using the robot arm, it is possible to secure a wide surgical field during the operation by operating the robot arm during the operation and changing the position and posture of the patient.

[Application to other treatments]
The robotic beds shown in the first to fifth configuration examples (the robotic beds to which the above-described common features are added in some cases) can be applied not only to intraoperative MRI but also to other treatments.

  For example, in each configuration example, the apparatus 414 in FIGS. 4 to 6, 24 to 26, the apparatus 1314 in FIGS. 13 to 15, the apparatus 1914 in FIGS. 19 to 21, and the apparatus in FIG. An apparatus 2814 in FIG. 30 is an X-ray imaging apparatus. After placing the patient on the tables 108, 308, 708, 1008, 1108, 1208, 1708, 1808, 2708, the patient's teeth are X-rayed by moving to the imaging position. Then, it is used to treat teeth by moving to a treatment position.

  Alternatively, the apparatus 414 in FIGS. 4 to 6, 24 to 26, the apparatus 1314 in FIGS. 13 to 15, the apparatus 1914 in FIGS. 19 to 21, and the apparatus in FIG. An apparatus 2814 in FIG. 30 is an angio apparatus. After placing a patient on the tables 108, 308, 708, 1008, 1108, 1208, 1708, 1808, 2708, the patient moves to an imaging position, and the angio apparatus 15 uses the target site. X-ray fluoroscopy, and then moved to a treatment position to perform catheter treatment or the like. In this case, the angio device 15 is fixed, and the table 1708 is inserted into the C-type arm by driving the robot arm 1701, but as shown in the external views of FIGS. After moving to the shooting position, the table 1708 may be inserted into the C-shaped arm of the angio device 15 by moving the angio device 15 to the table 1708 side.

    In addition, the surgical robot is operated at the treatment positions shown in FIGS. 4 to 6, 13 to 15, 19 to 21, 24 to 26, and 28 to 30, which are referred to in the description of table movement in each configuration example. After placing the cannula into the patient at the treatment preparation position and preparing for laparoscopic surgery, move it to the treatment position and operate the manipulator of the surgical robot remotely by the surgical robot to perform laparoscopic surgery Used to do FIG. 39 shows a state where the table 1708 of the fourth configuration example of the robotic bed has moved to the treatment position where the surgical robot is placed.

  Also in these cases, the above-described common features can be added. For example, when the robotic bed shown in the first to fifth configuration examples is used for movement to the photographing position by the angio device 15, Height sensors 174, 374, 774, 1074, 1174, 1274, 1774, 1874, 2774, and the tables 108, 308, 708, 1008, 1108, 1208, 1708, 1808, detected by the height sensors. If the height of 2708 is not within the opening range of the C-arm, the movement of the angio device or the movement of the table by the robot arm may be stopped.

  As mentioned above, although the example which applies the robotic bed which concerns on the 1st-5th structural example to the various scenes in a medical field was shown, a various deformation | transformation is possible in the range which does not deviate from the meaning of this invention. For example, the bases 121, 321, 721, 1021, 1121, 1221, 1721, 1821, and 2721 of the robot arm have been described on the assumption that they are all fixed. It is good also as a structure which installs and a base moves according to rotation of a floor. Moreover, it is good also as a structure which provides the rail which a base can move in a medical room, and a base can move according to the said rail. Even when the base itself moves as described above, the table can be moved in combination with the control of the robot arm to move to the respective positions described above.

  Note that the terms bed and table used in the above description are synonymous, and different terms may be used for the purpose of clarifying the cited part.

