JP7345010B2 - surgical support robot - Google Patents

Description

The present invention relates to a surgical support robot, and more particularly to a surgical support robot equipped with an operating section for operating an arm.

2. Description of the Related Art Conventionally, a surgical support robot including an operating section for operating an arm is known (see, for example, Patent Document 1).

The above Patent Document 1 discloses a robot system (surgery support robot) that includes an articulated probe, a surgical instrument, and a controller (hereinafter referred to as an arm). A surgical instrument is provided at the tip of the articulating probe. The arm is also configured to manipulate (move) the articulating probe and surgical instruments. The robot system is also provided with a joystick. When the operator operates the joystick, a signal for operating the surgical instrument is output to the arm. Furthermore, the displacement, speed, and acceleration of the surgical instrument are controlled according to the displacement (how it falls) of the joystick. Note that the joystick is placed at a position separated from the arm (articulated probe, surgical instrument).

JP2019-162427A

However, in the robot system (surgical support robot) as disclosed in Patent Document 1, during surgery, surgical instruments are operated by operating a joystick located at a position separated from the arm. On the other hand, in the preparation stage before surgery, the arm is moved to move the surgical instrument close to the patient. In this case, in a robot system such as the one disclosed in Patent Document 1, the joystick is located at a distance from the arm, so it is difficult to move the arm using the joystick to move the surgical instrument close to the patient. The problem is that there are cases where

This invention was made to solve the above-mentioned problems, and one object of the invention is to provide a surgical support robot whose arm can be easily operated by an operating section. .

In order to achieve the above object, a surgical support robot according to a first aspect of the present invention includes an arm having a plurality of links and a plurality of joints, and is attached to at least one link of the plurality of links to operate the arm. The operating section includes a grip part that is gripped by the operator, and a sensor that outputs a signal for controlling the moving direction and speed of the arm based on the force applied to the grip part. an enable switch that permits movement of the arm when pressed ; Based on the force applied to the grip, a signal is output for controlling the moving direction and speed of the arm .

In the surgical support robot according to the first aspect of the present invention, the operating section is attached to the arm as described above. Thereby, the operator can operate the operating section near the arm, and therefore can easily operate the arm using the operating section.
A surgical support robot according to a second aspect of the invention includes an arm having a plurality of links and a plurality of joints, and an operation section attached to at least one link of the plurality of links to operate the arm. The part includes a grip part held by an operator, a sensor that outputs a signal for controlling the moving direction and speed of the arm based on the force applied to the grip part, and a sensor between the grip part and the sensor. and a buffer member that relieves the force applied to the sensor from the grip.

According to the present invention, as described above, the arm can be easily operated by the operating section.

1 is a diagram showing the configuration of a surgical operation system according to an embodiment of the present invention. 1 is a diagram showing the configuration of a medical manipulator according to an embodiment of the present invention. FIG. 2 is a diagram showing the configuration of an arm of a medical manipulator according to an embodiment of the present invention. FIG. 2 is a side view showing the configuration of an operating section of a medical manipulator according to an embodiment of the present invention. FIG. 1 is a perspective view showing the configuration of an operating section of a medical manipulator according to an embodiment of the present invention. FIG. 1 is a cross-sectional view (1) showing the configuration of an operating section of a medical manipulator according to an embodiment of the present invention. FIG. 2 is a cross-sectional view (2) showing the configuration of the operating section of the medical manipulator according to an embodiment of the present invention. FIG. 3 is a diagram showing a state in which an operator grips the operating section of the medical manipulator according to an embodiment of the present invention. FIG. 2 is a block diagram showing the configuration of a control section of a medical manipulator according to an embodiment of the present invention. FIG. 3 is a diagram showing a control block of a control unit of a medical manipulator according to an embodiment of the present invention. FIG. 3 is a diagram showing the relationship between the movement amount of the arm and the input value (operation amount) to the force sensor.

EMBODIMENT OF THE INVENTION Hereinafter, one embodiment of the present invention that embodies the present invention will be described based on the drawings.

The configuration of a surgical operation system 100 according to this embodiment will be described with reference to FIGS. 1 to 10. The surgical operation system 100 includes a medical manipulator 1, which is a patient P-side device, and a remote control device 2, which is an operator-side device for operating the medical manipulator 1. The medical manipulator 1 includes a medical cart 3 and is configured to be movable. The remote control device 2 is arranged at a position separated from the medical manipulator 1, and the medical manipulator 1 is configured to be remotely controlled by the remote control device 2. The operator inputs a command to the remote control device 2 to cause the medical manipulator 1 to perform a desired operation. The remote control device 2 transmits the input command to the medical manipulator 1. The medical manipulator 1 operates based on the received command. Further, the medical manipulator 1 is placed in an operating room which is a sterilized field. Note that the medical manipulator 1 is an example of a "surgery support robot" in the claims.

