JP5827219B2 - 柔軟な内視鏡検査のためのロボットシステム - Google Patents
柔軟な内視鏡検査のためのロボットシステム Download PDFInfo
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- JP5827219B2 JP5827219B2 JP2012513018A JP2012513018A JP5827219B2 JP 5827219 B2 JP5827219 B2 JP 5827219B2 JP 2012513018 A JP2012513018 A JP 2012513018A JP 2012513018 A JP2012513018 A JP 2012513018A JP 5827219 B2 JP5827219 B2 JP 5827219B2
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Classifications
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- A61B1/00147—Holding or positioning arrangements
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Landscapes
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Description
内視鏡に結合されるように構成された可撓性部材と、
可撓性部材に接続され、可撓性部材によって移動可能なアームと
を備え、可撓性部材がアームに接続された第1の端部、およびコントローラに接続可能な第2の端部を有し、アームの物理的な動きをコントローラの物理的な動きによって制御できるようにするロボットマニピュレータに関する。
-エンドエフェクタから情報を受け取ることができるレシーバであって、情報によって、エフェクタの端部における伸びおよび力に関連する特定のパラメータの測定/決定が可能になるレシーバと、
-パラメータを分析して、コントローラにおいて加えられる力と、エンドエフェクタにおいて加えられる伸びおよび力との間の特定の式を決定することができるプロセッサと、
-コントローラにおいて式を満たし、ロボットマニピュレータのエンドエフェクタにおいて加えられる力を予測することができるモジュールと
を備えることができる。
ユーザがロボットマニピュレータの動きを生じさせるために使用するように構成された手持ち部材
を備え、手持ち部材が、ロボットマニピュレータの自由度に対応する自由度を与えるジョイントを備えるコントローラを提供する。
手持ち部材の動きを検知し、
検知された動きをロボットマニピュレータに合うように調整し、
ロボットマニピュレータに接続された可撓性部材を制御するためにアクチュエータに信号を送る
ように構成されたマイクロプロセッサを含むことができる。
(a)ロボットマニピュレータの端部から情報を受け取り、情報によって、ロボットマニピュレータの端部における伸びおよび力に関連する特定のパラメータの測定/決定が可能になり、
(b)パラメータを分析して、コントローラにおいて加えられる力と、ロボットマニピュレータの端部において加えられる伸びおよび力との間の特定の式を決定し、
(c)コントローラにおいて式を満たし、ロボットマニピュレータのエンドエフェクタにおいて加えられる力を予測する
ロボットシステムを提供する。
i.第1のアームの前後への並進運動
ii.第2のアームの前後への並進運動
iii.第1のアームの開放および閉鎖
iv.第2のアームの開放および閉鎖
v.第1のアームの回外運動および回内運動
vi.第2のアームの回外運動および回内運動
vii.第1のアームの屈曲および過伸展
viii.第2のアームの屈曲および過伸展
ix.第1のアームの顎部の屈曲および過伸展
である。
(実施例1)
従来型の内視鏡を用いて、生きた動物でESDをそれぞれ繰り返した。主な結果の尺度は、(i)病変全体の粘膜下層切開剥離術を完了するのに必要な時間、(ii)切開の有効性、(iii)病変切除の完全性、および(iv)胃壁の穿孔の有無であった。
実験の間、独立した評価担当者が、関連する作業すべての手順およびタイミングを記録した。収集したデータをExcelのスプレッドシードに入力し、簡単な記述統計を用いてデータを解析した。Erlanganモデルおよび生きた動物で病変全体の切開に要した平均時間を、別々に計算した。簡単なスチューデントのt検定を用いて、MASTERで要した平均の切開時間を従来型の内視鏡検査法で要した時間と比較した。
