JPH07328016A - Surgical manipulator system - Google Patents

Abstract

PURPOSE:To set a surgical manipulator system to the remote control state as intended by an operator by providing the system with a coordinate system converting means converting the setting of at least one of an operating means and the inherent coordinate system of a manipulator for the correspondence between both positions and/or orientations. CONSTITUTION:The task coordinate system 15 of a slave manipulator 3 is set to the relation that the base coordinate system 23 of a master manipulator 16 is moved parallel, and it is controlled so that the point P of the base coordinate system 23 of the tool center point(TCP) of the master manipulator 16 coincides with the point P of the task coordinate system 15 of the TCP of the slave manipulator 3. The task coordinate system 27 of a master manipulator 17 is set to the relation that the base coordinate system 14 of a slave manipulator 4 is moved parallel, and it is set so that the point Q of the task coordinate system 27 of the TCP of the master manipulator 17 corresponds to and coincides with the point Q of the base coordinate system 14 of the TCP of the slave manipulator 4.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surgical manipulator system for remotely operating a manipulator inserted into a body cavity of a living body by operating means to perform a surgery such as diagnosis and treatment.

[0002]

2. Description of the Related Art A hole is made in a body wall such as an abdominal wall, and an endoscope or a treatment tool is percutaneously inserted into a body cavity through the hole to perform various treatments in the body cavity. In recent years, endoscopic surgery has attracted attention as a minimally invasive procedure that does not require a large incision. Such an operation method has come to be widely used in a cholecystectomy operation or an operation of removing and removing a part of the lung.

In such an operation, a manipulator system for a surgical operation in which an endoscope and a treatment tool are mounted on a manipulator and an operation using the endoscope and the treatment tool by the manipulator is indirectly performed on behalf of an operator, US Patent No. 5,
217,003.

In the remote operation of such a manipulator for surgery, the operator operates the joystick while watching the state of the affected part in the abdominal cavity displayed on the monitor by an observation means such as an endoscope, and the manipulator is operated in the operating direction, for example. A so-called master-slave system in which an operating system or a master arm is used has been adopted.

[0005]

However, when operating a surgical manipulator using remote operation means such as a joystick or a master-slave, the remote operation means and the manipulator performing the operation are physically separated. Therefore, the correspondence relationship between the two operation directions is determined by the relative positional relationship when the two are installed, and the directions of the coordinate systems of the both often do not match. For example, when a plurality of sets of master manipulators and slave manipulators are provided, the plurality of master manipulators are often operated by one person, and it is common to install them on the same bedside as the operator. . On the other hand, since the slave manipulator has a limited installation space around the bedside, a plurality of master manipulators are also installed on the opposite bedside where there is no operator.

That is, each slave manipulator and its corresponding master manipulator cannot be installed on the same side. Therefore, for example, when the operator tries to move to the right by the remote control means,
The manipulator performing the surgery moves to the left, which causes a contradiction in the operation direction, and causes a situation in which the manipulator moves in a direction unintended by the operator. In other words, in such a situation, the base coordinate system of the master manipulator and the slave manipulator are not in the same direction, and if you try to make the position correspond based on the base coordinate system, when you operate the master manipulator, the slave The manipulator moves in a direction unintended by the operator, resulting in a contradiction in the operation direction.

Of course, even when the corresponding slave manipulator and the master manipulator are installed on the same side, the manipulators must be installed at intervals so that they do not interfere with each other, so that the positional relationship of the corresponding directions is displaced. There is a circumstance that it is unavoidable to install it. In any case, there is a situation similar to the above, and there is a problem in terms of operability.

As described above, when the manipulator equipped with the endoscope and the treatment tool is operated by the individual remote control means and the surgery is performed by the coordinated work, the positional relationship between the remote control means, the endoscope and Depending on the positional relationship between the manipulators equipped with the treatment tool and the positional relationship between the manipulators and the remote operation means, the operation direction during operation is determined, which causes a contradiction in the operation direction or restrictions on installation conditions. There was a problem.

The present invention has been made by paying attention to the above-mentioned circumstances, and an object thereof is to maintain the operability in the operation direction without impairing the operability by the relative positional relationship between the surgical manipulator and the remote operation means. It is an object of the present invention to provide a surgical manipulator system that can be set to a remote control state as intended by a person.

[0010]

SUMMARY OF THE INVENTION The present invention provides an operating means installed within an area that can be operated by an operator, and a manipulator installed so as to access the operative field and performing a movement following the operation of the operating means. , The first control means for determining the operating position and orientation of the operating means with reference to a unique coordinate system, and the position and orientation of the manipulator based on information from the first control means with reference to the unique coordinate system. Second control means for moving the manipulator, and setting of at least one coordinate system of the unique coordinate system of the operating means and the unique coordinate system of the manipulator are converted to change the positions of the operating means and the manipulator. And a coordinate system conversion means for providing orientation correspondence. That is, it is possible to convert the coordinate system that defines the individual operating directions of the surgical manipulator and the operating means, and according to the relationship between the coordinate system of the operating manipulator and the coordinate system of the operating means,
At least one of the two can be changed.

[0011]

【Example】

(First Embodiment) This embodiment relates to a surgical manipulator system capable of arbitrarily setting the correspondence between the operating direction of a slave manipulator as a surgical manipulator and the operating direction of a master manipulator which is its operating means. is there. Hereinafter, this will be described with reference to FIGS.

FIG. 1 shows a schematic structure of the surgical manipulator system. In FIG. 1, reference numeral 1 is an operating table (bed) on which a patient 2 is laid upward. ing. A first slave manipulator 3 and a second slave manipulator 4 are separately installed on the left and right sides of the operating table 1. Each of the slave manipulators 3 and 4 has a joint structure in which a plurality of arms 5 are connected to each other, and a base 7 of the first slave manipulator 3 is fixed to one side of the operating table 1. The base 8 of the second slave manipulator 4 is fixed to the other side of the operating table 1. That is, the first slave manipulator 3 and the second slave manipulator 4
Are installed separately in different directions from the left and right sides of the patient 2 toward the operative field of the patient 2, that is, they are installed in opposite directions.

At the tips of the slave manipulators 3 and 4, treatment tools 9 and 10 such as grasping forceps, a scalpel, a suture instrument, and a syringe are mounted. Note that instead of such a treatment tool, an observation means such as an endoscope, an ultrasonic echo probe, or a surgical microscope may be mounted. And
Attach the tip of the slave manipulators 3 and 4 to the patient 2
Percutaneous endoscopic surgery for percutaneously inserting into the body to perform treatment or observation is performed.