The remote control device 2 is arranged, for example, inside or outside the operating room. The remote control device 2 includes an operating manipulator arm 21, an operating pedal 22, a touch panel 23, a monitor 24, a support arm 25, and a support bar 26. The operating manipulator arm 21 constitutes an operating handle for inputting commands by the operator. The monitor 24 is a scope-type display device that displays images captured by an endoscope or the like. The support arm 25 supports the monitor 24 so that the height of the monitor 24 matches the height of the surgeon's face. The touch panel 23 is arranged on the support bar 26. The medical manipulator 1 can be operated by the remote control device 2 by detecting the operator's head with a sensor (not shown) provided near the monitor 24 . The operator operates the operating manipulator arm 21 and the operating pedal 22 while visually checking the affected area on the monitor 24. As a result, a command is input to the remote control device 2. Commands input to the remote control device 2 are transmitted to the medical manipulator 1.

The medical cart 3 is provided with a control section 31 that controls the operation of the medical manipulator 1, and a storage section 32 that stores programs and the like for controlling the operation of the medical manipulator 1. Based on the command input to the remote control device 2, the control unit 31 of the medical cart 3 controls the operation of the medical manipulator 1.

Furthermore, the medical trolley 3 is provided with an input device 33. The input device 33 is configured to accept operations for moving the positioner 40, the arm base 50, and the plurality of arms 60 and changing the posture, mainly in order to prepare for the surgery before the surgery.

As shown in FIGS. 1 and 2, the medical manipulator 1 is placed in an operating room. The medical manipulator 1 includes a medical cart 3, a positioner 40, an arm base 50, and a plurality of arms 60. The arm base 50 is attached to the tip of the positioner 40. The arm base 50 has a relatively long rod shape (long shape). Furthermore, the plurality of arms 60 are attached to the arm base 50 at the base of each arm 60 . The plurality of arms 60 are configured to be able to take a folded posture (storage posture). The arm base 50 and the plurality of arms 60 are used while being covered with a sterile drape (not shown).

The positioner 40 is configured by, for example, a seven-axis articulated robot. Furthermore, the positioner 40 is placed on the medical trolley 3. The positioner 40 is configured to move the position of the arm base 50 in three dimensions.

Further, the positioner 40 includes a base portion 41 and a plurality of link portions 42 connected to the base portion 41. The plurality of link parts 42 are connected to each other by joint parts 43.

As shown in FIG. 1, a medical instrument 4 is attached to the tip of each of the plurality of arms 60. Medical instruments 4 include, for example, replaceable instruments, endoscope assemblies (not shown), and the like.

As shown in FIG. 3, the instrument as the medical device 4 is provided with a driven unit 4a that is driven by a servo motor M2 provided on a holder 71 of the arm 60. As shown in FIG. Furthermore, an end effector 4b is provided at the tip of the instrument. The end effector 4b includes jointed instruments such as forceps, scissors, a glass bar, a needle holder, a micro dissector, a stable applier, a tacker, a suction cleaning tool, a snare wire, and a clip applier. The end effector 4b also includes non-articulated instruments such as a cutting blade, a cautery probe, an irrigator, a catheter, and a suction orifice. The medical instrument 4 also includes a shaft 4c that connects the driven unit 4a and the end effector 4b. The driven unit 4a, the shaft 4c, and the end effector 4b are arranged along the Z direction.

Next, the configuration of arm 60 will be explained in detail.

As shown in FIG. 3, the arm 60 includes an arm section 61 (base section 62, link section 63, joint section 64) consisting of a 7-axis articulated robot arm, and a translation mechanism section 70 provided at the tip of the arm section 61. including. The arm 60 is configured to move the tip side three-dimensionally with respect to the base side (arm base 50) of the arm 60. Note that the plurality of arms 60 have mutually similar configurations.

In this embodiment, the translation mechanism section 70 is configured to have the medical instrument 4 attached thereto and to translate the medical instrument 4 relative to the arm section 61 . Specifically, the translation mechanism section 70 is provided with a holder 71 that holds the medical instrument 4. The holder 71 accommodates a servo motor M2 (see FIG. 9). The servo motor M2 is configured to rotate a rotating body provided in the driven unit 4a of the medical instrument 4. The end effector 4b is operated by rotating the rotating body of the driven unit 4a.

The arm 60 is configured to be detachable from the arm base 50.

The arm section 61 is composed of a seven-axis articulated robot arm. The arm portion 61 includes a base portion 62 for attaching the arm portion 61 to the arm base 50 and a plurality of link portions 63 connected to the base portion 62. The plurality of link parts 63 are connected to each other by joint parts 64.

