JP6780066B2 - Robotic bed and intraoperative MRI system - Google Patents

Description

The present invention relates to a robotic bed for intraoperative MRI (Magnetic Resonance Imaging) and an intraoperative MRI system.

In recent years, there is an increasing need for intraoperative MRI in which an MRI apparatus is placed in an operating room and treatment is performed in the same room immediately after taking biological information with the MRI apparatus. Intraoperative MRI has typically been used in neurosurgery to remove brain tumors (see Non-Patent Document 1).

As one of the methods for performing intraoperative MRI, a swivel slide type bed (a swivel mechanism and a slide mechanism are provided under the table on which the patient is placed) is used in an open type or donut type MRI device. A method of transporting a patient from the head side is used (see, for example, Patent Document 1). In this method, the base point is set at a position distant from the MRI apparatus forward, and the surgical space is set at an angle of 90 degrees from the base point. The swivel-sliding bed includes a base with casters that is swiveled around a pin fixed to the base point to move the bed between the surgical space and the front of the MRI apparatus. When the bed is moved to the front of the MRI device, the sliding mechanism inserts the table into the MRI device to complete the patient transport.

In addition, a rotating slide bed (with a rotating mechanism and a sliding mechanism below the table on which the patient is placed) is used so that the patient's head is farthest from the MRI device (from the MRI device). A method was also used in which a craniotomy was performed (outside the 5 gauss line), and then the bed was rotated 180 degrees and slid toward an open MRI device to transport the patient's head into the MRI device. (See, for example, Non-Patent Document 2).

On the other hand, in radiotherapy, a robotic bed (a table on which a patient is placed is moved by a robot arm) can be used to adjust the position and orientation of the table, and automatic patient alignment and realignment can be performed. It is performed to determine an accurate irradiation position (see, for example, Patent Document 2). In addition, a thin tube called a catheter is guided from an artery such as the base of the foot, elbow, or wrist to the target organ, and a contrast medium (iodo contrast medium) that does not allow X-rays to pass through is injected into the blood vessel, and then, like fluorescence fluoroscopy. A robotic bed is also used in the angiography method for performing image processing using X-rays for the same purpose as radiotherapy (see, for example, Patent Document 3).

JP-A-2010-94291 JP-A-2009-131718 U.S. Pat. No. 8548629 Special Table 2007-503237A

"Intraoperative MRI Guidelines", Intraoperative MRI Guideline Development Committee, Japan Society for Intraoperative Imaging Information, July 2014 Taiichi Kajita, 1 outside, "Brain THEATER: MRI-guided / neuro-navigation integrated neurosurgery operating room and surgery support information network system", MEDIX, Hitachi Medical Corporation, September 2006, vol. 45, p. 4 -9

As described in Patent Document 4 and Non-Patent Document 1, since an MRI apparatus usually has a strong static magnetic field, surgical instruments such as scissors and a scalpel may be affected (for example, floated) to injure a patient. Consideration for safety is indispensable, such as securing the surgical position outside the 5 gauss line so that it does not occur. In addition, it is necessary to take care so that the magnetic field formed during imaging in the MRI apparatus is not affected by the external environment and leads to deterioration of the MRI captured image. Therefore, there are many restrictions in designing an operating room for performing intraoperative MRI, and careful consideration is required.

In this respect, the conventional swivel-sliding bed allows the surgical space to be set far from the MRI device, but when moving the bed between the surgical space and the front of the MRI device, The bed had to be manually pushed and swiveled, which took time to move the table. In addition, since it is moved manually, vibration during transportation cannot be avoided, and it is necessary for a person to ensure the accuracy of the transportation position.

On the other hand, in the rotary slide type bed, there is a problem that the surgical space cannot be sufficiently separated from the MRI apparatus, and the surgical instruments and the like used are limited.

Further, there is an MRI mobile type (see, for example, Non-Patent Document 1) in which the MRI device is moved to perform intraoperative MRI so that the patient does not need to be moved and the static magnetic field countermeasure of the MRI device can be taken. There were problems in terms of the mechanism for moving the MRI device, the need for a large space, the moving speed, the cost, and the like.

The robotic bed disclosed in Patent Documents 2 and 3 positions the irradiation position of radiation and X-rays, and is not designed to satisfy the requirements specific to other uses such as intraoperative MRI.

In the medical field, it is required to realize efficient and accurate transfer of patients between MRI imaging and surgery as the number of cases of intraoperative MRI increases.

Therefore, it is an object of the present invention to realize efficient and accurate transfer of a patient between MRI imaging and surgery.

In order to solve the above-mentioned problems, the present invention presents a table for placing a patient, a base, a plurality of movable elements connected by a plurality of joints, and the plurality of movable elements assigned to each of the plurality of joints. a plurality of actuators for driving the movable element, wherein the plurality of position detectors for detecting positions of the plurality of movable elements, a robot arm configured to move the table to a plurality of different positions, wherein It is supported by the tip of the robot arm and is provided with a slide mechanism for sliding the table, and the plurality of different positions are a placement position for placing the patient on the table and a patient by the doctor. the includes a surgical site for surgery, and MRI photographing preparation position located away patients from MRI photographing position for photographing an MRI apparatus, wherein the robot arm, the placement position, the surgical site and The table is configured to be moved to the MRI preparation position, and the slide mechanism is configured to move the table between the MRI preparation position and the MRI imaging position. Provides a featured robotic bed.

According to the above configuration, the driving of the robot arm can move the table between the treatment position and the MRI imaging position or the MRI imaging preparation position, so that efficient and accurate MRI imaging-surgery patient transfer. Can be realized.

According to the present invention, efficient and accurate transfer of a patient between MRI imaging and surgery can be realized. As a result, it can contribute to promoting a remarkably excellent effect of improving surgical results.

It is a side view of the 1st configuration example of a robot arm. It is a conceptual diagram when the actuator, the positioning device, and the brake mechanism are integrated into one unit. It is a side view which shows the example of the structure which has the minimum degree of freedom in the 1st structure example of a robot arm. It is a top view of the medical room in which the first configuration example of the robot arm is arranged, and shows the state in which the table is in the mounting position. It is a top view of the medical room in which the first configuration example of the robot arm is arranged, and shows the state which the table is in the examination preparation position. It is a top view of the medical room in which the first configuration example of the robot arm is arranged, and shows the state where the table is in the inspection position. It is a side view of the 2nd configuration example of a robot arm. In the second configuration example of the robot arm, it is a perspective view which showed the state which the table is in the MRI imaging position. It is a perspective view of the 3rd configuration example of a robot arm. It is a side view of the 3rd configuration example of a robot arm. It is a side view of the modification of the 3rd configuration example of a robot arm. It is a side view which shows the example of the structure which has the minimum degree of freedom of the 3rd structure example of a robot arm. It is a top view of the medical room in which the third configuration example of the robot arm is arranged, and shows the state in which the table is in the mounting position. It is a top view of the medical room in which the third configuration example of the robot arm is arranged, and shows the state in which the table is moving to the inspection position. It is a top view of the medical room in which the third configuration example of the robot arm is arranged, and shows the state where the table is in the inspection position. It is a perspective view of the 4th configuration example of a robot arm. It is a side view of the 4th configuration example of a robot arm. It is a side view which shows the example of the structure which has the minimum degree of freedom of the 4th structure example of a robot arm. It is a top view of the medical room in which the 4th configuration example of the robot arm is arranged, and shows the state which the table is in the mounting position. It is a top view of the medical room in which the 4th configuration example of the robot arm is arranged, and shows the state in which the table is moving to the inspection position. It is a top view of the medical room in which the 4th configuration example of the robot arm is arranged, and shows the state which the table is in the inspection position. It is a figure which shows the example of the slide mechanism used in the 5th configuration example of a robot arm. It is a figure which shows the example of the slide mechanism which can be controlled to slide by the drive of an actuator used in the 5th configuration example of a robot arm. It is a top view of the medical room in which the fifth configuration example of the robot arm is arranged, and shows the state in which the table is in the mounting position. It is a top view of the medical room in which the fifth configuration example of the robot arm is arranged, and shows the state which the table is in the examination preparation position. It is a top view of the medical room in which the fifth configuration example of the robot arm is arranged, and shows the state where the slide plate is in the inspection position. It is a side view of another example of the 5th configuration example of a robot arm. It is a top view of the medical room in which another example of the 5th configuration example of the robot arm is arranged, and shows the state which the table is in the mounting position. It is a top view of the medical room in which another example of the fifth configuration example of the robot arm is arranged, and shows the state in which the table is moving to the examination preparation position. It is a top view of the medical room in which another example of the 5th configuration example of the robot arm is arranged, and shows a state in which the table reaches the inspection preparation position and then slides to the inspection position by a slide mechanism. It is a figure which shows the example which controls a robot arm by a bending correction function. It is a figure which shows another example which controls a robot arm by a deflection correction function. It is a perspective view of the MRI apparatus. Another example of the fifth configuration example of the robot arm is a perspective view when applied to intraoperative MRI, showing a state in which the table is in the treatment position. Another example of the fifth configuration example of the robot arm is a perspective view when applied to intraoperative MRI, showing a state in which the table is in the MRI imaging preparation position. Another example of the fifth configuration example of the robot arm is a perspective view when applied to intraoperative MRI, showing a state in which the table is in the MRI imaging position. A fourth configuration example of the robot arm is a perspective view when the robot arm is combined with the angio device, and shows a state before the table is inserted into the C-shaped arm of the angio device. A fourth configuration example of the robot arm is a perspective view when the robot arm is combined with the angio device, and shows a state after the table is inserted into the C-shaped arm of the angio device. It is a perspective view when the 4th configuration example of a robot arm is combined with a surgery support robot. It is a block diagram which shows the structure of a control device.

In the medical field, attempts are being made to improve the medical field for efficient and highly accurate treatment, examination, measurement, etc. while maintaining safety in various situations. In the present invention, a robotic bed in which a table on which an object to be placed is placed is supported by a robot arm having multiple degrees of freedom (3 degrees of freedom or more) is introduced into a medical field to promote these. suggest.

[Robotic bed configuration]
(First configuration example)
FIG. 1 shows a side view of the robotic bed according to the first configuration example of the present invention. The robot arm 101 used for the robotic bed has multiple degrees of freedom (3 degrees of freedom or more), and the tip of the robot arm 101 supports a table 108 on which an object to be placed is placed. The table 108 and the robot arm 101 form a robotic bed.

As shown in FIG. 1, the robot arm 101 includes a base 121, a plurality of movable elements (first to fourth movable elements 122 to 125 in this configuration example), and a plurality of joints (first in this configuration example). ~ 6th joint 131-136) is included.

One end of the base 121 and the first movable element 122 is connected by a first joint 131 which is a vertical joint, and the movable element 122 can move in the first axial direction (vertical direction). The other end of the first movable element 122 and one end of the second movable element 123 are connected by a horizontal rotary joint, and the movable element 123 can rotate around the second axis (vertical direction). The other end of the second movable element 123 and one end of the third movable element 124 are connected by a horizontal rotary joint, and the third movable element 124 can rotate around the third axis (vertical direction). The fourth to sixth joints 134 to 136 between the third movable element 124 and the fourth movable element 125 are rotary joints around the fourth to sixth axes, respectively. The fourth axis is the extending direction of the third movable element 124, the fifth axis is the direction orthogonal to the fourth axis, which is rotated by the fourth joint 134, and the sixth axis is rotated by the fifth joint 135. The direction is orthogonal to the fifth axis. In FIG. 1, the operating directions of the first to sixth joints 131 to 136 are represented by arrows JT1 to JT6.

The second movable element 123 and the third movable element 124 have a rod shape extending in a specific direction, and the length is appropriately designed according to the required movable range of the robot arm 101. The "one end" of a movable element extending in a specific direction means either of two regions on both sides when the movable element is divided into three equal parts in a specific direction (longitudinal direction), and the "other end" of the movable element extending in a specific direction. "Part" means an end portion opposite to one end portion of two regions on both sides when the movable element is divided into three equal parts in a specific direction (longitudinal direction). The term "end" simply means either one end or the other end. The part between both ends is called the "central part".

The fourth movable element 125 is located at the tip of the robot arm 101. In this configuration example, the tip of the robot arm 101 is fixed to the lower surface of one end of the table 108 extending in a specific direction.