Each of the slave manipulators 3 and 4 described above
An actuator 11 and an encoder 12 are provided in each joint portion in FIG. 1, and the actuator 11 is driven by its control means to bend the joints of the slave manipulators 3 and 4. The encoder 12 detects the rotation angle of the joint. These slave manipulators 3 and 4 have their own base coordinate systems 13 and 1 respectively.
4 and these base coordinate systems 13, 14 are
As shown in FIG. 1, it is an orthogonal coordinate system represented by X ₀ , Y ₀ , and Z ₀ fixed to the bases 7 and 8 of the slave manipulators 3 and 4, respectively.

Further, in FIG. 1, a coordinate system 15 represented by X, Y and Z is a task coordinate system of the slave manipulators 3 and 4, and the task coordinate system is arbitrarily set as will be described later. It is a coordinate system that can be changed. The control means for operating the slave manipulators 3 and 4 is based on its own coordinate system, and the corresponding master manipulator 1 is used as a reference.
The positions and orientations of the slave manipulators 3 and 4 are determined by the information from the control means 6 and 17 to move the slave manipulators 3 and 4.

The operator is located on the right side of the operating table 1 on which the first slave manipulator 3 is installed, and the first master manipulator 16 and the second master manipulator 17 are installed on this right side. ing. The first master manipulator 16 and the second master manipulator 17 are fixed to the operating table 1 directly or on an operation table 18 located around the operating table 1.

By the way, the operation console 18 can be moved to an appropriate position according to the convenience of the operator. Further, the operation console 18 is usually installed on the floor of the operating room, but it may be suspended on the ceiling. In any case, these master manipulators 16 and 17 are installed around one side of the operating table 1 so that the same operator can operate them.

These master manipulators 16 and 17
Are each configured by a joint structure in which a plurality of arms 19 are connected to each other. An actuator 21 and an encoder 22 are provided in each joint portion, and the actuator 21 is driven by the control means of the actuator 21 and the encoder 22 to generate a master manipulator. The joints 16 and 17 are bent. The encoder 22 detects the rotation angle of each joint. These master manipulators 16 and 17 have their own base coordinate systems 23 and 24, and these base coordinate systems 23 and 24 are, as shown in FIG. 1, the bases 25 of the respective master manipulators 16 and 17. , 26 fixed in X ₀ , Y ₀ , and Z ₀ , respectively.

Further, in FIG. 1, a coordinate system 27 represented by X, Y and Z is a task coordinate system of the master manipulators 16 and 17, and the coordinates thereof can be arbitrarily changed as will be described later. It is a system. Master manipulator 16,
The control means for operating the reference numeral 17 controls the master manipulator 1 based on its own coordinate system.
The positions and orientations of 6 and 17 are determined and the slave manipulators 3 and 4 are moved.

FIG. 2 shows slave manipulators 3 and 4.
And the structure of the system which controls the operation of the master manipulators 16 and 17. That is, a control device 31 that controls the slave manipulators 3 and 4 and a control device 32 that controls the master manipulators 16 and 17 are provided, and each of the control devices 31 and 32 is an MP.
U (micro processor unit) 33, 34, actuator drive circuits 35, 36, and interface circuit 3
7, 38.

The tips of the tip end portions of the master manipulators 16 and 17, that is, TCP (tool center p) which is the point of action.
oint) is MPU3 as coordinate data in space in the base coordinate system 23, 24 or the task coordinate system 27.
Calculated as 4. This is obtained by the geometric vector synthesis of the joint angles detected by the encoder 22 described above. This spatial data is the master manipulator 1
Communication is made with the interface circuits 37 of the slave manipulators 3 and 4 via the interface circuits 38 of 6 and 17. Further, the coordinate data of the master manipulators 16 and 17 is sent to the MPU 33, where the operation commands of the slave manipulators 3 and 4 are calculated.

That is, the slave manipulators 3, 4
The tip of the tip, that is, the TCP, which is the point of action, is calculated by the MPU 33 as coordinate data in space in the base coordinate systems 13 and 14 or the task coordinate system 15, and this is the corresponding master manipulator 16, 1
The deviation between the two is calculated as an operation command so as to match the coordinate data of 7. This operation command is sent to the actuator drive circuit 35 to operate the actuators 11 of the slave manipulators 3 and 4.

On the other hand, M of the slave manipulators 3 and 4
The deviation calculated by the PU 33 is communicated to the interface circuit 38 of the master manipulators 16 and 17 via the interface circuit 37 of the slave manipulators 3 and 4.

This deviation is further sent to the MPU 34 of the master manipulators 16 and 17, where the force command of the master manipulators 16 and 17 is calculated. This force command is sent to the actuator drive circuit 36, and causes the actuators 21 of the master manipulators 16 and 17 to generate a force in the direction of suppressing the movement. This gives a sense of force to the master manipulators 16 and 17.

Therefore, in FIG. 1, the slave manipulator 3 is operated by operating the master manipulator 16.
Take the corresponding action. In other words, master manipulator 1
By the operation of 6, the slave manipulator 3 performs a proportionally corresponding operation corresponding to the master manipulator 16.
There is a so-called master-slave system operation relationship.

In this embodiment, the slave manipulator 3 is set so that the task coordinate system 15 shown in FIG. 1 has a relationship in which the base coordinate system 23 of the master manipulator 16 is translated. Since the point P in the TCP base coordinate system 23 is controlled so as to coincide with the point p in the TCP task coordinate system 15 of the slave manipulator 3, there are a direction in which the master manipulator 16 is operated and a direction in which the slave manipulator 3 moves. Match.

On the other hand, as shown in FIG. 1, the task coordinates 27 of the master manipulator 17 are set by the setting method described later so that the base coordinate system 14 of the slave manipulator 4 is translated. Furthermore, the point Q in the TCP task coordinate system 27 of the master manipulator 17 is the TC of the slave manipulator 4.
It is set so as to correspond to the point q in the base coordinate system 14 of P. Therefore, the base coordinate systems 14, 24
Despite the different orientations of the master manipulator 17
The direction in which is operated and the direction in which the slave manipulator 4 moves can be matched.

