JP5758882B2 - 医療用マニピュレータシステム - Google Patents
医療用マニピュレータシステム Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1613—Component parts
- A61B17/1626—Control means; Display units
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00199—Electrical control of surgical instruments with a console, e.g. a control panel with a display
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00225—Systems for controlling multiple different instruments, e.g. microsurgical systems
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B2018/1405—Electrodes having a specific shape
- A61B2018/1422—Hook
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/25—User interfaces for surgical systems
- A61B2034/254—User interfaces for surgical systems being adapted depending on the stage of the surgical procedure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/25—User interfaces for surgical systems
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
Description
図1に示すように、本実施の形態に係るマニピュレータシステム(医療用マニピュレータシステム)10は、マニピュレータ(医療用マニピュレータ)11と、該マニピュレータ11を駆動制御するコンソール(コントローラ)29とを有する。マニピュレータ11は、シャフト18の先端に設けられた先端動作部12を操作して、生体の一部又は湾曲針等の把持や生体の一部の切断等の所定の処置を行うための医療用器具である。
2.1.互いに着脱可能な駆動機構及びプーリボックスの説明
駆動機構30及びプーリボックス32は、互いに着脱可能であり、これにより操作部14から作業部16へと駆動力を伝達することができる。
図6に示すように、先端動作部12を電気的に駆動する複合入力部24は、Z軸(Y軸)を中心としてX1及びX2方向に対称な構造であり、先端動作部12に対してロール方向(軸回転方向)及びヨー方向(左右方向)の回転指令を与える複合的な入力部である。
2.3.1.コンソールの全体構成の説明
コンソール29は、当該マニピュレータシステム10を総合的に制御するコントローラ(制御部)である。なお、コンソール29の機能の一部を操作部14に搭載してもよい。図1及び図5に示すように、コンソール29は、2つのコネクタ100、102を備えており、2台のマニピュレータ11を独立的に且つ同時に制御することができる。
次に、このようなコンソール29のより詳細な構成について、図9を参照しながら説明する。図9は、コンソール29が有する機能のブロック説明図である。
コンソール29による先端動作部12の速度設定方法及びその作用を説明する。
本発明は、例えば、図15に示すような手術用ロボットシステム500に適用することもできる。
Claims (6)
- アクチュエータ(50a、50b)によって回転される駆動軸(60a、60b)、及び、前記アクチュエータ(50a、50b)を駆動する入力部(24)を有する本体部(14)と、
前記駆動軸(60a、60b)によって従動回転される従動軸(70a、70b)、該従動軸(70a、70b)の回転によって動作される先端動作部(12)、及び、該先端動作部(12)を先端に設けたシャフト(18)を有し、前記本体部(14)に対して着脱可能な作業部(16)と、
前記本体部(14)と接続されることで、前記入力部(24)への入力操作に基づき前記アクチュエータ(50a、50b)を駆動制御するコントローラ(29、504)と、
を備え、
前記先端動作部(12)は、前記入力部(24)への入力操作に基づき前記アクチュエータ(50a、50b)が駆動されることにより、少なくとも軸線方向に沿った回転動作、及び、前記軸線方向に交差した揺動動作が可能であり、
前記コントローラ(29、504)は、前記アクチュエータ(50a、50b)の駆動速度を変更し、前記先端動作部(12)の前記回転動作及び前記揺動動作の動作速度をそれぞれ個別に変更可能な速度設定部(126)を有することを特徴とする医療用マニピュレータシステム(10)。 - 請求項1記載の医療用マニピュレータシステム(10)において、
前記コントローラ(29、504)は、前記速度設定部(126)による前記先端動作部(12)の動作速度の設定値を記憶する記憶部(114)を有することを特徴とする医療用マニピュレータシステム(10)。 - 請求項2記載の医療用マニピュレータシステム(10)において、
前記記憶部(114)には、前記回転動作及び前記揺動動作の動作速度の設定値の組み合わせを複数組登録可能であることを特徴とする医療用マニピュレータシステム(10)。 - 請求項3記載の医療用マニピュレータシステム(10)において、
前記先端動作部(12)は複数種類あり、
前記速度設定部(126)は、前記本体部(14)に装着される前記作業部(16)に設けられた前記先端動作部(12)の種類毎に前記動作速度を変更可能であると共に、該種類毎の前記動作速度の設定値を前記記憶部(114)に登録可能であることを特徴とする医療用マニピュレータシステム(10)。 - 請求項1〜4のいずれか1項に記載の医療用マニピュレータシステム(10)において、
前記コントローラ(29、504)は、前記本体部(14)及び前記作業部(16)を有する医療用マニピュレータ(11)を複数台同時に接続可能であると共に、各医療用マニピュレータ(11)の先端動作部(12)の動作速度をそれぞれ個別に変更可能であることを特徴とする医療用マニピュレータシステム(10)。 - 請求項1〜5のいずれか1項に記載の医療用マニピュレータシステム(10)において、
前記先端動作部(12)の設定速度を表示する表示部(104、510)を有することを特徴とする医療用マニピュレータシステム(10)。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012508271A JP5758882B2 (ja) | 2010-03-30 | 2011-03-28 | 医療用マニピュレータシステム |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010076940 | 2010-03-30 | ||
JP2010076940 | 2010-03-30 | ||
PCT/JP2011/057526 WO2011122516A1 (ja) | 2010-03-30 | 2011-03-28 | 医療用マニピュレータシステム |
JP2012508271A JP5758882B2 (ja) | 2010-03-30 | 2011-03-28 | 医療用マニピュレータシステム |
Publications (2)
Publication Number | Publication Date |
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JPWO2011122516A1 JPWO2011122516A1 (ja) | 2013-07-08 |
JP5758882B2 true JP5758882B2 (ja) | 2015-08-05 |
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JP2012508271A Active JP5758882B2 (ja) | 2010-03-30 | 2011-03-28 | 医療用マニピュレータシステム |
Country Status (5)
Country | Link |
---|---|
US (1) | US9414849B2 (ja) |
EP (1) | EP2554128B1 (ja) |
JP (1) | JP5758882B2 (ja) |
CN (1) | CN102834064B (ja) |
WO (1) | WO2011122516A1 (ja) |
Families Citing this family (437)
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JPWO2011122516A1 (ja) | 2013-07-08 |
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US9414849B2 (en) | 2016-08-16 |
EP2554128B1 (en) | 2020-03-18 |
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