The robot arm 101 has a plurality of actuators that move or rotate the first to fourth movable elements 122 to 125 corresponding to the first to sixth joints 131 to 136 (in this configuration example, the first to sixth actuators 141). ~ 146), a plurality of position detectors (in this configuration example, the first to sixth position detectors 151 to 156) incorporated in each joint to detect the position of each movable element, and the drive of each actuator. Includes a control device 107 (see FIG. 1) that controls. Although the control device 107 is located in the base 121, it may be an external independent device, for example.

The first to sixth actuators 141 to 146 are, for example, servomotors. As the position detector, an encoder that detects the rotation angle and direction of the motor is generally used, but a resolver or potentiometer may also be used.

It is desirable that the robot arm 101 also includes the first to sixth electromagnetic brakes 161 to 166, respectively, corresponding to the first to sixth joints 131 to 136. When the electromagnetic brake is not provided, the posture of the robot arm 101 is kept constant by driving a plurality of actuators 141 to 146, but when the electromagnetic brake is included, the drive of a certain part of the actuator is turned off. By turning on the electromagnetic brake function, the posture of the robot arm 101 can be kept constant.

When an electromagnetic brake is provided, each of the first to sixth electromagnetic brakes 161 to 166 turns on the brake function when the drive current is not supplied to the actuator, and turns off the brake function when the drive current is supplied to the actuator. It is configured to do.

The motor as an actuator, the encoder as a position detector, and the brake are often configured as an integrated unit as shown in FIG. Further, each of the first to sixth actuators 141 to 146 is provided with a speed reduction mechanism for power transmission, a coupling, and the like.

As described above, the robot arm 101 shown in FIG. 1 has 6 degrees of freedom, but the degree of freedom of the robot arm of the present invention does not necessarily have to be 6, and may be 5 or less, or 7 or more. You may. However, the degree of freedom of the robot arm is preferably 3 or more so that the table 108 can move linearly in space at least. FIG. 3 shows an example of a robotic bed having 3 degrees of freedom. In FIG. 3, the robot arm 301 is composed of a base 321 and two movable elements 322 and 323, and one end of the base 321 and the first movable element 322 is connected by a first joint 331 which is a vertical joint. 1 The movable element 322 can move in the first axial direction (vertical direction). The other end of the first movable element 322 and one end of the second movable element 323 are connected by a horizontal rotary joint, and the second movable element 323 can rotate around the second axis (vertical direction). The other end of the second movable element 323 constitutes the tip of the robot arm 301, and is connected to one end of the table 308 by a horizontal rotary joint.

By using the robotic bed configured as described above, after placing the object to be placed on the table, the table can be moved accurately and quickly to the target position such as the examination position or the treatment position. The efficiency of examinations and treatments in the medical field can be significantly improved. For example, compared to moving a patient on a table with casters, the table can be moved smoothly without giving a large vibration to the patient, and the code attached to many medical devices on the floor of the medical room. It is possible to avoid entanglement with tubes attached to the kind and medical equipment and rattling of the table by straddling them, and it is possible to improve safety and movement efficiency.

The target positions of the robotic bed are the placement position for placing objects such as human bodies and animals, the inspection position for performing inspections with specific inspection equipment and measuring equipment, and CT / MRI / Imaging position to photograph a specific part of the object to be placed by angiography, treatment preparation position for nurses to give treatment before treatment, treatment position for treatment (including surgery) by doctors and assistants (surgery position) Including) and so on. For the same purpose, it may be moved to different positions, for example, when different treatments are performed in multiple places. Specifically, before moving the table to the MRI imaging position, it is moved to the inspection position for inspecting with the inspection device whether the implant or the like that affects the MRI imaging is included in the placement object, or placed. Before moving the patient to be placed to the surgical position, move the table to the inspection position to detect the amount of radiation substance adhered by the detection device, or perform surgery to perform skin surgery on the patient to be placed. Before moving to the position, move to the examination position to inspect the skin condition, or before moving to the surgical position for brain tumor removal surgery, table at the imaging position with an MRI device to perform tomography of the brain Can be used for moving.

The operation of moving the table 108 supported by the robot arm 101 according to the present embodiment between a plurality of positions will be described with reference to FIGS. 4 to 6.

FIG. 4 shows how the table 108 is located at the mounting position when the subject to be placed is moved from the mounting position to the inspection position to be inspected by a certain inspection device. In FIG. 5, the control device 107 causes the second movable element 123 and the third movable element 124 to move as shown by an arrow, and the rotation around the sixth axis causes the table 108 to move as shown by an arrow (in some cases, the first movable element). Element 122 also moves vertically to adjust its height, and rotation around the 4th and / and 5th axes fine-tunes the tilt of the table.) The subject's head was directed towards the inspection device 414. It shows the situation. FIG. 6 shows how the table 108 is inserted inside the inspection device 414 and the subject reaches the inspection position. The position of the table 108 in FIG. 4 can also be a treatment position, and each movable element of the table 108 moves in the opposite direction from the inspection position of FIG. 6 to the position of FIG. 4 to return to the original position, and the inspection result immediately after the inspection. 412 can be treated by the doctor.

The movement of the table 108 between the positions by the robot arm 101 can be performed by, for example, giving a command to the control device 107 by the teach pendant and moving the movable element of the robot arm 101. Further, if each position such as the treatment position and the examination position is stored in the control device 107 in advance, for example, the movable element operates so as to move to the target position in the shortest time only by giving a forward command to the control device. , The table 108 can be moved to the target position faster and more smoothly. Furthermore, if the target position and some positions on the route to be moved are specified, for example, simply by giving a movement start command to the control device 107, the target position can be automatically followed by following the desired route. it can. To record each position, the robot arm 101 may be directly stored by actually moving it to the target position by the teach pendant, or it may be specified by inputting the x, y, z coordinates. May be good.

(Second configuration example)
FIG. 7 shows a side view of the robotic bed according to the second configuration example of the present invention. The robot arm 701 used for the robotic bed is a so-called vertical articulated robot arm, which has multiple degrees of freedom (3 degrees of freedom or more) and supports a table 708 on which an object to be placed is placed at its tip. The table 708 and the robot arm 701 form a robotic bed.

As shown in FIG. 7, the robot arm 701 includes a plurality of movable elements (first to third movable elements 722 to 724 in the present embodiment) and a plurality of joints (first to sixth joints in the present embodiment). 731-736) is included.

The base 721 has a horizontal rotary joint that rotates around a first axis (vertical direction). One end of the base 721 and the first movable element 722 is connected by a vertical rotation joint 732 that rotates around a second axis orthogonal to the first axis. The other end of the first movable element 722 and one end of the second movable element 723 are connected by a vertical rotary joint that is rotated by a second axis and rotates around a third axis parallel to the second axis. The second movable element 723 has a rod shape extending in a specific direction, and has a rotary joint 734 that is rotated by a third axis and is rotatable around a fourth axis about the specific direction. The other end of the second movable element 723 is connected to one end of the third movable element 724 by a vertical rotation joint 735 which is rotated by the fourth axis and rotates around the fifth axis orthogonal to the fourth axis. The third movable element 724 further has a rotary joint 736 that is rotated by a fifth axis and is rotatable about a sixth axis that is orthogonal to the fifth axis.

Like the second movable element 723, the first movable element 722 has a rod shape extending in a specific direction, and the length of these movable elements is appropriately designed according to the required movable range of the robot arm 701.

The third movable element 724 is located at the tip of the robot arm 701. In this configuration example, the tip of the robot arm 701 is fixed to the lower surface of one end of the table 708 extending in a specific direction. The position where the tip of the robot arm supports the table 708 may be the end portion of the table 708 or the central portion. The definitions of "one end", "the other end", "end", and "center" are the same as in the first configuration example.

The robot arm 701 has a plurality of actuators (in this configuration example, the first to sixth actuators 741) that move or rotate the first to third movable elements 722 to 724 in response to the first to sixth joints 731 to 736. ~ 746), a plurality of position detectors (in this configuration example, the first to sixth position detectors 751 to 756) incorporated in each joint to detect the position of each movable element, and the drive of each actuator. Includes a control device 707 (see FIG. 7) that controls. The control device 707 is located within the base 721, but may be, for example, an external independent device.

The first to sixth actuators 741 to 746 are, for example, servomotors. Similar to the first configuration example, an encoder, a resolver, and a potentiometer can be used as the position detector.

It is desirable that the robot arm 701 also includes the first to sixth electromagnetic brakes 716 to 766, respectively, corresponding to the first to sixth joints 731 to 736. When the electromagnetic brake is not provided, the posture of the robot arm 701 is kept constant by driving a plurality of actuators 714 to 746, but when the electromagnetic brake is included, the drive of a certain part of the actuator is turned off. By turning on the electromagnetic brake function, the posture of the robot arm 701 can be kept constant.

When an electromagnetic brake is provided, each of the first to sixth electromagnetic brakes 716 to 766 turns on the brake function when the drive current is not supplied to the actuator, and turns off the brake function when the drive current is supplied to the actuator. It is configured to do.

Similar to the first configuration example, the motor as an actuator, the encoder as a position detector, and the brake are often configured as an integrated unit as shown in FIG. Further, each of the first to sixth actuators 741 to 746 is provided with a speed reduction mechanism for power transmission, a coupling, and the like.

The robot arm 701 shown in FIG. 7 has 6 degrees of freedom, but the robot arm of the present invention does not necessarily have 6 degrees of freedom, and may be 5 or less, or 7 or more. Good. However, the degree of freedom of the robot arm is preferably 3 or more so that the table 708 can move at least linearly in space.

By using the robotic bed configured as described above, after placing the object to be placed on the table, the table can be moved accurately and quickly to the target position such as the examination position or the treatment position. The efficiency of examinations and treatments in the medical field can be significantly improved. For example, compared to moving a patient as a placement target by a table with casters, the table 708 can be moved smoothly without giving a large vibration to the patient, and there are many on the floor of the medical room. It is possible to avoid entanglement with cords attached to medical devices and tubes attached to medical devices and rattling of the table by straddling them, and it is possible to improve safety and movement efficiency.

The example of the position where the robotic bed should be targeted is the same as the first configuration example, and thus the description thereof will be omitted here.

Since the robot arm 701 according to this configuration example can move the table between a plurality of positions by a free route as long as it is within the movable range, the table can be moved to FIGS. 4 to 6 described in the first configuration example. It can be moved to an inspection device or the like along the same trajectory. For reference, FIG. 8 shows a perspective view when the table moves from the mounting position and reaches the MRI shooting position when the subject is set as the mounting target and the MRI shooting position is set as the target moving position.

(Third configuration example)
An external view of the robotic bed according to the third configuration example of the present invention is shown in FIG. 9, and a side view is shown in FIG. The robot arm 1001 used for the robotic bed has multiple degrees of freedom (3 degrees of freedom or more), and the tip of the robot arm 1001 supports a table 1008 on which an object to be placed is placed. The table 1008 and the robot arm 1001 form a robotic bed.

As shown in FIG. 10, the robot arm 1001 includes a base 1021, a plurality of movable elements (first to third movable elements 1022 to 1024 in this configuration example), and a plurality of joints (first in this configuration example). -5th joint 1031-1035) is included.

One end of the base 1021 and the first movable element 1022 is connected by a first joint 1031 which is a vertical joint, and the first movable element 1022 can move in the first axial direction (vertical direction). The other end of the first movable element 1022 and one end of the second movable element 1023 are connected by a horizontal rotary joint, and the second movable element 1023 can rotate around the second axis (vertical direction). The third to fifth joints 1033 to 1035 between the second movable element 1023 and the third movable element 1024 are rotary joints around the third to fifth axes, respectively. The third axis is the extending direction of the second movable element 1023, the fourth axis is the direction orthogonal to the third axis rotated by the third joint 1033, and the fifth axis is rotated by the fourth joint 1034. It is a direction orthogonal to the fourth axis.

The first movable element 1022 and the second movable element 1023 have a rod shape extending in a specific direction, and the length is appropriately designed according to the required movable range of the robot arm 1001. The first movable element 1022 moves up and down while maintaining a state parallel to the horizontal plane, and the second movable element 1023 maintains a state parallel to the first movable element 1022 and rotates around the second axis. ing. With such a configuration, it is not necessary to perform gravity compensation in the vertical direction in the second actuator 1042, so that the motor can be made smaller. This configuration is advantageous for miniaturization of the robot arm 1001, and is advantageous for introduction to a medical field where only a limited space can be secured, or for allocating a large amount of space for treatment or surgery.