Next, the master manipulators 16 and 17 and the slave manipulators 3 in this embodiment.
A method of changing the setting of the task coordinate system of 4 will be described. Several methods using vectors and matrices are conceivable for this, but here, the following three examples will be described. (First Setting Method) This first setting method is the so-called 3
This is a point touch-up method, which will be described with reference to FIGS. 3 and 4. Description will be given assuming the manipulator 40 shown in FIG. The TCP position data in the base coordinate system 41 of the manipulator 40 assumed here is obtained from the length of the arm 43 that constitutes the manipulator 40 and the angle detected by the encoder 44 provided at the joint.

Therefore, in order to set a new task coordinate 45 in space according to the surgical environment, first, the origin P1 of the task coordinate 45 desired to be set is arbitrarily determined, and the position of the determined origin P1 is set. TCP of manipulator 40
The manipulator 40 is operated so that The control devices 31 and 32 read the position data of the origin P1 in the base coordinate system 41 and store it. Thereby, the position of the origin P1 of the task coordinate system 45 to be newly set can be defined.

Then, the X-axis of the task coordinate system 45 is selected as an arbitrary direction suitable for the operating environment, and the TCP is aligned with the position of an arbitrary point P2 on the + side on the temporarily determined X-axis. Therefore, the manipulator 40 is operated. Then, the TCP is aligned with the point P2, and the position data of the point P2 in the base coordinate system 41 at that time is read and stored. Further, by obtaining the first vector (P ₁ P ₂ ) from the origin P1 to the point P2, the task coordinate system 4
An X-axis of 5 is defined. In addition, as a vector display, 2
The arrow above the two letters indicating the dot is omitted. The same applies hereinafter.

Furthermore, in the space of the task coordinate system 45 to be newly set, for example, on the plane of the XY axes which is assumed to be suitable for the surgical environment, an arbitrary point P whose Y component is + is given.
3 is determined, and the manipulator 40 is operated so that TCP is aligned with the position of the temporarily determined point P3. Then, the position data of the point P3 in the base coordinate system 41 is read and stored.

Then, a second vector (P ₁ P ₃ ) extending from the point P1 to the point P3 is obtained, and further, an outer product {vector (P ₁ P ₂ ) with the above-mentioned first vector (P ₁ P ₂ ) is obtained.
When the vector of × vector (P ₁ P ₃ )} is obtained, the direction of this vector becomes the Z-axis direction. Furthermore, when the vector {vector (P ₁ P ₂ ) × vector (P ₁ P ₃ ) × vector (P ₁ P ₂ )} is obtained, the direction of this is Y
It is the direction of the axis.

By the above method, the TCP alignment of the manipulator 40 defines an arbitrary task coordinate system 45 in space. Further, equations (1) to (1) shown in FIG.
Using (4), the coordinate matrix M for the task coordinate system 45 to be set for the base coordinate system 41 is calculated,
When the TCP position vector Q in the task coordinate system 45 is obtained, the coordinate matrix M ^-1 is moved to the left with respect to the TCP position vector P in the known base coordinate system 41, as in the expression "Q = M ^-1 P". It may be obtained by multiplying from. FIG. 5 shows a procedure for setting the above task coordinate system. (Second Setting Method) Next, the second setting method will be described with reference to FIGS. 6 and 7. A manipulator 40 for setting a task coordinate system by this method is assumed as shown in FIG.

The base coordinate system 4 of this manipulator 40
The transformed coordinate matrix M of 1 and the task coordinate system 45 to be newly set in the space according to the surgical environment is generally expressed by the following equation.

[0035]

[Equation 1]

Where p (p _x , p _y , p _z ) is the vector of the origin of the coordinate system o (o _x , o _y , o _z ) is the approach vector of the origin of the coordinate system a (a _x , _ay , _az ) is the direction vector of the origin of the coordinate system n ( _nx , _ny , _nz ) is the normal vector of the origin of the coordinate system.

These variables correspond to this manipulator 40.
It is possible to easily obtain by calculation by measuring the relationship between the position at which is installed and the defined position of the task coordinate system 45. That is, by setting the register in the MPU in the control device of the manipulator 40, the above equation is calculated, and when the TCP position vector Q in the task coordinate system 45 is obtained, TC in the known base coordinate system 41 is calculated.
The position vector P of P may be obtained by multiplying the coordinate matrix M ⁻¹ from the left as in the expression “Q = M ⁻¹ P”. (Third setting method) Finally, regarding the third setting method,
This will be described with reference to FIGS. 8 to 10. In order to explain this setting method, assume a manipulator 40 as shown in FIGS. 8 and 9.

A tool 46 mounted on the manipulator 40
A tool coordinate system 47 is defined as a coordinate system unique to the following. This always uses TCP as the origin, and tool 46
The coordinate system is fixed to the system of No. 1 and is defined in a direction convenient for the operation of the manipulator 40. For example, when an endoscope is assumed as the tool 46 in FIGS. 8 and 9, as shown in FIG. 8, the longitudinal direction of the endoscope is the X axis, and the Z axis is the offset direction of the endoscope. If the Y axis is provided in the direction orthogonal to the direction, when it is desired to move the endoscope in the longitudinal direction, it is sufficient to command the movement of the tool coordinate system 47 in the X axis direction.

When the tool coordinate system 47 is expressed by a mathematical expression, it is expressed by the expression "HT" by the coordinate conversion matrix for the base coordinate system 41 as shown in FIG. Characters in this expression are originally expressed in bold characters, but here they are expressed in normal characters. The same applies below.

Here, T is a coordinate transformation matrix for the mechanical interface coordinate system fixed to the end effector mounting surface of the manipulator, and this is a geometrical transformation according to the arm length of the manipulator, the joint angle detected by the encoder, and the like. Scientifically required. Further, “H” is a coordinate transformation matrix of the tool coordinate system with respect to the mechanical interface coordinate system, and is expressed in the same format as the above expression (A), and the variables of each component are the shape of the tool and the selected tool coordinate system. It can be obtained from the direction of. Further, when the TCP position vector Q in the task coordinate system is obtained, the coordinate matrix M ⁻ is expressed by the equation “Q = M ⁻¹ P” with respect to the TCP position vector P in the known base coordinate system 41. Multiply by ¹ from the left.

The tool coordinate system 47 is defined by the above method. Here, the tool coordinate system 47 at a certain moment is defined as a task coordinate system, and this is further used for the operation command of the master-slave system. That is, first, TC of the manipulator 40 is set to an arbitrary point P1 in the space.
When there is P, the tool coordinate system 47 is defined as the task coordinate system. After that, the manipulator 40
8 operates and the tool coordinate system moves to the coordinate system (x ′: y ′: z ′) shown by P2 in FIG. 8, the tool coordinate system 47 in P1 is stored as the task coordinate system.