Erlanganのブタの胃のモデルに対する検討では、胃壁の穿孔を生じることなく、胃の噴門、幽門洞および本体にある全部で15の胃の病変を、単一の断片として首尾よく切除し、続いてMASTERを用いて粘膜下層切開剥離術を行った。切除した試験片の平均寸法は、37.4×26.5mmであった。平均の粘膜下層切開剥離術の時間は、23.9分(7〜48分の範囲)であった。胃の異なる位置での病変の切開時間の間に有意差はなかった(P=0.449)。
生きた動物に対する実験を行う前に、まず外植したブタの胃でMASTERを試験した。生体外の実験の主な目的は、把持および切断の性能についてシステムの能力を試験することであった。グリッパは、組織を操作すると共に把持するのに十分な力を提供しなければならず、一方、フックは、組織の所望の部位で切断を実施することが可能でなければならない。試験は、20年を超える臨床経験をもつ内視鏡検査医と、経験が5年未満のコントローラを制御する外科医との間のチームワークおよび連携を確立するものでもある。外植した組織を用いた15回の練習の結果は、実際の動物で実施する前にシステムの実行可能性を示すものであった。
MASTERをNOTESにうまく適用させるために、ESDを行った。ロボットマニピュレータを用いて、ロボットシステムの実行可能性を検証するために徹底的な実験を行った。熟練した内視鏡検査医の助けと共に、15回の生体外ESD、5回の生体内ESDおよび2回の生体内NOTESが、ブタに対して首尾よく実施された。試験の前に、外科医と一緒に生体外のブタの胃を用いた練習セッションを行い、ESDおよびNOTESに必要なステップを確立した。それによって内視鏡検査医は、内視鏡およびロボットの能力および限界を理解することもできた。
ロボットのESDに対する最終的な各ステップは、以下のように行われる。示される図16は、あるESDの間に内視鏡から記録された実際の視界である。
ロボットシステムを用いて、生きたブタに対して肝臓の楔状切除を実施した。システムが生きたブタの胃の中に進入した後、内視鏡検査医はロボットを用いて胃切開を実施する前に、胃の位置および向きを決めることを試みる。胃切開には、ロボットが胃壁を貫通する穴をあけ、ブタの腹腔に進入することが必要である。
テンドンおよびシースの張力の検討
スレーブマニピュレータの動きは外科医によって完全に制御され、したがって、スレーブマニピュレータの動きに自律性はない。したがって、作業を実施する際に最善の決定を行うためには、外科医が正確かつ必要な情報を得ることが肝要である。2次元画像からは深さの認識が制限されるため、外科医は、スレーブマニピュレータが誤った場所を過度に押しているかを知ることができない。
Tdα=-N、dα=dx/R、F=μNおよびdT=F
であり、したがって、下式が得られる。
C=-T、dC=-dT (2)
であり、式中、
移行段階後にTinが低下し続ける場合、テンドン-シースは解放段階に入る。Tinが低下すると、Toutも同様に低下し始める。エンドエフェクタの力および伸びを得るための方法は、「引っ張る」側がハウジングではなくエンドエフェクタにあるように変更することによるものである。したがって、下式のようになる。
引っ張りから解放への移行と同様に、エンドエフェクタにおける張力は全段階を通して変わらない。
ハウジング、すなわち近位端では、30/1S、比134:1のギヤヘッドを備えた2つのFaulhaber 2642W024CR DCサーボモータが配置される。1つのDOFを制御するために用いられる2つのテンドンが、それぞれ2つのアクチュエータに固定される。これらのアクチュエータは、位置を制御するように設定され、そのそれぞれがアクチュエータに取り付けられたロータリ光学エンコーダHEDS-5540 A14を用いて角回転を測定する。ギヤヘッドを備えたエンコーダの組み合わせた解像度は、1回転あたり67000ラインである。エンドエフェクタ側、すなわち遠位端では、トルク制御の下で別のアクチュエータが用いられる。その主な目的は、エンドエフェクタが環境に対して加える可能性がある負荷をシミュレートすることである。それは、システムによって行われる移動の量を測定するために、アクチュエータに取り付けられた同じロータリエンコーダも有する。中間では、2つのテンドンおよびシースをオーバーチューブと共に用いて座屈を防止する。システムの両端における力は、インターフェースからドーナツ形のロードセルLW-1020を用いて測定される。ロードセルは、テンドンからの張力ではなく、シースが受ける圧縮を測定するが、式(2)に示すように、結果は同じ端部で張力を測定することと同様である。テンドンの弾性係数は、供給業者から、または簡単な剛性試験で測定することによってあらかじめ知っておかなければならない。使用するテンドンは、長さ約2mのAsahiの0.27mm 7×7のテフロン(登録商標)で被覆したワイヤロープであり、シースは、外径0.8mm、内径0.36mmおよび長さ2mのAcetoneの平らなワイヤコイルである。シースおよびテンドンに対する曲げ半径は、約30cmである。