Further, in the robotic bed of this configuration example, when the robotic bed is viewed from above in the vertical direction, the first movable element 1022 and the second movable element 1023 whose ends are connected by a horizontal rotating joint are parallel in a specific direction (longitudinal direction). In this state, the table 1008 is configured so that it does not come into contact with the robot arm 1001 no matter how it is rotated (for example, 360 degrees) while maintaining the state parallel to the horizontal plane. ing. Specifically, when the first movable element 1022, the second movable element 1023, and the table 1008 whose ends are connected by a horizontal rotation joint are in a state parallel to the horizontal plane, the table 1008 has a height different from that of other movable elements. It is configured so that it is located at the uppermost position without being covered. That is, when the tip of the robot arm 1001 takes the lowest position and the table 1008 is in a posture parallel to the horizontal plane, the first and second movable elements of the robot arm 1001 are from the lower surface of the table 1008. Is also set to a low position. Then, in this configuration example, in order to increase the adjustment width in the height direction of the table 1008, the base 1021 takes the lowest position among the positions that the tip of the robot arm 1001 can take, and the table 1008 is parallel to the horizontal plane. It is higher than the lower surface of the table 1008 even when it is in a good posture. With the above configuration, each movable element of the robot arm 1001 is located below the table 1008 and is stored, so that the limited space in the medical field can be effectively secured while ensuring the vertical movement width. It is effective to utilize.

This merit is clear with reference to FIGS. 13 to 15 showing the operation of the robotic bed according to the third configuration example. As can be understood from FIG. 13, the robotic bed in this configuration example can be positioned so as to overlap each other when the movable elements and the table 1008 are viewed from above in the vertical direction, whereas the first configuration is used. In the example and the second configuration example, for example, if the table is positioned as close to the base as possible in order to secure the treatment space, the second movable position is as shown in FIG. 4 in the first configuration example. The element 123 and the third movable element 124 cannot be positioned below the table 108, which is an obstacle. In the second configuration example, if the position of the table 708 is made very high, the position of the table 708 is positioned above each movable element. Although it is theoretically possible to make the table 708, it is inconvenient and practically impossible to position the table 708 at such a high position in treatment, examination, and placement of the object to be placed. As described above, in the case of a vertical articulated robot arm, gravity compensation is required, so a large actuator is required, and as can be seen from the conceptual diagram of FIG. 8, the table 708 is supported below the table 708 while being supported at the bottom. It is difficult to position each movable element.

The width of the table 1008 is preferably larger than the width of each movable element of the robot arm 1001. For example, when viewed from above in the vertical direction, the specific directions (longitudinal direction) of the first movable element 1022 and the second movable element 1023 in which the ends are connected by a horizontal rotary joint and the specific direction (longitudinal direction) of the table 1008 are In the parallel state, when the table 1008 is viewed from above in the vertical direction, the table 1008 covers the first movable element 1022 and the second movable element 1023 in a specific direction (longitudinal direction) in a specific direction (first movable element 1022, first movable element 1022, first It is desirable that the first movable element 1022 and the second movable element 1023 are hidden in the table 1008 in a direction orthogonal to the two movable elements 1023 and the direction in which the longitudinal direction in which the table 1008 extends is parallel). With such a configuration, at least the portion of the robot arm 1001 covered in the length direction of the table 1008 in the width direction of the table 1008 (the direction orthogonal to the extending specific direction) (in the example of FIG. 10, the first portion). Except for one end of the movable element 1022, the second movable element 1023 and the entire third movable element 1024) are housed under the table 1008 (see, for example, FIG. 13).

In the examples of FIGS. 9 and 10, one of the two movable elements (first movable element 1022 and second movable element 1023) (first movable element 1022) whose ends are connected to each other by a horizontal rotary joint is the base 1021. Although it is directly connected to, for example, it may be indirectly connected to the base via a further horizontal rotation joint or vertical rotation joint, and even in this case, the above-mentioned positional relationship is guaranteed and a plurality of movable elements are connected to the table 1008. As long as it is stored underneath, the effect of securing space and compactness can be obtained.

The third movable element 1024 is located at the tip of the robot arm 1001. In this configuration example, the tip of the robot arm 1001 is fixed to the lower surface of one end of the table 1008 extending in a specific direction. With such a configuration, the other end of the table 1008 can be operated so as to be located as far as possible from the base 1021. The moving range of the table 1008 is wider when the table 1008 is supported at one end, but the table 1008 may be supported at the central part when the support strength is prioritized.

Regarding the definitions of "one end", "other end", "end", and "center" in the above description,
It is the same as the first and second configuration examples.

The robot arm 1001 has a plurality of actuators (in this configuration example, the first to fifth actuators 1041) that move or rotate the first to third movable elements 1022 to 1024 in response to the first to fifth joints 1031 to 1035. -1045), a plurality of position detectors (1st to 5th position detectors 1051 to 1055 in this configuration example) incorporated in each joint to detect the position of each movable element, and drive of each actuator. It includes a control device 1007 (see FIG. 10) to control. The control device 1007 is located in the base 1021, but may be, for example, an external independent device.

The first to fifth actuators 1041 to 1045 are, for example, servomotors. As the position detector, an encoder, a resolver, and a potentiometer can be used as in the first and second configuration examples.

It is desirable that the robot arm 1001 also includes the first to fifth electromagnetic brakes 1061 to 1065, respectively, corresponding to the first to fifth joints 1031 to 1035. When the electromagnetic brake is not provided, the posture of the robot arm 1001 is kept constant by driving the plurality of actuators 1041 to 1045, but when the electromagnetic brake is included, the drive of a certain part of the actuator is turned off. By turning on the electromagnetic brake function, the posture of the robot arm 1001 can be kept constant.

When an electromagnetic brake is provided, each of the first to fifth electromagnetic brakes 1061 to 1065 turns on the brake function when the drive current is not supplied to the actuator, and turns off the brake function when the drive current is supplied to the actuator. It is configured to do.

Similar to the first and second configuration examples, the motor as an actuator, the encoder as a position detector, and the brake are often configured as an integrated unit as shown in FIG. Further, each of the first to fifth actuators 1041 to 1045 is provided with a speed reduction mechanism for power transmission, a coupling, and the like.

In the example shown in FIG. 10, the first movable element 1022 is connected by the horizontal rotation joint 1032 so as to be located above the second movable element 1023. However, as a modification of this configuration example, the first movable element 1122 FIG. 11 shows a robot arm 1101 connected by a horizontal rotary joint 1132 so that the robot arm is located below the second movable element 1123.

In this modification, one end of the base 1121 and the first movable element 1122 is connected by a first joint 1131 which is a vertical joint, and the first movable element 1122 moves in the first axial direction (vertical direction). Can be done. The other end of the first movable element 1122 and one end of the second movable element 1123 are connected by a horizontal rotary joint, and the second movable element 1123 is above the first movable element 1122 and around the second axis (vertical direction). Can be rotated to. The third to fifth joints 1133 to 1135 between the second movable element 1123 and the third movable element 1124 are rotary joints around the third to fifth axes, respectively. The third axis is the extending direction of the second movable element 1123, the fourth axis is the direction orthogonal to the third axis, which is rotated by the third joint 1133, and the fifth axis is rotated by the fourth joint 1134. The direction is orthogonal to the 4th axis.

The third movable element 1124 is located at the tip of the robot arm 1101. In this configuration example, the tip of the robot arm 1101 is fixed at the center to the lower surface of the table 1108 extending in a specific direction. With such a configuration, the table 1108 can be supported with priority given to the supporting strength. Of course, the table 1108 may be supported at one end by giving priority to the moving range of the table 1108. However, in that case, the lengths of the movable elements 1122 to 1124 and the table 1108 should be appropriately designed so that the table 1108 does not come into contact with the robot arm 1101 even if it is freely rotated while maintaining the state parallel to the horizontal plane. is required.

As described above, the robot arms 1001 and 1101 shown in FIGS. 10 and 11 have a degree of freedom of 5, but the degree of freedom of the robot arm of the present invention does not necessarily have to be 5, and may be 4 or less. It may be 6 or more. However, it is desirable that the degree of freedom of the robot arm is 3 or more so that the tables 1008 and 1108 can move at least linearly in space. FIG. 12 shows an example of a robotic bed having 3 degrees of freedom. In FIG. 12, the robot arm 1201 is composed of a base 1221 and two movable elements 1222 and 1223, and one end of the base 1221 and the first movable element 1222 is connected by a first joint 1231 which is a vertical straight joint and is movable. The element 1222 can move in the first axial direction (vertical direction). The other end of the first movable element 1222 and one end of the second movable element 1223 are connected by a second joint 1232 which is a horizontal rotation joint, and the movable element 1223 rotates around the second axis (vertical direction). Can be done. The other end of the second movable element 1223 constitutes the tip of the robot arm 1201, and is connected to one end of the table 1208 by a third joint 1233 which is a horizontal rotation joint.

By using the robotic bed configured as described above, after placing the object to be placed on the table, the table 1008, 1108, 1208 can be moved accurately and quickly to the target position such as the examination position or the treatment position. It is possible to significantly improve the efficiency of examinations and treatments in the medical field. For example, compared to moving a patient on a table with casters, the table 1008/1108/1208 can be moved smoothly without giving a large vibration to the patient, and many medical treatments exist on the floor of the medical room. It is possible to avoid entanglement with cords attached to devices and tubes attached to medical devices and rattling of the table by straddling them, and it is possible to improve safety and movement efficiency.

Further, in the robotic bed according to the present configuration example, the joints represented by reference numerals 1032, 1132, 1232, and 1233 always have movable elements represented by reference numerals 1023, 1123, and 1223, and tables designated by reference numerals 1208. Since they are connected by a horizontal rotating joint that enables them to rotate in a state parallel to the horizontal plane, the rigidity can be increased as compared with the case where they are connected by a vertical rotating joint. That is, when they are connected by a vertical rotary joint, the posture cannot be completely maintained only by controlling the actuator due to the weight of the object to be placed while the table is moving or maintaining a certain posture, and the posture is bent. Although it may occur, such a situation rarely occurs in the case of a horizontally rotating joint because it does not rotate in the vertical direction. Furthermore, since it is not necessary to consider vertical rotation at the place where the horizontal rotation joint that can always rotate in parallel with the horizontal plane is provided, even if it is assumed that the power is turned off, it is electromagnetic. The brake can be omitted. The same can be said for the horizontal rotary joints represented by reference numerals 132, 133, 332, and 333 in the robotic bed according to the first configuration example, but in this configuration example, the rigidity is increased. In addition, it has a structure that contributes to securing treatment space, and is designed to be more suitable for introduction into medical rooms.

The example of the position where the robotic bed should be targeted is the same as that of the first and second configuration examples, and thus the description thereof will be omitted here.

The operation of moving the table 1008 supported by the robot arm 1001 according to this configuration example between a plurality of positions will be described with reference to FIGS. 13 to 15.

FIG. 13 shows how the table 1008 is located at the mounting position when the subject who is the mounting target is moved from the mounting position to the inspection position. In FIG. 14, the second movable element 1023 and the table 1008 move as shown by arrows under the control of the control device 1007 (in some cases, the first movable element also moves in the vertical direction to adjust the height, and the table 1008 has a first position. The tilt is finely adjusted by rotation around the 3rd axis and / and the 4th axis.) The subject's head moves diagonally with respect to the inspection device 1314. FIG. 15 shows how the table 1008 is inserted inside the inspection device 1314 and the subject reaches the inspection position. The position of the table 1008 in FIG. 13 can also be a treatment position, and the movable elements of the table 1008 move in the opposite directions from the inspection position of FIG. 15 to the position of FIG. 13 to return to the original position, and the inspection result immediately after the inspection. The doctor 1312 can perform the treatment.

The robot arm 1201 shown in FIG. 12 can also move the table 1208 by following a similar trajectory. In the robot arm 1101 shown in FIG. 11, the second movable element 1123 and the table 1108 move while rotating in the opposite direction to the arrows shown in FIG. 14 (in some cases, the first movable element 1122 also moves in the vertical direction to increase the height. Is adjusted) and can reach the inspection position.

The method of giving a command to operate the robot arm and the method of setting the target position for moving the table are the same as those in the first and second configuration examples.

(Fourth configuration example)
A perspective view of the robotic bed according to the fourth configuration example of the present invention is shown in FIG. 16, and a side view is shown in FIG. The robot arm 1701 used for the robotic bed has multiple degrees of freedom (3 degrees of freedom or more), and the tip of the robot arm 1701 supports a table 1708 on which an object to be placed is placed. The table 1708 and the robot arm 1701 constitute a robotic bed.