101, 301, 701, 1001, 1101, 1201, 1701, 1801, 27
01, 3101, 3201: Robot arm 414, 1314, 1914, 2814, 3314: MRI apparatus 121, 321, 721, 1021, 1121, 1221, 1721, 1821, 2721: Base 122-125, 322-323, 722-724 , 1022-1024, 1122-1124, 1222-1223, 1722-1725, 1822-1823, 2722-2724: movable elements 131-136, 331-333, 731-736, 1031-1035, 1131-1135, 1231-1233 , 1731-1736, 1831-1833, 2731-2735: Joints 141-146, 341-343, 741-746, 1041-1045, 1141-1145, 1241-1243, 1741-17 6, 1841-1843, 2741-2745: Actuator 151-156, 351-353, 751-756, 1051-1055, 1151-1155, 1251-1253, 175-1175, 1851-1853, 2751-2755: Position detector 161 to 166, 361 to 363, 761 to 766, 1061 to 1065, 1161 to 1165, 1261 to 1263, 1761 to 1766, 1861 to 1863, 2761 to 2765: electromagnetic brakes 171, 371, 771, 1071, 1171, 1271, 1771,1871,2771: Fixing fixture 172,372,772,1072,1172,1272,1772,1872,2772: Temperature sensor 173,373,773,1073,1173,1733,1773 , 1873, 2773: distance sensors 174, 374, 774, 1074, 1174, 1274, 1774, 1874, 2774: height sensors 175, 375, 775, 1075, 1175, 1275, 1775, 1875, 2775: weight sensors 107, 307, 707, 1007, 1107, 1207, 1707, 1807, 2707: Control device 108, 308, 708, 1008, 1108, 1208, 1708, 1808, 2308, 2408, 2708, 3108, 3208: Table

Claims (16)

A table for placing the patient;
A base, a plurality of movable elements connected by a plurality of joints, a plurality of actuators assigned to each of the plurality of joints and driving the plurality of movable elements, and a plurality of positions detecting the positions of the plurality of movable elements A position detector, and a robot arm configured to move the table to a plurality of different positions;
A slide mechanism for sliding the table,
The plurality of different positions include a placement position where the patient is placed on the table, a treatment position where the operator treats the patient, and a position away from the MRI imaging position where the patient is photographed with the MRI apparatus. Including a certain MRI imaging preparation position,
The robot arm is configured to move the table to the placement position, the treatment position, and the MRI imaging preparation position,
The robotic bed, wherein the slide mechanism is configured to move the table to the MRI imaging preparation position and the MRI imaging position.   2. The robotic bed according to claim 1, wherein when viewed from the upper side in the vertical direction at the treatment position, the entire robot arm takes a posture of being hidden by the table.   The robot arm is provided with a plurality of electromagnetic brakes corresponding to the plurality of actuators, and after the table reaches the MRI imaging preparation position, the imaging of the patient by the MRI apparatus is started. The robotic bed according to claim 1 or 2, wherein the brake function of a plurality of electromagnetic brakes is turned on.   The plurality of joints may include a vertical rotation joint and a horizontal rotation joint, and at least one electromagnetic brake corresponding to the horizontal rotation joint among the plurality of electromagnetic brakes may manually turn off the brake function. The robotic bed according to claim 3 configured to be possible.   The robotic bed according to any one of claims 1 to 4, wherein the treatment position is a position away from a 5 gauss line of the MRI apparatus.   The robot arm is configured to decelerate when moving the table to the MRI imaging preparation position when the table and the MRI imaging preparation position are less than a certain distance. Item 6. The robotic bed according to any one of Items 1 to 5. A distance sensor for scanning the movable range of the table;
7. The robot arm according to claim 1, wherein the robot arm is configured to stop the operations of the plurality of actuators when an object is detected within the movable range by the distance sensor. Robotic bed as described in Tracking means for tracking the position of the table relative to a target point;
8. The robot arm according to claim 1, wherein, when the position changes with respect to the target point, the robot arm drives at least one of the plurality of actuators so that the position matches the target point. 9. Robotic bed according to any of the above.   The robotic bed according to claim 1, further comprising a height sensor that detects a height of the table.   The robotic bed according to any one of claims 1 to 9, wherein a tip end of the robot arm supports one end side in a longitudinal direction of the table.   The robotic bed according to any one of claims 1 to 10, wherein the treatment position is farther from the MRI imaging position than the MRI imaging preparation position.   The robotic bed according to any one of claims 1 to 11, wherein the slide mechanism is configured to slide the table by driving an actuator.   The robotic bed according to claim 1, wherein the slide mechanism is configured to manually slide the table.   An intraoperative MRI system comprising: the robotic bed according to any one of claims 1 to 13; and an MRI apparatus used for photographing a patient placed on the table of the robotic bed. .   The intraoperative MRI system according to claim 14, wherein the base is installed outside a 5 gauss line of the MRI apparatus. The intraoperative MRI system according to claim 14 or 15, wherein the MRI apparatus is an open type that opens forward and laterally.

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