The translation mechanism section 70 is configured to translate the medical instrument 4 attached to the holder 71 along the Z direction (the direction in which the shaft 4c extends) by translating the holder 71 along the Z direction. ing. Specifically, the translation mechanism section 70 includes a proximal link section 72 connected to the distal end of the arm section 61, a distal link section 73, and a proximal link section 72 and distal link section 73. and a connecting link section 74 provided therebetween. Further, the holder 71 is provided at the distal end side link portion 73.

The connecting link section 74 of the translation mechanism section 70 is configured as a double speed mechanism that moves the distal end link section 73 relative to the proximal link section 72 along the Z direction. Furthermore, by moving the distal end link portion 73 relative to the proximal link portion 72 along the Z direction, the medical instrument 4 provided in the holder 71 is translated along the Z direction. It is configured as follows. Further, the distal end of the arm portion 61 is connected to the proximal link portion 72 so as to rotate the proximal link portion 72 about the Y direction orthogonal to the Z direction.

Here, in this embodiment, as shown in FIGS. 4 to 7, the medical manipulator 1 includes an operating section 80 that is attached to the arm 60 and that operates the arm 60. The operation section 80 includes a housing 82 as a grip section that is gripped by the operator O. Further, the operating unit 80 includes a force sensor 83 that outputs a signal for controlling the moving direction and moving speed of the arm 60 based on the force applied to the housing 82 by the operator O. Further, the operation unit 80 includes a buffer member 84 that is provided between the housing 82 and the force sensor 83 and that relieves the force applied from the housing 82 to the force sensor 83. Note that the housing 82 is an example of a "grip section" in the claims. Further, the force sensor 83 is an example of a "sensor" in the claims.

Further, in this embodiment, the housing 82 serving as the gripping portion constitutes the outer surface of the operating portion 80 that houses the force sensor 83 and the buffer member 84 therein. Specifically, the housing 82 has a substantially cylindrical shape (a cylindrical shape with a substantially oval cross section). A force sensor 83 and a buffer member 84 are housed inside the substantially cylindrical housing 82 . Further, the housing 82 is provided with a convex portion 82b that protrudes toward the force sensor 83 and the buffer member 84 on the inner surface 82a of the approximately cylindrical housing 82. The convex portion 82b has a substantially cylindrical shape. The convex portion 82b, the buffer member 84, and the force sensor 83 are arranged in this order in the direction in which the substantially cylindrical housing 82 extends (Z direction). Further, the convex portion 82b, the buffer member 84, and the force sensor 83 are arranged so that the central axes C (see FIG. 7) of each of the convex portion 82b, the buffer member 84, and the force sensor 83 substantially coincide with each other.

Moreover, as shown in FIG. 7, the buffer member 84 has a substantially cylindrical shape. Further, the force sensor 83 also has a substantially cylindrical shape. Then, the surface of the convex portion 82b on the Z1 direction side and the surface of the buffer member 84 on the Z2 direction side are bonded with an adhesive 85. Further, the surface of the buffer member 84 on the Z1 direction side and the surface of the force sensor 83 on the Z2 direction side are bonded together with an adhesive 85. That is, the housing 82 is fixed to the force sensor 83 via the buffer member 84.

Further, in this embodiment, as shown in FIGS. 3 and 4, the force sensor 83 is fixed to the arm 60 (the distal end side link section 73 of the translation mechanism section 70). Then, the housing 82 applies force to the force sensor 83 fixed to the arm 60 via the buffer member 84. Specifically, the surface of the force sensor 83 on the Z1 direction side is fixed to the translation mechanism section 70 by screws or the like via a mounting pedestal 86 (see FIGS. 6 and 7). . That is, the housing 82 is fixed to a force sensor 83 fixed to the translational movement mechanism section 70 via a buffer member 84. Further, a gap CL (see FIG. 4) exists between the end of the housing 82 in the Z1 direction and the end of the arm 60 in the Z2 direction.

Further, in this embodiment, the buffer member 84 includes a rubber member. Thereby, since the buffer member 84 has elasticity, the housing 82 (operating section 80) is configured to be tiltable with respect to the force sensor 83. That is, the operator O grips the housing 82 and applies force to tilt the housing 82. As a result, the buffer member 84 is deformed, and the housing 82 is tilted with respect to the force sensor 83.

Further, the force sensor 83 is composed of, for example, a strain gauge type sensor. Further, the force sensor 83 detects the magnitude of force in three directions. That is, when the operation section 80 (casing 82) is tilted, the force sensor 83 detects the magnitude of force in a two-dimensional direction (in the XY plane). Furthermore, when the operation unit 80 (casing 82) is pressed down in the Z1 direction or pulled in the Z2 direction, the magnitude of the force in the Z direction is detected. Note that a force sensor that detects the magnitude of force in six directions may be used as the force sensor 83.

