JP3695779B2 - Manipulator system - Google Patents

Description

[0001]
[Industrial application fields]
The present invention relates to a manipulator system including a plurality of manipulator units that control a scope, a treatment instrument, or the like.
[0002]
[Prior art]
Percutaneous to perform various treatments (including medical examinations) in the body cavity by opening a hole in the body wall such as the abdominal wall and inserting an endoscope or treatment tool into the body cavity through the hole. Endoscopic surgery has recently attracted attention as an operation that can be performed without burdening the patient because a large incision is not required.
[0003]
In this endoscopic surgery, there is an operating manipulator system in which an endoscope (scope) and a treatment tool are mounted on the manipulator, and the operation using the endoscope and the treatment tool is performed indirectly by the manipulator on behalf of the operator. Proposed.
[0004]
FIG. 20 is a diagram showing an outline of this surgical manipulator system.
61 is a body placed on the bed 62 and undergoing laparoscopic surgery. The abdominal cavity on the inner side of the abdomen of the body 61 is inflated with carbon dioxide (CO2) gas fed by a pneumothorax needle (not shown).
[0005]
A first trocar 63 and a second trocar 64 are inserted into the abdomen of the body 61, and a scope 65 and a treatment tool 66 for performing treatment such as extraction are inserted into the holes, respectively.
[0006]
The scope 65 and the treatment instrument 66 are fixedly supported at a fixed point T1 and a fixed point T2 by a first manipulator 67 and a second manipulator 68. Further, the first manipulator 67 and the second manipulator 68 are respectively installed at the attachment position O1 and the attachment position O2.
[0007]
Therefore, in such an indirect operation by the surgical manipulator, the operator operates the treatment tool with the manipulator while observing the state of the affected part in the abdominal cavity displayed on the monitor by the scope.
[0008]
[Problems to be solved by the invention]
When the number of manipulators increases, the operation ranges between the manipulators overlap each other, and there is a problem that interference, contact, etc. may occur between the manipulators depending on the operation state of the manipulators.
[0009]
Accordingly, an object of the present invention is to provide a manipulator system capable of recognizing the position of each manipulator and reliably preventing interference and contact between the manipulators.
[0010]
[Means for Solving the Problems]
Claim 1 The invention provides a plurality of manipulator units for controlling a scope for observing the inside of a body cavity or a treatment tool for treating an affected area in the body cavity. And a base portion to which the plurality of manipulator units are movably fixed In a manipulator system composed of , Support scope or treatment tool And move on the base A manipulator, The said relative to a predetermined position of the base portion; Information on the reference position of the manipulator and other Information on the reference position of the manipulator provided in the manipulator unit Input means to input When, Based on information input in advance by the input means, the manipulator moves within a range not interfering with the other manipulator unit. Control means for controlling A manipulator system characterized by comprising It is.
The invention according to claim 2 is characterized in that the input means and the control means are provided for each of the plurality of manipulator units. It is.
[0011]
[Action]
In the present invention having such a configuration, for each manipulator unit, information on the reference position of its own manipulator and at least the reference positions of other manipulators located around the manipulator is generated by the generating means. Based on this information, the manipulator is controlled by the control means.
[0012]
【Example】
A first embodiment of the present invention will be described below with reference to FIGS. In each of the first and subsequent embodiments, the present invention is applied to a surgical manipulator system.
[0013]
FIG. 1 (a) is a diagram showing a schematic configuration of a surgical manipulator system, and FIG. 1 (b) is a diagram for explaining a twist angle between a reference coordinate system and a natural coordinate system.
[0014]
Reference numeral 1 denotes a bed on which a patient is placed. A mounting base 2 for mounting a manipulator is provided along the edge of the bed 1, and a first manipulator 3-1, a second manipulator 3-2, a third manipulator 3-3,. , N manipulators 3-n (hereinafter abbreviated as 3; only three manipulators 3-1 to 3-3 are shown in FIG. 1) are fixedly arranged.
[0015]
Each of these manipulators 3 is connected with a controller unit 4-1 to 4 -n (hereinafter abbreviated as 4; only three controller units 4-1 to 4-3 are illustrated). Key input units 5-1 to 5-n (hereinafter abbreviated as 5; three key input units are shown) are connected to the units 4-1 to 4-n, respectively.
[0016]
Each controller unit 4 controls each manipulator 3 based on its own coordinate system (x1, y1, z1) to (xn, yn, zn). Coordinate systems (x0, y0, z0) as reference coordinates of the coordinate systems (x1, y1, z1) to (xn, yn, zn) of the respective manipulators 3 are set at predetermined locations on the base 2. . Note that all the Z axes of each coordinate system are set vertically upward with respect to the paper surface of FIG.
[0017]
2 is a diagram showing a schematic configuration of the manipulator 3 (3-1 to 3-n), FIG. 2 (a) is a top view of the manipulator 3, and FIG. 2 (b) is a manipulator 3 that supports the scope 6. FIG. 2 (c) is a view showing a treatment instrument 7 as an example of the treatment instrument 7 supported by the manipulator 3. The scope 6 and the treatment tool 7 are inserted through a catheter into the abdominal cavity of a patient (not shown) lying on the bed 1.
[0018]
Outside each of the manipulators 3, points A (A1,..., An), B (B1,..., Bn), C (C1,..., Cn), D (D1) serving as a reference for the above-described unique coordinate system. ,..., Dn) are formed. Note that the relationship between the unique coordinate system (x, y, z) of each manipulator 3 and the points A, B, C, D is determined in advance.
[0019]
The manipulator 3 has an arm that expands and contracts in the vertical direction and the horizontal direction, and a tip that can freely change the direction in which the scope 6 or the treatment instrument 7 is supported. Each actuator mechanism is driven by a motor (not shown). The motor and an encoder for detecting the rotation state (rotation speed, rotation angle) of the motor are provided in the manipulator 3.
[0020]
The controller unit 4 (4-1 to 4-n) converts the operation amount of the manipulator 3 into the rotation speed of the motor, and drives the motor to control the manipulator 3. At this time, the operational state (normal operation or abnormal operation) of the manipulator 3 is confirmed by confirming the rotational state of the motor based on the output from the encoder connected to the motor.
[0021]
FIG. 3 is a diagram showing the key input unit 5 (5-1 to 5-n).
The key input unit 5 includes a display 8, a numeric keypad 9, and various function keys (X key, Y key, Z key, r1 key, r2 key, r3 key,...) 10. When key input is performed from the numeric keypad 9 and the function key 10, the contents of the key input are displayed on the display 8.
[0022]
In the first embodiment having such a configuration, a deviation of, for example, the intrinsic coordinate system (x1, y1, z1) of the manipulator 3-1 with respect to the reference coordinate system (x0, y0, z0), for example, a deviation of the origin (Δx, [Delta] y, [Delta] z) and torsion angles ([theta] x, [theta] y, [theta] z) (see FIG. 1 (b)) are input by the key input unit 5-1.