エンドエフェクタが作動するように設計された部位に達した後、テンドンおよびシースの全体の形が固定される。次いで、実験の手順は以下のように進む。まず、シースのこの特定の形に対するKおよびMeの値を決める必要がある。それを行うには、初期化が必要である。自由度の一端にあるアクチュエータが、ロボットマニピュレータがその動きの限界に達するまでテンドンの一端を引く。これは、図25に示すように、ジョイントの一方の側でテンドンをさらに引っ張っても回転角の変化が生じない点である。自由度の他端にあるアクチュエータに関しては、初期化手順との干渉を防止するために、引っ張り力を最小限に抑えなければならない。これが可能であるのは、力が別のアクチュエータによって制御され、その側のロードセルを読み取り、それに応じてテンドンを引っ張るかまたは解放するかを決めることができるためである。
102 可撓性部材
103 エンドエフェクタ
104a、104b アーム
105 アタッチメント
106 グリッパ
108 フック
110 テンドン
111 オーバーチューブ
112 シース
200 アクチュエータ
300 コントローラ
306a、306b 手持ち部材
308 グリッパ、指リンク機構
310 アームレスト
312 リンク機構
400 補助者
402 内視鏡検査医、臨床医、ユーザ
406 内視鏡検査システム
500 マイクロプロセッサ
504 配線
Claims (39)
- 柔軟な内視鏡検査のためのロボットマニピュレータであって、
内視鏡に結合されるように構成され、シース内にテンドンを有するテンドン‐シースシステムを含む可撓性部材と、
前記可撓性部材に接続され、前記可撓性部材によって移動可能なアームと、
前記アームに接続されて動作可能であるエンドエフェクタと、
(a)前記可撓性部材の第1の端部におけるテンドン‐シースシステムが受ける力に基づくテンドンの伸びと、(b)前記エンドエフェクタが受ける力とを、前記可撓性部材の第2の端部において得られる可撓性部材パラメータの関数として予測するように構成された力予測ユニットと
を備え、
前記テンドンは、前記テンドン及びシースが互いに力を及ぼすことができ且つ互いに反発できるように、前記シース内において変形可能であり、
前記可撓性部材が、前記アームに接続された第1の端部、および手持ち部材を備えたコントローラに接続するアクチュエータに接続可能な第2の端部を有し、前記アームの物理的な動きを前記手持ち部材の物理的な動きによって制御できるようにすることが可能であり、各アームの自由度の数が前記手持ち部材の自由度の数と同じであり、
前記エンドエフェクタの力予測ユニットは、前記テンドン、アーム及びエンドエフェクタを含むスレーブマニピュレータにセンサを設ける必要無く、前記可撓性部材の第1の端部における前記テンドン‐シースシステムが受ける力に基づくテンドンの伸び、及び前記エンドエフェクタが受ける力を予測するように構成されているロボットマニピュレータ。 - 前記テンドンがよじれずに曲げることが可能なファイバであり、前記シースが螺旋状の金属コイルである請求項1に記載のロボットマニピュレータ。
- 前記アームが、前記内視鏡の長手方向の軸に実質的に平行な前記アームの前後の動きを可能にする自由度を有するように構成される請求項1又は2に記載のロボットマニピュレータ。
- 前記アームが少なくとも3つの自由度を有する請求項1から3のいずれか一項に記載のロボットマニピュレータ。
- 各自由度が、前記可撓性部材の2つの相対するテンドンによって制御可能である請求項4に記載のロボットマニピュレータ。
- 相対するテンドンがそれぞれ独立に、前記コントローラによってそれぞれ制御される前記アクチュエータに取り付け可能である請求項5に記載のロボットマニピュレータ。
- 2本のアームを備える請求項1から6のいずれか一項に記載のロボットマニピュレータ。
- 前記エンドエフェクタが、グリッパ、フック、ピンセット、鉗子およびナイフからなる群から選択される請求項1から7のいずれか一項に記載のロボットマニピュレータ。