Furthermore, in this embodiment, as shown in FIGS. 4 to 7, the operating section 80 includes an enable switch 81 that allows movement of the arm 60. Then, the force sensor 83 is applied to the casing 82 while the operator O grasps the operating section 80 and presses down the enable switch 81 so as to permit movement of the arm 60 (see FIG. 8). The arm 60 is configured to output a signal for controlling the moving direction and moving speed of the arm 60 based on the applied force.

Specifically, the enable switch 81 is constituted by a push button switch that is pressed down by the finger of the operator O. By pressing the enable switch 81, it becomes possible to perform control to energize the servo motors M1 to M3 (see FIG. 9) (control to drive the servo motors M1 to M3). That is, control to move the arm 60 is possible only while the enable switch 81 is pressed down.

Further, in this embodiment, the enable switch 81 is provided on the outer circumferential surface 80a of the operating section 80, and when the operator O grasps the outer circumferential surface 80a of the operating section 80 and presses down the enable switch 81, the arm 60 Allow movement of. Furthermore, a pair of enable switches 81 are provided on both sides of the outer circumferential surface 80a of the operating section 80.

Specifically, the cross section of the operation unit 80 has a shape having a pair of sides S (see FIGS. 5 and 6) that face each other and extend substantially parallel to each other. The pair of enable switches 81 are each provided on a surface 80b including a pair of opposing sides S of the operating section 80. Specifically, the cross section of the operating portion 80 has a substantially oval shape. An enable switch 81 is provided on a surface 80b of a substantially oval operating section 80 that faces each other and extends substantially parallel to each other. Then, when the operator O grasps the outer circumferential surface 80a of the operating section 80 and presses at least one of the enable switches 81 provided on both sides of the outer circumferential surface 80a of the operating section 80, the arm 60 can be moved. It will be in a state where it is allowed.

This eliminates the need to press both enable switches 81 provided on both sides of the outer circumferential surface 80a of the operation unit 80, reducing the burden on the operator O and improving convenience for the operator O. be done.

Further, in this embodiment, as shown in FIG. 3, the operating section 80 is provided in the translational movement mechanism section 70. Further, the operating section 80 is attached to the translational movement mechanism section 70 so as to be adjacent to the medical instrument 4 attached to the translational movement mechanism section 70 . Specifically, the operating section 80 is attached to the distal end link section 73 of the translation mechanism section 70. Furthermore, the operating section 80 is arranged adjacent to the driven unit 4a of the medical instrument 4.

Further, as shown in FIG. 9, the arm 60 is provided with a plurality of servo motors M1, an encoder E1, and a speed reducer (not shown) so as to correspond to the plurality of joints 64 of the arm portion 61. It is being Encoder E1 is configured to detect the rotation angle of servo motor M1. The reducer is configured to reduce rotation of the servo motor M1 and increase torque.

Further, as shown in FIG. 9, the translational movement mechanism section 70 includes a servo motor M2 for rotating a rotating body provided in the driven unit 4a of the medical instrument 4, and a servo motor M2 for rotating the rotating body provided in the driven unit 4a of the medical instrument 4, and a servo motor M2 for rotating the rotating body provided in the driven unit 4a of the medical instrument 4. A servo motor M3, encoders E2 and E3, and a reduction gear (not shown) are provided. Encoder E2 and encoder E3 are configured to detect rotation angles of servo motor M2 and servo motor M3, respectively. The speed reducer is configured to reduce the rotation speed of the servo motor M2 and the servo motor M3 to increase the torque.

Further, the positioner 40 is provided with a plurality of servo motors M4, an encoder E4, and a speed reducer (not shown) so as to correspond to the plurality of joints 43 of the positioner 40. Encoder E4 is configured to detect the rotation angle of servo motor M4. The reducer is configured to reduce rotation of the servo motor M4 and increase torque.

The medical cart 3 is also provided with a servo motor M5 that drives each of a plurality of front wheels (not shown) of the medical cart 3, an encoder E5, and a speed reducer (not shown). Encoder E5 is configured to detect the rotation angle of servo motor M5. The speed reducer is configured to slow down the rotation of the servo motor M5 and increase the torque.

The control unit 31 of the medical trolley 3 includes an arm control unit 31a that controls the movement of the plurality of arms 60 based on commands, and a control unit 31a that controls the movement of the positioner 40 and the front wheels (not shown) of the medical trolley 3 based on the commands. and a positioner control section 31b that controls driving. A servo control unit C1 for controlling a servo motor M1 for driving the arm 60 is electrically connected to the arm control unit 31a. Furthermore, an encoder E1 for detecting the rotation angle of the servo motor M1 is electrically connected to the servo control section C1.

Furthermore, a servo control section C2 for controlling a servo motor M2 for driving the medical instrument 4 is electrically connected to the arm control section 31a. Furthermore, an encoder E2 for detecting the rotation angle of the servo motor M2 is electrically connected to the servo control unit C2. Further, a servo control section C3 for controlling a servo motor M3 for translationally moving the translational movement mechanism section 70 is electrically connected to the arm control section 31a. Furthermore, an encoder E3 for detecting the rotation angle of the servo motor M3 is electrically connected to the servo control unit C3.