As shown in FIG. 17, the robot arm 1701 includes a base 1721, a plurality of movable elements (first to fourth movable elements 1722 to 1725 in this configuration example), and a plurality of joints (first in this configuration example). ~ 6th joint 1731 to 1736) is included.

One end of the base 1721 and the first movable element 1722 is connected by a first joint 1731 which is a vertical joint, and the first movable element 1722 can move in the first axial direction (vertical direction). The other end of the first movable element 1722 and one end of the second movable element 1723 are connected by a horizontal rotary joint, and the second movable element 1723 can rotate around the second axis (vertical direction). The other end of the second movable element 1723 and one end of the third movable element 1724 are connected by a horizontal rotary joint, rotated by the second axis, and around the third axis (vertical direction) parallel to the second axis. The third movable element 1724 can rotate. The fourth to sixth joints 1734 to 1736 between the third movable element and the fourth movable element are rotary joints around the fourth to sixth axes, respectively. The fourth axis is the extending direction of the third movable element 1724, the fifth axis is the direction orthogonal to the fourth axis, which is rotated by the fourth joint 1734, and the sixth axis is rotated by the fifth joint 1735. The direction is orthogonal to the fifth axis.

The second movable element 1723 and the third movable element 1724 have a rod shape extending in a specific direction, and the lengths of these movable elements are appropriately designed according to the required movable range of the robot arm 1701. Then, the first movable element 1722 moves up and down while maintaining a state parallel to the horizontal plane, and the second movable element 1723 and the third movable element 1724 rotate while maintaining a state parallel to the first movable element 1722. It has become. With such a configuration, it is not necessary to perform gravity compensation in the vertical direction in the second and third actuators 1742 and 1743, so that the motor can be made smaller. This is a configuration advantageous for miniaturization of the robot arm 1701, and is advantageous for introduction to a medical field where only a limited space can be secured, or for securing more space for treatment or surgery.

Further, in the robotic bed of the present configuration example, the table 1708 becomes a horizontal plane by lowering the height of the base 1721 instead of limiting the amount of movement of the first movable element 1722 by the first joint in the vertical direction. No matter how the first movable element 1722 is moved up and down (vertically) while maintaining the parallel state, and how the table 1708 is rotated (for example, 360 degrees), the robot arm 1701 It is configured to be out of contact. Therefore, in this configuration example, no matter how the table 1708 is rotated, as long as the table 1708 is maintained in a state parallel to the horizontal plane regardless of the posture of the robot arm. Does not come into contact with the robot arm. Specifically, when the second movable element 1723, the third movable element 1724, and the table 1708 whose ends are connected by a horizontal rotation joint are in a state parallel to the horizontal plane, the first movable element 1722 is moved to the bottom. Even if the robot arm is moved and the tip of the robot arm takes the lowest position, the table 1708 is configured to be positioned at the uppermost position without being covered with other moving elements or the base 1721 at a height. With such a configuration, the movable element of the robot arm 1701 and the base 1721 are stored so as to be located below the table 1708, which is effective in utilizing the limited space in the medical field.

The width of the table 1708 is preferably larger than the width of each movable element of the robot arm 1701. For example, when looking down from the upper side in the vertical direction, the second movable element 1723 and the third movable element 1724, whose ends are connected by a horizontal rotary joint, are parallel to each other in a specific direction. It is desirable that all moving elements can be hidden in the table 1708. Further, in this configuration example, it is preferable that the length of the table 1708 is also larger than the length of each movable element of the robot arm 1701. For example, when looking down from the upper side in the vertical direction, the second movable element 1723 and the third movable element 1724 whose ends are connected by a horizontal rotating joint are parallel to each other in a specific direction, and the central portion of the second movable element and the third movable element. It is desirable that the base 1721 is hidden by the table 1708 when viewed from above in the vertical direction in the state of being covered with.

In the examples of FIGS. 16 and 17, one of the two movable elements (second movable element 1723 and third movable element 1724) (second movable element 1723) whose ends are connected to each other by a horizontal rotary joint is the base 1721. Although indirectly connected to (via the first movable element 1731), for example, the second movable element 1723 may be directly connected to the first joint 1731 which is a vertically straight joint. Further, it may be further indirectly connected to the base via a further horizontal rotation joint or a vertical rotation joint. Even in this case, as long as the above-mentioned positional relationship is secured, the effects of securing space and compactness can be obtained.

The fourth movable element 1725 is located at the tip of the robot arm 1701. In this configuration example, the tip of the robot arm 1701 is fixed to the lower surface of the central portion of the table 1708 extending in a specific direction. With such a configuration, the table 1708 can be supported with a large supporting strength, and the movable element and the base of the robot arm 1701 can be easily stored under the table 1708. However, for example, the length of the third movable element 1724 may be shortened so that the support position of the table 1708 is one end, and even in this case, the effect of securing space and making it compact can be obtained. There is no.

The definitions of "one end", "other end", "end", and "center" in the above description are the same as those of the first and second configuration examples.

The robot arm 1701 has a plurality of actuators that move or rotate the first to fourth movable elements 1722 to 1725 corresponding to the first to sixth joints 1731 to 1736 (in this configuration example, the first to sixth actuators 1741). ~ 1746), a plurality of position detectors (1st to 6th position detectors 1751 to 1756 in this configuration example) incorporated in each joint to detect the position of each movable element, and drive of each actuator. It includes a control device 1707 (see FIG. 17) to control. The control device 1707 is located within the base 1721, but may be, for example, an external independent device.

The first to sixth actuators 1741 to 1746 are, for example, servomotors. As the position detector, an encoder may be used, or a resolver or a potentiometer may be used as in the first and second configuration examples.

It is desirable that the robot arm 1701 also includes the first to sixth electromagnetic brakes 1761 to 1766, respectively, corresponding to the first to sixth joints 1731 to 1736. When the electromagnetic brake is not provided, the posture of the robot arm 1701 is kept constant by driving a plurality of actuators 1741 to 1746, but when the electromagnetic brake is included, the drive of a certain part of the actuator is turned off. By turning on the electromagnetic brake function, the posture of the robot arm 1701 can be kept constant.

When an electromagnetic brake is provided, each of the first to sixth electromagnetic brakes 1761 to 1766 turns on the brake function when the drive current is not supplied to the actuator, and turns off the brake function when the drive current is supplied to the actuator. It is configured to do.

Similar to the first to third configuration examples, the motor as an actuator, the encoder as a position detector, and the brake are often configured as an integrated unit as shown in FIG. Further, each of the first to sixth actuators 1741 to 1746 is provided with a speed reduction mechanism for power transmission, a coupling, and the like.

In the example shown in FIG. 17, the first movable element 1722 is connected by the horizontal rotating joint 1732 so as to be located above the second movable element 1723, but the first movable element 1722 is below the second movable element 1723. It may be configured to be connected by a horizontal rotating joint 1732 so as to be located on the side. In this way, the height can be compensated by lowering the base 1721.

As described above, the robot arm 1701 shown in FIGS. 16 and 17 has 6 degrees of freedom, but the degree of freedom of the robot arm of the present invention does not necessarily have to be 6, and may be 5 or less, or 7 or more. It may be. However, the degree of freedom of the robot arm is preferably 3 or more so that the table 1708 can move linearly in space at least. FIG. 18 shows an example of a robotic bed according to this configuration having three degrees of freedom. In FIG. 18, the robot arm 1801 is composed of a base 1821 and two movable elements 1822 and 1823, and one end of the base 1821 and the first movable element 1822 is connected by a first joint 1831 which is a vertical straight joint. 1 The movable element 1822 can move in the first axial direction (vertical direction). The other end of the first movable element 1822 and one end of the second movable element 1823 are connected by a second joint 1832 which is a horizontal rotation joint, and the second movable element 1823 rotates around the second axis (vertical direction). can do. The other end of the second movable element 1823 constitutes the tip of the robot arm 1801, and is connected to the lower surface of the central portion of the table 1808 by a third joint 1833 which is a horizontal rotation joint.

By using the robotic bed configured as described above, after placing the object to be placed on the table, the tables 1708 and 1808 can be accurately and quickly moved to the target positions such as the examination position and the treatment position. This makes it possible to significantly improve the efficiency of examinations and treatments in the medical field. For example, compared to moving a patient as a placement target by a table with casters, the tables 1708 and 1808 can be moved smoothly without giving a large vibration to the patient, and many on the floor of the medical room. It is possible to avoid entanglement with cords attached to existing medical devices and tubes attached to medical devices and rattling of the table by straddling them, and it is possible to improve safety and movement efficiency.

The example of the position where the robotic bed should be the target is the same as the first to third configuration examples, and thus the description thereof will be omitted here.

19 to 21 show an example in which the robot arm 1701 having 6 degrees of freedom shown in FIG. 17 is used to move the table supported by the robot arm according to this configuration example between a plurality of positions. Explain to.

FIG. 19 shows how the table 1708 is located at the mounting position when the subject to be placed is moved from the mounting position to the inspection position. In FIG. 20, the second movable element 1723 and the third movable element 1724 move as shown by the arrows under the control of the control device 1707, and the table 1708 rotates about the sixth axis and moves as shown by the arrows (in some cases, the th-order 1 The movable element 1722 also moves in the vertical direction to adjust the height, and the table 1708 rotates around the 4th axis and / and the 5th axis to finely adjust the inclination.) The subject's head is relative to the inspection device 1914. It shows how it moves diagonally. FIG. 21 shows how the table 1708 is inserted inside the inspection device 1914 and the subject reaches the inspection position. The position of the table 1708 in FIG. 19 can also be a treatment position, and each movable element of the table 1708 moves in the opposite direction from the inspection position of FIG. 21 to the position of FIG. 19 to return to the original position, and the inspection result immediately after the inspection. 1912 can be treated by a doctor.

The robot arm 1801 shown in FIG. 18 can also move the table 1808 by following a similar trajectory.

The head of the subject may be oriented on the opposite side in the longitudinal direction of the tables 1708 and 1808. In that case, the rotation direction of the tables 1708 and 1808 is opposite to the moving direction of the table shown in FIG. Will move to. In this way, when the bases 1721 and 1821 are stored under the table 1708 and 1808, the orientation of the object to be placed may be either, and assuming that the position of the table 1708 and 1808 in FIG. 19 is the treatment position, the operation Person 1912 has an excellent merit that the operation can be performed from either side of the table 1708 or 1808, and the operation can be performed by surrounding the table including the assistant. Since the bases 1721 and 1821 do not get in the way, the doctor 1912 can treat while sitting.

(Fifth configuration example)
The robotic bed according to the present configuration example is characterized in that the table in the robotic bed of the first to fourth configuration examples is provided with a slide mechanism.

FIG. 22 is a diagram showing that the table 2208 is composed of a main body 2281 having a rail and a slide plate 2282 fitted in a groove of the rail. If the table in the robotic bed has such a configuration, for example, the table is moved to the inspection preparation position by the robotic arm, and then the slide plate 2482 is manually slid to move the object to be placed further away. Can be moved to the inspection position of.

FIG. 23 is a diagram showing that a groove 2383 in which the slide mechanism 2309 is fitted is formed on the lower surface of the table 2308, and racks 2384 having a plurality of teeth are provided on both sides of the groove 2383. .. The slide mechanism 2309 includes a main body 2391 connected to the tip of the robot arm, a pair of pinions 2392 rotatably supported by the main body 2391 that mesh with the rack 2384, and an actuator (not shown) that rotates the pinion 2392. When the table 2308 in the robotic bed has such a configuration, for example, after moving the table to the inspection preparation position by the robotic arm, the table 2308 is slid by the drive of the actuator to move the object to be placed. It can be moved further. The actuator is, for example, a servomotor.

If the slide mechanism is provided, the degree of freedom in each configuration example is increased by one. Further, if the configuration can be driven by an actuator, the movable element of the robot arm and the slide mechanism operate at the same time by simultaneously driving the plurality of actuators of the robot arm according to each configuration example, and the table is efficiently set at the target position. Can be transported.

FIGS. 24 to 26 show an example in which the mounting target is moved when a manual slide mechanism is adopted in the robotic bed according to the first configuration example.

The placement position of the object to be placed shown in FIG. 24 is the same as the position shown in FIG. 4, and the position where the head is directed to the inspection device shown in FIG. 25 (inspection preparation position) is the same as the position shown in FIG. In the first configuration example, the movable element of the robot arm 101 was moved as it was to convey the table 108 into the inspection device 414, but in this configuration example, the slide plate is manually slid to move into the inspection device 414. I'm letting you.