- 前記エンドエフェクタがグリッパの形であり、前記アームが、前記グリッパの顎部の開放および閉鎖を制御するための自由度を与える第1のジョイントを有する請求項1に記載のロボットマニピュレータ。
- 前記第1のジョイントが、前記グリッパの屈曲または過伸展を制御するための他の自由度を与える請求項9に記載のロボットマニピュレータ。
- 前記アームが、前記アームの回外運動または回内運動を制御するための自由度を与える第2のジョイントを含む請求項10に記載のロボットマニピュレータ。
- 前記アームが、前記アームの開放および閉鎖を制御するための自由度を与える第3のジョイントを含み、前記アームの前記開放が、前記内視鏡の前記長手方向の軸からずれる動きであり、前記アームの前記閉鎖が、前記アームを前記内視鏡の前記長手方向の軸と整列させる動きである請求項11に記載のロボットマニピュレータ。
- 前記エンドエフェクタが焼灼フックの形である請求項8に記載のロボットマニピュレータ。
- 前記アームが、前記焼灼フックの屈曲または過伸展を制御するための自由度を与える第1のジョイントを含む請求項13に記載のロボットマニピュレータ。
- 前記アームが、前記アームの回外運動または回内運動を制御するための自由度を与える第2のジョイントを含む請求項14に記載のロボットマニピュレータ。
- 前記アームが、前記アームの開放および閉鎖を制御するための自由度を与える第3のジョイントを含み、前記アーム前記の開放が、前記内視鏡の前記長手方向の軸からずれる動きであり、前記アームの前記閉鎖が、前記アームを前記内視鏡の前記長手方向の軸と整列させる動きである請求項15に記載のロボットマニピュレータ。
- 9つの自由度を与えるジョイントを有する2本のアームを備え、第1のアームが焼灼フックの形のエンドエフェクタを有し、第2のアームがグリッパの形のエンドエフェクタを有する請求項1から16のいずれか一項に記載のロボットマニピュレータ。
- 前記アームが、前記コントローラに信号を与えるように構成されたバイオセンサまたは力センサを備える請求項1から17のいずれか一項に記載のロボットマニピュレータ。
- 前記エンドエフェクタの力予測ユニットは、前記コントローラに信号を伝送可能に構成されている請求項1から18のいずれか一項に記載のロボットマニピュレータ。
- 前記エンドエフェクタの力予測ユニットが、
前記可撓性部材の第2の端部に配置され、情報を受け取るように構成された一組のセンサであって、前記情報によって、前記可撓性部材の第1の端部における前記テンドン‐シースシステムの伸びおよび前記エンドエフェクタが受ける力に関連する特定のパラメータの決定が可能になる前記一組のセンサと、
前記パラメータを分析して、(a)前記可撓性部材の第2の端部における前記テンドン‐シースシステムに加えられる力と、(b)前記可撓性部材の第1の端部におけるテンドン‐シースシステムが受ける力に基づくテンドンの伸びおよび前記エンドエフェクタが受ける力との間の特定の式を決定するように構成されたプロセッサと、
前記コントローラにおいて前記式を満たすように構成されたモジュールと
を備える請求項1から19のいずれか一項に記載のロボットマニピュレータ。 - 請求項1から20のいずれか一項に記載の柔軟な内視鏡検査用のロボットマニピュレータのアームの物理的な動きを制御するためのコントローラであって、
ユーザが前記ロボットマニピュレータの前記アームの動きを生じさせるために使用するように構成された手持ち部材
を備え、前記手持ち部材が、前記ロボットマニピュレータの各アームの前記自由度に対応する自由度を与えるジョイントを備えるコントローラ。 - 前記コントローラが、
前記手持ち部材の動きを検知し、
前記検知された動きを前記ロボットマニピュレータに合うように調整し、
前記ロボットマニピュレータに接続された可撓性部材を制御するためにアクチュエータに信号を送るように構成されたマイクロプロセッサを含む請求項21に記載のコントローラ。 - 前記手持ち部材が、信号を受け取り、前記エンドエフェクタが受ける力の予測に基づいて前記手持ち部材を使用するユーザに力のフィードバックを提供するための原動機を含む請求項21または22に記載のコントローラ。
- 前記手持ち部材が、前記ユーザの指に取り付け可能なグリッパを備える請求項21から23のいずれか一項に記載のコントローラ。
- 前記ロボットマニピュレータのすべての動きが、前記グリッパを用いて制御可能である請求項24に記載のコントローラ。