[0023]
As an example of a method for inputting the deviation between the coordinate systems, the distance between the origin O of the reference coordinate system (x0, y0, z0) and the points A1, B1, C1, D1 on the first manipulator 3-1 is measured. Then, input is made by the key input unit 5-1. At this time, since the relationship between the intrinsic coordinate system (x1, y1, z1) of the first manipulator 3-1 and the points A1, B1, C1, D1 is determined in advance, The controller unit 4-1 that controls one manipulator 3-1 recognizes a deviation between the reference coordinate system (x0, y0, z0) and the intrinsic coordinate system (x1, y1, z1) of the first manipulator 3-1. To do.
[0024]
Furthermore, the origin O of the reference coordinate system (x0, y0, z0) and the points A2, B2, C2, D2 and points A3, B3 on the manipulators 3-2 and 3-3 around the first manipulator 3-1. , C3, and D3 are measured and sequentially input by the key input unit 5-1. At this time, the eigen coordinate systems (x2, y2, z2) and (x3, y3, z3) of the surrounding manipulators 3-2 and 3-3 and the points A2, B2, C2, D2 and the points A3, B3, C3 , D3 is determined in advance, so that the controller unit 4-1, which controls the first manipulator 3-1, by the above-described key input has the reference coordinate system (x0, y0, z0) and each of the surroundings. Recognize the deviation of the manipulators 3-2 and 3-3 from the proper coordinate systems (x2, y2, z2) and (x3, y3, z3).
[0025]
By the above key input, the controller unit 4-1 has the unique coordinate system of the first manipulator 3-1 to be controlled and the manipulators 3-2 and 3-3 around the first manipulator 3-1. The positional relationship can be recognized.
[0026]
Similarly, the distance between the origin O of the reference coordinate system (x0, y0, z0) and the points A2, B2, C2, D2 on the second manipulator 3-2 and the origin O and the periphery of the controller unit 4-2. By inputting the distances between the points A1, B1, C1, D1 and the points A3, B3, C3, D3 on the manipulators 3-1 and 3-3 with the key input unit 5-2, the controller unit 4 -2 can also recognize the positional relationship of the inherent coordinate system between the second manipulator 3-2 to be controlled and the surrounding manipulators 3-1 and 3-3.
[0027]
Similarly, the distance between the origin O of the reference coordinate system (x0, y0, z0) and the points A3, B3, C3, D3 on the third manipulator 3-3 and the origin of the controller unit 4-3. By inputting the distance between O and the points A1, B1, C1, D1 and points A2, B2, C2, D2 on the surrounding manipulators 3-1 and 3-2 with the key input unit 5-3, The controller unit 4-3 can also recognize the positional relationship of the inherent coordinate system between the third manipulator 3-3 to be controlled and the peripheral manipulators 3-1 and 3-2.
[0028]
On the other hand, since the operation range of the manipulator 3 is known, whether or not the first manipulator 3-1 controlled by each controller unit 4-1 has entered the operation range of the surrounding manipulators 3-2 and 3-3. Can be determined.
[0029]
Accordingly, each controller unit 4-1 reduces the operating speed of the first manipulator 3-1 when the first manipulator 3-1 to be controlled enters the operating range of the surrounding manipulators 3-2 and 3-3. To prevent contact with surrounding manipulators 3-2 and 3-3. Moreover, you may make it alert | report by alarms, such as a sound and light.
[0030]
Up to this point, three sets of manipulators 3-1, 3-2, 3-3, controller units 4-1, 4-2, 4-3 and key input units 5-1, 5-2, 5-3 have been described. However, the technology described above can be applied to n sets of general manipulators 3-1 to 3-n, controller units 4-1 to 4-n, and key input units 5-1 to 5-n. .
[0031]
As described above, according to the first embodiment, the key input unit 5 and the distance information from the reference coordinate system origin O input by the key input unit 5 to the points A, B, C, and D on the manipulator 3 are included. Based on the manipulator 3 to be controlled and the controller unit 4 for recognizing the positional relationship between the eigen coordinate systems of the manipulators located around the manipulator 3, each controller unit 4 can set the operation range of the surrounding manipulators. While recognizing, it is possible to operate the manipulator 3 controlled by each, and it is possible to reliably prevent interference, contact, etc. between the manipulator 3 and the peripheral manipulator.
[0032]
In addition, each controller unit is configured not to use communication but to input the position information of each manipulator by the key input unit, and since the controller units are not connected by a line, the manipulator system is wired. Since the configuration is less sanitary and simple, and it is not necessary to perform processing for communication, the processing time in each controller unit can be further increased.
[0033]
A second embodiment of the present invention will be described with reference to FIGS.
In the second embodiment and the following embodiments, the same members as those in the above-described embodiment are denoted by the same reference numerals, and the description thereof is omitted.
[0034]
FIG. 4 is a diagram showing a schematic configuration of a surgical manipulator system.
Each of the manipulators 3-1 to 3 -n (hereinafter abbreviated as 3; FIG. 4 shows only three manipulators 3-1 to 3-3.) 11, only three controller units 11-1 to 11-3 are illustrated, and each controller unit 11 is connected to a key input unit 5-1 to 5 -n (hereinafter abbreviated as 5). Only three key input sections 5-1 to 5-3 are shown).
[0035]
A three-dimensional position sensor 12 is connected to the controller 11-1 via a connection cable. The three-dimensional position sensor 12 is provided with a source 13 that generates a magnetic field in an orthogonal direction and a magnetic field detection sensor 14 that detects the magnetic field.
[0036]
FIG. 5 is a diagram showing a schematic configuration of the manipulator 3.
An adapter (mounting member) or a mark 15 (15-) for fixing the magnetic field detection sensor 14 is provided at a predetermined position (reference position of a specific coordinate system) on each of the manipulators 3-1 to 3-n (3). 1 to 15-n) and 16 (16-1 to 16-n).
[0037]
The three-dimensional position sensor 12 calculates the distance between the origins in the coordinate system of the source 13, the reference coordinate system (x0, y0, z0) and the coordinate system of the magnetic field detection sensor 14, and the angle formed by each axis. To the controller unit 11-1.
[0038]
In the second embodiment having such a configuration, first, the magnetic field detection sensor 14 is fixed to the adapter on the first manipulator 3-1 or fixed to the marks 15 and 16.
[0039]
Then, the three-dimensional position sensor 12 uses the signal from the magnetic field detection sensor 14 to determine the coordinate system of the magnetic field detection sensor 14 relative to the reference coordinate system (x0, y0, z0), that is, the unique coordinate system of the first manipulator 3-1. The distance between the origins in x1, y1, z1) and the angle formed by each axis are calculated, and the calculation result is output to the controller unit 11-1.
[0040]
Based on the distance between the origins and the angles formed by the axes, the controller unit 11-1 determines the eigen coordinate system (x1, y1, z1) of the first manipulator 3-1 with respect to the reference coordinate system (x0, y0, z0). ) To calculate the deviation (Δx, Δy, Δz) between the origins and the twist angles (θx, θy, θz) of each axis.
[0041]
The deviation between the origins of the calculation result and the twist angle of each axis are displayed on the display 8 of the key input unit 5-1. The operator confirms the numerical value displayed on the display 8 and inputs it (only pressing the return key) with the key input unit 5-1.
