JP2022157517A - Puncture robot system - Google Patents

Abstract

To provide a puncture robot that reduces a frequency of confirming a puncture depth from a CT fluoroscopic image to reduce an exposure quantity of a patient to be punctured.SOLUTION: A puncture robot 100 comprises: a puncture start position setting unit 1010 that as a puncture start position of a puncture needle, sets a position of a linear motion unit when the puncture needle is positioned at a puncture start position; a puncture depth target position setting unit 1020 that as a puncture depth target position for the puncture needle, sets a position of the linear motion unit when the puncture needle is made to proceed from the puncture start position to a set puncture depth by linear motion of the linear motion unit; and a display unit 1040 that acquires current position information on the linear motion unit, displays the puncture depth target position for the puncture needle, and identifies the current position of the puncture needle from the current position information on the linear motion unit to display the current position.SELECTED DRAWING: Figure 7A

Description

The present invention relates to a puncture robot system.

To perform puncture using a puncture robot, while confirming the puncture depth on a CT fluoroscopic image, move the puncture depth direction linear axis (drive axis for puncturing/removing the needle) from the puncture start position to the target puncture depth position. ) is directly moved, that is, an operation by an operation controller is required.

Patent Document 1 (Japanese Patent Application Laid-Open No. 2009-45081) includes a puncture length detection means for detecting the puncture length of a puncture needle that is punctured into a living body, and a setting means for setting the puncture limit length of the puncture needle. and an ultrasonic diagnostic apparatus capable of displaying the relative positional relationship between the position of the puncture needle and the limit length of puncture.

In Patent Document 2 (Japanese Unexamined Patent Application Publication No. 2006-149560), a puncture start point and a puncture target point are set on a displayed slice image, and relative position information between the surgical tool and the registered site is obtained from the tip of the surgical tool to the registered site. A mode of calculating and displaying the distance to (puncture target point) is described.

Patent Document 3 (Japanese Patent Application Laid-Open No. 2020-39406) relates to a puncture robot, in which a puncture position on the body surface of a puncture needle and a puncture target position are set, and a linear area connecting these is set as a puncture path. , describes a mode of displaying a CT image and a puncture route on the display.

JP-A-2009-45081 JP-A-2006-149560 JP-A-2020-39406

In order to reduce the radiation exposure of a patient who is punctured using a puncture robot, it is necessary to shorten the CT fluoroscopy time as much as possible.

If the puncture operation is performed by relying only on the CT fluoroscopy image, the patient's exposure dose depending on the CT fluoroscopy time becomes a problem.

The invention described in Patent Document 1 (Japanese Unexamined Patent Application Publication No. 2009-45081) only detects the puncture length with a detector provided in the ultrasonic probe, and the target position of the puncture needle is determined based on the position of the drive shaft of the robot. is not set.

The invention described in Patent Document 2 (Japanese Unexamined Patent Application Publication No. 2006-149560) merely sets a position on a preoperative cross-sectional image as a target point, and sets the target position of the puncture needle based on the position of the drive shaft of the robot. not something to do.

The invention described in Patent Document 3 (Japanese Unexamined Patent Application Publication No. 2020-39406) displays the puncture path, and the relative position between the current position of the puncture needle's linear movement axis in the puncture depth direction and the puncture depth target point. It does not represent a relationship.

Setting the soft limit value is a well-known general technique. However, in the field of puncture robots, there has been no known technique for setting a soft limit value as the maximum permissible puncture depth.

An object of the present invention is to reduce the frequency of confirming the puncture depth from a CT fluoroscopic image, thereby reducing the CT fluoroscopic time, and reducing the exposure dose of a patient who is punctured using a puncture robot.

A first aspect comprises a direct-acting part that linearly moves the puncture needle in the puncture depth direction from the puncture start position, and the position of the linear-acting part when the puncture needle is positioned at the puncture start position. a puncture start position setting unit for setting the puncture start position of the puncture start position; a target puncture depth position setting unit that sets the position of the linear motion unit as a target puncture depth position of the puncture needle; an acquisition unit that acquires current position information of the linear motion unit; and the target puncture depth position. a display unit that displays the target puncture depth position of the puncture needle set by the setting unit, and specifies and displays the current position of the puncture needle from the current position information of the linear motion unit acquired by the acquisition unit; It is a puncture robot system with

A second aspect is the puncture robot system according to the first aspect, wherein the display unit displays a relative positional relationship between a current position of the puncture needle and a target puncture depth position of the puncture needle. .

A third aspect is the first or second aspect, wherein the display unit displays the current position of the puncture needle and the target puncture depth position of the puncture needle in association with the movable range of the linear motion unit. It is a puncture robot system.

In a fourth aspect based on the first aspect, the display unit displays a relative positional relationship among a current position of the puncture needle, a puncture start position of the puncture needle, and a target puncture depth position of the puncture needle. It is a puncture robot system.

In a fifth aspect, in the first or fourth aspect, the display unit displays the current position of the puncture needle, the puncture start position of the puncture needle, and the movable range of the puncture depth direction linear motion axis. and a puncture robot system that displays a puncture depth target position of the puncture needle.

According to a sixth aspect, in any one of the first to fifth aspects, the position at which the direct-acting portion has advanced from the puncture start position to the maximum permissible puncture depth of the puncture needle is defined as a soft limit. A puncture robot system comprising a soft limit setting value setting unit for setting a setting value, and displaying a position corresponding to the soft limit setting value set by the soft limit setting value setting unit on the display unit.

In a seventh aspect based on the sixth aspect, the display unit displays the relative positional relationship among the current position of the puncture needle, the target puncture depth position of the puncture needle, and the position corresponding to the soft limit set value. The display is a puncture robot system.

According to an eighth aspect, in the sixth or seventh aspect, the display unit associates the movable range of the linear motion unit with the current position of the puncture needle, the target puncture depth position of the puncture needle, and the A lancing robot system that displays positions corresponding to soft limit settings.

In a ninth aspect based on the sixth aspect, the display unit includes a current position of the puncture needle, a puncture start position of the puncture needle, a target puncture depth position of the puncture needle, and the soft limit setting value. A puncture robot system that displays a relative positional relationship between positions corresponding to .

In a tenth aspect based on the sixth or ninth aspect, the display unit displays a current position of the puncture needle, a puncture start position of the puncture needle, a puncture start position of the puncture needle, and a and a position corresponding to the soft limit setting value.

According to an eleventh aspect, in any one of the first to fifth aspects, the setting of the puncture start position by the puncture start position setting unit and the setting of the target puncture depth position by the target puncture depth position setting unit are performed by: This is a puncture robot system performed on the display screen of the operation interface.