Next, the coordinate transformation matrix K for the former and the latter is obtained. In FIG. 8, if the coordinate conversion matrix K of the slave manipulator is “Ks” and the coordinate change matrix K of the master manipulator is Km, then Ks
By operating the slave manipulators so as to match Km, it is possible to make each manipulator correspond to the relative positional relationship from the time when the task coordinate system is defined to the current position.

This has the following effects. That is, when the surgical manipulator is remotely operated by the master-slave method, it is difficult for the positional relationship between the two to always match. For example, there is a case where the positional relationship between the two is mechanically displaced when the power supplies of the both are off. In particular, when there is no actuator in the joint of the master manipulator and only the encoder is provided for remote control by a so-called unilateral master-slave system, the position of the master manipulator easily shifts due to gravity or the force of the operator.

However, if the positional relationship between the two is shifted and the master-slave system is operated so as to make them coincide with each other, there is a problem that the operation is performed in an unexpected direction. on the other hand,
According to the method shown in FIG. 8, even if the position shifts, at the time when the operation by the master slave starts, it is set as the tool coordinate system and the task coordinate system of both the master manipulator and the slave manipulator, and the current position is set from this task coordinate system. By operating the slave manipulator so as to match the tool coordinate systems Km and Ks, the slave manipulator does not operate in an unexpected direction as described above. (Second Embodiment) This embodiment is an example of a control system that sets coordinates in a relationship that corresponds to the operation direction of a surgical manipulator and a sensor that is its operating means.

FIG. 11 shows an operating manipulator 51,
The schematic configuration of a system including the three-dimensional position sensor means 52 which is the operation means is shown. The surgical manipulator 51 has the same configuration as, for example, the slave manipulator in the case of the above-described first embodiment, is installed on one side of the operating table, and is similarly used. The control device is the same as that of the first embodiment described above.

On the other hand, the three-dimensional position sensor means 52, which is the operating means, is a three-dimensional position sensor used as a means for remotely operating the manipulator, and acts as an operating means for the surgical manipulator 51, for example, a slave manipulator. is there.

The three-dimensional position sensor comprises a source coil 53 and a sense coil 54, all of which are wound around three axes which are orthogonal to each other and which are orthogonal to each other in three axes.
It is made as a substantially cubic shape containing two magnetic field generating or receiving coil elements. A pulse current is sequentially applied to each coil element of the source coil 53 with a time difference by a drive circuit (not shown).
As shown in FIG. 5, a transmitter that sequentially generates the reference magnetic fields in the x-, y-, and z-axis directions is configured in the system space including the source coil 53. Further, the sense coil 54 constitutes a receiving unit that detects each reference magnetic field generated in the source coil 53 and detects the position and orientation of itself.

In this case, the source coil 53 and the sense coil 54, or at least the sense coil 54, has such a size that it can be gripped with the hand 56 as shown in FIG. The size may be such that it can be attached to a part of the body, for example, the head. The sense coil 54 can be fixed to the operator's head or an HMD (Head Mounted Display) attached to the head, and the slave manipulator can be operated by the movement of the head.

Thus, the three-dimensional position sensor means 52 is
A source coil 53 as a transmitter for generating a magnetic field,
The source coil 53 is provided with a sense coil 54 as a receiving unit that receives a magnetic field. As shown in FIG. 12, the three-dimensional position sensor means 52 includes a relative position detection circuit 58 that detects the relative position and orientation of the sense coil 54 with respect to the source coil 53. Further, a manipulator control unit 59 for remotely operating the manipulator 51 based on the three-dimensional relative position information detected by the source coil 53 and the sense coil 54 of the three-dimensional position sensor means 52 is provided. Then, the manipulator 51 is operated by the operation command obtained from the source coil 53.
2 shows a configuration of a remote control system 55 for operating the.

Therefore, as shown in FIG. 13, an induced current is generated in each magnetic receiving coil element of the sense coil 54 in each axial direction by the reference magnetic field. The relative position detection circuit 58 detects the vector of the magnetic field based on this induced current and calculates it to obtain the three-dimensional relative position of the source coil 53 and the sense coil 54.

The obtained result is transmitted to the manipulator control unit 59. The manipulator control unit 59 detects the sense coil 5 detected by the three-dimensional position sensor means 52.
Manipulator 5 for surgery according to the three-dimensional relative position of 4
1 is operated.

When the operating means of this embodiment is applied to the above-mentioned first embodiment, it becomes as shown in FIG. That is, the source coils 53, which are transmitters, are fixed to the same side of the operating table 1, and the sense coil 54, which is a receiver, is operated by the operator holding it in his hand or by attaching it to his / her head.

One slave manipulator 3 operates corresponding to the three-dimensional relative positions of the source coil 53 and the sense coil 54 of the first three-dimensional position sensor means 52a provided corresponding thereto. The task coordinate system 6 is provided separately from the base coordinate system 61 of the first three-dimensional position sensor means 52a.
Set 2.

The vector P representing the three-dimensional positional relationship of the sensor coordinate system 63 provided on the sense coil 54 in the task coordinate system 62 is one slave manipulator 3
The slave manipulator 3 is operated so as to match the vector P representing the three-dimensional positional relationship of TCP with respect to the base coordinate system 13. Task coordinate system 62 here
Can be changed arbitrarily. For example, the sensor coordinate system 63, which is an orthogonal coordinate system provided on the sense coil 54, is used for the setting. For example, the sensor coordinate system 63 at a certain moment is defined as the task coordinate system 62.

By setting the task coordinate system 62 at a desired position in this manner, as shown in FIG. 14, the TCP positional relationship in the base coordinate system 13 of the slave manipulator 3 and the sensor coordinate system with respect to the task coordinate system 62 are set. 6
The positional relationship of 3 becomes a parallel movement relationship, and the operator can easily operate it.

On the other hand, the other slave manipulators 4 are
Source coil 53 of second three-dimensional position sensor means 52b
And the sense coil 54 operates corresponding to the three-dimensional relative position. In the base coordinate system 61 of the second three-dimensional position sensor means 52b, the vector Q representing the three-dimensional positional relationship of the sensor coordinate system 63 provided in the sensor coil 54 is a task that can be set arbitrarily by the slave manipulator 4. The slave manipulator 4 is made to match the vector q representing the three-dimensional positional relationship of TCP with respect to the coordinate system 65.
Set and operate in correspondence. That is, the task coordinate system 65 can be arbitrarily set by the first or second setting method in the above-described first embodiment, and by performing this setting, the vector Q as shown in FIG.
And the vector q have a relation of parallel movement, and the operator can easily operate. (Third Embodiment) In the above-described second embodiment, an example in which a sensor using a magnetic coil is used as a sensor as an operating means is shown, but the present invention may be a sensor of another system. The third embodiment shows an example in which the sensor for detecting the line of sight is used to operate the surgical manipulator.

