JP2023122136A - Continuum robot movement device and control method thereof - Google Patents

Abstract

To prevent a risk in which a movement of a continuum robot is not performed at an intended speed.SOLUTION: A continuum robot movement device comprises: a continuum robot comprising at least one bendable part which is arranged in series in a long direction and can be bent, the continuum robot capable of moving back and forth in the long direction of the bendable part; a motor performing a rotation motion; movement means for moving the continuum robot back and forth on the basis of the rotation motion of the motor; and control means for controlling the motor. The control means comprises: a rotation speed signal generation circuit for generating by hardware a plurality of rotation speed signals for determining a rotation speed of the motor; a selection circuit for selecting any rotation speed signal out of the plurality of rotation speed signals according to the rotation direction signal for determining a rotation direction of the motor; and a drive circuit for driving the motor at the rotation speed based on the rotation speed signal selected by the selection circuit and in the rotation direction based on the rotation direction signal.SELECTED DRAWING: Figure 4

Description

The present disclosure relates to a continuous robot moving device and a control method for the continuous robot moving device.

Patent Document 1 discloses a control device having a bendable unit that is provided in series in the longitudinal direction and is movable in the longitudinal direction, and a moving means that moves the bendable unit in the longitudinal direction. there is The control device calculates the maximum movement speed at which movement is possible when moving the bending portion of the bendable unit in the longitudinal direction while bending, and controls the movement speed in the longitudinal direction within the range of the maximum movement speed.

JP 2018-175602 A

A medical device having a bendable and movable bending unit such as an endoscope or a catheter is inserted into and removed from the human body via the oral cavity or nasal cavity. The speed of insertion and withdrawal, ie the speed of longitudinal movement of the bending unit, may be determined by the software of the medical device. In that case, there is a risk that the bending unit will not be moved in the longitudinal direction at the intended speed due to software malfunction caused by external noise or unexpected software malfunction caused by the program code. Also, to avoid this danger, it is necessary to provide other protective functions.

The purpose of the present disclosure is to prevent the risk that a continuous robot will not move at the intended speed due to software malfunction caused by external noise or unexpected software malfunction caused by program code.

The continuous body robot moving device has at least one or more bendable bendable sections provided in series in the longitudinal direction, and the continuous body robot is capable of moving back and forth in the longitudinal direction of the bendable sections; It has a motor that performs rotary motion, moving means that moves the continuous robot back and forth based on the rotary motion of the motor, and control means that controls the motor, wherein the control means controls the rotational speed of the motor. a rotation speed signal generating circuit for generating a plurality of rotation speed signals for determining by hardware; and one of the plurality of rotation speed signals according to a rotation direction signal for determining the rotation direction of the motor. and a drive circuit for driving the motor at a rotational speed based on the rotational speed signal selected by the selection circuit and in a rotational direction based on the rotational direction signal.

According to the present disclosure, it is possible to prevent the risk of the continuous robot not moving at the intended speed due to software malfunction caused by external noise or unexpected software malfunction caused by program code.

1 is a perspective view showing a configuration example of a medical system; FIG. 1 is a perspective view showing a configuration example of a medical device and a support base; FIG. It is a figure which shows the structural example of a support stand. It is a figure which shows the structural example of an arithmetic unit. 4 is a timing chart showing an operation example of the control device; It is a figure which shows the structural example of an arithmetic unit and an input device. 4 is a timing chart showing an operation example of the control device;

The configuration of the embodiment will be exemplified below with reference to the drawings. It should be noted that the dimensions, materials, shapes, arrangements, etc. of the components described in this embodiment should be changed as appropriate according to the configuration of the apparatus, various conditions, and the like.

(First embodiment)
<Medical system and medical device>
FIG. 1 is a perspective view showing a configuration example of a medical system 1A according to the first embodiment. The medical system 1A has a medical device 1, a support base 2, a control device 3, a monitor 4, and a cable 5. A medical device 1 is attached to a support base 2 . The control device 3 controls the medical device 1 . The monitor 4 is a display device. The cable 5 connects the base unit 200 of the medical device 1 and the support base 2 .