A twelfth aspect is any one of the sixth to tenth aspects, wherein the puncture start position setting unit sets the puncture start position, the target puncture depth position setting unit sets the target puncture depth position, The setting of soft limit set values by the soft limit set value setting unit is performed on the display screen of the operation interface in the puncture robot system.

In a thirteenth aspect based on the eleventh aspect, a navigation display section for instructing an operation to set the puncture start position and an operation to set the puncture depth target position is provided on the display screen of the operation interface. It is a puncture robot system.

In a fourteenth aspect based on the twelfth aspect, an operation of setting the puncture start position, an operation of setting the puncture depth target position, and the soft limit set value are set on the display screen of the operation interface. This is a puncture robot system provided with a navigation display unit for instructing an operation to perform a puncture.

A fifteenth aspect comprises a direct-acting part that linearly moves the puncture needle in the puncture depth direction from the puncture start position, and the position of the linear-acting part when the puncture needle is positioned at the puncture start position, the puncture needle A puncture start position setting unit for setting the puncture start position of the above, and a position where the linear movement unit linearly moves from the puncture start position to the maximum allowable puncture depth of the puncture needle as a soft limit set value. A soft limit set value setting unit to be set, an acquisition unit for acquiring current position information of the linear motion unit, a position corresponding to the soft limit set value set by the soft limit set value setting unit, and a display unit that identifies and displays the current position of the puncture needle from the current position information of the linear motion unit acquired by the acquisition unit;
It is a puncture robot system with

A sixteenth aspect is the puncture robot system according to the fifteenth aspect, wherein the display unit displays a relative positional relationship between a current position of the puncture needle and a position corresponding to the soft limit set value. .

In a seventeenth aspect based on the fifteenth or sixteenth aspect, the display unit displays the current position of the puncture needle and the position corresponding to the soft limit set value in association with the movable range of the linear motion unit. It is a puncture robot system.

According to an eighteenth aspect, in any one of the fifteenth to seventeenth aspects, the setting of the puncture start position by the puncture start position setting unit and the setting of the soft limit set value by the soft limit set value setting unit are performed through an operation interface It is a puncture robot system performed on the display screen of.

In a nineteenth aspect based on the eighteenth aspect, a navigation display section for instructing an operation to set the puncture start position and an operation to set the soft limit set value is provided on the display screen of the operation interface. It is a puncture robot system.

According to the first to fourteenth aspects, the display unit displays the current position of the puncture needle and the target puncture depth position of the puncture needle. For this reason, the operator uses the puncture depth information displayed on the display unit in addition to the puncture depth information obtained from the CT fluoroscopic image, and performs the puncture operation to linearly move the puncture depth direction translational axis. It can be performed. Since the puncture operation is performed while confirming the puncture depth information displayed on the display unit, the frequency of confirming the CT fluoroscopic image is relatively reduced. As a result, the CT fluoroscopy time can be reduced, and the patient's exposure dose to be punctured using the puncture robot can be reduced, compared with the case where the puncture operation is performed without implementing the present invention.

According to the fifteenth to nineteenth aspects, instead of the target puncture depth position of the puncture needle, the soft limit set value is displayed on the display unit, and the puncture operation is similarly performed without implementing the present invention. In comparison, the CT fluoroscopy time can be reduced, and the exposure dose of the patient who is punctured using the puncture robot can be reduced.

FIG. 1 is a diagram showing the overall configuration of a puncture robot system. FIG. 2A is a perspective view showing the appearance of the puncture robot. FIG. 2B is a table showing the operating directions and movable ranges of the first to eighth drive shafts of the puncture robot. FIG. 3 is a block diagram of the drive control section of the puncture robot. FIG. 4 is a diagram showing the appearance of the operation interface. FIG. 5 is a diagram showing the appearance of an operation controller that constitutes the operation interface. FIG. 6 is a block diagram illustrating the hardware configuration of the operation PC. FIG. 7A is a block diagram showing the functional configuration of the puncture robot system of the embodiment; FIG. 7B is a block diagram showing the functional configuration of the puncture robot system of the embodiment; FIG. 8 is a diagram showing a display screen of the display. FIG. 9 is a diagram showing a display screen of the display. FIG. 10A is a diagram showing a display screen of a display. FIG. 10B is a diagram showing the display screen of the display. FIG. 11A is a diagram showing a display screen of a display. FIG. 11B is a diagram showing a display screen of the display. FIG. 12 is a diagram showing a display screen of the display. FIG. 13 is a diagram showing a display screen of the display. FIG. 14A is a diagram showing a display screen of a display. FIG. 14B is a diagram showing the display screen of the display. FIG. 15 is a diagram showing a display screen of the display. FIG. 16 is a diagram showing a display screen of the display. FIG. 17 is a diagram showing a display screen of the display. FIG. 18 is a diagram showing a display screen of the display. FIG. 19A is a diagram showing a display screen of a display. FIG. 19B is a diagram showing a display screen of the display. FIG. 20A is a diagram showing a display screen of a display. FIG. 20B is a diagram showing a display screen of the display. FIG. 21A is a diagram showing a display screen of a display. FIG. 21B is a diagram showing the display screen of the display. FIG. 22A is a diagram showing a display screen of a display. FIG. 22B is a diagram showing the display screen of the display.

An embodiment of a puncture robot system will be described below.

FIG. 1 shows the overall configuration of a puncture robot system.

The puncture robot system is roughly composed of a puncture robot 100 equipped with drive shafts 1 to 8 including a puncture depth direction linear motion shaft 6 for linearly moving the puncture needle 110 from the puncture start position in the puncture depth direction, and a bed 210. A CT apparatus 200 that irradiates the above patient with X-rays and performs CT imaging (computed tomography) to acquire CT fluoroscopic images (each tomographic image of a body axial section, a sagittal section, and a coronal section). , an external monitor 300 for displaying on a display screen 320 a CT fluoroscopic image acquired by the CT apparatus 200 and an operative field image representing the patient's operative field captured by the operative field monitoring camera 310, and an operation for operating the drive of the puncture robot 100. It includes an interface 1000 .

The operation interface 1000 includes a display 1100 having a display screen 1110 configured by a touch panel, an operation controller 1200 and an operation PC (personal computer) 1300 .

The puncture robot 100 and the operation interface 1000 will be described below with reference to FIGS. 2 to 7. FIG.

(puncture robot)

FIG. 2A shows the appearance of the puncture robot 100 in a perspective view. In FIG. 2A, the front side in the drawing is the patient's head direction, and the back side in the drawing is the patient's foot (tail) direction.

FIG. 2B shows a table showing the motion directions and movable ranges of the first to eighth drive shafts 1 to 8 of the lancing robot 100. As shown in FIG.