Then, the operation command input to the remote control device 2 is input to the arm control section 31a. The arm control unit 31a generates a position command based on the input operation command and the rotation angle detected by the encoder E1 (E2, E3), and also transmits the position command to the servo control unit C1 (C2, C2). Output. The servo control unit C1 (C2, C3) generates a torque command based on the position command input from the arm control unit 31a and the rotation angle detected by the encoder E1 (E2, E3), and also generates a torque command. is output to servo motor M1 (M2, M3). As a result, the arm 60 is moved in accordance with the operation command input to the remote control device 2.

Further, in this embodiment, the control section 31 (arm control section 31a) is configured to operate the arm 60 based on an input signal from the force sensor 83 of the operation section 80. Specifically, the arm control unit 31a generates a position command based on the input signal (operation command) input from the force sensor 83 and the rotation angle detected by the encoder E1, and also performs servo control on the position command. It is output to section C1. The servo control unit C1 generates a torque command based on the position command input from the arm control unit 31a and the rotation angle detected by the encoder E1, and outputs the torque command to the servo motor M1. As a result, the arm 60 is moved in accordance with the operation command input to the force sensor 83.

Here, in the present embodiment, the control unit 31 (arm control unit 31a) sets an upper limit value to the input signal from the force sensor 83 and smoothes the input signal from the force sensor 83. By performing at least one of these, control is performed to reduce changes in the moving speed of the arm 60. Specifically, the control unit 31 sets an upper limit value for the input signal from the force sensor 83, and when an input signal exceeding the upper limit value is input, the control unit 31 uses the upper limit value as the input signal to control the movement of the arm 60. Control. Further, the control unit 31 smoothes the input signal from the force sensor 83 using, for example, an LPF (Low-pass filter). Note that in this embodiment, the control unit 31 both sets an upper limit value for the input signal from the force sensor 83 and smoothes the input signal from the force sensor 83.

また、制御部３１（アーム制御部３１ａ）は、図１０に示す制御ブロックに基づいて、アーム６０の移動を制御する。すなわち、制御部３１（アーム制御部３１ａ）は、力センサ８３からの入力信号Ｆ（ｓ）に対して、速度（ｘの１階微分）と粘性係数ｃとの積を減算する。そして、減算された値に慣性係数１／ｍを乗算する。そして、乗算された値（＝１／ｍ（Ｆ（ｓ）－ｃ×速度）＝加速度＝ｘの２階微分）が、上限値を超える場合、加速度は、上限値に設定される。そして、加速度が積分されて速度（ｘの１階微分）が算出され、速度が積分されて位置Ｘ（ｓ）が算出される。 Further, the control unit 31 (arm control unit 31a) controls the movement of the arm 60 based on a control equation of motion shown in Equation 1 below.

Further, the control unit 31 (arm control unit 31a) controls movement of the arm 60 based on the control block shown in FIG. That is, the control unit 31 (arm control unit 31a) subtracts the product of the velocity (first derivative of x) and the viscosity coefficient c from the input signal F(s) from the force sensor 83. Then, the subtracted value is multiplied by the inertia coefficient 1/m. If the multiplied value (=1/m(F(s)-c×velocity)=acceleration=second-order differential of x) exceeds the upper limit value, the acceleration is set to the upper limit value. Then, the acceleration is integrated to calculate the velocity (first derivative of x), and the velocity is integrated to calculate the position X(s).

Further, as shown in FIG. 9, a servo control unit C4 for controlling a servo motor M4 that moves the positioner 40 is electrically connected to the positioner control unit 31b. Further, an encoder E4 for detecting the rotation angle of the servo motor M4 is electrically connected to the servo control unit C4. Further, a servo control unit C5 for controlling a servo motor M5 that drives a front wheel (not shown) of the medical cart 3 is electrically connected to the positioner control unit 31b. Further, an encoder E5 for detecting the rotation angle of the servo motor M5 is electrically connected to the servo control unit C5.

Further, operation commands related to setting of the preparation position and the like are input from the input device 33 to the positioner control section 31b. The positioner control unit 31b generates a position command based on the operation command input from the input device 33 and the rotation angle detected by the encoder E4, and outputs the position command to the servo control unit C4. The servo control unit C4 generates a torque command based on the position command input from the positioner control unit 31b and the rotation angle detected by the encoder E4, and outputs the torque command to the servo motor M4. As a result, the positioner 40 is moved in accordance with the operation command input to the input device 33. Similarly, the positioner control unit 31b moves the medical trolley 3 based on the operation command from the input device 33.