The medical device 1 is, for example, a continuous robot. The medical device 1 has a catheter unit 100 and a base unit 200 . The catheter unit 100 is a bendable unit and configured to be detachable from the base unit 200 . Catheter unit 100 has catheter 11 . Catheter 11 is a bendable section. The base unit 200 is a drive unit or mounted unit.

In this embodiment, the user of the medical system 1A and the medical device 1 inserts the catheter 11 into the subject to observe the interior of the subject, collect various specimens from the interior of the subject, and treat the interior of the subject. etc. can be performed. In one embodiment, the user can insert the catheter 11 into the subject patient. Specifically, the user can perform operations such as observation, collection, and excision of lung tissue by inserting the catheter 11 into the bronchi through the patient's oral cavity or nasal cavity.

The catheter 11 can be used as a guide (sheath) for guiding medical instruments for performing the above operations. Examples of medical instruments (tools) include endoscopes, forceps, ablation devices, and the like. Moreover, the catheter 11 itself may have the function as the medical device described above.

In this embodiment, the control device 3 has an arithmetic device 3a and an input device 3b. The input device 3b receives commands and inputs for operating the catheter 11 and the support base 2. FIG. The arithmetic unit 3a has a storage for storing programs and various data for controlling the catheter 11 and the support base 2, a random access memory, and a central processing unit for executing the programs. Also, the control device 3 may have an output section that outputs a signal for displaying an image on the monitor 4 .

FIG. 2 is a perspective view showing a configuration example of the medical device 1 and the support base 2 of FIG. The cable 5 connects the base unit 200 of the medical device 1 and the support base 2 . Medical device 1 is electrically connected to control device 3 via cable 5 and support base 2 . Note that the medical device 1 and the control device 3 may be directly connected to each other by a cable. The medical device 1 and the control device 3 may be wirelessly connected to each other.

The medical device 1 is detachably attached to the support base 2 via the base unit 200 . More specifically, in the medical device 1 , the attaching portion (connecting portion) 200 a of the base unit 200 is detachably attached to the moving stage (receiving portion) 2 a of the support base 2 . The mutual connection between the medical device 1 and the control device 3 is maintained so that the control device 3 can control the medical device 1 even when the mounting portion 200a of the medical device 1 is removed from the moving stage 2a. In this embodiment, the medical device 1 and the support base 2 are connected by the cable 5 even when the mounting portion 200a of the medical device 1 is removed from the moving stage 2a.

The user can use the medical device 1 with the catheter 11 inserted into the subject and the medical device 1 attached to the support base 2 . Specifically, the medical apparatus 1 is moved by moving the movable stage 2a while the medical apparatus 1 is attached to the movable stage 2a. Then, an operation of moving the catheter 11 in the direction of inserting it into the object or an operation of moving the catheter 11 in the direction of pulling it out from the object is performed. The movement of the moving stage 2a is controlled by the controller 3. FIG.

The medical device 1 has a wire drive section (linear member drive section, line drive section, body drive section) 300 for driving the catheter 11 . In this embodiment, the medical device 1 is a robotic catheter device that drives a catheter 11 by means of a wire driver 300 controlled by a controller 3. FIG.

The control device 3 can control the wire driving section 300 to perform an operation of bending the catheter 11 . In this embodiment, the wire driving section 300 is built into the base unit 200 . More specifically, the base unit 200 has a base housing 200f that houses the wire driving section 300. As shown in FIG. That is, the base unit 200 has the wire drive section 300 . The wire driving section 300 and the base unit 200 together can be called a catheter driving device (base device, main body).

With respect to the extending direction of the catheter 11, the end where the tip of the catheter 11 inserted into the object is arranged is called the distal end. The side opposite to the distal end with respect to the extending direction of the catheter 11 is called the proximal end.

The catheter unit 100 has a proximal end cover 16 that covers the proximal end side of the catheter 11 . The proximal end cover 16 has a tool hole 16a. A medical instrument can be inserted into the catheter 11 through the tool hole 16a.