According to such a configuration, since it is necessary to extend the robot arm only to the inspection preparation position, there is an advantage that the movable range of the robot arm can be small and each movable element can be made small. Along with this, the limited space in the medical field can be effectively utilized. For example, in the transition from FIG. 5 to FIG. 6, the second movable element 123 and the third movable element 124 are moved to the inspection device 414 side, respectively, but in the transition from FIG. 25 to FIG. 26, the robot arm is moved. Therefore, the first movable element 123 and the third movable element 124 can be shortened accordingly.

Next, an example of moving the mounting target when the actuator-driven slide mechanism is adopted in the robotic bed according to the third configuration example will be described.

FIG. 27 shows a side view of the robotic bed provided with the slide mechanism in the third configuration example.
The robot arm 2701 used for the robotic bed has multiple degrees of freedom (3 degrees of freedom or more), and the tip of the robot arm 2701 supports a table 2708 on which an object to be placed is placed. The table 2708 and the robot arm 2701 constitute a robotic bed.

The robot arm 2701 includes a base 2721, a plurality of movable elements (first to third movable elements 2722 to 2724 in this configuration example), and a plurality of joints (first to fifth joints 2731 to 2735 in this configuration example). )including.

One end of the base 2721 and the first movable element 2722 is connected by a first joint 2731 which is a vertical joint, and the first movable element 2722 can move in the first axial direction (vertical direction). The other end of the first movable element 2722 and one end of the second movable element 2723 are connected by a horizontal rotary joint, and the second movable element 2723 can rotate around the second axis (vertical direction). The third to fifth joints 2733 to 2735 between the second movable element 2723 and the third movable element 2724 are rotary joints around the third to fifth axes, respectively. The third axis is the extending direction of the second movable element 2723, the fourth axis is the direction orthogonal to the third axis, which is rotated by the third joint 2733, and the fifth axis is rotated by the fourth joint 2734. The direction is orthogonal to the fourth axis.

The first movable element 2722 and the second movable element 2723 have a rod shape extending in a specific direction, and the length is appropriately designed according to the required movable range of the robot arm 2701. Then, the first movable element 2722 maintains a state parallel to the horizontal plane and moves up and down, and the second movable element 2723 maintains a state parallel to the first movable element and rotates around the second axis. There is. With such a configuration, it is not necessary to perform gravity compensation in the vertical direction in the second actuator 2742, so that the motor can be made smaller. This is a configuration advantageous for miniaturization of the robot arm 2701, and is advantageous for introduction to a medical field where only a limited space can be secured, or for securing more space for treatment or surgery.

The third movable element 2724 is located at the tip of the robot arm 2701. In this configuration example, the tip of the robot arm 2701 is connected to the slide mechanism 2709 of the table 2708.

The robot arm 2701 corresponds to the first to fifth joints 2731 to 2735 and the slide mechanism 2709, and has a plurality of actuators for moving or rotating the first to third movable elements 2722 to 2724 and the slide mechanism 2709 (in this configuration example). , 1st to 5th actuators 2741 to 2745 and slide mechanism actuator 2749), and a plurality of position detectors incorporated in each joint to detect the position of each movable element (1st to 5th positions in this configuration example). Includes detectors 2751 to 2755 and position detectors for slide mechanisms 2759) and a control device 2707 that controls the drive of each actuator. The control device 2707 is located within the base 2721, but may be, for example, an external independent device.

The first to fifth actuators 2741 to 2745 and the actuator 2749 for the slide mechanism are, for example, servomotors. As the position detector, an encoder, a resolver, and a potentiometer can be used as in the first and second configuration examples.

It is desirable that the robot arm 2701 also includes the first to fifth electromagnetic brakes 2761 to 2765 and the slide mechanism electromagnetic brake 2769, respectively, corresponding to the first to fifth joints 2731 to 2735 and the slide mechanism 2709. When the electromagnetic brake is not provided, the posture of the robot arm 2701 is kept constant by driving a plurality of actuators 2741 to 2745 and the actuator 2749 for the slide mechanism. However, when the electromagnetic brake is included, a certain part of the actuator is used. By turning on the electromagnetic brake function even when the drive is turned off, the posture of the robot arm 2701 can be kept constant.

When an electromagnetic brake is provided, each of the first to fifth electromagnetic brakes 2761 to 2765 turns on the brake function when the drive current is not supplied to the actuator, and turns off the brake function when the drive current is supplied to the actuator. It is configured to do.

The placement position of the placement object shown in FIG. 28 is the same as that in FIG. However, in a robotic bed with a sliding mechanism, the direction of the table 2708 inserted into the inspection device 2814 is opposite. That is, if it is expressed in FIGS. 13 to 15 that the table 1008 is inserted into the inspection device 1314 from one end side of the table 1008, in FIGS. 28 to 30, the table 1008 is inserted into the inspection device 2814 from the other end side of the table 2708. Become.

The position (inspection position) inserted from the head into the inspection device 1314 shown in FIG. 15 is the same as the position in FIG. In the first configuration example, the movable element of the robot arm 1001 was moved as it was to transport the table 1008 into the inspection device 1314 from an angle, but in this configuration example, after the table 2708 is once arranged so as to face the inspection device 2814, The table 2708 is moved into the inspection device 2814 by sliding it by driving an actuator.

As described above, the provision of the slide mechanism has the advantage that the size of the robot arm can be reduced, and the third (robot arm 1001 supports one end of the table 1008) as shown in FIG. In the configuration example, there is an effect that the direction in which the mounting target is directed can be changed at the mounting position. Regarding the latter, for example, when the placement position is the surgical position for performing surgery on the brain or teeth, the head faces the base 1021 when the patient returns from the examination device 1314 as shown in FIG. The surgeon 1312 finds it difficult to perform surgery because the base 1021 is an obstacle, but when the patient returns from the examination device 2814 as shown in FIG. 27, the head is facing away from the base 2721. It has the effect of facilitating surgery on the part side. Since the base 2721 does not get in the way, the doctor 2812 can treat while sitting.

In the two examples introduced here, the tip of the robot arm supports the end of the table, but even if a manual slide mechanism is adopted in a configuration where the tip of the robot arm supports the center of the table. Good. Further, the length of the groove 2783 of the table into which the actuator-driven slide mechanism 2709 is fitted may be limited to only the central portion. In this case, the slide width is shortened, but the table is compared with the case where the slide width is large. Deflection is less likely to occur.

Further, in the above-mentioned example, an example in which a manually operated slide mechanism and an actuator-driven slide mechanism are applied to the first configuration example and the third configuration example is shown, but which slide mechanism is used in each configuration example. May be applied.

Then, it is necessary to review the design of the compact size robotic bed in the third configuration example and the fourth configuration example by newly providing the slide mechanism. Regarding the fourth configuration example, no matter how much the position of the table is changed by the slide mechanism, as long as the table is kept parallel to the horizontal plane, the table and the robot arm come into contact no matter how the table is rotated. It suffices to configure so that it does not occur. Regarding the third configuration example, when looking down from the upper side in the vertical direction, the table position moves in the sliding direction in a state where the specific directions of the two movable elements connected by the horizontal rotation joints are parallel to each other. It is designed so that the table having the slide mechanism does not come into contact with the robot arm no matter how it is rotated (for example, 360 degrees) in a state parallel to the horizontal plane from the state where it is closest to the base. With such a design, it is possible to obtain the merit of adding the slide mechanism while maintaining the merit of the robotic bed in the third configuration example and the fourth configuration example.

[Features common to robot arms related to each configuration example]
The following describes additional features applicable to all of the first to fifth configuration examples.

(Fixing tools for tubes / cords)
When the target to be placed on the table in each configuration example is a patient, the patient may be equipped with a life support system, an intravenous drip, or other equipment necessary for treatment.

As described above, as compared with moving the table with casters, by introducing the robotic table according to the first to fifth configuration examples, such tubes (tubes and tubes and) can be moved when the object to be placed is moved. It is possible to avoid entanglement with / or cable) and rattling caused by straddling it, but in order to further ensure safety, in the robotic bed according to the present invention, the table, the base of the robot arm, Alternatively, at least one of the movable elements may be fitted with fixtures 171, 371, 771, 1071, 1171, 1271, 1771, 1871, 2771 for bundling the tubes extending from these devices. desirable. As a result, it is possible to more reliably avoid a situation in which the tubes are entangled when the robot arm is operated. It is possible to prevent doctors and assistants from getting their feet caught in tubes, and further improve safety. Tubes that require measures to prevent entanglement are not limited to those connected to life devices, but it is desirable to fix electrical cords (cords) such as medical devices and displays with similar fixtures. .. Also, if the position to move the table is decided, the approximate movement of the robot arm is predicted, and the length of the remaining tubes / cords and the position to be fitted to the fixture on the tubes / cords side are determined. It is desirable to keep it.

(Manual brake off function)
If an electromagnetic brake corresponding to the horizontal rotary joint is provided, a switch or lever that manually turns off the brake function when the drive current is not supplied to the actuator may be provided. In the case of the robot arm 101 shown in FIG. 1, among the first to sixth electromagnetic brakes 161 to 166, the second, third, and sixth joints 132, 133, and 136 corresponding to the horizontal rotation joints. The second, third, and sixth electromagnetic brakes 162, 163, and 166 may be configured so that the braking function can be manually turned off. In the case of the robot arm 301 shown in FIG. 3, the second and third electromagnetic brakes corresponding to the second and third joints 332 and 333, which are the horizontal rotation joints, among the first to third electromagnetic brakes 361 to 363. The 362 and 363 may be configured so that the braking function can be manually turned off. In the case of the robot arm 701 shown in FIG. 7, among the first to sixth electromagnetic brakes 716 to 766, the first electromagnetic brake 761 corresponding to the first joint 731, which is a horizontal rotation joint, manually turns off the braking function. It may be a configuration that can be used. In the case of the robot arm 1001 shown in FIG. 10, the second and fifth electromagnetic brakes 1061 to 1065 of the first to fifth electromagnetic brakes 1061 to 1065 corresponding to the second and fifth joints 1032 and 1035 which are horizontal rotation joints. The electromagnetic brakes 1062 and 1065 may be configured so that the braking function can be manually turned off. In the case of the robot arm 1101 shown in FIG. 11, the second and fifth electromagnetic brakes 1161 to 1165 of the first to fifth electromagnetic brakes 1161 to 1165 correspond to the second and fifth joints 1132 and 1135 which are horizontal rotation joints. The electromagnetic brakes 1162 and 1165 may be configured so that the braking function can be manually turned off. In the case of the robot arm 1201 shown in FIG. 12, the second and third electromagnetic brakes corresponding to the second and third joints 1232 and 1233, which are the horizontal rotation joints, among the first to third electromagnetic brakes 1261 to 1263. The 1262 and 1263 may be configured so that the braking function can be manually turned off. In the case of the robot arm 1701 shown in FIG. 17, among the first to sixth electromagnetic brakes 1761 to 1766, the second, third, and sixth joints 1732, 1733, and 1736 corresponding to the horizontal rotation joints. The second, third, and sixth electromagnetic brakes 1762, 1763, and 1766 may be configured so that the braking function can be manually turned off. In the case of the robot arm 1801 shown in FIG. 18, among the first to third electromagnetic brakes 1861 to 1863, the second and third electromagnetic brakes corresponding to the second and third joints 1832 and 1833 which are horizontal rotation joints. The 1862 and 1863 may be configured so that the braking function can be manually turned off. Further, in the case of a robotic bed having a slide mechanism driven by a motor as shown in FIG. 27, an electromagnetic brake may be provided on the motor that drives the slide mechanism, and the braking function of the electromagnetic brake may be manually turned off. Good.

According to this configuration, even in the unlikely event of a power failure, the medical staff can move, for example, the patient to be placed to a safe place by turning off the braking function and moving the movable element of the robot arm.

It is not necessary to apply it to all the places where the manual brake-off function listed above is applied, and it may be provided at least in a part or limited to the places where it can move only in a state parallel to the horizontal plane. Of course.