The puncture robot 100 includes a first drive shaft 1, a second drive shaft 2, a third drive shaft 3, a fourth drive shaft 4, a fifth drive shaft 5, a sixth drive shaft (puncture depth direction linear motion shaft) 6, It is an eight-axis manipulator having a seventh drive shaft (rapid puncture shaft) 7 and an eighth drive shaft 8 . The eighth drive shaft 8 is a manually controlled shaft.

The base 109 is movable on the floor by three casters 109A provided at the bottom. Therefore, the base 109 can be placed on either the left or right side of the bed 210 shown in FIG.

The first and second drive shafts 101 are attached to the upper end of the base 109 and move linearly in the direction in which the puncture needle 110 moves from the floor in the height direction and in the cranio-caudal direction of the patient.

The third drive shaft portion 103 is attached to the upper ends of the first and second drive shaft portions 101 and linearly moves in the lateral direction of the patient.

The fourth drive shaft portion 104 is attached to the distal end of the third drive shaft portion 103, and rotates in a direction in which the puncture needle 110 is tilted in the lateral direction of the patient.

The fifth drive shaft portion 105 is attached to the distal end of the fourth drive shaft portion 104, and rotates in a direction in which the puncture shaft 110 is inclined in the cranio-caudal direction of the patient.

The sixth drive shaft (puncture depth direction linear motion shaft) 106 is attached to the distal end of the fifth drive shaft 105, and the puncture needle 110 punctures in the direction of the depth of puncture/in the direction opposite to the direction of the depth of puncture/ Directly move in the direction of removal.

The seventh drive shaft (instantaneous puncture shaft) 107 is attached to the tip of the sixth drive shaft 106 and linearly moves so that the puncture needle 110 moves at high speed in the puncture depth direction. The seventh drive shaft (instantaneous puncture shaft) 107 is a shaft for moving the puncture needle 110 in a short movable range at an extremely high speed. The sixth drive shaft (puncture depth direction linear motion shaft) 106 and the seventh drive shaft (instantaneous puncture shaft) 107 constitute linear motion units that linearly move the puncture needle 110 from the puncture start position in the puncture depth direction. do.

A puncture needle 110 is provided at the distal end of the seventh drive shaft portion (instantaneous puncture shaft) 107 . Puncture needle 110 is detachably held at the distal end of seventh drive shaft portion (instantaneous puncture shaft) 107 .
The positions corresponding to the puncture start position, the current position, the puncture depth target position, and the soft limit set values of the puncture needle 110 displayed on the display screen 1110 of the display 1100 are the sixth drive shaft portion 106 and the It can be expressed using the position of the seventh drive shaft portion 107 . Therefore, the positions corresponding to the puncture start position, the current position, the target puncture depth position, and the soft limit set values of the puncture needle 110 displayed on the display screen 1110 of the display 1100 are the linear motion axis 6 in the puncture depth direction and the seventh drive. It can be represented using the position of the axis (instant puncture axis) 7 .
As described above, the puncture needle 110 is linearly movable in the puncture direction by the sixth drive shaft portion 106 and the seventh drive shaft portion 107, and the puncture needle 110 is linearly movable in the puncture direction. If so, the configuration is not limited to the sixth drive shaft portion 106 and the seventh drive shaft portion 107 .
Puncture needle 110 may be linearly moved by a mechanism other than sixth drive shaft portion 106 and seventh drive shaft portion 107 . For example, a so-called serial link type robot arm, a parallel link type robot arm, or the like may be appropriately used so that the puncture needle 110 can move linearly in the puncturing direction.

The eighth drive shaft portion 108 is manually rotated in a direction in which the puncture needle 110 is tilted in the lateral direction of the patient.

FIG. 3 shows a block diagram of the drive control unit 120 of the puncture robot 100. As shown in FIG.

The puncture robot 100 is provided with a drive control section 120 for driving and controlling the first to seventh drive shafts 1 to 7, respectively.

The first to sixth drive shafts 1 to 6 are driven by, for example, electric motors 11 to 16 as actuators using a power supply 131 as a drive source. The seventh shaft 7 is driven by an air pressure source 132 and is driven by, for example, an air cylinder 17 as an actuator. The types of drive sources and actuators for the first to seventh drive shafts 1 to 7 are arbitrary. In addition, it is not limited to electric power and pneumatic power, and implementation using hydraulic pressure is also possible.

Acquiring units 121 to 121 are sensors configured by encoders or the like for detecting and acquiring the current linear or rotational positions of the first to seventh drive shafts 1 to 7 (hereinafter referred to as “drive shaft positions” as appropriate). 127.

The drive control section 120 is electrically connected to the operation controller 1200 via the controller connection cable 191 . An operation signal corresponding to an operation performed by the operation controller 1200 is input to the drive control section 120 via the controller connection cable 191 . The drive control unit 120 drives and controls the first to seventh drive shafts 1 to 7 according to the input operation signal.

The control device 129 feeds back the positions of the drive shafts 1 to 7 acquired by the acquisition units 121 to 127, for example, and adjusts each drive shaft to a desired position corresponding to the input operation signal (operation amount and operation direction). The positions of the first through seventh drive shafts 1 through 7 are adjusted.

The drive control unit 120 is connected to the operation PC 1300 via a LAN cable 190 so that data can be transmitted and received.

Data indicating the current positions of the first to seventh drive shafts 1 to 7 acquired by the acquisition units 121 to 127 are transmitted to the operation PC 1300 via the LAN cable 190 . A soft limit command signal, which will be described later, is transmitted from the operation PC 1300 to the drive control unit 120 via the LAN cable 190 .

(operation interface)

FIG. 4 shows the appearance of the operation interface 1000. As shown in FIG. FIG. 5 shows the appearance of an operation controller 1200 that constitutes the operation interface 1000. As shown in FIG.

The operation controller 1200 is configured as an operation unit that operates the driving of the first to seventh drive shafts 1 to 7 of the puncture robot 100 . The eighth drive shaft 8 is manually controlled.

The operation controller 1200 sets driving operation tools 1201 to 1207 for operating the driving of the first to seventh drive shafts 1 to 7 of the puncture robot 100, and sets the driving speed of the drive shafts 1 to 7 of the puncture robot 100 to low speed. and a speed setting operation tool 1211 for setting the driving speed of the drive shafts 1 to 7 of the puncture robot 100 to high speed.

The operation PC 1300 is composed of a personal computer.