As described above, in this embodiment, the catheter 11 functions as a guide device for guiding the medical instrument to the desired position inside the subject. For example, with an endoscope inserted into the catheter 11, the catheter 11 is inserted to a target position inside the subject. At this time, at least one of manual operation by the user, movement of the moving stage 2a, and driving of the catheter 11 by the wire driving section 300 is used. After the catheter 11 reaches the target position, the endoscope is withdrawn from the catheter 11 through the tool hole 16a. Then, a medical instrument is inserted through the tool hole 16a, and various specimens are collected from the inside of the target, and operations such as treatment for the inside of the target are performed.

<Support stand>
FIG. 3 is a diagram showing a configuration example of the support base 2. As shown in FIG. A stepping motor 21 is fixed to a motor holder 23 attached to a stay 22 . The lead screw 24 is supported by lead screw stays 25 and 26 including bearings (not shown). The left end of lead screw 24 is connected to the shaft of stepping motor 21 via coupling 27 . The mounting portion 200a of the medical device 1 is provided so as to slide on the stay 28, and slides as the lead screw 24 rotates. When the stepping motor 21 rotates in the CCW (counterclockwise) direction, the mounting portion 200a moves in the target direction, and when the stepping motor 21 rotates in the CW (clockwise) direction, the mounting portion 200a slides away from the target. .

<Arithmetic unit>
FIG. 4 is a circuit diagram showing a configuration example of the arithmetic unit 3a of FIG. Arithmetic device 3 a is connected to input device 3 b and stepping motor 21 . Arithmetic device 3 a has oscillator 31 , frequency dividing circuit 32 , AND circuit 33 , AND circuit 34 , CPU 35 , inverter 36 , OR circuit 37 , and motor driver 38 .

Oscillator 31 outputs a clock signal to frequency dividing circuit 32 . The frequency dividing circuit 32 divides the frequency of the input clock signal, outputs a clock signal having a double period to a 1/2 terminal, and outputs a clock signal having a four times period to a 1/4 terminal. Here, the frequency dividing circuit 32 simply divides the frequency by 2 and 4, but it may be a counter composed of multi-stage frequency dividing circuits or hardware. The frequency dividing circuit 32 outputs a clock signal with a double period to the a terminal of the AND circuit 33 . Further, the frequency dividing circuit 32 outputs a clock signal with a period four times as long as the a terminal of the AND circuit 34 .

The CPU 35 is a central processing unit, and performs calculations upon receiving instructions from the input device 3b. A terminal a of the CPU 35 outputs a signal CW that determines the direction of rotation of the stepping motor 21 to a terminal b of the AND circuit 33 , a CW terminal of the motor driver 38 and an input terminal of the inverter 36 . The inverter 36 outputs a logically inverted signal of the signal CW to the b terminal of the AND circuit 34 . The b terminal of the CPU 35 outputs the signal ENB to the ENB terminal of the motor driver 38 .

The c terminal of the AND circuit 33 is connected to the a terminal of the OR circuit 37 . The c terminal of the AND circuit 34 is connected to the b terminal of the OR circuit 37 . The output signal from the c terminal of the OR circuit 37 is input to the CLK terminal of the motor driver 38 .

The motor driver 38 becomes operable when a high level is input to the ENB terminal. Also, the motor driver 38 determines the rotation speed of the stepping motor 21 by the clock signal input to the CLK terminal, and determines the rotation direction of the stepping motor 21 by the polarity of the signal CW input to the CW terminal. The motor driver 38 arbitrarily drives the stepping motor 21 by supplying power to the stepping motor 21 from the A terminal, /A terminal, B terminal, and /B terminal according to the input signal.

<Action>
FIG. 5 is a timing chart showing a control method of the computing device 3a when the catheter 11 is inserted into and removed from a patient. Clock signal Div_CLK is the output signal of oscillator 31 . The frequency dividing circuit 32 divides the frequency of the clock signal Div_CLK. The signal AND33_a is a signal output from the 1/2 terminal of the frequency dividing circuit 32 to the a terminal of the AND circuit 33. FIG. The signal AND34_a is a signal output from the 1/4 terminal of the frequency dividing circuit 32 to the a terminal of the AND circuit 34. FIG.