(Distance sensor)
It is desirable that the robot arm in each configuration example is provided with distance sensors 173, 373, 773, 1073, 1173, 1273, 1773, 1873, 2773 that scan the movable range of the robotic bed. In FIG. 1, the movable range of the robot arm 101 is a radius around the second axis, which is the center of rotation of the second joint 132, up to the end of the table 108 when the robot arm 101 and the table 108 are extended to the maximum. It is a fan-shaped range. In FIG. 3, the movable range of the robot arm 301 is a radius around the second axis, which is the center of rotation of the second joint 332, to the end of the table 308 when the robot arm 301 and the table 308 are extended to the maximum. It is a fan-shaped range. In FIG. 7, the movable range of the robot arm 701 has a radius centered on the first axis, which is the center of rotation of the first joint 731, up to the end of the table 708 when the robot arm 701 and the table 708 are extended to the maximum. It is a fan-shaped range. In FIG. 10, the movable range of the robot arm 1001 has a radius centered on the second axis, which is the center of rotation of the second joint 1032, up to the end of the table 1008 when the robot arm 1001 and the table 1008 are extended to the maximum. It is a fan-shaped range. In FIG. 11, the movable range of the robot arm 1101 has a radius centered on the second axis, which is the center of rotation of the second joint 1132, up to the end of the table 1108 when the robot arm 1101 and the table 1108 are extended to the maximum. It is a fan-shaped range. In FIG. 12, the movable range of the robot arm 1201 has a radius centered on the second axis, which is the center of rotation of the second joint 1232, up to the end of the table 1208 when the robot arm 1201 and the table 1208 are extended to the maximum. It is a fan-shaped range. In FIG. 17, the movable range of the robot arm 1701 has a radius centered on the second axis, which is the center of rotation of the second joint 1732, up to the end of the table 1708 when the robot arm 1701 and the table 1708 are extended to the maximum. It is a fan-shaped range. In FIG. 18, the movable range of the robot arm 1801 has a radius centered on the second axis, which is the center of rotation of the second joint 1832, up to the end of the table 1808 when the robot arm 1801 and the table 1808 are extended to the maximum. It is a fan-shaped range. In FIG. 27, the movable range of the robot arm 2701 is when the table 2708 is moved to one end side and extended to the maximum by the robot arm 2701 and the slide mechanism centering on the second axis which is the rotation center of the second joint 2732. It is a fan-shaped range having a radius up to the end of the table 2708.

When the distance sensors 173, 373, 773, 1073, 1173, 1273, 1773, 1873, and 2773 as described above are provided, the control device 107, 307, 707, 1007, 1107, 1207, 1707, 1807, and 2707 When a foreign object (person or object) is detected within the movable range of the robot arm by the distance sensor, the operation of all actuators is stopped or prohibited. According to this configuration, even if a person who is not proficient in operating a robot such as a medical worker and whose movement of the robot arm is difficult to predict is near the robotic bed, the human robot arm Alternatively, dangers such as contact with the table and collision are avoided. In addition, dangers such as contact and collision of the robot arm with the medical device are avoided.

For example, when the table reaches the treatment position, the distance sensor is controlled to be activated or inactive according to the position of the table so that the treating doctor or assistant does not react even if the table is surrounded. It is preferable to do so. However, a means such as a changeover switch for manually switching the active / inactive of the distance sensor should be provided. Alternatively, the active / inactive switching of the distance sensor may be performed by the control device.

(Height sensor)
The height sensor 174, 374, 774, 1074, 1174, 1274, 1774, 1874, which detects the height of the table 108, 308, 708, 1008, 1108, 1208, 1708, 1808, 2708, is attached to the table or robot arm. It is desirable that 2774 is provided. In this case, before the control devices 107, 307, 707, 1007, 1107, 1207, 1707, 1807, and 2707 move the tables 108, 308, 708, 1008, 1108, 1208, 1708, 1808, and 2708 into the inspection device. In addition, the heights of the tables 108, 308, 708, 1008, 1108, 1208, 1708, 1808, and 2708 detected by the height sensors 174, 374, 774, 1074, 1174, 1274, 1774, 1874, and 2774 are within the predetermined range. If it is not within the predetermined range, the table 108, 308, 708, 1008, 1108, 1208, 1708, 1808, and 2708 are controlled so as not to move into the inspection device. This configuration avoids the risk of contact or collision with the table or subject's inspection device. In the above, the inspection position is taken as an example as the moving target position, but the same applies even when the inspection position is inserted into a device related to medical treatment such as a measurement position by a measuring device and an imaging position by an imaging device. ..

(Flexibility compensation)
Further, the robot arm in each configuration example has a function of compensating for the robot arm by controlling the robot arm by a control device according to the bending of the table or the robot arm. FIG. 31 shows an example of correcting the bending of the table 3108 due to the weight of the object to be placed or the like. For example, when one point of the patient's head as a placement target is set as a target point for tracking, the target is specified by specifying the x, y, z coordinates from the tip of the robot arm 3101 (fixed part of the table 3108). Point 3190 can be stored (FIG. 31 (a)). Then, when the table is bent as shown in FIG. 31B, the target point 3190 moves to the lower right, for example, so that the deviation of the coordinate values is detected by the control device of the robot arm, and the control device detects this deviation. At least one of the actuators is controlled to return to the pre-stored target point 3190 in order to correct. In the example of FIG. 31 (c), the movable element with the robot arm is moved to the left side, and the vertical rotation joint is rotated clockwise for correction.

FIG. 32 shows another example of deflection compensation. For example, as in the case of FIG. 31, when one point of the patient's head as the placement target is set as the target point for tracking, x, y, from the tip of the robot arm 3201 (fixed portion of the table 3208), The target point 3290 can be stored by designating the z coordinate or the like (FIG. 32 (a)). Then, when the table bends and the target point 3190 moves downward, for example, as shown in FIG. 32 (b), the deviation of the coordinate values is detected by the control device of the robot arm, and the control device preliminarily corrects this deviation. At least one of the actuators is controlled so as to return to the stored target point 3290. In the example of FIG. 32 (c), the vertical rotation joint with the robot arm is rotated clockwise for correction.

With such a configuration, accurate alignment of the target point is always possible. Therefore, for example, accurate transfer of the object to be placed is achieved, and risks such as contact and collision with the inspection device, measuring device, photographing device, etc. of the table or the object to be placed are avoided.

(Weight sensor)
Further, it is desirable that the table or the robot arm is provided with weight sensors 175, 375, 775, 1075, 1175, 1275, 1775, 1875, and 2775 for measuring the weight of the object to be placed. This makes it possible, for example, to constantly monitor the weight of the patient to be placed. According to this configuration, the patient to be placed can be monitored from the aspect of body weight. For example, while memorizing the weight before the start of surgery, the weight lost due to bleeding can be monitored, and the response at the time of surgery and the policy change can be changed. It can be used as a reference. Therefore, it is preferable to provide a display unit (for example, a display window, a display) for displaying the numerical value detected by the weight sensor on the table or the robot arm. Then, on this display, a plurality of recorded values (for example, before surgery and immediately after surgery with bleeding) or the difference between the memorized value and the current value (for example, the difference between the value before surgery and the current value) It is preferable to be able to display. For that purpose, a storage means such as a memory is provided so that the weight of the mounting object at a certain point in time is stored in the storage means, and the current weight of the mounting object detected by the weight sensor and the stored weight are used. It is preferable to have a calculation unit such as a CPU that calculates the difference between the two. Furthermore, in order to make such management for each patient to be placed, the storage means allows the patient to be selected in association with the patient ID, stores the weight at a certain point in time for each patient, and uses the current weight as well. It is preferable to calculate the difference between the above and display it on the display unit.

(Temperature sensor)
Further, it is desirable that the table is provided with temperature sensors 172, 372, 772, 1072, 1172, 1272, 1772, 1882, and 2772 that measure the temperature of the object to be placed. This makes it possible, for example, to constantly monitor the temperature of the patient as the placement target. According to this configuration, the patient to be placed can be monitored from the body temperature surface, and for example, the body temperature before the start of the operation, waiting for the start of the operation, during the operation, and after the operation can be monitored. Therefore, it is preferable to provide a display unit for displaying the numerical value detected by the temperature sensor on the table or the robot arm.

When the patient's body temperature is too low or too high, the temperature rise to raise the surface temperature of the table 108, 308, 708, 1008, 1108, 1208, 1708, 1808, 2708. It is preferable to provide a means (heater or the like) or a temperature lowering means (cooling device or the like) for lowering the temperature. This allows the patient to be kept at the desired body temperature.

In addition, in FIG. 1, FIG. 3, FIG. 7, FIG. 10, FIG. 11, FIG. 12, FIG. 17, FIG. 18, and FIG. 27, each temperature sensor is a table 108, 308, 708, 1008, 1108, 1208, 1708, 1808. It is located on the side of 2708, but may be embedded.

In addition, in order to maintain the patient's body temperature in a desirable state while waiting for the start of surgery or resting after surgery by providing another temperature sensor that detects the temperature around the table, the position of the table is temperatureed when the ambient temperature is high. Robot arm to move to a low temperature area (eg low position or near the air conditioner) or to move the table position to a high temperature area (eg high position or near the heater) when the ambient temperature is low May be controlled. It is possible that the patient is resting after surgery or waiting before treatment, and the table is moved so that the person on the table does not feel the movement. It is preferable to move slowly. However, it is not desirable for the robot arm to move automatically during surgery, so if the table position is in the treatment position, it may be set to be inactive, or the sensor may be set according to the area where the table is located. You may want to switch between active and inactive.

It is also preferable that the temperature sensor / ambient temperature sensor can be manually switched between active and inactive of the sensor function.

(Object sensor)
Further, the table is provided with one or more object sensors for detecting an object around the table, and when an object is detected by the object sensor during the operation of the robot arm, the operation of the actuator for driving the robot arm is performed. It is preferable to stop or prohibit. When introducing a robotic bed as shown in the first to fifth configuration examples into a medical room, ensuring safety occupies an extremely important position. Therefore, by such means, patients and medical staff can use such means. It is preferable to ensure safety.

In addition, when the position of the table is in the treatment position, it is set to be inactive, or it is set to be active only between the placement position of the object to be placed and the inspection position, or the area where the table is located. The active / inactive object sensor may be switched according to the situation. Switching between active / inactive of the object sensor may be performed by a control device or by a manual switching means provided in the object sensor.

It is also preferable that the temperature sensor / ambient temperature sensor can be manually switched between active and inactive of the sensor function.

(Control device configuration)
As shown in FIG. 40, the control devices 107, 307, 707, 1007, 1107, 1207, 1707, 1807, and 2707 are actuators of the robot arms 101, 301, 701, 1001, 1101, 1201, 1701, 1801, and 2701. Connected to electromagnetic brakes and position detectors. Further, the control devices 107, 307, 707, 1007, 1107, 1207, 1707, 1807, and 2707 include the above-mentioned distance sensors 173, 373, 773, 1073, 1173, 1273, 1773, 1873, 2773, and height sensors 174. 374, 774, 1074, 1174, 1274, 1774, 1874, 2774, weight sensor 175, 375, 775, 1075, 1175, 1275, 1775, 1875, 2775, and temperature sensor 172, 372, 772, 1072, 1172, 1272. -Can be connected to 1772, 1882, 2772. Further, the control devices 107, 307, 707, 1007, 1107, 1207, 1707, 1807, and 2707 include storage means, and also include setting means for determining the position of the target point as a configuration for realizing the above-mentioned deflection compensation. , The tracking means for tracking the target point may be included.

Further, the control device 107, 307, 707, 1007, 1107, 1207, 1707, 1807, 2707 may include the above-mentioned storage means and calculation unit, or may be connected to the above-mentioned display unit. The display unit may be incorporated in the base of the robot arm, or may be independent of the robot arm. Further, when the weights of a plurality of different objects to be placed are stored in the storage means of the control device, the control device may include a selection means for selecting a specific object to be placed, as shown in FIG. 40. Good.

Further, the control devices 107, 307, 707, 1007, 1107, 1207, 1707, 1807, and 2707 can be connected to the above-mentioned raising means and lowering means. Further, the control devices 107, 307, 707, 1007, 1107, 1207, 1707, 1807, and 2707 can be connected to the object sensor described above.

[Application to intraoperative MRI]
The robotic bed described above can be expected to exert a great effect when used in intraoperative MRI. In the case of intraoperative MRI for brain tumor removal, the number of times the patient is moved and the brain is imaged with an MRI device is 2 to 4 times, with an average of 3 times (“Improvement of survival rate enabled by the state-of-the-art complete brain tumor removal system” And securing postoperative QOL ”, Hitachi Medico, Monthly Inner Vision (see September 2012 issue), there is a high need to accurately and quickly reciprocate the patient from the imaging position and treatment position with an MRI device during surgery.