Next, a procedure for a treatment using the medical manipulator 1 will be explained. In a treatment using the medical manipulator 1, the medical trolley 3 is first moved to a predetermined position in the operating room by the operator O (medical assistant, nurse, etc.). Next, the operator O operates the positioner 40 by operating the touch panel included in the input device 33 so that the arm base 50 and the operating table 5 or the patient P have a desired positional relationship. Move the arm base 50. Further, the arm 60 is moved so that a cannula sleeve (a working channel for inserting a surgical instrument or the like into a body cavity) placed on the body surface of the patient P and the medical instrument 4 are in a predetermined positional relationship. Furthermore, when the operator O operates the operation unit 80 (applies force), the plurality of arms 60 are moved to desired positions. Then, while the positioner 40 is kept stationary, the plurality of arms 60 and the medical instruments 4 are operated based on commands from the remote control device 2. Thereby, the medical treatment using the medical manipulator 1 is performed.

Next, with reference to FIG. 11, the relationship between the movement amount of the arm 60 and the input value (operation amount) of the operation unit 80 will be described. As described above, in this embodiment, a buffer member 84 is provided between the housing 82 and the force sensor 83 to relieve the force applied from the housing 82 to the force sensor 83. As a result, even if the arm 60 moves at a relatively high speed, the amount of operation by the operator O on the operation section 80 is unlikely to change suddenly, so that the amount of movement of the arm 60 (broken line in FIG. 11) It becomes possible for the input value (operated amount, solid line in FIG. 11) to follow.

[Effects of this embodiment]
In this embodiment, the following effects can be obtained.

In this embodiment, the operating section 80 is attached to the arm 60 as described above. Thereby, the operator O can operate the operating section 80 in the vicinity of the arm 60, and therefore can easily operate the arm 60 using the operating section 80.

Further, in the present embodiment, as described above, the operating unit 80 operates the moving direction and moving speed of the arm 60 based on the casing 82 held by the operator O and the force applied to the casing 82. It includes a force sensor 83 that outputs a signal to act on the force sensor 83, and a buffer member 84 that is provided between the casing 82 and the force sensor 83 and relieves the force applied from the casing 82 to the force sensor 83. As a result, even if the arm 60 moves at a relatively high speed while the operator O is holding the casing 82, the force applied from the casing 82 to the force sensor 83 due to the movement of the arm 60 is absorbed by the buffer member 84. This can be alleviated by This suppresses sudden changes in the force applied to the housing 82. As a result, even when the arm 60 moves at a relatively high speed, vibrations of the arm 60 caused by changes in the amount of operation applied to the force sensor 83 can be suppressed.

Furthermore, in the present embodiment, as described above, the housing 82 constitutes the outer surface of the operating section 80 that houses the force sensor 83 and the buffer member 84 therein. As a result, the casing 82 that constitutes the outer surface of the operating section 80 also serves as a grip that the operator O holds, so unlike the case where the casing 82 and the grip are provided separately, the number of parts increases. can be suppressed.

Further, in this embodiment, as described above, the force sensor 83 is fixed to the arm 60, and the housing 82 applies force to the force sensor 83 fixed to the arm 60 via the buffer member 84. . As a result, the casing 82 applies force to the force sensor 83 via the buffer member 84, so that the casing 82 is tilted to some extent with respect to the arm 60 by the buffer member 84. That is, since the housing 82 can be tilted to some extent in the direction in which the operator O wants to move the arm 60, the direction in which the arm 60 is moved in response to the operation by the operator O can be easily recognized.

Further, in the present embodiment, as described above, the operation unit 80 further includes the enable switch 81 that allows the arm 60 to move when pressed. The force sensor 83 moves the arm based on the force applied to the casing 82 when the operator O grasps the operation part 80 and presses down the enable switch 81 so as to permit movement of the arm 60. 60 is configured to output signals for controlling the moving direction and moving speed. As a result, the operator O can grasp the operating section 80 and press the enable switch 81 with the same hand, and the operation of applying force to the housing 82 can be performed with the same hand. 80 can be improved.

Further, in this embodiment, as described above, the enable switch 81 is provided on the outer circumferential surface 80a of the operating section 80, and the operator O holds the outer circumferential surface 80a of the operating section 80 and presses the enable switch 81. This allows the arm 60 to move. As a result, the operator O can easily press down the enable switch 81 to permit movement of the arm 60 simply by gripping the outer circumferential surface 80a of the operating section 80 so as to cover it with his or her fingers.

Further, in this embodiment, as described above, a pair of enable switches 81 are provided on both sides of the outer circumferential surface 80a of the operating section 80, and the operator O can operate the enable switch 81 by grasping the outer circumferential surface 80a of the operating section 80. Movement of the arm 60 is permitted by pressing down at least one of the enable switches 81 provided on both sides of the outer peripheral surface 80a of the portion 80. As a result, since the enable switch 81 is provided on both sides of the outer circumferential surface 80a of the operating section 80, the operator O is prompted to cover and grasp the outer circumferential surface 80a of the operating section 80 with his/her fingers. I can do it. Furthermore, if the configuration is such that movement of the arm 60 is permitted by pressing only one of the enable switches 81, the operator O can operate the movement of the arm 60 by pressing the enable switch 81 that is easier to press. The convenience of operation can be improved.