When the insertion of the catheter 11 is set from the input device 3b, the CPU 35 outputs a low-level signal CW from the terminal a. In FIG. 5, the initial state of the signal CW of the a terminal of the CPU 35 is low level. A signal AND33_a input to the a terminal of the AND circuit 33 is a clock signal having a cycle twice that of the clock signal Div_CLK. The signal AND33_b input to the b terminal of the AND circuit 33 is the same signal as the signal CW output from the b terminal of the CPU 35, and is at low level. In that case, the signal AND33_c output from the c terminal of the AND circuit 33 becomes low level.

A signal AND34_a input to the a terminal of the AND circuit 34 is a clock signal having a cycle four times as long as that of the clock signal Div_CLK. A signal AND34_b input to the b terminal of the AND circuit 34 is a logically inverted signal of the signal CW and becomes high level. In that case, the signal AND34_c output from the c terminal of the AND circuit 34 becomes the same signal as the signal AND34_a.

The input signal of the a terminal of the OR circuit 37 is the same signal as the signal AND33_c and is at low level. The input signal of the b terminal of the OR circuit 37 is the same signal as the signal AND34_c, and is a clock signal with four times the period. In this case, the signal DRV_CLK input to the CLK terminal of the motor driver 38 is the same signal as the output signal of the c terminal of the OR circuit 37, and is a clock signal with four times the period.

At time T11, upon receiving an instruction to insert the catheter 11 from the input device 3b, the CPU 35 outputs a high-level signal ENB from the b terminal. The input signal DRV_CLK to the CLK terminal of the motor driver 38 is a clock signal with a period four times as long. The input signal CW of the CW terminal of the motor driver 38 is at low level. The input signal ENB at the ENB terminal of the motor driver 38 is at high level. In that case, the stepping motor 21 rotates in the CCW direction at a rotation speed based on the clock with a period four times longer. As a result, the base unit 200, the catheter unit 100 and the catheter 11 are started to be inserted into the target patient.

At time T12, when the CPU 35 receives an instruction to stop the insertion of the catheter 11 from the input device 3b, it outputs a low-level signal ENB from the b terminal. Then, the motor driver 38 stops the rotation of the stepping motor 21 . This completes the insertion of the catheter 11 .

At time T13, the CPU 35 outputs a high-level signal CW from the a terminal when the catheter 11 is set to be removed from the input device 3b. The input signal AND33_a of the a terminal of the AND circuit 33 is a clock signal with a double period. An input signal AND33_b at the b terminal of the AND circuit 33 is the same signal as the signal CW and is at high level. In that case, the output signal AND33_c of the c terminal of the AND circuit 33 becomes a clock signal with a double period.

The input signal AND34_a of the a terminal of the AND circuit 34 is a clock signal with a period four times as long. An input signal AND34_b at the b terminal of the AND circuit 34 is a logically inverted signal of the signal CW and is at a low level. In that case, the output signal AND34_c of the c terminal of the AND circuit 34 becomes low level.

The input signal of the a terminal of the OR circuit 37 is the same signal as the signal AND33_c, and is a clock signal with twice the period. The input signal of the b terminal of the OR circuit 37 is the same signal as the signal AND34_c and is at low level. In that case, the output signal of the c terminal of the OR circuit 37 is the same signal as the signal DRV_CLK, and is a clock signal with twice the period.

At time T14, when the CPU 35 receives an instruction to remove the catheter 11 from the input device 3b, it outputs a high-level signal ENB from the b terminal. An input signal DRV_CLK to the CLK terminal of the motor driver 38 is a clock signal with a double period. The input signal of the CW terminal of the motor driver 38 is the same signal as the signal CW and is at high level. The ENB terminal of the motor driver 38 is the same signal as the signal ENB and is at high level. In this case, the stepping motor 21 rotates in the CW direction at a rotation speed based on the clock signal with the double period. As a result, the base unit 200, the catheter unit 100, and the catheter 11 are started to be removed from the target patient. For example, the rotation speed of the stepping motor 21 is faster during withdrawal than during insertion, and the movement speed of the catheter 11 is faster during withdrawal than during insertion.