[0042]
The controller unit 11-1 that controls the first manipulator 3-1 by this key input causes the reference coordinate system (x0, y0, z0) and the unique coordinate system (x1, y1, z1) of the first manipulator 3-1. ) Is recognized.
[0043]
Next, the magnetic field detection sensor 14 is fixed to the adapter on the second manipulator 3-2 or fixed to the marks 15 and 16.
Then, the three-dimensional position sensor 12 causes the magnetic field detection sensor 14 to detect the distance between the origins in the intrinsic coordinate system (x2, y2, z2) of the second manipulator 3-2 with respect to the reference coordinate system (x0, y0, z0). The angle formed by each axis is calculated and output to the controller unit 11-1.
[0044]
Based on the distance between the origins and the angles formed by the axes, the controller unit 11-1 determines the intrinsic coordinate system (x2, y2, z2) of the second manipulator 3-2 with respect to the reference coordinate system (x0, y0, z0). ) Is calculated and displayed on the display 8. The operator confirms the numerical value displayed on the display 8 and inputs it (only pressing the return key) with the key input unit 5-1.
[0045]
By this key input, the controller unit 11-1 recognizes a deviation between the reference coordinate system (x0, y0, z0) and the intrinsic coordinate system (x2, y2, z2) of the second manipulator 3-2.
[0046]
Next, when the magnetic field detection sensor 14 is fixed to the adapter on the third manipulator 3-2 or fixed on the marks 15 and 16, the input by the key input unit 5-1 is similarly performed (only the return key is pressed). ) To recognize the deviation between the reference coordinate system (x0, y0, z0) and the unique coordinate system (x3, y3, z3) of the third manipulator 3-3.
[0047]
As described above, the controller unit 11-1 controls the inherent coordinate system (x1, y1, z1) of the first manipulator 3-1 to be controlled and the manipulators 3-2 and 3− around the first manipulator 3-1. It is possible to recognize the positional relationship with each of the three unique coordinate systems (x2, y2, z2) (x3, y3, z3).
[0048]
Further, similarly for the controller unit 11-2, the manipulators 3-1, 3-2, 3-2 for the reference coordinate system (x0, y0, z0) obtained from the three-dimensional position sensor 12 via the controller 11-1. Deviations from the 3-3 unique coordinate system (x1, y1, z1), (x2, y2, z2), (x3, y3, z3) are sequentially displayed on the display 8 of the key input section 5-1, and this controller Each manipulator 3-1, 3-2, 3-3 with respect to the reference coordinate system (x0, y0, z0) is input by the key input unit 5-2 (displacement data input) connected to the unit 11-2. Recognize the deviation from the coordinate system (x1, y1, z1), (x2, y2, z2), (x3, y3, z3) and control the unique coordinate system (x2, y2) of the second manipulator 3-2 , Z2) and the eigen coordinate system of each of the manipulators 3-1 and 3-3 around the second manipulator 3-2 ( 1, y1, z1), it can recognize the positional relationship between (x3, y3, z3).
[0049]
Similarly, for the controller unit 11-3, the eigen coordinate system (x3, y3, z3) of the third manipulator 3-3 to be controlled by the input of the key input unit 5-3 (input of deviation data) and The positional relationship between the manipulators 3-1 and 3-2 around the third manipulator 3-3 and the specific coordinate systems (x1, y1, z1) and (x2, y2, z2) can be recognized.
[0050]
The processing after the recognition of the unique coordinate system of the manipulator is the same as that in the first embodiment, and is omitted here.
As described above, according to the second embodiment, the same effects as those of the first embodiment described above can be obtained.
[0051]
Furthermore, it is calculated and output when the three-dimensional position sensor 12 having the source 13 serving as the reference coordinate system and the magnetic field detection sensor 14 serving as the intrinsic coordinate system and the magnetic field detection sensor 14 are installed at predetermined positions on the manipulator 3. By providing a controller unit 11 for obtaining the deviation between the origins and the twist angle of each axis based on the distance between the coordinate system origins and the angle formed by each axis and displaying it on the display 8, the operator can It is not necessary to measure and calculate the deviation between the origins of each other and the twist angle of each axis, and it is only necessary to input the position information displayed on the display 8 of each key input unit from the key input unit 5. Can be improved.
[0052]
In the second embodiment, the three-dimensional position sensor 12 is connected to the controller 11-1, and the display 8 of the controller 11-1 has a difference between the reference coordinate system and the intrinsic coordinate system of the manipulators 3-1 to 3-3. Is displayed, and input for confirmation or deviation data is input from the respective key input sections 5-1 to 5-3 of the controllers 11-1 to 11-3, whereby the respective controllers 11- Although 1 to 11-3 recognize the positional relationship of each unique coordinate system of each of the manipulators 3-1 to 3-3, the present invention is not limited to this.
[0053]
For example, the three-dimensional position sensor 12 is connected to each of the controllers 11-1 to 11-3, and the three-dimensional position sensor 12 makes a deviation between the reference coordinate system and the intrinsic coordinate system of each manipulator 3-1 to 3-3. The calculated deviation may be directly input and set in each of the controllers 11-1 to 11-3.
[0054]
In this way, according to the second embodiment, since the position information of the own manipulator is automatically set, an effect of improving the operability can be obtained.
[0055]
In the second embodiment, the three-dimensional position sensor 12 having the source 13 and the magnetic field detection sensor 14 has been described. However, the present invention is not limited to this, and for example, a ninth embodiment described later. The thing using the three-dimensional position sensor which has the acceleration sensor demonstrated to an example may be used.
[0056]
A third embodiment of the present invention will be described with reference to FIGS.
FIG. 6 is a diagram showing a schematic configuration of a surgical manipulator system. Although not shown in the third embodiment, a plurality of manipulators can be attached to the base as in the above-described embodiment.
[0057]
Marks 21-1 to 21-12 are formed at predetermined positions on the base 20 to which the manipulator 3 is attached, and symbols (1) for identifying the marks on or near the marks 21-1 to 21-12. As an example, numbers “1” to “12” are illustrated.
[0058]
FIG. 7 is a diagram showing a schematic configuration of the manipulator 3.
The manipulator 3 is provided with a mounting member 22 for mounting on the base 20. The mounting member 22 includes an upper fixed portion 22-1, a lower movable portion 22-2 that slides up and down toward the upper fixed portion 22-1, and a screw adjustment portion that slides the lower movable portion 22-2. 22-3, and by rotating the screw adjusting portion 22-3, the lower movable portion 22-2 is slid up and down, and the base 20 is moved by the upper fixed portion 22-1 and the lower movable portion 22-2. The manipulator 3 is attached to the base 20 with the pinch in between.
[0059]
The positions of the marks 21-1 to 21-12 are measured in advance from a predetermined reference coordinate system, and the measured data is stored in the memory 23 of the controller unit 4 with symbols "1" to "1". 12 "is stored corresponding to the number.
[0060]
In the third embodiment having such a configuration, the manipulator 3 can be removed from the base 20 or moved on the base 20 by loosening the screw adjusting portion 22-3.