FIG. 6 is a block diagram illustrating the hardware configuration of the operation PC 1300. As shown in FIG.
As shown in FIG. 6, in the operation PC 1300, a CPU (Central Processing Unit) 1311, a ROM (Read Only Memory) 1312, a RAM (Random Access Memory) 1313, a storage 1314, an input device 1316, and a display are connected via a system bus 1315. (Display device) 1100 and communication I/F 1318 are connected so as to be able to communicate with each other.
A CPU 1311 is a central processing unit that executes various programs and controls devices connected to the system bus 1315 . That is, the CPU 1311 reads a program from the ROM 1312 or the storage 1314 and executes the program using the RAM 1313 as a work area. The CPU 1311 controls each device connected to the system bus 1315 and performs various arithmetic processing according to programs recorded in the ROM 1312 or storage 1314 . The ROM 1312 or the storage 1314 includes a BIOS (Basic Input/Output System) and an OS (Operating System), which are control programs executed by the CPU 1311, and a computer-readable and executable "puncture robot" for realizing the embodiment. It holds the program of the system and various necessary data.

The ROM 1312 stores various control programs and various data. The RAM 1313 functions as a main memory, work area, etc. of the CPU 11 and temporarily stores programs or data as a work area. The storage 1314 is configured by a HDD (Hard Disk Drive) or an SSD (Solid State Drive), and stores various programs including BIOS and OS, and various data.

The input device 1316 includes a pointing device such as a mouse and a keyboard, and is used for various inputs.

The display 1100 is, for example, a liquid crystal display, and displays various information on the display screen 1110 . The display 1100 employs a touch panel system in the embodiment and functions as an input device 1316 .

The display contents of display screen 1110 of display 1100 will be described later.

The communication interface 1318 is an interface for communicating with other devices including the drive control unit 120 and the operation controller 1200 of the puncture robot 100. For example, Ethernet (registered trademark), FDDI, Wi-Fi (registered trademark), etc. standards are used. A communication interface 1318 connects to a network such as a LAN and controls transmission and reception of data.

The communication interface 1318 is connected to the drive control unit 120 of the puncture robot 100 via the LAN cable 190 and transmits and receives data between the puncture robot 100 and the operation interface 1000 .

(Functional configuration of puncture robot system)

7A and 7B are block diagrams showing the functional configuration of the puncture robot system of the embodiment.

The functional configuration shown in FIGS. 7A and 7B includes an operation interface 1000 as hardware including the hardware configuration of the operation PC 1300 shown in FIG. It is realized by software including

As shown in FIG. 7A, the operation interface 1000 and the puncture robot 100 include a puncture start position setting unit 1010, a puncture depth target position setting unit 1020, a soft limit setting value setting unit 1030, a display unit 1040, and an acquisition unit. 121-127 are provided.

The position of the puncture needle 110 displayed on the display screen 1110 of the display 1100 corresponding to the puncture start position, the puncture depth target position, and the soft limit setting values is set using the position of the puncture depth direction linear movement axis 6. can be done. Further, the current position of the puncture needle 110 can be specified using the information of the current position of the puncture depth direction linear motion shaft 6 and displayed on the display screen 1110 of the display 1100 .
The puncture start position setting unit 1010 sets the position of the puncture depth direction direct-acting shaft 6 when the puncture needle 110 is positioned at the puncture start position as the puncture start position of the puncture needle 110 .

Puncture depth target position setting unit 1020 sets the position where puncture depth direction direct-acting shaft 6 has advanced from the puncture start position set by puncture start position setting unit 1010 to the set puncture depth as the target puncture depth of puncture needle 110 . Set as position.

The soft limit set value setting unit 1030 sets the position where the puncture depth direction direct-acting shaft 6 has advanced from the puncture start position to the maximum permissible puncture depth of the puncture needle 110 as a soft limit set value.

Display unit 1040 displays the current position of puncture depth direction linear motion axis 6 acquired by acquisition unit 126 as the current position of puncture needle 110, and displays the puncture start position of puncture needle 110 set by puncture start position setting unit 1010. is displayed, the target puncture depth position of the puncture needle 110 set by the set puncture depth target position setting unit 1020 is displayed, and the soft limit setting value set by the soft limit setting value setting unit 1030 is displayed.

Display unit 1040 displays the relative positional relationship among the current position of puncture needle 110, the puncture start position of puncture needle 110, the target puncture depth position of puncture needle 110, and the soft limit set values. Further, the display unit 1040 displays the current position of the puncture needle 110, the puncture start position of the puncture needle 110, the target puncture depth position of the puncture needle, and the soft limit set value in association with the movable range of the puncture depth direction direct-acting shaft 6. Display the position corresponding to .

The setting of the puncture start position by the puncture start position setting unit 1010, the setting of the target puncture depth position by the target puncture depth position setting unit 1020, and the setting of the soft limit setting values by the soft limit setting value setting unit 1030 are performed on the display 1100. is performed on the display screen 1110 of

Further, as shown in FIG. 7B, the operation interface 1000 and the puncture robot 100 are provided with an operation section 1200 configured as an operation controller, a selection section 1060 and a control section 1070 .

The operation unit 1200 operates the driving of the first to seventh drive shafts 1-7.

Selection unit 1060 selects a puncture needle positioning mode or a puncture mode.

On condition that the puncture needle positioning mode is selected by the selection unit 1060, the control unit 1070 allows driving of the drive shafts 1 to 5 except the puncture drive shafts 6 and 7 by operating the operation unit 1200. do. Control unit 1070 allows puncture drive shafts 6 and 7 to be driven by operation of operation unit 1200 on condition that selection unit 1060 selects the puncture mode.

The control unit 1070 allows driving of the corresponding drive shafts 1 to 7 of the puncture robot 100 on the condition that the drive operation tools 1201 to 1207 and the speed setting operation tools 1210 and 1211 are operated at the same time. do. However, in the embodiment, when the puncture needle positioning mode is selected, drive shafts 1 to 5 are allowed to be driven on condition that the low-speed speed setting operation tool 1210 is operated.

Selection of the puncture needle positioning mode or the puncture mode by selection unit 1060 is performed on display screen 1110 of display 1100 .

FIG. 8 shows the display contents of display screen 1110 of display 1100 .

As shown in FIG. 8, the display screen 1110 of the display 1100 includes a navigation display section 1120 for instructing operations to be performed by the operator, and current position displays for displaying the current positions of the first to fifth drive shafts 1 to 5. A section 1130, a servo on/off button 1140A/B for turning on/off the selection of the puncture needle positioning mode, a needle targeting completion button 1145, a puncture start position setting button 1150 for setting the puncture start position of the puncture needle 110, and the puncture needle 110. a puncture depth setting button 1160 for setting the puncture depth of the puncture needle 110, a soft limit setting unit 1170 for setting the soft limit setting value of the puncture needle 110, and a puncture mode ON/OFF button for turning ON/OFF the selection of the puncture mode. 1180A/B, the current position of the puncture depth direction linear motion axis 6, the puncture start position, the puncture depth target position, the soft limit set value, and the relative positional relationship of these are displayed as the movement of the puncture depth direction linear motion axis 6. A puncture depth position display section 1190 is arranged to display in association with the range.