At time T15, when the CPU 35 receives an instruction to stop removing the catheter 11 from the input device 3b, it outputs a low-level signal ENB from the b terminal. Then, the motor driver 38 stops the rotation of the stepping motor 21 . This completes the withdrawal of the catheter 11 .

At time T16, the CPU 35 returns to the initial state by outputting a low level signal CW from the a terminal.

As described above, the medical system 1A is an example of a continuous body robot moving device. The catheter 11 is an example of at least one or more bendable bendable sections provided in series in the longitudinal direction. The medical device 1 is an example of a continuous robot that has a catheter 11 and can move back and forth in the longitudinal direction of the catheter 11 .

The stepping motor 21 is a motor that rotates. The lead screw 24 and the mounting portion 200 a are an example of a moving portion that moves the medical device 1 back and forth based on the rotational motion of the stepping motor 21 . The control device 3 is a control section that controls the stepping motor 21 .

The frequency dividing circuit 32 is an example of a rotation speed signal generation circuit that generates a plurality of rotation speed signals for determining the rotation speed of the stepping motor 21 by hardware. The frequency dividing circuit 32 divides a clock signal with a double cycle with a frequency dividing ratio of 2 and a clock signal with a four times cycle with a frequency dividing ratio of 4 into a plurality of rotation speeds with mutually different frequency dividing ratios. Generate as a signal.

AND circuit 33, AND circuit 34, and OR circuit 37 select one of the plurality of rotation speed signals according to rotation direction signal CW for determining the rotation direction of stepping motor 21. It is a selection circuit that The motor driver 38 is a drive circuit that drives the stepping motor 21 at a rotation speed based on the rotation speed signal selected by the selection circuit and at a rotation direction based on the rotation direction signal CW.

The quadruple period clock signal is a rotation speed signal for moving the medical device 1 forward in the longitudinal direction when the catheter 11 is inserted. The double period clock signal is a rotation speed signal for backward movement of the medical device 1 in the longitudinal direction when the catheter 11 is removed.

The above selection circuit selects the quadruple period clock signal when the direction of rotation signal CW indicates the direction of rotation for forward movement of the medical device 1 . Further, the above selection circuit selects a clock signal with a double period when the rotation direction signal CW indicates the rotation direction for rearward movement of the medical device 1 . The rotation speed based on the clock signal with four times the cycle is slower than the rotation speed based on the clock signal with the double cycle.

The CPU 35 generates a rotation direction signal CW and an enable signal ENB. The motor driver 38 rotates or stops the stepping motor 21 according to the enable signal ENB.

As described above, the arithmetic unit 3a generates a clock signal that determines the rotation speed of the stepping motor 21 by hardware, and interlocks it with the rotation direction signal CW that determines the rotation direction of the stepping motor 21. FIG. This can prevent the risk that the catheter 11 will not be moved in the longitudinal direction at the intended speed due to software malfunction caused by external noise or unexpected software malfunction caused by the program code. In addition, since there is no need to provide other protective functions to avoid this risk, the medical system 1A can be simplified and costs can be reduced. In addition, when the catheter 11 is inserted into or removed from a patient, the moving speed of the catheter 11 can be set faster during withdrawal than during insertion. As a result, the catheter 11 can be inserted slowly and carefully, and the catheter 11 can be quickly removed when the catheter 11 is removed.

(Second embodiment)
Since the medical system 1A according to the second embodiment has the same medical device 1, support base 2, and monitor 4 as the medical system 1A according to the first embodiment, the description thereof will be omitted.

<Arithmetic device and input device>
FIG. 6 is a circuit diagram showing a configuration example of an arithmetic device 3a and an input device 3b according to the second embodiment. The input device 3b of FIG. 6 has a switch 41, resistors 42 to 44, and an OR circuit 45. The arithmetic device 3a of FIG. 6 is obtained by deleting the CPU 35 and the inverter 36 from the arithmetic device 3a of FIG.