[0061]
Here, the operator moves the manipulator 3 to a desired position, that is, a desired mark position, and tightens and attaches the screw adjusting portion 22-3. At this time, the operator inputs a symbol (numerical data) provided on or near the desired mark from the key input unit 5. The controller unit 4 reads the distance data corresponding to the input numerical value from the memory 23 and confirms the position of the manipulator 3 to be controlled.
[0062]
Similarly, with respect to other manipulators mounted around the manipulator 3, the mark symbol of the mounting position is input from the key input unit 5. By this key input, the controller unit 4 reads distance data corresponding to the input numerical value from the memory 23 and recognizes positions of other peripheral manipulators.
[0063]
Therefore, the controller unit 4 confirms the mounting positions of the manipulator 3 to be controlled and other manipulators located around the manipulator 3.
If the above operation is performed by a controller unit (key input unit) that controls another manipulator, each controller unit confirms the manipulator to be controlled and the mounting positions of manipulators located around the manipulator.
[0064]
As described above, according to the third embodiment, the same effects as those of the first embodiment described above can be obtained.
Furthermore, a mark 21 is formed at each mounting position of the manipulator on the base 20, and a symbol for identifying the mark 21 on or near the mark 21, and a distance from the reference coordinate system corresponding to each symbol. And a memory 23 in which information is stored. When a symbol is input from the key input unit 5, the operator reads information on the distance corresponding to the symbol from the memory 23, thereby allowing the operator to read the reference coordinate system and the manipulator 3. It is not necessary to measure / calculate distance information with respect to the specific coordinate system of each axis, the torsion angle of each axis, etc., and it is only necessary to input a symbol on or near the mark 21 to which the manipulator 3 is attached by the key input unit 5. Can be improved.
[0065]
A fourth embodiment of the present invention will be described with reference to FIGS.
FIG. 8 is a diagram showing a schematic configuration of a surgical manipulator system. Although not shown in the fourth embodiment, a plurality of manipulators can be attached to the base as in the above-described embodiment.
[0066]
An electric resistance scale 25 as a position detection member having electric resistance is provided on a base 24 to which the manipulator 3 is attached. One end of the electric resistance type scale 25 is connected to the controller unit 4. On the other hand, as shown in FIG. 9, the electric resistance type scale 25 inside the upper fixing part 22-1 of the mounting member 22 of the manipulator 3. An electrical contact 26 is provided at a portion in contact with.
[0067]
Therefore, the controller unit 4 detects a resistance value between one end of the electric resistance scale 25 connected to the controller unit 4 and the electric contact 26 of the mounting member 22 via the manipulator 3. Can do.
[0068]
The overall resistance value of the electric resistance scale 25 is well known.
In the fourth embodiment having such a configuration, when the manipulator 3 is attached, the resistance value between one end of the electric resistance type scale 25 connected to the controller unit 4 and the electric contact 26 of the attachment member 22 of the manipulator 3. Is detected.
[0069]
Based on the detected resistance value, the position of the electrical contact 26 on the electrical resistance scale 25 when one end of the electrical resistance scale 25 is used as a reference position, that is, the attachment position of the manipulator 3 is detected. The detected mounting position is displayed on the display 8 of the key input unit 5, and the operator confirms the mounting position of the manipulator 3 displayed on the display 8 and inputs it with the key input unit 5 (pressing the return key) Only).
[0070]
By this key input, the controller unit 4 recognizes the mounting position of the manipulator 3 to be controlled.
Similarly, with respect to the other manipulators located around the manipulator 3-m, the controller unit connected to each of the manipulators has the position of the electrical contact of the mounting member of each manipulator on the electric resistance scale 25, that is, The mounting position of each manipulator is displayed on the display of each key input unit.
[0071]
Therefore, the operator confirms the mounting position of each manipulator displayed on each display, and inputs (data input) from the key input unit 5-m.
By this key input, the controller unit 4-m that controls the manipulator 3-m recognizes the mounting position of the manipulator located in the vicinity.
[0072]
Further, the above operation is performed on a controller unit (key input unit) that controls other manipulators, and each controller unit confirms the manipulator to be controlled and the mounting positions of the manipulators around the manipulator.
[0073]
As described above, according to the fourth embodiment, the same effect as that of the first embodiment described above can be obtained.
Furthermore, by providing the electric resistance type scale 25 and each manipulator 3 with an electric contact 26 for detecting the position on the electric resistance type scale 25, it is automatically determined at which position on the base 24 the manipulator 3 is attached. Therefore, the same effect as in the second embodiment described above can be obtained.
[0074]
A fifth embodiment of the present invention will be described with reference to FIGS.
FIG. 10 is a diagram showing a schematic configuration of a surgical manipulator system. Although not shown in the fifth embodiment, a plurality of manipulators can be attached to the base as in the above-described embodiment.
[0075]
A bar code printing unit 28 is provided as a position detection member on which a bar code in which distance information from a predetermined reference position is written is provided at a position where the manipulator on the base 27 is attached.
[0076]
FIG. 11 is a diagram showing a schematic configuration of the manipulator.
An optical reflection type barcode reading unit 29 is provided in a portion facing the barcode printing unit 28 inside the upper fixing portion 22-1 of the attachment member 22 of the manipulator 3, and the barcode reading unit 29 includes: The barcode of the barcode printing unit 28 is read.
[0077]
The barcode information (distance information from the reference position) read by the barcode reading unit 29 is supplied to the controller unit 4.
In the fifth embodiment having such a configuration, when the manipulator 3 is attached, the barcode at the place where the manipulator 3 is attached is read by the barcode reading portion 29 of the attachment member 22 of the manipulator 3.
[0078]
The read bar code information includes distance information from the reference position, and the controller unit 4 guides the mounting position of the manipulator 3 based on the distance information and the like, and displays the manipulator 3 on the display 8 of the key input unit 5. The installation position is displayed, and the operator confirms this display and inputs it from the key input unit 5 (only pressing the return key).
[0079]
The controller unit 4 that controls the manipulator 3 by this key input recognizes the mounting position of the manipulator 3.
Similarly, with respect to the other manipulators located around the manipulator 3-m, the barcode of the attachment portion of the barcode printing unit 28 on the base 27 is read by the barcode reading unit of the attachment member of each manipulator. Based on the read bar code information, the attachment position of the manipulator is displayed on the display of each key input unit.
[0080]
Accordingly, the operator confirms the mounting position of each manipulator displayed on each display, and inputs (data input) from the key input unit 5-m.
By this key input, the controller unit 4-m that controls the manipulator 3-m recognizes the mounting position of the manipulator located in the vicinity.
[0081]
Further, the above operation is performed on a controller unit (key input unit) that controls other manipulators, and each controller unit confirms the manipulator to be controlled and the mounting positions of the manipulators around the manipulator.
[0082]
As described above, according to the fifth embodiment, the same effect as that of the first embodiment described above can be obtained.
Further, by providing a barcode printing unit 28 that prints a barcode on which position information is written on the base 27 and a barcode reading unit 29 that reads this barcode, the manipulator is attached to any position on the base 27. Since it can be automatically detected, the same effect as in the second embodiment described above can be obtained.
[0083]
A sixth embodiment of the present invention will be described with reference to FIGS.