- ユーザの腕を受け入れるように構成されたアームレストをさらに備える請求項21から25のいずれか一項に記載のコントローラ。
- 前記手持ち部材が、様々なユーザに合うように調節可能な複数のリンク機構を備える請求項21から26のいずれか一項に記載のコントローラ。
- 請求項1から20のいずれか一項に記載のロボットマニピュレータ、および請求項21から27のいずれか一項に記載のコントローラを備える柔軟な内視鏡検査用のロボットシステム。
- 請求項1から20のいずれか一項に記載のロボットマニピュレータを使用するロボットシステムであって、
前記テンドンの一定のパラメータを測定し、
センサを用いて、前記コントローラに接続可能な前記端部において前記テンドンに加えられる力を決定し、
前記センサの信号および前記一定のパラメータを用いて、前記アームに取り付けられた前記端部における前記テンドンの伸び及び力を予測する
ロボットシステム。 - 前記予測の結果を前記コントローラへの入力として用いて、前記コントローラのユーザに力の感覚を与える請求項29に記載のロボットシステム。
- 前記エンドエフェクタの力予測ユニットが、前記テンドンが前記第2の端部で引っ張られているとき、前記アームに取り付けられた前記端部における前記テンドンの伸びを、式
- 前記エンドエフェクタの力予測ユニットが、前記テンドンが前記第2の端部で引っ張られているとき、前記アームに取り付けられた前記端部における前記テンドンの張力を、式
- 前記エンドエフェクタの力予測ユニットが、前記テンドンが前記第2の端部で引っ張られておらず、引っ張られた後の移行段階を経ているとき、前記アームに取り付けられた前記端部における前記テンドンの伸びを、式
- 前記エンドエフェクタの力予測ユニットが、前記テンドンが第2の端部で引っ張られておらず、引っ張られた後の移行段階を経ているとき、前記アームに取り付けられた前記端部における前記テンドンの張力を、式
- 前記エンドエフェクタの力予測ユニットが、前記テンドンが前記第2の端部で引っ張られておらず、引っ張られた後の移行段階を経ているとき、前記アームに取付けられた前記端部における前記テンドンの伸びを、式
- 前記エンドエフェクタの力予測ユニットが、前記テンドンが前記第2の端部で引っ張られておらず、引っ張られた後の移行段階を経ているとき、前記アームに取り付けられた前記端部における前記テンドンの張力を、式
- 前記エンドエフェクタの力予測ユニットが、前記テンドン‐シースシステムのKおよびMeの測定により、前記テンドン‐シースシステムの一定のパラメータを測定するように構成されている請求項29から36のいずれか一項に記載のロボットシステム。
- Meの測定は、
前記アームに取り付けられた前記端部の前記エンドエフェクタのジョイントが、その動きの限界に達するまで、前記テンドンを前記コントローラに接続可能な前記端部から引っ張り、
前記テンドンが変形するように、前記テンドンをさらに引っ張り、
式
請求項37に記載のロボットシステム。 - Kの測定は、式
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JP2012513018A Expired - Fee Related JP5827219B2 (ja) | 2009-05-29 | 2010-05-31 | 柔軟な内視鏡検査のためのロボットシステム |
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- 2010-05-31 WO PCT/SG2010/000200 patent/WO2010138083A1/en active Application Filing
- 2010-05-31 EP EP10780898.2A patent/EP2434977B1/en not_active Not-in-force
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US20120078053A1 (en) | 2012-03-29 |
WO2010138083A8 (en) | 2011-02-24 |
CN102802551A (zh) | 2012-11-28 |
US8882660B2 (en) | 2014-11-11 |
CN102802551B (zh) | 2016-01-20 |
EP2434977A1 (en) | 2012-04-04 |
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