In the navigation display unit 1120, display units for instructing operations to be performed by the operator are arranged. The navigation display unit 1120 includes a “robot servo on” display unit 1121, a “needle targeting completion” display unit 1122, a “puncture start position setting” display unit 1123, a “puncture depth setting” display unit 1124, and a “soft limit setting” display unit 1124. Enabled” display portion 1125 and “Puncture Mode On” display portion 1126 are included. The display units 1121 to 1126 are sequentially arranged from top to bottom of the display screen according to the order of operation. The order of the “setting of puncture start position” display section 1123 and the “setting of puncture depth” display section 1124 may be changed.

Among the display units 1121 to 1126, the display units corresponding to the executed operations are displayed in a color distinguishable from the background color (for example, white) of the display screen 1110, such as green (indicated by white in the drawing). A display unit corresponding to an operation that has not been executed is displayed in a color distinguishable from the identification color of a display unit corresponding to an operation that has already been executed, such as pink (indicated by hatching in the figure).

Servo ON/OFF buttons 1140A/B, needle targeting completion button 1145, puncture start position setting button 1150, puncture depth setting button 1160, soft limit setting unit 1170, and puncture mode ON/OFF buttons 1180A/B are turned on. /off display portion 1140D, needle targeting completion/incomplete display portion 1145D, puncture start position setting/non-setting display portion 1150D, puncture depth setting/non-setting display portion 1160D, soft limit valid/invalid display portion 1170D, puncture mode on A /OFF display section 1180D is provided.

Corresponding to the identification display of each of the display sections 1121 to 1126 of the navigation display section 1120, a servo on/off display section 1140D, a needle targeting completion/incomplete display section 1145D, a puncture start position setting/unset display section 1150D, and a puncture depth display section 1140D. Of the set/unset display section 1160D, the soft limit enable/disable display section 1170D, and the puncture mode on/off display section 1180D, the display sections corresponding to the executed operations are displayed in the same green (indicated by outline in the figure). Display portions corresponding to operations that have been identified and have not yet been executed are identified and displayed in the same pink (indicated by hatching in the drawing).

The current position display unit 1130 displays the current positions of the first to fifth drive axes 1 to 5 (indicated by axes 1 to 5 in FIG. are displayed in association with .

A current position 1131 of the first drive shaft 1 is displayed in association with a movable range 1131A of the first drive shaft 1 . Predetermined ranges (for example, 10 mm) 1131ED1 and 1131ED2 from both positive and negative end positions of the movable range 1131A of the first drive shaft 1 are alert zones. The alert zones 1131ED1 and 1131ED2 are identified and displayed in a color such as orange (indicated by cross-hatching in the figure) that can be distinguished from the movable range excluding the alert zones 1131ED1 and 1131ED2.

Similarly, the current position 1132 of the second drive shaft 2 is displayed in association with the movable range 1132A of the second drive shaft 2 including alert zones 1132ED1 and 1132ED2.

Similarly, the current position 1133 of the third drive shaft 3 is displayed in association with the movable range 1133A of the third drive shaft 3 including alert zones 1133ED1 and 1133ED2.

A current position 1134 of the fourth drive shaft 4 is also displayed in association with a movable range 1134A of the fourth drive shaft 4 .

Similarly, the current position 1135 of the fifth drive shaft 5 is displayed in association with the movable range 1135A of the fifth drive shaft 5 .

In the puncture depth position display unit 1190, the current positions 1191A and 1191B (+0.0 mm) of the puncture depth direction linear motion shaft 6 are displayed, and the movement of the sixth drive shaft (puncture direction linear motion shaft) 6 including the alert zone 1195ED. It is displayed in association with the range 1195A (0 to +173 mm).

The operation procedure will be described below with reference to FIGS. 8 to 18. FIG.

A display screen 1110 of the display 1100 sequentially transitions to each screen shown in FIGS. 8 to 18 as each operation is executed.

An operation of setting the puncture start position, an operation of setting the puncture depth target position, and an operation of setting the soft limit set value can be performed while being instructed by the navigation display unit 1120 . In addition, an operation of selecting the puncture needle positioning mode and an operation of selecting the puncture mode can be performed while being instructed by the navigation display unit 1120 .

(Selection of puncture needle positioning mode)

When operation PC 1300 is activated and the program of "puncture robot system" stored in ROM 1312 or storage 1314 is executed, display screen 1110 of display 1100 transitions to the display shown in FIG.

On the display screen 1110 shown in FIG. 8, a "robot servo ON" display section 1121 is identified and displayed in an identification color indicating unexecuted operations, and a servo ON/OFF display section 1140D similarly displays unexecuted operations. It is identified and displayed with the identification color shown.

Following this identification display, the operator presses the servo-on button 1140A on the display screen 1110 to select the puncture needle positioning mode.

(Positioning of puncture needle)

When the puncture needle positioning mode is selected, display screen 1110 of display 1100 transitions to the display shown in FIG. When the servo-on button 1140A is pressed, the display of the servo-on/off display section 1140D becomes "servo-on; puncture positioning mode selection".

On the display screen 1110 shown in FIG. 9, a “needle targeting completion” display portion 1122 is displayed in an identification color indicating an unexecuted operation, and a needle targeting completion/incomplete display portion 1145D is similarly displayed. It is identified and displayed in an identification color that indicates unexecuted operations.

The operator performs an operation to position the puncture needle 110 at the puncture start position according to this identification display.

Since the puncture needle positioning mode is selected, the operator can operate the drive shafts 1 to 5 other than the puncture drive shafts 6 and 7 on the condition that the low-speed speed setting operation tool 1210 is simultaneously operated. It can be driven by operating the driving operation tools 1201 to 1205 of the operation controller 1200 .

The operator simultaneously operates the driving operating tools 1201 to 1205 while pushing the low-speed speed setting operating tool 1210 to move the drive shafts 1 to 5 and move the puncture needle 110 to the patient's body surface. Position at the puncture start position. Note that if the operation of pushing the low-speed speed setting operation tool 1210 is not performed at the same time, the operation signal is invalidated as if the drive operation tools 1201 to 1205 were operated, and the corresponding first to fifth drive shafts 1 ∼5 are controlled not to be driven. Also, when the drive operating tools 1206 and 1207 corresponding to the puncture drive shafts 6 and 7 are operated, the operation signal is similarly invalidated so that the corresponding sixth and seventh drive shafts 6 and 7 are not driven. controlled.