In FIG. 15, reference numeral 70 denotes a manipulator which is percutaneously inserted into the abdominal cavity.
At the tip of 0, a stereoscopic scope 71 as a stereoscopic observing means for stereoscopically observing the inside of the body cavity is attached.

16 and 17 (a), an HMD (Head Mounted Display) that displays the signals processed by a controller (not shown) that processes the signals of the left and right screens captured by the stereoscopic scope 71 on the left and right images respectively. 72, the HMD 72 further includes an operator's eyeball 73a,
Line-of-sight detection sensor 7 that detects the line-of-sight direction of 73b
4a and 74b are provided.

The line-of-sight detection sensors 74a and 74b are connected to an arithmetic processing unit (not shown) of a control device (not shown) as in the case of the first embodiment described above. This arithmetic processing unit is configured to include an object position calculation circuit that calculates each position of the eyeballs 73a and 73b based on the signals detected by the line-of-sight detection sensors 74a and 74b and calculates the position of the object. The object position calculation circuit also performs so-called autofocus control for driving and controlling the variable focus optical system of the stereoscopic scope 71 based on the obtained position of the object.

As a specific example of the line-of-sight detection sensors 74a and 74b, as shown in FIG. 18A, a CCD camera 78 is used to observe the eyeballs 73a and 73b. This is a method of detecting the line of sight detected from the relative relationship between the positions of 73a and 73b and the central positions of the pupils 75a and 75b.

As another configuration, as shown in FIG. 18 (b), infrared light is emitted from the light emitting diode 79 toward the eyes 73a, 73b, and the light reflected by the eyes 73a, 73b is PSD ( Position sensing device)
It is also conceivable to adopt a method of detecting the line-of-sight direction by detecting at 80. In any of these methods, the positional relationship between the pupil and the reflected image of infrared light reflected by the cornea of the eye is calculated at high speed by a microcomputer to obtain the rotation angle of the eyeball and calculate where to look.

Therefore, in FIG. 17B, when the operator is observing the object, as shown in FIG. 17A, the line-of-sight directions of the left and right eyes are on the virtual image 81 of the object. In order to intersect, the respective line-of-sight directions are set to the line-of-sight detection sensors 74a,
If it is obtained in 4b, the three-dimensional position of the virtual image 81 of the object can be obtained. Furthermore, since the relationship of the optical system between the HMD 72 and the stereoscopic scope 71 is known, the three-dimensional position of the real image of the object with respect to the stereoscopic scope 71 is calculated from the three-dimensional position of the virtual image of the object in the HMD 72. Is required.

The relationship between the optical systems is, for example, HMD7.
2 eyeballs 73a and 73b and display portions 82a and 82b
And the positional relationship between the objective optical systems 71a and 71b and the CCDs 84a and 84b in the stereoscopic scope 71, and the magnification of each optical system. Ideally, if the relationships of the optical systems are similar, θL = φL, θR, φR shown in FIGS. 17A and 17B, θL =
The relational expression of ψL, θR = ψR holds.

However, even if the relationship is not similar, the relationship between the optical systems is known, so that the three-dimensional position of the real image can be easily obtained. Note that ψL and ψR are the objective optical system 7
1a and 71b are deviation angles with respect to the optical axes of the objective optical systems 71a and 71b and the CCDs 84a and 84b when the virtual image 81 of the object is focused. Further, θL and ψL are shown in FIG.
As shown in (a) and (b), left and right eyeballs 73a, 73b
The central axes A and B of the pupils 75a and 75b, that is, the directions of the left and right lines of sight, and the angles formed by the display portions 82a and 82b.

In FIG. 17 and FIG. 18, the problem of the plane is dealt with in order to facilitate the explanation, but the position of the observation target can be detected by the same principle in the three-dimensional space.

The manipulator 7 for surgery is used so that the stereoscopic scope 71 is directed to the three-dimensional position of the coordinates of the virtual image 81 of the object obtained by the line-of-sight detection sensors 74a, 74b.
In order to operate 0, an eye coordinate system 85 and a scope coordinate system 86 are provided at the center point of the observation image of the HMD 72 and the tip of the stereoscopic scope 71, respectively. The coordinate system is set so that the observation position P of the virtual image in the eye coordinate system 85 always coincides with the observation position p of the real image in the scope coordinate system 86, and the manipulator 70 is operated. The setting of the coordinate system can be changed by the method as in the above-mentioned embodiment according to the use environment. As a result, it is possible to move the observation image of the observation target whose sight line is directed to the center of the screen.

In FIG. 15, reference numeral 87 denotes various treatment tools used in percutaneous endoscopic surgery. The manipulator 70 and the treatment tool 87 are percutaneously inserted into the abdominal cavity 88. (Fourth Embodiment) This embodiment is an example of the case where a voice is used as the manipulator operation means.
Will be described with reference to.

That is, the voice input means 90, the voice recognition device 91, the two slave manipulators 3 and 4, and the manipulator control device (not shown) are provided. The operator 92 operates the slave manipulator 3,
"Forward" indicating the direction of movement when viewed from the operator side of 4
When a word such as "back", "up", "down", "right" or "left" is uttered toward the voice input means 90 such as a microphone, the voice recognition device 91 decodes the meaning of the word. , Generates command data for the manipulator control device.

The slave manipulators 3 and 4 are fixed to the operating table 1 and have base coordinate systems 93 fixed to the bases (bases) 7 and 8 thereof showing up, down, left and right, and front and back, respectively. The coordinates of these base coordinate systems 93 can be changed by the manipulator control device so as to match the direction viewed from the operator, and this can be performed by the method described above.

In this way, the base coordinate system can be changed in any direction. Here, for example, in one slave manipulator 3 installed on the operator 92 side, the direction viewed from the operator 92 and the direction of the preset base coordinate system 93 are usually coincident with each other. There is no need to change the coordinate system 93. However, since the other slave manipulator 4 installed on the opposite side is attached in the opposite direction to the slave manipulator 3, the direction viewed from the operator 92 and the preset base coordinate system 93 of the slave manipulator 4 are set. The directions do not match, and they are in the opposite direction. Therefore, it does not match the meaning of the utterance of the operator 92.