Further, in the present embodiment, as described above, the cross section of the operating section 80 has a shape having a pair of sides S facing each other and extending substantially parallel to each other, and the pair of enable switches 81 are connected to the operating section 80. are respectively provided on a surface 80b including a pair of mutually opposing sides S. Accordingly, since the pair of enable switches 81 are respectively provided on the mutually opposing surfaces 80b of the operating section 80, the operator O can easily grip the operating section 80 so as to sandwich the mutually opposing surfaces 80b. Then, the enable switch 81 can be pressed.

Further, in this embodiment, as described above, the arm 60 includes an arm section 61 consisting of a 7-axis multi-joint robot arm, and is provided at the tip of the arm section 61 and the medical instrument 4 is attached to it, and the medical instrument 4 is attached to the arm section 61. A translation mechanism section 70 that translates relative to 60 is provided. The operating section 80 is attached to the translation mechanism section 70. As a result, the operating section 80 is placed near the medical instrument 4 (the translational movement mechanism section 70 to which the medical instrument 4 is attached), so that the operation of moving the arm 60 to move the medical instrument 4 to a desired position can be performed. , can be easily performed using the operating section 80.

Further, in this embodiment, as described above, the operating section 80 is attached to the translational movement mechanism section 70 so as to be adjacent to the medical instrument 4. As a result, the operating section 80 is reliably placed near the medical instrument 4, so the operation of moving the arm 60 to move the medical instrument 4 to a desired position can be more easily performed using the operating section 80. I can do it.

Further, in this embodiment, as described above, the force sensor 83 detects the moving direction and moving speed of the arm 60 based on the force applied to the housing 82 by the operator O while gripping the housing 82. Outputs a signal to control. Thereby, the moving direction and moving speed of the arm 60 can be easily controlled based on the magnitude and direction of the force applied to the force sensor 83 by the operator O.

Further, in this embodiment, as described above, the buffer member 84 includes a rubber member. As a result, by simply providing a rubber member with a relatively simple configuration between the housing 82 and the force sensor 83, the amount of operation for the force sensor 83 can be easily changed even when the arm 60 moves at a relatively high speed. Vibration of the arm 60 caused by this can be suppressed.

Further, in this embodiment, as described above, the control unit 30 is provided to operate the arm 60 based on the input signal from the force sensor 83. Then, the control unit 30 controls the movement speed of the arm 60 by performing at least one of setting an upper limit value on the input signal from the force sensor 83 and smoothing the input signal from the force sensor 83. control to reduce changes in As a result, even if the arm 60 moves at a higher speed and the amount of operation by the operator O with respect to the force sensor 83 changes, an upper limit value can be set for the input signal from the force sensor 83, and an upper limit value can be set for the input signal from the force sensor 83. By having the control unit 30 perform at least one of smoothing the signal, it is possible to more effectively suppress vibrations of the arm 60 caused by changes in the amount of operation on the force sensor 83.

[Modified example]
Note that the embodiments disclosed this time should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is indicated by the claims rather than the description of the embodiments described above, and further includes all changes (modifications) within the meaning and range equivalent to the claims.

For example, in the embodiment described above, an example is shown in which the force sensor 83 is provided in the operation section 80, but the present invention is not limited to this. In the present invention, a sensor (such as an acceleration sensor or a joystick) other than the force sensor 83 that outputs a signal for controlling the moving direction and moving speed of the arm 60 based on the force applied to the housing 82 is used. Good too.

Further, in the embodiment described above, an example was shown in which the housing 82 that constitutes the outer surface of the operating section 80 also serves as a grip section held by the operator O, but the present invention is not limited to this. For example, a grip part that is gripped by the operator O may be provided separately from the housing 82.

Further, in the embodiment described above, an example is shown in which the enable switch 81 is provided in the operating section 80, but the present invention is not limited to this. For example, the enable switch 81 may be provided in a portion other than the operating section 80.

Furthermore, in the above embodiment, an example is shown in which movement of the arm 60 is permitted by pressing one of the pair of enable switches 81 provided on both sides of the outer circumferential surface 80a of the operating section 80. However, the present invention is not limited to this. For example, the configuration may be such that movement of the arm 60 is permitted when both of a pair of enable switches 81 provided on both sides of the outer circumferential surface 80a of the operating portion 80 are pressed down.

Further, in the embodiment described above, an example has been shown in which a pair of enable switches 81 are provided on both sides of the outer circumferential surface 80a of the operating section 80, but the present invention is not limited to this. For example, one enable switch 81 may be provided on one side of the outer peripheral surface 80a of the operating section 80.