Therefore, during the puncture needle positioning operation for positioning the puncture needle 110 on the patient's body surface, the puncture drive shafts 6 and 7 of the puncture robot 100 may be operated due to careless operation of the operation controller 1200. is prevented.

When the puncture needle 110 is positioned at the puncture start position on the body surface of the patient, the operator presses the needle targeting completion button 1145 on the display screen 1110 .

(Setting the puncture start position)

When needle targeting completion button 1145 is pressed, display screen 1110 of display 1100 transitions to the display shown in FIG. 10A.

On the display screen 1110 shown in FIG. 10A, a "puncture start position setting" display portion 1123 is displayed in an identification color indicating an unexecuted operation, and a puncture start position setting/unset display portion 1150D Similarly, unexecuted operations are identified and displayed in an identification color.

The operator presses the puncture start position setting button 1150 according to this identification display.

When the puncture start position setting button 1150 is pressed, as shown in FIG. A window screen 1110W1 is displayed that prompts approval of the puncture start position. When the puncture start position approval button 1110AC on the window screen 1110W1 is pressed, the current position (for example +30.0 mm) of the puncture depth direction direct-moving axis 6 acquired by the acquisition unit 126 becomes the puncture needle 110 puncture position. Set as the starting position.

(Puncture depth setting)

When the puncture start position approval button 1110AC is pressed, the display screen 1110 of the display 1100 transitions to the display shown in FIG. 11A.

On the display screen 1110 shown in FIG. 11A, a "puncture depth setting" display section 1124 is displayed in an identification color indicating an unexecuted operation, and a puncture depth setting/non-setting display section 1160D Similarly, unexecuted operations are identified and displayed in an identification color.

The operator presses the puncture depth setting button 1160 according to this identification display. When the puncture depth setting button 1160 is pressed, a window screen 1110W2 for "puncture depth setting" is displayed on the display screen 1110 as shown in FIG. 11B. On the window screen 1110W2, select the distance from the puncture start position on the patient's body surface in the puncture depth direction "-10 mm", "-5 mm", "-1 mm", "+1 mm", "+5 mm", "+10 mm". Puncture depth direction distance selection buttons 1161 to 1166 and a setting confirmation button 1167 are arranged. When an operation is performed to press one of the puncture depth direction distance selection buttons 1161 to 1166 and the puncture depth setting confirm button 1167 is pressed, the puncture depth direction distance corresponding to the pressed puncture depth direction distance selection button and the corresponding puncture The puncture depth corresponding to the number of times the depth direction distance selection button is pressed is set as the puncture depth (for example, 60.0 mm) of the puncture needle 110 .

(Display of start position of puncture and target position of puncture depth)

When the puncture depth setting confirmation button 1167 is pressed, the puncture depth position display portion 1190 on the display screen 1110 of the display 1100 displays the display shown in FIG.

As shown in FIG. 12, the puncture depth position display unit 1190 displays the current positions 1191A and 1191B (+30.0 mm) of the puncture depth direction linear motion shaft 6, the puncture start position 1192 (+30.0 mm), the puncture depth Together with the target position 1193 (+90.0 mm), their relative positional relationship is displayed in association with the movable range 1195A (0 to +173 mm) of the puncture depth direction linear motion shaft 6 .

The value obtained by adding the puncture start position 1192 (+30.0 mm) to the puncture depth (60.0 mm) is the target puncture depth position 1193 (+90 mm).

(Soft limit setting value setting (activation of soft limit))

When the puncture depth setting confirmation button 1167 is pressed, the display screen 1110 of the display 1100 transitions to the display shown in FIG.

On the display screen 1110 shown in FIG. 13, a "soft limit enable" display portion 1125 is displayed in an identification color indicating an unexecuted operation, and a soft limit enable/disable display portion 1170D is similarly displayed. It is identified and displayed in an identification color that indicates unexecuted operations.

In accordance with this identification display, the operator performs an operation of setting the soft limit set value and selecting enable/disable of the soft limit in the soft limit setting unit 1170 .

The soft limit setting unit 1170 includes a soft limit enable button 1171, a soft limit disable button 1172, and distance selection buttons 1173 to 1176 for selecting distances "-5 mm", "-1 mm", "+1 mm", and "+5 mm". are placed. When the distance selection buttons 1173 to 1176 are pressed, the distance corresponding to the pressed distance selection button and the distance (for example, -22.0 mm) corresponding to the number of times the corresponding distance selection button is pressed are set to the sixth drive. A value added to the end position (+173 mm) of the axis (puncture depth direction linear movement axis) 6 is set as a soft limit setting value (for example, 151.0 mm).

The soft limit set value is the position where the puncture depth direction linear motion axis 6 has advanced from the puncture start position to the maximum permissible puncture depth of the puncture needle 110, and is determined in advance by measuring from a CT fluoroscopic image. you can ask for it.

For example, a puncture target region of a patient is CT-imaged, and a puncture target region cross-sectional image including the puncture target region is displayed on the display screen 320 of the external monitor 300 . The puncture path of the puncture needle 110 is set on this puncture target area cross-sectional image, and the puncture path angle is measured. When the puncture needle 110 moves along the set puncture path at a posture angle corresponding to the measured puncture path angle, the maximum permissible puncture depth of the puncture needle 110 is measured on the puncture cross-sectional image. make sure to

When the soft limit valid button 1171 is pressed, the display of the soft limit valid/invalid display section 1170D becomes "soft limit valid".

When the soft limit enable button 1171 is pressed, if the position of the sixth drive axis (puncture depth direction linear movement axis) 6 reaches the soft limit set value (for example +151.0 mm), the software , the movement of the sixth drive shaft (puncture depth direction linear motion shaft) 6 is locked. That is, when the soft limit enable button 1171 is pressed, a soft limit command signal for locking the movement of the sixth drive axis (puncture depth direction linear movement axis) 6 at the soft limit set value (for example, +151.0 mm) is generated. It is transmitted to the drive control unit 120 of the puncture robot 100 . When the position of the sixth drive shaft (puncture depth direction linear motion shaft) 6 reaches the soft limit set value (for example, +151.0 mm) according to the soft limit command signal, the drive control unit 120 controls the sixth drive shaft (puncture depth The sixth drive shaft (puncture depth direction linear motion shaft) 6 is controlled so that the direction linear motion shaft) 6 does not reach or exceed the soft limit set value (for example, +151.0 mm).

When the soft limit disable button 1172 is pressed, the display of the soft limit enable/disable display section 1170D becomes "soft limit disable". When the soft limit disable button 1172 is pressed, transmission of the soft limit command signal is turned off.