A terminal a of the switch 41 is connected through a resistor 42 to a node of the power supply voltage Vcc. When the switch 41 rotates the stepping motor 21 in the CW direction, the terminals a and c are connected. When the switch 41 rotates the stepping motor 21 in the CCW direction, the terminals a and d are connected. When the stepping motor 21 is to be stopped, the switch 41 is held at the position b without the terminal a being connected to either the c terminal or the d terminal.

The c terminal of the switch 41 is connected through a resistor 44 to a node of ground potential. The c terminal of the switch 41 is connected to the b terminal of the AND circuit 33 , the a terminal of the OR circuit 45 and the CW terminal of the motor driver 38 .

The d terminal of the switch 41 is connected via a resistor 43 to a ground potential node. The d terminal of the switch 41 is connected to the b terminal of the AND circuit 34 and the b terminal of the OR circuit 45 . The resistance values of the resistors 43 and 44 are sufficiently larger than the resistance value of the resistor 42 . When the a terminal and the c terminal of the switch 41 are connected, the c terminal of the switch 41 becomes high level. Also, when the a terminal and the d terminal of the switch 41 are connected, the d terminal of the switch 41 becomes high level.

A terminal c of the OR circuit 45 is connected to an ENB terminal of the motor driver 38 . The rest of the configuration of the arithmetic unit 3a is the same as the description of FIG. 4, so the description is omitted.

<Action>
FIG. 7 is a timing chart showing the control method of the computing device 3a and the input device 3b when the catheter 11 is inserted into and removed from the patient. Clock signal Div_CLK is the output signal of oscillator 31 . The frequency dividing circuit 32 divides the frequency of the clock signal Div_CLK. The signal AND33_a is a signal output from the 1/2 terminal of the frequency dividing circuit 32 to the a terminal of the AND circuit 33. FIG. The signal AND34_a is a signal output from the 1/4 terminal of the frequency dividing circuit 32 to the a terminal of the AND circuit 34. FIG.

The switch 41 of the input device 3b is held at the b position in the initial state. Therefore, the signal CW at the c terminal of the switch 41 is at low level, and the signal CCW at the d terminal of the switch 41 is at low level. The input signal of the a terminal of the OR circuit 45 is the same signal as the signal CW and is at low level. The input signal of the b terminal of the OR circuit 45 is the same signal as the signal CCW and is at low level. In that case, the output signal ENB of the c terminal of the OR circuit 45 becomes low level.

The input signal AND33_a of the a terminal of the AND circuit 33 is a clock signal having a cycle twice that of the clock signal Div_CLK. The input signal AND33_b of the b terminal of the AND circuit 33 is the same signal as the signal CW and is at low level. In that case, the signal AND33_c output from the c terminal of the AND circuit 33 becomes low level.

The input signal AND34_a of the a terminal of the AND circuit 34 is a clock signal having a period four times as long as that of the clock signal Div_CLK. An input signal AND34_b at the b terminal of the AND circuit 34 is the same signal as the signal CCW and is at low level. In that case, the output signal AND34_c of the c terminal of the AND circuit 34 becomes low level.

The input signal of the a terminal of the OR circuit 37 is the same signal as the signal AND33_c and is at low level. The input signal of the b terminal of the OR circuit 37 is the same signal as the signal AND34_c and is at low level. In that case, the input signal DRV_CLK of the CLK terminal of the motor driver 38 is the same signal as the output signal of the c terminal of the OR circuit 37, and is at low level.

The input signal of the ENB terminal of the motor driver 38 is the same signal as the signal ENB and is at low level. Therefore, the motor driver 38 stops the rotation of the stepping motor 21 .

At time T21, when receiving an instruction to insert the catheter 11, the input device 3b connects the a terminal and the d terminal of the switch 41, outputs a high level signal CCW from the d terminal of the switch 41, and c of the switch 41. A low level signal CW is output from the terminal. An input signal AND34_b at the b terminal of the AND circuit 34 is the same signal as the signal CCW and is at high level. In that case, the output signal AND34_c of the c terminal of the AND circuit 34 becomes a clock signal with four times the period. The input signal of the b terminal of the OR circuit 37 is the same signal as the signal AND34_c, and is a clock signal with four times the period. In that case, the output signal of the c terminal of the OR circuit 37 is the same signal as the signal AND34_c, and is a clock signal with four times the period. The input signal of the b terminal of the OR circuit 45 is the same signal as the signal CCW and is at high level. In that case, the output signal of the c terminal of the OR circuit 45 becomes high level.