FIG. 12 (a) is a view showing the bed 1 and the base 30 of the surgical manipulator system. Although not shown in the sixth embodiment, a plurality of manipulators can be attached to the base 30 as in the above-described embodiment, and a controller unit is connected to each manipulator. The key input section is connected.
[0084]
Mounting holes 31-1 to 31-21 for mounting the manipulator 3 on the base 30 are formed, and symbols (numbers 1 to 21) for identification are provided in the vicinity thereof.
[0085]
As shown in FIG. 12 (b), the mounting holes 31-1 to 31-21 have a regular polygonal shape, and each side has a symbol (alphabet a) as information on the mounting direction. -H) are provided.
[0086]
FIG. 13 (a) is a diagram showing a schematic configuration of the manipulator 3.
The mounting member 32 of the manipulator 3 is provided with mounting bolts 33 which are fixed by fitting the mounting holes 31-1 to 31-21 of the base 30 (or through the nuts). Yes. As shown in FIG. 13B, the shape of the mounting bolt 33 is also such that each mounting hole 31-1 to 31-21 is fitted to each mounting hole 31-1 to 31-21. It becomes a regular polygon corresponding to the aperture shape.
[0087]
In the sixth embodiment having such a configuration, the manipulator 3 fits the mounting bolt 33 into one mounting hole 31 selected from the mounting holes 31-1 to 31-21 of the base 30. And install. At this time, since the mounting hole 31 and the mounting bolt 33 have a regular polygonal shape, the mounting angle of the manipulator 3 is selected by selecting the fitting direction of the mounting hole 31 and the mounting bolt 33. You can choose.
[0088]
At this time, the operator inputs a symbol (numerical data) in the vicinity of the mounting hole 31 to which the mounting bolt 33 is mounted and a symbol (alphabet data) indicating the mounting direction by a key input unit (not shown).
[0089]
The controller unit (not shown) reads the data from the predetermined reference coordinates corresponding to the input numerical values and alphabets and the data of the unique coordinates of the manipulator (including information on the mounting direction) from the memory in the controller unit and controls the manipulator 3. Check the position of.
[0090]
Similarly, with respect to other manipulators located around the manipulator 3, symbols near the mounting holes to which the mounting bolts of the manipulators are attached from the key input unit connected to the controller unit connected to the manipulator 3, and Enter the symbol indicating the mounting direction. By this key input, the controller unit connected to the manipulator 3 reads the input numerical value and the distance from the predetermined reference coordinates corresponding to the alphabet and the data of the specific coordinates from the memory, and positions of other manipulators located in the vicinity. Confirm.
[0091]
Therefore, the controller unit connected to the manipulator 3 confirms the mounting positions of the manipulator 3 to be controlled and other manipulators located around the manipulator 3.
[0092]
If the above operation is performed by a controller unit (key input unit) that controls another manipulator, each controller unit confirms the manipulator to be controlled and the mounting positions of manipulators located around the manipulator.
[0093]
As described above, according to the sixth embodiment, the same effect as that of the first embodiment described above can be obtained.
Further, the mounting hole 31 is formed at each mounting position of the manipulator on the base 30, and a symbol for identifying the mounting hole 31 is provided in the vicinity of the mounting hole 31, thereby providing the third embodiment described above. The same effect as the example can be obtained.
[0094]
Further, the mounting hole 31 and the mounting bolt 33 provided in the manipulator 3 are formed in a regular polygon shape and fitted to each other, thereby obtaining the effect of fixing the mounting angle of the manipulator at a desired angle. Can do.
[0095]
A seventh embodiment of the present invention will be described with reference to FIG.
FIG. 14 is a diagram showing a schematic configuration of a surgical manipulator system.
Each of the manipulators 3-1 to 3-n (hereinafter abbreviated as 3; FIG. 14 shows only three manipulators 3-1 to 3-3). This is abbreviated as 34. Only the three controller units 34-1 to 34-3 are shown in the figure.
[0096]
Each of these controller units 34 includes an RS-232C interface (not shown), and RS-232C lines 35-1 to 35-k (for controller units controlling at least the manipulators located in the vicinity). Hereinafter, it is abbreviated to 35. k ≦ J = n (n−1) / 2, and only three RS-232 lines 35-1 to 35-3 are illustrated.
[0097]
Although not shown, a key input unit may be connected to each controller unit 34 to input data related to the position of the manipulator 3, or a three-dimensional position sensor may be connected to send detection data related to the position to the controller unit 34. It may be output to.
[0098]
In the seventh embodiment having such a configuration, information on the position of the manipulator 3 controlled by the controller 34 is input to each controller unit 34, and the manipulator 3 to be controlled is controlled based on the input information. Recognize the mounting position.
[0099]
On the other hand, the information on the position of the manipulator 3 controlled by each controller unit 34 is output via the RS-232C line 35 to each controller unit controlling at least the manipulators located in the vicinity.
[0100]
Therefore, information on the position of the manipulator 3 to be controlled is directly input to each controller unit 34, and information on the positions of manipulators located around the manipulator 3 is input via the RS-232C line 35. As a result, each controller unit 34 recognizes the manipulator 3 to be controlled and the positions of manipulators located around the manipulator 3.
[0101]
Further, since the position information of the manipulator 3 controlled by each controller unit 34 is always output from each controller unit 34 via the RS-232C line 35, the movement of the position (attachment position) of the manipulator located in the vicinity is recognized in real time.
[0102]
As described above, according to the seventh embodiment, the controller units 34 are connected to each other by the RS-232C line 35, so that each controller unit 34 can be obtained by any one of the above-described first to sixth embodiments. When the position information of the manipulator 3 to be controlled is input, the position information of each manipulator 3 is supplied to each controller unit 34 via the RS-232C line. The positional relationship with the manipulators located around the manipulator 3 can be recognized, and each controller unit 34 can operate the manipulator 3 controlled by each controller unit 34 while recognizing the operation range of the surrounding manipulators. Yes, this manipulator 3 and the surrounding manipulators , It is possible to reliably prevent the contact or the like.
[0103]
Further, each controller unit only needs to input information on the position of the manipulator controlled by each controller unit. Information on the position of the peripheral manipulator is transmitted from each controller unit controlling each peripheral manipulator via the RS-232C line 35. Therefore, it is not necessary to input information on the positions of the peripheral manipulators for each controller unit, for example, with a key input unit or the like, so that operability can be improved.
[0104]
The information transmitted / received via the RS-232C line 35 is not limited to the information on the position where the manipulator is attached, but may be the amount of operation of each manipulator (the number of rotations of the motor, the rotation angle, etc.). In this case, each controller unit can recognize the operating posture of the peripheral manipulator in real time via the RS-232C line 35, so that interference, contact, etc. between the manipulator 3 to be controlled and the peripheral manipulator can be detected. Furthermore, the effect that it can prevent more reliably can be acquired.
[0105]
An eighth embodiment of the present invention will be described with reference to FIG.
FIG. 15 is a diagram showing a schematic configuration of a surgical manipulator system.
Each of the manipulators 3-1 to 3-n (hereinafter abbreviated as 3; FIG. 15 shows only three manipulators 3-1 to 3-3). This is abbreviated as 36. Only three controller sections 36-1 to 36-3 are shown in the figure.