Further, in the embodiment described above, an example was shown in which the cross section of the operating section 80 has a substantially elliptical shape, but the present invention is not limited to this. For example, the operating section 80 may have a substantially prismatic shape.

Further, in the embodiment described above, an example was shown in which the buffer member 84 was made of a rubber member, but the present invention is not limited to this. In the present invention, the buffer member may be made of a member other than a rubber member (such as a spring member).

Further, in the embodiment described above, an example was shown in which the operating section 80 is attached to the translational movement mechanism section 70, but the present invention is not limited to this. For example, the operating section 80 may be directly attached to the arm section 61.

Further, in the above embodiment, an example was shown in which the control unit 30 both sets an upper limit value for the input signal from the force sensor 83 and smoothes the input signal from the force sensor 83. The present invention is not limited to this. For example, the control unit 30 may perform only one of providing an upper limit value to the input signal from the force sensor 83 and smoothing the input signal from the force sensor 83.

Further, in the above embodiment, an example in which four arms 60 are provided is shown, but the present invention is not limited to this. The number of arms 60 may be three.

Further, in the embodiment described above, an example was shown in which the arm section 61 and the positioner 40 are constituted by a 7-axis articulated robot, but the present invention is not limited to this. For example, the arm 60 and the positioner 40 may be composed of an articulated robot with an axis configuration (for example, 6 axes or 8 axes) other than a 7-axis articulated robot.

1 Medical manipulator (surgical support robot)
4 Medical instrument 31 Control part 60 Arm 61 Arm part 70 Translational movement mechanism part 80 Operation part 80a Outer peripheral surface 80b Surface 81 Enable switch 82 Housing (grip part)
83 Force sensor (sensor)
84 Buffer member O Operator S Side

Claims (13)

An arm with multiple links and multiple joints,
an operating section attached to at least one link of the plurality of links and operating the arm,
The operation section is
a grip part that is gripped by an operator;
a sensor that outputs a signal for controlling the moving direction and moving speed of the arm based on the force applied to the gripping part;
an enable switch that allows movement of the arm when pressed ;
The sensor moves the arm based on the force applied to the grip when the operator grips the operation part and presses down the enable switch so as to permit movement of the arm. A surgical support robot that outputs signals to control the direction and speed of movement . The surgical support robot according to claim 1, wherein the operation section is attached to the most advanced link among the plurality of links. The arm includes a distal link and a proximal link to which a medical instrument is attached, and further includes a translation mechanism that translates the distal link relative to the proximal link,
The surgery support robot according to claim 1 or 2, wherein the link on which the operating section is supported is the distal end link. The surgery support robot according to claim 3, wherein the operation section is attached to the distal end link so as to be adjacent to the medical instrument. 2. The enable switch is provided on an outer circumferential surface of the operating section, and the operator permits movement of the arm by grasping the outer circumferential surface of the operating section and pressing down the enable switch. The surgical support robot according to any one of items 4 to 4 . A pair of enable switches are provided on both sides of the outer circumferential surface of the operating section, and when the operator grasps the outer circumferential surface of the operating section, the enable switches provided on both sides of the outer circumferential surface of the operating section are activated. The surgical support robot according to any one of claims 1 to 4, wherein movement of the arm is permitted by pressing down at least one of the switches. The cross section of the operation section has a shape having a pair of sides extending substantially parallel to each other, and the pair of enable switches are each provided on a surface of the operation section including the pair of opposite sides. The surgical support robot according to claim 6 , wherein the surgical support robot is The sensor includes a force sensor that outputs a signal for controlling the moving direction and moving speed of the arm based on the force applied to the gripping part when the operator grips the gripping part. , The surgical support robot according to any one of claims 1 to 7 . further comprising a control unit that operates the arm based on an input signal from the sensor,
The control unit reduces changes in the movement speed of the arm by performing at least one of setting an upper limit on the input signal from the sensor and smoothing the input signal from the sensor. The surgical support robot according to any one of claims 1 to 8 , which performs control such that: An arm with multiple links and multiple joints,
an operating section attached to at least one link of the plurality of links and operating the arm,
The operation section is
a grip part that is gripped by an operator;
a sensor that outputs a signal for controlling the moving direction and moving speed of the arm based on the force applied to the gripping part;
A surgical support robot, comprising: a buffer member provided between the gripping part and the sensor, and relieving force applied from the gripping part to the sensor. 11. The surgical support robot according to claim 10 , wherein the gripping section includes a casing constituting an outer surface of the operating section that houses the sensor and the buffer member therein. the sensor is fixed to the arm,
The surgical support robot according to claim 10 or 11 , wherein the gripping section applies force to the sensor fixed to the arm via the buffer member. The surgical support robot according to any one of claims 10 to 12 , wherein the buffer member includes a rubber member.

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