Therefore, the other slave manipulator 4
By converting the task coordinate system of the above and changing to the direction shown by the broken line of the base coordinate system 93, the meaning of the utterance of the operator 92 is made to match. This makes the operation of the slave manipulator 4 extremely easy.

In the fourth embodiment, an example in which the slave manipulators 3 and 4 are operated in accordance with the direction set in the base coordinate system 93 of the manipulators 3 and 4 by voice input is shown. 2 instead of
0, up / down, front / rear, left / right switch buttons 9
It is also possible to use the operation panel 95 having the No. 4 or to use the operation panel 97 having the joystick 96 as shown in FIG. (Fifth Embodiment) The fifth embodiment will be described with reference to FIGS. As shown in FIG. 22 (a),
The manipulator 100 has an insertion section 10 to be inserted into a body cavity.
An observation means 102 for observing the inside of the body cavity is provided at the tip of 1. This observing means 102 includes, for example, FIG.
A stereoscopic scope 103 capable of stereoscopic observation as shown in (a) or an ultrasonic probe 105 having an ultrasonic transducer 104 as shown in FIG.
Etc. are available.

On the other hand, there are a joystick 106 as an operating means of the manipulator 100 and a display means 107 such as a TV monitor for displaying an observation image obtained from the observation means 102. At the tip of the observing means 102, a tool coordinate system 108 fixed to the tip of the observing means 102 is provided, and this is operated by the control means of the control device in accordance with the operating directions X, Y, Z of the joystick 106.
The tool coordinate system 108 set in the control means can be set / changed by the coordinate setting conversion means, for example, by the method of the above-described embodiment.

Therefore, the coordinates 109 in the up-down, left-right, and front-back directions of the display means 107 and the operation directions X, Y, Z of the joystick 106 are reset by the above-mentioned coordinate conversion method and correspond to each other. When the user wants to see a desired direction on the screen, the operation direction of the joystick 106 is immediately known, and the operability is improved. (Sixth Embodiment) The sixth embodiment will be described with reference to FIGS. FIG. 24 shows an operating means using a magnetic coil, and FIG. 25 shows a manipulator. The manipulator 110 in this embodiment is the same as the fifth manipulator.
Similar to the embodiment described above, the observation means 112 for observing the inside of the body cavity is provided at the tip of the insertion portion 111 to be inserted into the body cavity. This observing means 112 has, for example, the above-mentioned FIG.
The stereoscopic scope 103 for stereoscopic observation as shown in (a) or the ultrasonic probe 10 having the ultrasonic transducer 104 as shown in FIG.
5 etc. can be used.

Further, as shown in FIG. 24, there is an HMD 115 as a means for displaying an observation image obtained from the observation means 112 for observing the inside of the body cavity, and the HMD 115 is used by the operator 116.
Wear on the head. This HMD115 has the above-mentioned second
Of the head of the operator 116 from the three-dimensional positional relationship of the sense coil 117 with respect to the source coil 118.
It is configured to detect a dimensional position. The manipulator 110 is made to follow the movement of the head of the operator 116 obtained by the detection means. Also, similar to the above-mentioned embodiment,
The setting of the other coordinate system with respect to the one coordinate system can be changed, and the setting can be changed so as to match each other according to the use environment.

Observation means 1 in manipulator 110
A fixed tool coordinate system 119 is set at the tip of 12. Further, sensor coordinate systems 121 and 122 are set in the sense coil 117 and the source coil 118, respectively, and the three-dimensional positional relationship between them is a coordinate conversion matrix M from the sensor coordinate system 121 to the sensor coordinate system 122. Calculated as

By the way, the manipulator is operated by the operator 11
It may be inconvenient if it always operates in response to the movement of the head of No. 6. For example, this is the case when the HMD 115 is attached or detached, or when it is desired to keep the manipulator 110 stationary.

Corresponding to such a case, a switching means such as a switch for enabling / disabling the condition for the manipulator 110 to follow the three-dimensional head position obtained from the sensor means is provided.

When this condition is validated, the coordinate transformation matrix P from the sensor coordinate system 121 of the HMD 115 at the moment of validation to the current sensor coordinate system 121 'after the head moves is similarly validated. The tool coordinate system 119 ′ after movement from the tool coordinate system 119 of the observing means 112 at the moment
The manipulator 110 is operated so as to match the coordinate transformation matrix Q to. According to this, there is no contradiction between the moving direction of the HMD 115 and the moving direction of the head when switching between invalid / effective. (Seventh Embodiment) A seventh embodiment shown in FIG. 26 has the same construction as that of the surgical manipulator 110 described in the sixth embodiment, and the observation for observing the inside of the body cavity. The HMD 115 as a means for displaying the observation image obtained from the means 112 is also provided.

HMD 115 worn on the operator's 116 head
Is a manipulator 127 that articulates a plurality of arms 126.
The HMD1 is mounted on the HMD1 according to the joint angle of the encoder 128 provided on each joint of the manipulator 127.
Fifteen three-dimensional positions are obtained. The operation manipulator 110 is adapted to perform a corresponding operation according to this position.

At the tip of the observation means 112, there is a tool coordinate system 119 fixed to it. The HMD 115 has a sensor coordinate system 121 fixed to it. By the way, if the manipulator always operates in response to the movement of the head of the operator 116, it may be rather inconvenient. For example,
When attaching and detaching the HMD 115, the manipulator 110
That is the case when you want to keep still.

Corresponding to such a case, means for enabling / disabling the condition that the manipulator 110 follows the three-dimensional head position obtained from the sensor means is provided.

When this condition is validated, the moment when the coordinate transformation matrix P from the sensor coordinate system 121 of the HMD 115 to the current sensor coordinate system 121 'after the head moves is also valid The manipulator 110 is operated so as to match the coordinate conversion matrix Q from the tool coordinate system 119 of the observation means 112 to the tool coordinate system 119 ′ after the movement. According to this, there is no contradiction between the moving direction of the HMD 115 and the moving direction of the head when switching between invalid / effective. (Eighth Embodiment) The eighth embodiment will be described with reference to FIGS. 27 and 28. This embodiment provides an observation means for enhancing the operability of the treatment manipulator while looking at the monitor. In FIG. 27, reference numeral 130 denotes a treatment manipulator that is used by being guided into the body cavity, and a tool coordinate system 131 is set at the tip of this manipulator 130. Make the X axis of the tool coordinate system 131 coincide with the long axis of the manipulator 130.
The tool coordinate system 131 is set according to the usage environment.