(Display of puncture start position, puncture depth target position, and soft limit set value)

When soft limit valid button 1171 is pressed, puncture depth position display portion 1190 on display screen 1110 of display 1100 displays the display shown in FIG. 14A.

As shown in FIG. 14A, the puncture depth position display unit 1190 displays the current positions 1191A and 1191B (+30.0 mm) of the puncture depth direction linear motion shaft 6, the puncture start position 1192 (+30.0 mm), the puncture depth Together with the target position 1193 (+90.0 mm) and soft limit setting value 1194 (+151.0 mm), these relative positional relationships correspond to the movable range 1195A (0 to +173 mm) of the puncture depth direction direct-acting shaft 6. Is displayed. Within the movable range 1195A of the puncture depth direction linear motion axis 6, the soft limit effective area 1194A in the range from the soft limit setting value 1194 (+151.0 mm) to the end position (+173 mm) is colored to distinguish it from other movable ranges, such as It is identified and displayed in dark blue (indicated by cross hatching in the figure).

It should be noted that when an operation is performed to press disable button 1172 of the soft limit, the display shown in FIG. As shown in FIG. 14B, a display obtained by removing the soft limit set value 1194 and the soft limit valid area 1194A from the display shown in FIG. 14A is displayed.

(selection of puncture mode)

When the soft limit enable button 1171 (or the soft limit disable button 1172) is pressed, the display screen 1110 of the display 1100 transitions to the display shown in FIG.

On the display screen 1110 shown in FIG. 15, a "puncture mode on" display portion 1126 is displayed in an identification color indicating an unexecuted operation, and a puncture mode on/off display portion 1180D is also displayed in an unexecuted operation. is identified and displayed in an identification color that indicates the operation of

Following this identification display, the operator performs an operation of pressing puncture mode ON button 1180A on display screen 1110 to select the puncture mode.

(puncture)

When the puncture mode is selected, display screen 1110 of display 1100 transitions to the display shown in FIG. When puncture mode on button 1180A is pressed, the display of puncture mode on/off display portion 1180D becomes "puncture mode on; puncture mode selected".

Since the puncture mode is selected, the operator moves the puncture drive shafts 6 and 7 to the drive operation tool 1207 of the operation controller 1200 on the condition that the speed setting operation tool 1210 or 1211 is operated at the same time. , 1208 can be driven.

The operator simultaneously operates the drive operation tool 1206 while pushing the low speed or high speed setting operation tools 1210 and 1211, thereby linearly moving the puncture drive shaft 6 to move the puncture needle 110 to the patient's body. Puncture into the surface. Puncture may be performed by directly moving only the puncture drive shaft 6 without driving the puncture drive shaft 7, or by operating the puncture drive shafts 6 and 7 together.

Note that if the speed setting operation tools 1210 and 1211 are not pushed at the same time, the operation signal is invalidated as the drive operation tools 1206 and 1207 are operated, and the corresponding puncture drive shafts 6 and 7 are driven. controlled so as not to

Further, when the puncture mode is selected, the operator operates the first to fifth drive shafts 1 to 5 by operating the operation controller 1200 on the condition that the speed setting operation tool 1210 is operated at the same time. can be driven by operating the operating tools 1201 to 1205 for driving.

Therefore, when the puncture needle 110 is bent, the posture of the puncture needle 110 is corrected by appropriately operating the first to fifth drive shafts 1 to 5 in order to correct the movement path of the puncture needle 110. may

Alternatively, the puncture drive shafts 6 and 7 and the first drive shaft 1 may be operated together to linearly move the puncture needle 110 . When the first drive shaft 1 is operated together, the displacement of the first drive shaft 1 is added and the current positions 1191A and 1191B of the puncture drive shaft 6 are displayed.

During puncturing, the display shown in FIG. 17 is made on puncturing depth position display section 1190 on display screen 1110 of display 1100 .

Therefore, during puncture, the operator looks at the puncture depth position display unit 1190 to see where the current position 1191B of the puncture needle 110 is within the movable range 1195A of the puncture depth direction direct-acting shaft 6. It is possible to confirm how much margin the current position 1191A of the puncture needle 110 has to the puncture depth target position 1193 and soft limit set value 1194 .

Based on the information obtained from the puncture depth position display unit 1190, the operator operates the puncture depth direction direct-acting shaft 6 with the operation controller 1200 to accurately reach the puncture depth target position 1193 along the puncture path. can be moved.

The operator can proceed with the puncture operation while checking the puncture depth position display section 1190 so that the puncture needle 110 does not exceed the permissible maximum puncture depth (soft limit set value) 1194 . Even if the current position 1191 A of the puncture needle 110 exceeds the puncture depth target position 1193 , the soft limit setting value 1194 is not exceeded by software. Therefore, the puncture needle 110 can be safely and reliably moved from outside the patient's body to the puncture target inside the patient's body.

The operator can proceed with the puncture work based on the information obtained from the puncture depth position display unit 1190, and relatively confirm the puncture depth with the CT fluoroscopic image on the display screen 320 of the external monitor 300. Reduced time and frequency. As a result, compared to the case where the puncture robot system of the embodiment is not used, CT fluoroscopy is performed intermittently, the CT fluoroscopy time is reduced, and the patient's exposure dose can be reduced.

(end of puncture)

When the puncturing is completed, as shown in FIG. 18, the puncture mode off button 1180B is pressed on the display screen 1110 to turn off the selection of the puncture mode. The display of puncture mode on/off display portion 1180D becomes "puncture mode off".

The embodiment described above is an example, and various modifications can be made.

Other display examples of puncture depth position display section 1190 on display screen 1110 will be described below. Display elements can be omitted as appropriate from the display shown in FIG. 14A.

(Display example 1)

As shown in FIG. 19A, display of the puncture start position 1192 and the soft limit set value 1194 (soft limit effective area 1194A) is omitted, and the current position of the puncture depth direction linear movement axis 6 is displayed in the puncture depth position display section 1190. An implementation is also possible in which only 1191A, 1191B and puncture depth target position 1193 are displayed.

(Display example 2)

As shown in FIG. 19B, the display of the soft limit set value 1194 (soft limit effective area 1194A) is omitted, and the puncture depth position display section 1190 displays current positions 1191A and 1191B of the puncture depth direction linear movement axis 6, It is also possible to display only the puncture start position 1192 and the puncture depth target position 1193 .

(Display example 3)

As shown in FIG. 20A , the display of the puncture start position 1192 is omitted, and the puncture depth position display unit 1190 displays current positions 1191A and 1191B of the puncture depth direction linear movement shaft 6, a puncture depth target position 1193, a software It is also possible to display only the limit setting value 1194 (soft limit valid area 1194A).