In the following, a robotic bed as shown in the first to fifth configuration examples (in some cases, a robotic bed to which the above-mentioned common features are added) is placed on a specific site of a patient to be placed on an MRI apparatus. A technique to be applied to intraoperative MRI, in which an image is taken and then moved to a treatment position (including a surgical position) and immediately shifted to surgery, will be described.

In the following, by driving the robot arms 101, 301, 701, 1001, 1101, 1201, 1701, 1801, 2701, the tables 108, 308, 708, 1008, 1108, 1208, 1708, 1808, 2708 are set as treatment positions. The state of moving to and from the MRI imaging position will be described with reference to the drawings.

When applying the robotic bed of each configuration example to intraoperative MRI, the devices 414, 1314, 1914, 2814 placed in the medical room in the description of moving the table of each configuration example are MRI devices.

FIG. 33 shows an open MRI apparatus 3314. The open type MRI apparatus 3314 is an open type that opens forward and sideways. Specifically, it includes a substantially T-shaped upper inspection part (upper magnet) 3315 and a lower inspection part (lower magnet) 3316 having a central portion protruding forward, and is between these inspection parts 3315 and 3316. A space is formed in which the table on which the patient is placed is inserted. Both ends of the upper inspection unit 3315 and the lower inspection unit 3316 are connected by a pair of columns 3317. The MRI device 3314 may be donut-shaped, but when applied to cases where it is easy to insert the patient into the MRI device at an angle (as in FIG. 14), place the table in front of the cavity inside the donut. Since it is inserted into the cavity after being positioned, the movement of the robot arm may become a little cramped.

The part formed by the space sandwiched between the upper inspection part (upper magnet) 3315 and the lower inspection part (lower magnet) 3316 is the photographing space. Tables 108, 308, 708, 1008, 1108, 1208, 1708, 1808, 2708, where at least part of the table overlaps the shooting space, tables 108, 308, 708, 1008, 1108, 1208, 1708, 1808, It can be said that 2708 is in the MRI imaging position. The positions of the tables 108, 308, 708, 1008, 1108, 1208, 1708, 1808, and 2708 in the imaging space are not always constant because they differ depending on the imaging site of the patient and the height and size of the patient. ..

FIG. 4 shows how the table 108 is located at the mounting position when the patient to be placed is moved from the mounting position to the MRI imaging position using the robotic bed according to the first configuration example. Shown. In FIG. 5, the second movable element 123 and the third movable element 124 move as shown by an arrow under the control of the control device 107, and the table 108 moves as shown by an arrow due to the rotation of the sixth axis (in some cases, the first movable element 123). The movable element 122 also moves in the vertical direction to adjust its height, and the tilt of the table is finely adjusted by rotation around the 4th axis and / and the 5th axis.) The patient's head is directed toward the MRI device 414. (The state of being located at the MRI shooting preparation position) is shown. FIG. 6 shows how the table 108 is inserted inside the MRI apparatus 414 and the table 108 reaches the MRI imaging position. When the surgeon 412 positions the table 108 in the treatment position for performing surgery on the patient after imaging with the MRI apparatus 414, the table 108 moves from the MRI imaging position in FIG. 6 to the position in FIG. 4 with each movable element and table. Moves in the opposite direction and returns to its original position, allowing the surgeon 412 to immediately move to surgery while viewing the MRI image.

FIG. 13 shows a state in which the table 1008 is located at the mounting position when the patient to be placed using the robotic bed according to the third configuration example is moved from the mounting position to the MRI imaging position. Is shown. In FIG. 14, the second movable element 1023 and the table 1008 move as shown by arrows under the control of the control device 1007 (in some cases, the first movable element also moves in the vertical direction to adjust the height, and the table 1008 has the first movable element. The tilt is finely adjusted by rotation around the 3rd axis and / and the 4th axis). It shows how the patient's head moves diagonally with respect to the MRI apparatus 1314. FIG. 15 shows how the table 1008 is inserted inside the MRI apparatus 1314 and the patient reaches the examination position. When the surgeon 1312 positions the table 1008 in the treatment position for performing surgery on the patient after imaging with the MRI apparatus 1314, the table 1008 is a movable element and table from the MRI imaging position of FIG. 15 to the position of FIG. Moves in the opposite direction and returns to its original position, allowing the surgeon 1312 to immediately move to surgery while viewing the MRI image.

FIG. 19 shows a state in which the table 1708 is located at the mounting position when the patient to be placed using the robotic bed according to the fourth configuration example is moved from the mounting position to the MRI imaging position. Is shown. In FIG. 20, the control device 1707 causes the second movable element 1723 and the third movable element 1724 to move as shown by an arrow, and the table 1708 to rotate around the sixth axis and move as shown by an arrow (in some cases, the first movable element). The element 1722 also moves vertically to adjust its height, and the table 1708 rotates around the 4th and / and 5th axes to fine-tune the tilt.) The patient's head is relative to the MRI imaging device 1914. It shows how it moves from an angle. FIG. 21 shows how the table 1708 is inserted inside the MRI apparatus 1914 and the table 1708 reaches the MRI imaging position. When the surgeon 1912 positions the table 1708 in the treatment position to perform surgery on the patient after imaging with the MRI apparatus 1914, the table 1708 is a movable element and table from the MRI imaging position of FIG. 21 to the position of FIG. Moves in the opposite direction and returns to its original position, allowing the surgeon 1912 to immediately move to surgery while viewing the MRI image.

FIGS. 24 to 26 show an example in which a fifth configuration example is applied to intraoperative MRI when a manual slide mechanism is adopted in the robotic bed according to the first configuration example.

The placement position of the object to be placed shown in FIG. 24 is the same as the position shown in FIG. 4, and the position where the head is directed to the MRI apparatus 414 shown in FIG. 25 (MRI imaging preparation position) is the same as the position shown in FIG. is there. When the robotic bed according to the first configuration example was used, each movable element of the robot arm 101 was moved as it was to transport the table 108 into the MRI apparatus 414, but the robotic bed according to the fifth configuration example was used. If so, the slide plate 2481 is manually slid at the MRI imaging preparation position to move it into the MRI apparatus 414.

28 to 30 show an example in which the fifth configuration example when the actuator-driven slide mechanism is adopted in the robotic bed according to the third configuration example is applied to the intraoperative MRI.

The patient placement position shown in FIG. 28 is the same as in FIG. However, in a robotic bed having a sliding mechanism, the rotation direction of the table 2708 inserted into the MRI apparatus 2814 is opposite. That is, if it is expressed in FIGS. 13 to 15 that the table 1008 is inserted into the inspection device 1314 from one end side of the table 1008, in FIGS. 28 to 30, the table 1008 is inserted into the MRI device 2814 from the other end side of the table 2708. Become.

The position (MRI imaging position) inserted from the head into the MRI apparatus 1314 shown in FIG. 15 is the same as the position shown in FIG. When the robotic bed according to the third configuration example was used, the movable element of the robot arm 1001 was moved as it was to transport the table 1008 diagonally into the MRI imaging apparatus 1314, but the robotic bed according to the fifth configuration example was used. When the table 2708 is used, the table 2708 is once arranged so as to face the MRI device 2814, and then the table 2708 is slid by the actuator drive to move the table 2708 into the MRI device 2814.

FIGS. 34 to 36 are perspective views showing the movement of the robotic bed when the fifth configuration example is applied to the intraoperative MRI in the robotic bed according to the third configuration example when the actuator-driven slide mechanism is adopted. Shown using. FIG. 34 shows the patient placement position and the surgical position. The second movable element 2723 rotates horizontally, and at the same time, the table 2708 rotates about the fifth axis to move to the MRI imaging preparation position shown in FIG. 35. .. Then, the table 2708 slides to a position where it overlaps with the imaging space of the MRI apparatus by the actuator drive, and the movement of the table 2708 to the MRI imaging position is completed.

The second movable element 2723 at the MRI imaging preparation position in FIG. 35 has a different orientation from the case where it is in the MRI imaging preparation position during the transition from FIG. 29 to FIG. 30 (between FIGS. 29 and 30). In this case, the second movable element 2723 faces perpendicular to the MRI device 2814, but in the case of FIG. 35, the second movable element 2723 faces diagonally with respect to the MRI device 2814), but the arrangement position of the MRI device The movement of the robot arm differs depending on the dimensions of each movable element.

When the robotic bed according to the fifth configuration example is used, since the slide mechanism is provided, there is an advantage that the size of the robot arm can be reduced, and as shown in FIG. 10 (the robot arm 1001 is a table). The robotic bed according to the third configuration example (supporting one end of 1008) has an effect that it is possible to change which direction the patient's head is directed at the treatment position. Regarding the latter merit, for example, when the purpose of using intraoperative MRI is brain tumor removal surgery or dental surgery, the head faces toward the base 1021 when the patient returns from the MRI device 1314 as shown in FIG. In this case, the surgeon 1312 finds that the base 1021 is an obstacle and it is difficult to perform the operation, but as shown in FIG. 27, when the patient returns from the MRI imaging position, the head is facing away from the base 2721. It has the effect of facilitating surgery on the head side. Since the base 2721 does not interfere with the head side during the operation, the operator 2812 can also perform the treatment while sitting.

The MRI imaging preparation positions shown in FIGS. 5 and 25 are positions where the tables 108 and 2408 do not overlap with the imaging space of the MRI apparatus, and are in the vicinity of the imaging space (the distance from the imaging space is a constant distance). Below). Stop moving once at this position, for example, the assistant prepares for MRI imaging (confirms that there are no metal objects and corrects the position and posture of the patient), and then transports the tables 108 and 2408 to the MRI device. You may. Of course, the MRI imaging preparation position may be simply passed through, and the table may be smoothly moved to the MRI imaging position without temporarily stopping at this position. Further, the MRI imaging preparation position does not necessarily have to face the patient's head directly toward the MRI apparatus. For example, the position of the table 1008 in FIG. 14 located near the imaging space may be used as the MRI imaging preparation position.

Further, in the above description, an example is shown in which the patient is moved from the placement position to the MRI imaging position and returned to the same place as the placement position as the treatment position, but the treatment position is different from the patient placement position. It may be.

The treatment position in the intraoperative MRI is a position where the table is not near the imaging space, that is, a position separated from the imaging space by a certain distance or more. Then, in the above example, a surgical instrument stand 413, 1313, 1913, 2813 for placing the surgical instrument used by the operator 412, 1312, 1912, 2812 is installed in the vicinity of the treatment position, and these operations are performed. If the instrument is placed near the MRI device, the treatment position may be far enough away from the MRI device as it may be affected by the permanent magnets of the MRI device (eg, float) and injure the patient or the handler. It is desirable to secure it at a distance of 5 gauss line L.

Further, the bases 121, 321, 721, 1021, 1121, 1221, 1721, 1821, 2721 of the robot arm are preferably arranged outside the 5 gauss line L. Large motors are provided on the bases 121, 321, 721, 1021, 1121, 1221, 1721, 1821, and 2721 of the robot arm, and when they are located near the MRI device, they are formed in the imaging space of the MRI device. This is because the generated magnetic field is distorted, which leads to deterioration of the captured image.

If the robot arms according to the first to fifth configuration examples are used, the lengths of the robot arms 101, 301, 701, 1001, 1101, 1201, 1701, 1801, 2701, and the tables 108, 308, 708, The 1008, 1108, 1208, 1708, 1808, 2708 can be separated from the MRI devices 414, 1314, 1914 and 2814. As a result, the treatment position can be separated from the MRI apparatus 414, 1314, 1914, 2814 by twice the length of the robot arms 101, 301, 701, 1001, 1101, 1201, 1701, 1801, and 2701. .. That is, by using the robot arms 101, 301, 701, 1001, 1101, 1201, 1701, 1801, 2701, the treatment position can be easily set outside the 5 gauss line L. As a result, the burden due to the influence of the magnetic field on the operator 412, 1312, 1912, and 2812 can be reduced. In addition, the surgeon 12 can take a standing position as desired.