Further, reference numeral 133 in the figure is an observation manipulator, and the treatment manipulator 130 is provided by an observation means 134 provided at the tip of the observation manipulator 133.
And the TV monitor 13 which is the display means.
The tool coordinate system 131 is superimposed on the screen of FIG.

The operation means of the treatment manipulator 130 is provided with a function of moving it corresponding to the coordinate axes of the tool coordinate system 131. Thus, it is possible to easily operate the tool coordinate system 131 displayed on the screen of the TV monitor 135 by various operation means. (Ninth Embodiment) The ninth embodiment will be described with reference to FIG. In this embodiment, for example, as shown in the above-mentioned first embodiment, the slave manipulators 3, 4 are used.
And the manipulator system in which two master manipulators 16 and 17 are provided, in particular, the task coordinate system for the slave manipulators 3 and 4 is shared, and this is referred to as a shared coordinate system 141. The task coordinate system for the master manipulators 16 and 17 is also shared, and this is referred to as a shared coordinate system 142. of course,
The shared coordinate systems 141 and 142 can change coordinate settings.

Then, the shared coordinate systems 141 and 142, respectively.
The respective coordinate systems are set so that the slave manipulators 3 and 4 can be operated by the operation of the master manipulators 16 and 17 so that the positional relationship in FIG. The other points are as described in the first embodiment.

Since the shared coordinate systems 141 and 142 are shared in this way, the slave manipulators 3 and 4 can be operated by following the movements of the master manipulators 16 and 17 in the shared coordinate systems. Therefore, it is easy to perform an operation when performing cooperative work with two manipulator systems. The pair of manipulators is not limited to two sets, and may be provided beyond that. (Tenth Embodiment) The tenth embodiment will be described with reference to FIG. In this manipulator system, the slave manipulator 151 has an instrument 153 having an insertion portion 152 for inserting its tip into the body, and the instrument 15
3, a robot 154 having a plurality of axes having linear and rotational degrees of freedom for supporting 3. Insertion part 152
The distal end portion of is equipped with a three-dimensional (three-dimensional) scope 155 and a pair of treatment tools 156 and 157. The distal end portion of the insertion portion 152 and the pair of treatment tools 156 and 157 are each capable of bending with multiple degrees of freedom. Further, the slave manipulator 151 has a degree of freedom of linear movement and rotation.

On the other hand, as the operating means, there is a master manipulator 161 having a multi-joint structure, and an HMD 162 and a pair of operation tool operating arms 163, 164 are provided at the tip of the master manipulator 161. . One and the other of the operation arms 163, 164 for operating the treatment tool individually correspond to one and the other of the pair of treatment tools 156, 157 described above, respectively, and perform a corresponding movement as a master and a slave thereof. Coordinate system is set so as to be controlled as follows.

That is, as shown in FIG. 30, a coordinate system is provided at each position. That is, the operation of the tool coordinate system 165 of the master manipulator 161 is
The slave manipulator 151 corresponds to the coordinate system 166 of the insertion unit 152 of the slave manipulator 151, and further, the sensor coordinate system 167 of the HMD 162 for the tool coordinate system 165 corresponds to the scope coordinate system 170 for the coordinate system 166 of the insertion unit 152. Works. The operation unit coordinate systems 168 and 169 of the operation arms 163 and 164 with respect to the tool coordinate system 165 are the insertion unit coordinate system 1 respectively.
It is set so as to correspond to the treatment section coordinate systems 171 and 172 for 66.

Therefore, even when the plurality of treatment tools and the observation means are independently controlled, the operation can be performed without any contradiction in their operation directions. (Eleventh Embodiment) This embodiment shows a modification of the first embodiment described above and is shown in FIG. That is, in this embodiment, a first slave manipulator 3 and a second slave manipulator 4, which are a plurality of surgical manipulators equipped with an endoscope and a treatment tool, are provided, and these are remotely operated by operating means. I do. Further, the plurality of slave manipulators 3 and the second slave manipulator 4 are fixed to the side of the operating table 1,
Due to the space on the bed side, the bed is divided into left and right and installed on both sides of the operating table 1.

On the other hand, as manipulating means, master manipulators 16 and 17 respectively corresponding to the slave manipulators 3 and 4 are provided, and a plurality of master manipulators 16 and 17 are operated by one operator. In relation, the operating table 1 on the same side where the operator is
It is fixedly installed on one side. In other words, the slave manipulators 3 and 4 and the master manipulators 16 and 17 that individually correspond to the slave manipulators 3 and 4 include sets that cannot be installed on the same side. In this embodiment, the slave manipulator 4 and the corresponding master manipulator 17 are in that relationship.

In the case of the set of the slave manipulator 4 and the master manipulator 17, the base coordinate systems of the two do not initially match, and if the positions are matched based on the base coordinate system, the operator However, there is a problem that the slave manipulator 4 moves in an unintended direction. This is as described above.

As a countermeasure against this, in this embodiment, the slave manipulators 3 and 4 and the master manipulator 1 are used.
When setting the task coordinate systems of 6 and 17, the task coordinate system 17 of the plurality of slave manipulators 3 and 4 is set.
3 are shared, and the master manipulators 16 and 17 are also shared.
The task coordinate system 174 of 1 is also shared. By thus sharing the task coordinate systems, even in a system having a plurality of manipulators, the positional relationship between them can be taken and the operability can be improved.

Thus, the slave manipulators 3,
4 is installed from the layout of the patient and the bed, the base coordinate system often cannot be matched, and the master manipulators 16 and 17 may be installed at positions determined by the operator's convenience. Therefore, the correspondence of those task coordinate systems may not match,
In this embodiment, the shared task coordinate systems 173 and 17 are used.
The problem can be solved by resetting each as 4, and matching the coordinate systems.