The input signal DRV_CLK of the CLK terminal of the motor driver 38 is the same as the output signal of the c terminal of the OR circuit 37, and is a clock signal with four times the period. The input signal of the CW terminal of the motor driver 38 is the same signal as the signal CW and is at low level. The input signal of the ENB terminal of the motor driver 38 is the same as the signal ENB and is at high level. In that case, the stepping motor 21 rotates in the CCW direction at a rotational speed based on the clock signal with a period four times longer. As a result, the base unit 200, the catheter unit 100 and the catheter 11 are started to be inserted into the target patient.

At time T22, when the input device 3b receives an instruction to stop the insertion of the catheter 11, it holds the switch 41 at the position b and returns to the initial state. The output signal CW of the c terminal of the switch 41 becomes low level. The output signal CCW of the d terminal of the switch 41 becomes low level. Since the signal CW is low level, the output signal AND33_c of the c terminal of the AND circuit 33 becomes low level. Further, since the signal CCW is at low level, the output signal AND34_c of the c terminal of the AND circuit 34 becomes low level. In that case, the input signal DRV_CLK of the CLK terminal of the motor driver 38 becomes low level. Also, the input signal ENB of the ENB terminal of the motor driver 38 becomes low level. Therefore, the motor driver 38 stops the rotation of the stepping motor 21 and the insertion of the catheter 11 is completed.

At time T23, when the input device 3b receives an instruction to remove the catheter 11, the input device 3b connects the a terminal and the c terminal of the switch 41, outputs a high level signal CW from the c terminal of the switch 41, and A low level signal CCW is output from the terminal. An input signal AND33_b at the b terminal of the AND circuit 33 is the same signal as the signal CW and is at high level. In that case, the output signal AND33_c of the c terminal of the AND circuit 33 becomes a clock signal with a double period.

The input signal of the a terminal of the OR circuit 37 is the same signal as the signal AND33_c, and is a clock signal with twice the period. In that case, the output signal DRV_CLK from the c terminal of the OR circuit 37 is the same signal as the signal AND33_c, and is a clock signal with twice the period. The input signal of the a terminal of the OR circuit 45 is the same signal as the signal CW and is at high level. In that case, the output signal ENB of the c terminal of the OR circuit 45 is at high level.

An input signal DRV_CLK to the CLK terminal of the motor driver 38 is a clock signal with a double period. The input signal of the CW terminal of the motor driver 38 is the same signal as the signal CW and is at high level. The input signal ENB at the ENB terminal of the motor driver 38 is at high level. Therefore, the stepping motor 21 rotates in the CW direction at a rotational speed based on the clock signal with the double period. As a result, the base unit 200, the catheter unit 100, and the catheter 11 are started to be removed from the target patient.

At time T24, when the input device 3b receives the instruction to stop removing the catheter 11, it holds the switch 41 at position b and returns to the initial state. The output signal CW of the c terminal of the switch 41 becomes low level. The output signal CCW of the d terminal of the switch 41 becomes low level. Since the signal CW is low level, the output signal AND33_c of the c terminal of the AND circuit 33 becomes low level. Further, since the signal CCW is at low level, the output signal AND34_c of the c terminal of the AND circuit 34 becomes low level. In that case, the input signal DRV_CLK of the CLK terminal of the motor driver 38 becomes low level. Also, the input signal ENB of the ENB terminal of the motor driver 38 becomes low level. Therefore, the motor driver 38 stops the rotation of the stepping motor 21 and the removal of the catheter 11 is completed.

As described above, the switch 41 generates the rotation direction signal CW. The motor driver 38 drives the stepping motor 21 at a rotation speed based on the output signal of the OR circuit 37 and a rotation direction based on the rotation direction signal CW.

The OR circuit 45 is a logic circuit that generates an enable signal ENB based on the rotation direction signal CW. The motor driver 38 rotates or stops the stepping motor 21 according to the enable signal ENB.