As described above, by introducing the robotic bed shown in the first to fifth configuration examples into the intraoperative MRI, the patient placed on the table by the drive of the robot arm is set between the treatment position and the MRI imaging position. It can be moved quickly and accurately between. This can contribute to promoting a significantly superior effect of improving surgical results. According to the above-mentioned document ("Improvement of survival rate and securing of postoperative QOL enabled by state-of-the-art complete brain tumor removal system", Hitachi Medico, Monthly Inner Vision September 2012 issue), MRI imaging in a separate room so far Intraoperative MRI, in which MRI imaging and surgery are performed in the same room, was applied (and information-guided surgery was applied) to the brain tumor removal surgery, which was performed in a separate room. The 5-year survival rate was grade 3 in the separate room surgery. The survival rate was about 25% and about 7% for grade 4, but 78% for grade 3 and 19% for grade 4, which is about three times the survival rate of the conventional average. By introducing the robotic bed shown in the first to fifth configuration examples into the intraoperative MRI, the table on which the patient is placed as described above can be transported quickly and accurately, and MRI imaging and brain tumor removal surgery can be performed. It can be expected to contribute to the further improvement of the survival rate. In particular, as explained earlier, with regard to brain tumor removal surgery, MRI imaging and brain tumor removal surgery are not performed only once, but are reciprocated several times, so that the patient can be swiftly moved between the treatment position and the MRI imaging position. Expectations are high for accurate movement.

Then, when the robotic bed shown in the first to fifth configuration examples is introduced into the intraoperative MRI, the tables 108, 308, 708, 1008, 1108, 1208, 1708, 1808, and 2708 reach the MRI imaging position. After that, by the time the shooting of the object to be photographed placed on the table is started, the driving currents of the drive currents to the plurality of actuators mounted on the robot arms 101, 301, 701, 1001, 1101, 1201, 1701, 1801, 2701 Control by the control device 107, 307, 707, 1007, 1107, 1207, 1707, 1807, 2707 so as to stop the supply and turn on the functions of the plurality of electromagnetic brakes provided corresponding to the actuator. Is preferable. This is because the MRI apparatus applies a static magnetic field to capture an image, so that the MRI captured image is prevented from being deteriorated due to the influence of the magnetic field generated when the actuator is driven. This control may be performed automatically by detecting that the table has reached the MRI imaging position and has stopped for a certain period of time, or a command may be given manually, but at the start of MRI imaging (for example, mainly in the MRI apparatus). When the power is turned on or activated, it is linked to check the operating state of the actuator of the robot arm, and if the actuator is operating, it is forcibly turned off and the brake function is switched on. Is preferable. Therefore, the control devices 107, 307, 707, 1007, 1107, 1207, 1707, 1807, and 2707 are provided with MRI operation monitoring means, and whether the main power is turned on or the MRI device is in the active state, etc. It is desirable to monitor.

Since the robot arm according to the fifth configuration example may be provided with a manual slide mechanism, the tables 108, 308, 708, 1008, 1108, 1208, 1708, 1808, and 2708 have reached the MRI imaging preparation position. At this point, the supply of the drive current to the plurality of actuators mounted on the robot arms 101, 301, 701, 1001, 1101, 1201, 1701, 1801, 2701 is stopped, and the plurality of actuators provided corresponding to the actuators are stopped. It can also be controlled by the control device 107, 307, 707, 1007, 1107, 1207, 1707, 1807, 2707 so as to turn on the function of the electromagnetic brake. After turning off the drive of the actuator and turning on the function of the electromagnetic brake, the patient is moved to the MRI imaging position by sliding the slide plate.

The movement of the table between the surgical position by the robot arm and the MRI imaging position may be performed by operating the robot arms 101, 301, 701, 1001, 1101, 1201, 1701, 1801, and 2701 with the teach pendant. .. However, if the surgical position and the MRI imaging position are stored in advance in the control device 107, 307, 707, 1007, 1107, 1207, 1707, 1807, 2707, the table 108 between the operating position and the MRI imaging position, The movements of 308, 708, 1008, 1108, 1208, 1708, 1808, and 2708 can be performed more quickly and smoothly.

If the robot arm automatically moves the table between the surgical position and the MRI imaging position, the accuracy of the robot arm's positioning ensures that the surgical field is returned to the same location after the MRI imaging. Another advantage of using the robot arm is that the surgical field during the operation can be widely secured by operating the robot arm during the operation to change the position and posture of the patient.

[Application to other treatments]
The robotic bed shown in the first to fifth configuration examples (in some cases, a robotic bed to which the above-mentioned common features are added) can be applied not only to intraoperative MRI but also to other treatments and the like.

For example, FIG. 4-FIG. 6, FIG. 24-FIG. 26, apparatus 414, FIG. 13-15, apparatus 1314, FIG. 19-FIG. 21, apparatus 1914, FIG. 28-, which were referred to in the description of table movement in each configuration example. The device 2814 of FIG. 30 is an X-ray apparatus, and after placing the patient on the tables 108, 308, 708, 1008, 1108, 1208, 1708, 1808, and 2708, the patient is moved to the imaging position and the patient's teeth are radiographed. Then, it is continuously moved to the treatment position and used for dental treatment.

Alternatively, FIG. 4-FIG. 6, FIG. 24-FIG. 26, apparatus 414, FIG. 13-FIG. 15 apparatus 1314, FIG. 19-FIG. 21 apparatus 1914, and FIG. 28-, which were referred to in the description of table movement in each configuration example. The device 2814 of FIG. 30 is an angio device, and after placing the patient on the tables 108, 308, 708, 1008, 1108, 1208, 1708, 1808, and 2708, the patient is moved to the imaging position and the target site is moved by the angio device 15. Is used for X-ray fluoroscopy and then moved to the treatment position for catheter treatment and the like. In this case, the angio device 15 is fixed, and the table 1708 is inserted into the C-shaped arm by driving the robot arm 1701. However, as shown in the external views of FIGS. 37 and 38, the table 1708 is inserted. The table 1708 may be inserted into the C-shaped arm of the angio device 15 by moving the angio device 15 to the table 1708 side after moving to the photographing position.

In addition, the surgical robot is placed at the treatment position of FIGS. 4-FIG. 6, FIG. 13-FIG. 15, FIG. 19-FIG. 21, FIG. 24-FIG. 26, and FIG. 28-FIG. 30 referred to in the explanation of table movement in each configuration example. After preparing for laparoscopic surgery by inserting a cannula or the like into the patient at the treatment preparation position, move it to the treatment position and remotely operate the manipulator of the surgery robot with the surgery robot to perform laparoscopic surgery. It is used to do. FIG. 39 shows how the table 1708 of the fourth configuration example of the robotic bed has moved to the treatment position where the surgical robot is placed.

In these cases as well, the above-mentioned common features can be added. For example, when the robotic bed shown in the first to fifth configuration examples is used for moving to the photographing position by the angio device 15, the above-mentioned The height sensors 174, 374, 774, 1074, 1174, 1274, 1774, 1874, and 2774 are provided, and the tables 108, 308, 708, 1008, 1108, 1208, 1708, 1808 detected by the height sensor are provided. If the height of 2708 is not within the opening range of the C-arm, the movement of the angio device or the movement of the table by the robot arm may be stopped.

As described above, examples of applying the robotic bed according to the first to fifth configuration examples to various scenes in the medical field have been shown, but various modifications can be made without departing from the gist of the present invention. For example, the bases 121, 321, 721, 1021, 1121, 1221, 1721, 1821, and 2721 of the robot arm have been described on the assumption that they are all fixed, but depending on the design of the medical room, the base is on a rotating floor. May be installed so that the base moves according to the rotation of the floor. Further, a rail on which the base can be moved may be provided in the medical room so that the base can be moved according to the rail. Even if the base itself moves in this way, it is possible to move to each of the above-mentioned positions by moving the table in combination with the control of the robot arm.

The terms bed and table used in the above description are synonymous, and different terms may be used for the purpose of clarifying the points to be quoted.

101,301,701,1001,1101,1201,1701,1801,27
01,3101,3201: Robot arm 414,131,1914,2814,3314: MRI device 121,321,721,1021,1121,1221,1721,1821,2721: Base 122-125,322-323,722-724 , 1022 to 1024, 112 to 1124, 1222 to 1223, 1722 to 1725, 1822 to 1823, 2722 to 2724: Movable elements 131 to 136, 331 to 333, 731 to 736, 1031 to 1035, 1135 to 1135, 1231 to 1233 , 1731 to 1736, 1831 to 1833, 2731 to 2735: Joints 141 to 146,341 to 343, 714 to 746, 1041 to 1045, 1141 to 1145, 1241 to 1243, 1741 to 1746, 1841 to 1843, 2741 to 2745: Actuators 151-156,351-353,751-756,1051-1055,1151-1155,1251-1253,1751-1756,1851-1853,2751-2755: Position detectors 161-166,361-363,761- 766, 1061 to 1065, 1161 to 1165, 1261 to 1263, 1761 to 1766, 1861 to 1863, 2761 to 2765: Electromagnetic brake 171,371,771,1071,1171,1271,1771,1871,2771: Fixture 172, 372,772,1072,1272,1772,1872,2772: Temperature sensor 173,373,773,1073,1173,1273,1773,1873,2773: Distance sensor 174,374,774,1074,1174,1274, 1774, 1874, 2774: Height sensor 175,375,775,107,1175, 1275, 1775, 1875, 2775: Weight sensor 107,307,707,1007,1107,1207,1707,1807,2707: Control device 108 , 308,708,1008,1108,1208,1708,1808,2308,2408,2708,3108,3208: Table

Claims (16)

A table for placing patients and
A base, a plurality of movable elements connected by a plurality of joints, a plurality of actuators assigned to each of the plurality of joints to drive the plurality of movable elements, and a plurality of detecting the positions of the plurality of movable elements. A robot arm that includes a position detector and is configured to move the table to a plurality of different positions.
It is supported by the tip of the robot arm and is provided with a slide mechanism for sliding the table.
The plurality of different positions are located away from the placement position for placing the patient on the table, the surgical position for the doctor to operate the patient, and the MRI imaging position for imaging the patient with the MRI apparatus. Including MRI shooting preparation position and
The robot arm is configured to move the table to the previously described placement position, the surgical position, and the MRI imaging preparation position.
The robotic bed is characterized in that the slide mechanism is configured to move the table between the MRI imaging preparation position and the MRI imaging position. The robotic bed according to claim 1, wherein when the robot arm is viewed from above in the vertical direction at the surgical position, the entire robot arm takes a posture of being hidden by the table. The robot arm is provided with a plurality of electromagnetic brakes corresponding to the plurality of actuators, and the robot arm is described after the table reaches the MRI imaging preparation position and before the imaging of the patient by the MRI apparatus is started. The robotic bed according to claim 1 or 2, wherein the braking function of a plurality of electromagnetic brakes is turned on. The plurality of joints include a vertical rotation joint and a horizontal rotation joint, and among the plurality of electromagnetic brakes, at least one electromagnetic brake corresponding to the horizontal rotation joint may manually turn off the brake function. The robotic bed according to claim 3, which is configured to be possible. The robotic bed according to any one of claims 1 to 4, wherein the surgical position is a position away from the 5 gauss line of the MRI apparatus. The robot arm is configured to decelerate when the table and the MRI preparation position are moved to a certain distance or less when the table is moved to the MRI preparation position. Item 4. The robotic bed according to any one of Items 1 to 5. A distance sensor that scans the movable range of the table is provided.
Any of claims 1 to 6, wherein the robot arm is configured to stop the operation of the plurality of actuators when an object is detected within the movable range by the distance sensor. The robotic bed described in. A tracking means for tracking the position of the table with respect to a target point is included.
The robot arm according to claims 1 to 7, wherein when the position changes with respect to the target point, the robot arm drives at least one of the plurality of actuators so that the position matches the target point. The robotic bed described in either. The robotic bed according to any one of claims 1 to 8, further comprising a height sensor for detecting the height of the table. The robotic bed according to any one of claims 1 to 9, wherein the tip of the robot arm supports one end side of the table in the longitudinal direction. The robotic bed according to any one of claims 1 to 10, wherein the surgical position is farther from the MRI imaging position than the MRI imaging preparation position. The robotic bed according to any one of claims 1 to 11, wherein the slide mechanism is configured to slide the table by driving an actuator. The robotic bed according to any one of claims 1 to 11, wherein the sliding mechanism is configured to manually slide the table. An intraoperative MRI system comprising the robotic bed according to any one of claims 1 to 13 and an MRI apparatus used for photographing a patient placed on the table of the robotic bed. .. The intraoperative MRI system according to claim 14, wherein the base is installed outside the 5-gauss line of the MRI apparatus. The intraoperative MRI system according to claim 14 or 15, wherein the MRI apparatus is an open type that opens anteriorly and laterally.

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