[0106]
Each of these controller units 36 includes a LAN (local area network, not shown) interface, and is connected via a LAN 37. Although not shown, a key input unit may be connected to each of these controller units 36 to input data relating to the position of the manipulator, and detection data relating to the position may be input to the controller unit 36 by connecting a three-dimensional position sensor. It may be output.
[0107]
In the eighth embodiment having such a configuration, each controller unit 36 receives position information with respect to the reference coordinates of the manipulator 3 controlled by each controller unit 36, and based on this input information, the manipulator 3 to be controlled is controlled. Recognize the mounting position.
[0108]
On the other hand, the information on the position of the manipulator 3 controlled by each controller unit 36 is output via the LAN 37 to each controller unit that controls at least the manipulator 3 located in the vicinity.
[0109]
Accordingly, information on the position of the manipulator 3 to be controlled is directly input to each controller unit 36, and information on the position of the manipulator located around the manipulator 3 is input via the LAN 37. As a result, each controller unit 36 recognizes the manipulator 3 to be controlled and the positions of manipulators located around the manipulator 3.
[0110]
Also, since the position information of the manipulator 3 controlled by each controller unit 36 is always output from each controller unit 36 via the LAN 37, the movement of the position (attachment position) of the surrounding manipulators is recognized in real time. Further, the position information may be an operation amount of each manipulator (motor rotation speed, rotation angle, etc.).
[0111]
As described above, according to the eighth embodiment, since the controller units 36 are connected via the LAN 37, the same effects as those of the seventh embodiment described above can be obtained.
A ninth embodiment of the present invention will be described with reference to FIG.
[0112]
FIG. 16 is a diagram showing a schematic configuration of a surgical manipulator system.
Arms 38-1 to 38-n (hereinafter abbreviated to 38) of each of the manipulators 3-1 to 3-n (hereinafter abbreviated as 3; only three manipulators 3-1 to 3-3 are illustrated in FIG. 16) 16, only three are shown in the vicinity of the portion of the distal end portion of) where the scope or treatment tool is fixed, and three-dimensional position sensors 39-1 to 39-n (hereinafter abbreviated as 39) each consisting of an acceleration sensor. Only three three-dimensional position sensors 39-1 to 39-3 are shown.
[0113]
Each of the manipulators 3 is connected to controller units 40-1 to 40-n (hereinafter abbreviated as 40. Only three controller units 40-1 to 40-3 are illustrated).
[0114]
Each of these controllers 40 is provided with an RS-232C interface (not shown) and is mutually connected to RS-232C lines 35-1 to 35-k (hereinafter abbreviated as 35) three RS-232 lines 35-1 to 35-. Only 3 is shown.
[0115]
Each controller 40 inputs the three-dimensional acceleration data obtained by each three-dimensional position sensor 39, processes the input three-dimensional acceleration data, and determines the mounting position of the manipulator 3 to be controlled. recognize.
[0116]
Further, in the ninth embodiment having such a configuration, when the manipulator 3 is operated by each controller 40 and the arm 38 of the manipulator 3 is moved, the movement amount is three-dimensional acceleration data by the three-dimensional position sensor 39. As obtained.
[0117]
Based on the obtained three-dimensional acceleration data, each controller unit 40 calculates the movement amount of the manipulator 3 controlled by each controller unit 40 and recognizes the position of the manipulator 3.
[0118]
Information on the position of the manipulator 3 controlled by each controller unit 40 is output via the RS-232C line 35 to a controller unit that controls at least the manipulators located in the vicinity.
[0119]
Therefore, each controller unit 40 directly inputs the information of the position of the manipulator 3 controlled by each controller unit by the three-dimensional acceleration data from the three-dimensional position sensor 39, and at least through the RS-232C line 35, Information on the position of a manipulator located around the manipulator 3 is input. As a result, each controller unit 40 recognizes the manipulator 3 controlled by the controller unit 40 and the positions of the manipulators located around the manipulator.
[0120]
As described above, according to the ninth embodiment, it is possible to obtain the same effect as that of the seventh embodiment described above.
Moreover, since the information of the position of the manipulator 3 controlled by each controller unit 40 is input using the three-dimensional position sensor 39 having an acceleration sensor, the operator performs measurement and calculation regarding the position of the manipulator 3. This is unnecessary, and it is only necessary to input the position information displayed on the display 8 of each key input unit 5 from the key input unit 5, so that the operability can be improved. Furthermore, if the key input of the key input unit 5 is omitted and the information on the position of the manipulator from the three-dimensional position sensor 39 is directly input to the controller unit 40, the operator can completely input the position of the manipulator 3 to the controller unit. Since it is not necessary to perform an input operation, the operability can be further improved.
[0121]
In the ninth embodiment, the acceleration sensor is used as the three-dimensional position sensor. However, the present invention is not limited to this. For example, the magnetic field detection sensor described in the second embodiment is used. It is good.
[0122]
A tenth embodiment of the present invention will be described with reference to FIGS.
FIG. 17 is a diagram showing a schematic configuration of a surgical manipulator system.
Each of the manipulators 3-1 to 3 -n (hereinafter abbreviated as 3; only three manipulators 3-1 to 3-3 are illustrated in FIG. 16) is directly connected to the central controller unit 41.
[0123]
The central controller unit 41 is provided with a position information sharing memory 42, and the central controller unit 41 controls each manipulator 3 based on the position information stored in the position information sharing memory 42.
[0124]
FIG. 18 is a functional block diagram showing a configuration of processing performed by the central controller unit 41.
The first manipulator control routine 43-1 to n-th manipulator control routine 43-n for controlling the manipulators 3-1 to 3-n, respectively, and the entire system are managed, and the manipulator control routines 43-1 to 43- The routine of the central controller unit 41 is composed of a system control routine 44 that checks the positional relationship between the manipulators 3-1 to 3-n controlled by n and prevents interference, contact, and the like. Each of the routines 43-1 to 43-n and 44 writes the position information of each of the manipulators 3-1 to 3-n in the position information sharing memory 42, and controls based on the written position information. To do.
[0125]
In the tenth embodiment having such a configuration, the central controller unit 41 controls the manipulators 3-1 to 3-n by the system control routine 44 and the manipulator control routines 43-1 to 43-n. The position information of each manipulator 3 is input by any of the methods shown in the first to sixth embodiments described above, and the input position information is stored in the position information sharing memory 42. .
[0126]
Further, the system control routine 44 recognizes the position of each manipulator 3 based on the information stored in the position information sharing memory 42, checks the positional relationship between the manipulators, and causes interference, contact, etc. between the manipulators. When expected, an instruction for avoiding the interference or the like is issued to the corresponding manipulator control routine.
[0127]
Each manipulator control routine changes the control of each manipulator 3 in accordance with an instruction for avoiding interference or the like issued from the system control routine 44. For example, the operation speed of the manipulator 3 is lowered, or the operation of the manipulator 3 is stopped.