As described above, the control device 3 uses hardware to generate the rotation direction signal CW that determines the rotation direction of the stepping motor 21 . This can prevent the risk that the catheter 11 will not be moved in the longitudinal direction at the intended speed due to software malfunction caused by external noise or unexpected software malfunction caused by the program code. In addition, since there is no need to provide other protective functions to avoid this risk, the medical system 1A can be simplified and costs can be reduced.

It should be noted that the above-described embodiments merely show specific examples for carrying out the present disclosure, and the technical scope of the present disclosure is not limitedly interpreted by these. That is, the present disclosure can be embodied in various forms without departing from its technical spirit or main features.

2 support stand, 3 control device, 3a computing device, 3b input device, 21 stepping motor, 100 catheter unit, 200 base unit

Claims (11)

a continuous robot having at least one or more bendable bendable parts provided in series in the longitudinal direction, and capable of moving the bendable parts back and forth in the longitudinal direction;
a motor that performs rotary motion;
moving means for moving the continuous robot back and forth based on the rotational motion of the motor;
and a control means for controlling the motor,
The control means is
a rotation speed signal generation circuit for generating a plurality of rotation speed signals for determining the rotation speed of the motor by hardware;
a selection circuit that selects one of the plurality of rotation speed signals according to a rotation direction signal for determining the rotation direction of the motor;
A continuous body robot moving apparatus comprising: a rotation speed based on the rotation speed signal selected by the selection circuit; and a driving circuit for driving the motor in the rotation direction based on the rotation direction signal. the plurality of rotation speed signals include a rotation speed signal for moving the continuous robot forward in the longitudinal direction and a rotation speed signal for moving the continuous robot backward in the longitudinal direction;
The selection circuit is
selecting a rotation speed signal for forward movement of the continuous robot in the longitudinal direction when the rotational direction signal indicates the rotational direction for forward movement of the continuous robot;
wherein, when the rotation direction signal indicates a rotation direction for backward movement of the continuous robot, a rotation speed signal for backward movement of the continuous robot in the longitudinal direction is selected. Item 1. The continuous object robot moving device according to item 1. The rotation speed based on the rotation speed signal for moving the continuous robot forward in the longitudinal direction is slower than the rotation speed based on the rotation speed signal for moving the continuous robot backward in the longitudinal direction. 3. The continuous body robot moving device according to claim 2. 4. The continuous body robot moving apparatus according to claim 1, wherein the motor is a stepping motor. 5. The continuous body robot moving apparatus according to claim 1, wherein said control means further comprises a CPU for generating said rotation direction signal. 5. The continuous body robot moving apparatus according to claim 1, wherein said control means further comprises a switch for generating said rotation direction signal. 7. The continuous body robot moving apparatus according to claim 1, wherein the drive circuit rotates or stops the motor in response to an enable signal. 8. The continuous body robot moving apparatus according to claim 7, wherein said control means further comprises a CPU for generating said enable signal. 8. The continuous body robot moving apparatus according to claim 7, wherein said control means further comprises a logic circuit for generating said enable signal based on said rotation direction signal. 10. The continuous body robot movement according to any one of claims 1 to 9, wherein the rotation speed signal generation circuit is a frequency dividing circuit that generates a plurality of rotation speed signals having mutually different frequency division ratios. Device. a continuous robot having at least one or more bendable bendable parts provided in series in the longitudinal direction, and capable of moving the bendable parts back and forth in the longitudinal direction;
a motor that performs rotary motion;
A control method for a continuous robot moving apparatus having moving means for moving the continuous robot back and forth based on the rotational motion of the motor, the method comprising:
a rotation speed signal generation step of hardware generating a plurality of rotation speed signals for determining the rotation speed of the motor;
a selection step of selecting one of the plurality of rotation speed signals according to a rotation direction signal for determining the rotation direction of the motor;
A control method for a continuous robot moving apparatus, comprising: a rotation speed based on the rotation speed signal selected by the selection step; and a driving step of driving the motor in the rotation direction based on the rotation direction signal.

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