In the display example of FIG. 14A, display example 1, display example 2, and display example 3, the movable range 1195A of the puncture depth direction direct-acting shaft 6 may be removed.

(Display example 4)

For example, as shown in FIG. 20B, the display may be obtained by removing the movable range 1195A of the puncture depth direction direct-acting shaft 6 from the display example shown in FIG. 14A.

Alternatively, the puncture depth target position 1193 may be omitted, and the soft limit setting value 1194 may be displayed instead.

(Display example 5)

As shown in FIG. 21A, it is also possible to display the current positions 1191A and 1191B of the puncture depth direction linear motion axis 6 and the soft limit set value 1194 (soft limit effective area 1194A) on the puncture depth position display unit 1190. is.

(Display example 6)

As shown in FIG. 21B, the puncture depth position display unit 1190 displays current positions 1191A and 1191B of the puncture depth direction linear motion shaft 6, a puncture start position 1192, and a soft limit set value 1194 (soft limit effective area 1194A). is also possible.

In display example 5 and display example 6, the movable range 1195A of the puncture depth direction direct-acting shaft 6 may be removed for display.

(Display examples 7 and 8)

As shown in FIGS. 22A and 22B, the movable range 1195A of the puncture depth direction linear motion shaft 6 may be removed from display examples 5 and 6 of FIGS. 21A and 21B.

1 to 7 drive shaft 6 puncture direction linear movement axis 7 instantaneous puncture axis 100 puncture robot 110 puncture needles 121 to 127 acquisition unit 1000 operation interface 1010 puncture start position setting unit 1020 puncture depth target position setting unit 1030 soft limit setting value setting unit 1040 display units 121 to 127 acquisition unit 1100 display 1110 display screen 1200 operation controller 1300 operation PC

Claims (19)

a linear motion unit that linearly moves the puncture needle from the puncture start position in the puncture depth direction;
a puncture start position setting unit that sets the position of the linear motion unit when the puncture needle is positioned at the puncture start position as the puncture start position of the puncture needle;
The position of the linear motion part when the puncture needle advances from the puncture start position set by the puncture start position setting part to the set puncture depth by linearly moving the linear motion part is defined as the puncture depth of the puncture needle. a puncture depth target position setting unit for setting a puncture depth target position;
an acquisition unit that acquires current position information of the linear motion unit;
The target puncture depth position of the puncture needle set by the target puncture depth position setting unit is displayed, and the current position of the puncture needle is specified from the current position information of the linear motion unit acquired by the acquisition unit. a display that displays
A puncture robot system with The display unit displays the relative positional relationship between the current position of the puncture needle and the target puncture depth position of the puncture needle.
The puncture robot system according to claim 1. The display unit displays the current position of the puncture needle and the target puncture depth position of the puncture needle in association with the movable range of the linear motion unit.
The puncture robot system according to claim 1 or 2. The display unit displays the relative positional relationship among the current position of the puncture needle, the puncture start position of the puncture needle, and the target puncture depth position of the puncture needle.
The puncture robot system according to claim 1. The display unit displays the current position of the puncture needle, the puncture start position of the puncture needle, and the target puncture depth position of the puncture needle in association with the movable range of the puncture depth direction linear movement axis.
The puncture robot system according to claim 1 or 4. a soft limit set value setting unit that sets, as a soft limit set value, a position where the direct-acting unit has advanced from the puncture start position to a maximum allowable puncture depth of the puncture needle;
displaying a position corresponding to the soft limit setting value set by the soft limit setting value setting unit on the display unit;
The puncture robot system according to any one of claims 1 to 5. The display unit displays the relative positional relationship among the current position of the puncture needle, the target puncture depth position of the puncture needle, and the position corresponding to the soft limit set value.
The puncture robot system according to claim 6. The display unit displays a current position of the puncture needle, a target puncture depth position of the puncture needle, and a position corresponding to the soft limit set value in association with the movable range of the linear motion unit.
The puncture robot system according to claim 6 or 7. The display unit displays a relative positional relationship among a current position of the puncture needle, a puncture start position of the puncture needle, a target puncture depth position of the puncture needle, and a position corresponding to the soft limit set value. is
The puncture robot system according to claim 6. The display unit corresponds to the current position of the puncture needle, the puncture start position of the puncture needle, the target puncture depth position of the puncture needle, and the soft limit set value in association with the movable range of the linear motion unit. display the position,
The puncture robot system according to claim 6 or 9. The setting of the puncture start position by the puncture start position setting unit and the setting of the target puncture depth position by the target puncture depth position setting unit are performed on the display screen of the operation interface.
The puncture robot system according to any one of claims 1 to 5. The setting of the puncture start position by the puncture start position setting unit, the setting of the target puncture depth position by the target puncture depth position setting unit, and the setting of the soft limit set value by the soft limit set value setting unit are performed through an operation interface. performed on the display screen of
The puncture robot system according to any one of claims 6 to 10. A navigation display unit for instructing an operation for setting the puncture start position and an operation for setting the puncture depth target position is provided on the display screen of the operation interface.
The puncture robot system according to claim 11. A navigation display unit is provided on the display screen of the operation interface for instructing an operation to set the puncture start position, an operation to set the puncture depth target position, and an operation to set the soft limit set value. there is
The puncture robot system according to claim 12. a linear motion unit that linearly moves the puncture needle from the puncture start position in the puncture depth direction;
a puncture start position setting unit that sets the position of the linear motion unit when the puncture needle is positioned at the puncture start position as the puncture start position of the puncture needle;
a soft limit set value setting unit that sets, as a soft limit set value, a position where the linear motion unit linearly moves from the puncture start position to a maximum allowable puncture depth of the puncture needle;
an acquisition unit that acquires current position information of the linear motion unit;
The position corresponding to the soft limit setting value set by the soft limit setting value setting unit is displayed, and the current position of the puncture needle is specified from the current position information of the linear motion unit acquired by the acquisition unit and displayed. display,
A puncture robot system with The display unit displays the relative positional relationship between the current position of the puncture needle and the position corresponding to the soft limit set value.
The puncture robot system according to claim 15. The display unit displays the current position of the puncture needle and the position corresponding to the soft limit set value in association with the movable range of the linear motion unit.
The puncture robot system according to claim 13 or 14. The setting of the puncture start position by the puncture start position setting unit and the setting of the soft limit set value by the soft limit set value setting unit are performed on the display screen of the operation interface.
The puncture robot system according to any one of claims 15-17. A navigation display unit is provided on the display screen of the operation interface for instructing an operation for setting the puncture start position and an operation for setting the soft limit set value.
The puncture robot system according to claim 18.

Images