[0128]
As described above, according to the tenth embodiment, the central controller 41 for controlling each manipulator 3 and the position information sharing memory 42 for storing position information for storing the position information for each manipulator 3 are provided. When the position information of each manipulator 3 is input by any of the methods from the first embodiment to the sixth embodiment, the position information is stored in the position information sharing memory 42 and stored in the position information sharing memory 42. The central controller 41 controls each manipulator 3 based on the information on the position of each manipulator 3, so that the positional relationship between each manipulator 3 and the manipulator located around the manipulator 3 can be recognized. The manipulator 3 can be operated while recognizing the operating range of the manipulator Ri, it is possible to prevent interference between the manipulator 3 and around the manipulator, the contact or the like reliably.
[0129]
Further, the position information of each manipulator 3 is centrally managed by the central controller unit 41 using the position information sharing memory 42, and the central controller unit 41 also centrally manages the control of the manipulator 3, so that communication is performed. Moreover, since the input of the position information of the manipulator 3 only needs to be performed once, the processing speed and operability can be improved.
[0130]
The position information is not limited to the mounting position, but may be position information during operation of each manipulator 3 (the rotation speed, rotation angle, etc. of each motor). Even in this case, interference and contact between the manipulator 3 and the surrounding manipulators can be reliably prevented based on the position information during operation.
[0131]
An eleventh embodiment of the present invention will be described with reference to FIG.
FIG. 19 is a diagram showing a schematic configuration of a surgical manipulator system.
Each of the manipulators 3-1 to 3-n (hereinafter abbreviated as 3; FIG. 15 shows only the three manipulators 3-1 to 3-3). It is abbreviated as 45. Only three controller parts 45-1 to 45-3 are shown in the figure.
[0132]
Each of these controller units 45 is connected to a main controller unit 46, and the main controller unit 46 is provided with a position information sharing memory 42. Each of the controller units 45 controls the manipulator 3 that is controlled based on position information supplied via the main controller unit 46.
[0133]
The eleventh embodiment is a modification of the tenth embodiment described above, and each controller unit 45 is a dedicated controller for performing each manipulator control routine of the tenth embodiment, and the main controller unit 46 Is a dedicated controller for performing system control routines.
[0134]
In the eleventh embodiment having such a configuration, each controller unit 45 controls each manipulator 3 based on a command output from the main controller unit 46 and position information from the position information sharing memory 42, respectively.
[0135]
The position information of each manipulator is input to each controller unit 45 by any of the methods shown in the first to sixth embodiments described above, and is output to the main controller unit 46. The input position information is written into the position information sharing memory 42, and the position information of each manipulator is read from the position information sharing memory.
[0136]
Based on the read position information, the main controller unit 46 recognizes the position of each manipulator 3 and checks the positional relationship between the manipulators. If interference or contact between the manipulators is expected, An instruction to avoid interference or the like is output to the corresponding controller units 45.
[0137]
Accordingly, each controller unit 46 changes the control of each manipulator 3 in accordance with an instruction to avoid interference, contact, etc. output from the main controller unit 46.
[0138]
The position information may be position information during operation of the manipulator as in the tenth embodiment described above.
As described above, according to the eleventh embodiment, a part of the function of the central controller section 41 of the tenth embodiment described above, that is, each manipulator control routine 43 is made independent as the controller section 45, and the position information of each manipulator 3 is obtained. By providing the main controller unit 46 for centralized management and outputting manipulator control commands to each controller unit 45, the same effects as those of the tenth embodiment described above can be obtained.
[0139]
Furthermore, since each manipulator control routine 43 is independent as a controller unit, the manipulator control routine 43 can be processed in parallel, and the main controller unit 41 only needs to process the system control routine 44. The speed can be increased.
[0140]
(Appendix)
(1) In a manipulator system including a scope for observing a body cavity and a plurality of manipulator units for controlling a treatment tool for treating an affected area in the body cavity, each of the manipulator units includes:
A manipulator that supports a scope or a treatment instrument,
A key unit for inputting information on the reference position of the manipulator and information on the reference position of the manipulator provided in at least each other manipulator unit located around the manipulator;
And a control means for controlling the manipulator based on the reference position information of each manipulator input from the key unit.
[0141]
(2) In a manipulator system comprising a plurality of manipulator units for controlling a scope for observing the inside of a body cavity and a treatment tool for treating an affected area in the body cavity,
Provide a detection target part for determining the reference position of the manipulator,
Each of the manipulator units is
A manipulator that supports a scope or a treatment instrument,
Generating means for generating information on a reference position of the manipulator and information on a reference position of a manipulator provided in at least each other manipulator unit located around the manipulator;
A manipulator system comprising: control means for controlling the manipulator based on information on a reference position of each manipulator generated by the generating means.
[0142]
(3) In a manipulator system comprising a plurality of manipulator units for controlling a scope for observing the inside of a body cavity, a treatment tool for treating an affected area in the body cavity, etc.
Orbit,
A position detection mark provided on the track and indicating each position on the track;
Each of the manipulator units is
A manipulator that supports a scope or a treatment instrument and moves on the trajectory;
Generating means for generating information on a reference position of the manipulator and information on a reference position of a manipulator provided in at least each other manipulator unit located around the manipulator;
A manipulator system comprising: control means for controlling the manipulator based on information on a reference position of each manipulator generated by the generating means.
[0143]
(4) The manipulator system described in (2) above, wherein the detection target section is provided with a mark indicating a position and a symbol for identifying the mark.
(5) The manipulator system as described in 4 above, wherein the symbol is a number.
[0144]
(6) The manipulator system as described in 4 above, wherein the symbol is an alphabet.
(7) In a manipulator system including a scope for observing the inside of a body cavity and a plurality of manipulator units for controlling a treatment tool for treating an affected area in the body cavity, each of the manipulator units includes:
A manipulator that supports a scope or a treatment instrument,
A three-dimensional position sensor for detecting information on a reference position of the manipulator and at least a reference position of a manipulator provided in each of the other manipulator units located around the manipulator;
A manipulator system comprising: control means for controlling the manipulator based on information on a reference position of each manipulator detected by the three-dimensional position sensor.
[0145]
(8) The manipulator system described in (7) above, wherein the three-dimensional position sensor is a magnetic sensor.
(9) In a manipulator system comprising a plurality of manipulator units for controlling a scope for observing the inside of a body cavity, a treatment tool for treating an affected area in the body cavity, etc.
Orbit,
An electrical resistance member provided on the track,
Each of the manipulator units is
A manipulator that supports a scope or a treatment instrument and moves on the trajectory;
Determination means for determining the reference position of the manipulator from the change in the resistance value of the electric resistance member and the reference position of the manipulator provided in at least each other manipulator unit located around the manipulator,
A manipulator system comprising: control means for controlling the manipulator based on a reference position of each manipulator determined by the determination means.
(11) The manipulator system as described in 3 above, wherein the position detection mark is a bar code.
(12) In a manipulator system comprising a plurality of manipulator units for controlling a scope for observing a body cavity, a treatment tool for treating a diseased part in the body cavity, and the like.
Orbit,
A bar code provided on the track and indicating each position on the track;
Each of the manipulator units is
A manipulator that supports a scope or a treatment instrument and moves on the trajectory;
Barcode reading means for reading the barcode provided on the track;
Determining means for determining the reference position information of the manipulator and at least the reference position of the manipulator provided in each of the other manipulator units located around the manipulator based on the barcode information read by the barcode reading means; ,
A manipulator system comprising: control means for controlling the manipulator based on a reference position of each manipulator determined by the determination means.
(13) The manipulator system as described in 2 above, wherein the detection target part is provided with a hole indicating a mounting position of the manipulator and a symbol for identifying the hole.
(14) The manipulator system as described in (13) above, wherein the hole has a polygonal cross section.
(15) The manipulator system as described in (13) above, wherein the symbol is a number.
(16) The manipulator system as described in (13) above, wherein the symbol is an alphabet.
(17) In a manipulator system including a scope for observing in a body cavity and a plurality of manipulator units for controlling a treatment tool for treating an affected area in the body cavity, each of the manipulator units includes:
A manipulator that supports a scope or a treatment instrument,
Self-detecting means for detecting the reference position and orientation of the manipulator;
An information input / output unit that outputs the reference position and orientation of the manipulator detected by the self-detecting unit to other manipulator units as information, and inputs information on the reference position and orientation from the other manipulator;
A manipulator system comprising: control means for controlling the manipulator based on reference position and orientation information of each manipulator from the self-detecting means and the information input / output means.
(18) The manipulator system as described in (17) above, wherein the information input / output means exchanges information of a reference position and a posture via a communication line.
(19) The manipulator system as described in (17) above, wherein the information input / output means exchanges information of a reference position and an attitude via an RS-232C line.
(20) The manipulator system as described in (17) above, wherein the information input / output means exchanges information of a reference position and a posture via a local area network.
(21) In a manipulator system including a scope for observing a body cavity and a plurality of manipulator units for controlling a treatment tool for treating an affected area in the body cavity, each of the manipulator units includes:
A manipulator that supports a scope or a treatment instrument,
A motor for moving the position of the manipulator;
An encoder for detecting the rotation state of the motor;
Self-determination means for determining the reference position and orientation of the manipulator from the rotation state of the motor from the encoder;
An information input / output unit that outputs, as information, the reference position and orientation of the manipulator determined by the self-determination unit with respect to another manipulator unit, and information on the reference position and orientation from other manipulators;
A manipulator system comprising: control means for controlling the manipulator based on reference position and orientation information of each manipulator from the self-determination means and the information input / output means.
(22) In a manipulator system including a scope for observing in a body cavity and a plurality of manipulator units for controlling a treatment tool for treating an affected area in the body cavity, each of the manipulator units includes:
A manipulator that supports a scope or a treatment instrument,
A three-dimensional position sensor for detecting the reference position and orientation of the manipulator;
An information input / output means for outputting the reference position and orientation of the manipulator detected by the three-dimensional position sensor as information to another manipulator unit, and inputting information on the reference position and orientation from the other manipulator; ,
A manipulator system comprising control means for controlling the manipulator based on information on a reference position and orientation of each manipulator from the three-dimensional position sensor and the information input / output means.
(23) The manipulator system as described in (22) above, wherein the three-dimensional position sensor is an acceleration sensor.
(24) The manipulator system as described in 22 above, wherein the three-dimensional position sensor is a magnetic sensor.
(25) The manipulator system as described in (17) above, wherein the information input / output means exchanges information of a reference position and a posture through a memory.
[0146]
【The invention's effect】
As described above in detail, according to the present invention, it is possible to provide a manipulator system capable of recognizing the position of each manipulator and reliably preventing interference and contact between the manipulators.
[Brief description of the drawings]
FIG. 1 is a diagram showing a schematic configuration of a surgical manipulator system according to a first embodiment of the present invention and a diagram for explaining each twist between a reference coordinate system and a natural coordinate system.
FIG. 2 is a diagram showing a basic configuration of a manipulator of the surgical manipulator system according to the embodiment.
FIG. 3 is a diagram showing a key input unit of the surgical manipulator system according to the embodiment.
FIG. 4 is a diagram showing a schematic configuration of a surgical manipulator system according to a second embodiment of the present invention.
FIG. 5 is a diagram showing a schematic configuration of a manipulator of the surgical manipulator system according to the embodiment.
FIG. 6 is a diagram showing a schematic configuration of a surgical manipulator system according to a third embodiment of the present invention.
FIG. 7 is a diagram showing a schematic configuration of a manipulator of the surgical manipulator system according to the embodiment.
FIG. 8 is a diagram showing a schematic configuration of a surgical manipulator system according to a fourth embodiment of the present invention.
FIG. 9 is a diagram showing a schematic configuration of a manipulator of the surgical manipulator system according to the embodiment.
FIG. 10 is a diagram showing a schematic configuration of a surgical manipulator system according to a fifth embodiment of the present invention.
FIG. 11 is a diagram showing a schematic configuration of a manipulator of the surgical manipulator system according to the embodiment.
FIG. 12 is a view showing a bed and a base of a surgical manipulator system according to a sixth embodiment of the present invention.
FIG. 13 is a diagram showing a schematic configuration of a manipulator of the surgical manipulator system according to the embodiment.
FIG. 14 is a diagram showing a schematic configuration of a surgical manipulator system according to a seventh embodiment of the present invention.
FIG. 15 is a diagram showing a schematic configuration of a surgical manipulator system according to an eighth embodiment of the present invention.
FIG. 16 is a diagram showing a schematic configuration of a surgical manipulator system according to a ninth embodiment of the present invention.
FIG. 17 is a diagram showing a schematic configuration of a surgical manipulator system according to a tenth embodiment of the present invention.
FIG. 18 is a functional block diagram showing a configuration of processing performed by a central controller unit of the surgical manipulator system according to the embodiment.
FIG. 19 is a diagram showing a schematic configuration of a surgical manipulator system according to an eleventh embodiment of the present invention.
FIG. 20 is a diagram showing a configuration of a general manipulator system.
[Explanation of symbols]
3 ... Manipulator,
4, 11, 34, 36, 40, 45 ... controller part,
5 ... Key input part,
6 ... scope (endoscope),
7 ... treatment tool,
8 ... Display,
12 ... 3D position sensor,
13 ... source,
14 ... Magnetic field detection sensor,
15, 16, 21 ... mark,
23 ... Memory,
25 ... Electric resistance scale,
28 ... Barcode printing section,
29 ... Bar reader,
31 ... Mounting hole,
33 ... Mounting bolt
35 ... RS-232C line,
37 ... LAN,
39: Accelerometer,
42 ... location information sharing memory,
41 ... Central controller part,
46: Main controller section.

Claims (2)

In a manipulator system comprising a scope for observing a body cavity or a plurality of manipulator units for controlling a treatment tool for treating an affected area in the body cavity and a base portion to which the plurality of manipulator units are movably fixed ,
A manipulator that supports a scope or a treatment instrument and moves on the base portion;
Input means for inputting information on a reference position of the manipulator with respect to a predetermined position of the base portion and information on a reference position of a manipulator provided in another manipulator unit;
Control means for controlling the movement of the manipulator within a range not interfering with the other manipulator unit based on information input in advance by the input means ;
Manipulator system characterized in that it comprises a. The manipulator system according to claim 1, wherein the input unit and the control unit are provided for each of the plurality of manipulator units.

Images