The number of operating means is not limited to the same number depending on the number of slave manipulators, and the operating means, for example, a master manipulator may be shared by a plurality of slave manipulators. For example, in the eleventh embodiment, for example, only the master manipulator 16 may be provided, and the slave manipulators 3 and 4 effective for use may be selected by providing a switching means (not shown). (Twelfth Embodiment) As shown in FIG. 32, this embodiment has a plurality of treatment slave manipulators 181, 182 when performing percutaneous surgery as in the case of the first embodiment described above. Is provided, and the operative field is observed percutaneously with the endoscope 183.
A plurality of treatment slave manipulators 181, 182,
And the operating means therefor is the same as, for example, the first embodiment described above. (Addition) (1) An operating means installed within an area that can be operated by an operator, a manipulator installed to access the operative field and performing movement following the operation of the operating means, and a unique coordinate system as a reference As a first control means for determining the operation position and / or orientation of the operation means, and for determining the position and / or orientation of the manipulator based on information from the first control means based on a unique coordinate system. The second control means for moving the manipulator and the setting of at least one coordinate system of the unique coordinate system of the operation means and the unique coordinate system of the manipulator are converted to change the position and / or the position of the operation means and the manipulator. A manipulator system for surgery, characterized by comprising: a coordinate system converting means for supporting orientation.

(2) A master manipulator installed in an area that can be operated by an operator, a slave manipulator installed to access the operative field and performing movement following the operation of the master manipulator, and a unique coordinate system First control means for determining the position and / or orientation of the master manipulator as a reference, and determining the position and / or orientation of the slave manipulator by information from the first control means based on a unique coordinate system. The position and / or orientation of each manipulator is converted by converting the setting of at least one of the second control means for moving the slave manipulator, the unique coordinate system of the master manipulator, and the unique coordinate system of the slave manipulator. Of the coordinate system that corresponds to A manipulator system for surgery, comprising: a converting means.

(3) The operating means is installed in a state where the position and / or orientation is determined with reference to a unique coordinate system within an area that can be operated by the operator.
A first manipulator for determining a position and / or orientation based on a unique coordinate system based on the operation information of the operating means and performing a movement following the movement of the operating means is installed at a position accessible to the operative field. And a second step of converting a coordinate setting for a unique coordinate system of at least one of the operating means and the manipulator so as to correspond the position and / or orientation of the operating means and the manipulator. Transformation method for surgical manipulator system.

(4) Second correspondence for the position and / or orientation of the operating means and the manipulator
The step of deciding the origin of the task coordinates to be newly set and aligning the tip of the operating means and / or the manipulator with the position of the determined origin, and the base coordinate system of the operating means and / or the manipulator. The second step of reading the position data of the origin of the task coordinate system to define the position of the origin of the task coordinate system to be newly set, and an arbitrary direction suitable for the surgical environment from the origin of the newly set task coordinate system. To the third step of temporarily selecting the X-axis, and on the temporarily selected X-axis, align the tip of the operating means and / or the manipulator with the position of any second point on the + side, Attempt to set by reading the position data of the point in the base coordinate system and obtaining the first vector from the origin to the second point 4 that defines the X axis of the disk coordinate system
And the third point where the Y component is + on the expected plane of the XY axes which is supposed to be suitable,
The tip of the manipulator and / or the manipulator is aligned with the position of the point, the position data of the third point in the base coordinate system is read, and the second vector from the origin to the third point is obtained. Through the fifth step of finding the Z axis from the vector and the above-mentioned first vector, and the sixth step of finding the Y axis from the first vector, the second vector, and the first vector, the space is entered. The above-mentioned 3 characterized in that X, Y, and Z axes of a new task coordinate system are set.
A coordinate transformation method in the surgical manipulator system described in [3].

(5) Second correspondence for the position and / or orientation of the operating means and the manipulator
The step of (3) is characterized in that the coordinate transformation matrix of the newly set task coordinate system with respect to the base coordinate system is obtained, and the position and / or orientation of the operating means and the manipulator are associated with each other. Transformation method in a mobile manipulator system.

(6) Second correspondence for the position and / or orientation of the operating means and the manipulator
The step of (3) is characterized in that a tool coordinate system is obtained as a coordinate system unique to a tool mounted on the manipulator, and the tool coordinate system is set in accordance with a task coordinate system to be newly set. Transformation method in a mobile manipulator system.

(7) The manipulator system for surgery according to the above 1, wherein the operating means is a master manipulator in a master-slave system, and the manipulator for performing at least one of observation and treatment is a slave manipulator.

(8) The surgical instrument according to the above 1, wherein the operating means is a sensor for detecting at least a part of the position or orientation of the space, and the movement of the operator's body is detected by the sensor. Manipulator system.

(9) The surgical manipulator system as described in the above item 1, wherein the operating means is a voice input device and operates in a direction instructed by voice. (10) The surgical manipulator system as described in the above item 1, wherein the operating means is a switch and operates in a direction designated by the switch.

(11) The manipulator for surgery according to the above 1, 2, or 3, which has a plurality of operating means and shares at least a plurality of coordinate systems among the unique coordinate systems of the operating means. System or coordinate transformation method.

(12) A manipulator system for surgery or a coordinate conversion method, wherein the operating means is a master manipulator in a master-slave system. (13) The manipulator system for surgery or the coordinate conversion method according to the above 1, 2, or 3, which has a plurality of manipulators and shares at least a plurality of coordinate systems among the unique coordinate systems of the manipulators. .

(14) The above-mentioned 1, 2 or 3 characterized in that at least a plurality of coordinate systems among the peculiar coordinate systems of the operating means and the manipulator are shared to correspond to each other.
The manipulator system for surgery or the coordinate conversion method described in.

(15) A master manipulator in the master-slave system and a sensor for detecting at least a part of the position or orientation of the space as operation means, and means for associating the coordinate system of the master manipulator with the sensor. The manipulator system for surgery or the coordinate conversion method described in.

(16) At least two or more operating means are common, and a switching means for operating means corresponding to each manipulator is provided, and the operating means is switched and selectively used. The surgical manipulator system described in.

(17) A manipulator having an operating means installed in an area that can be operated by an operator and an operating field observing means installed so as to access the operating field and performing a movement following the operation of the operating means. Display means for displaying an image obtained from the observing means, control means for determining the position and / or orientation of the operating means and the manipulator with a coordinate system as a reference, and the operation for converting the setting of the coordinate system. Coordinate conversion means for setting the correspondence between the position and / or orientation of the means and the position and / or orientation of the manipulator, the coordinate system of the manipulator, and display means for displaying an image obtained from the observation means of the manipulator And a means for associating with the direction of the screen of the surgical manipulator. Data system.

(18) The manipulator system for surgery as described in 17 above, which has a coordinate system fixed to the observation means of the manipulator. (19) The above-mentioned 17, wherein the display means is provided with a sensor for detecting at least a part of the position or orientation of the space, and the control means operates the manipulator having the observation means in response to the movement of the display means. Surgical manipulator system.

(20) In the above-mentioned item 17, the display means is attached to a movable arm, an encoder is provided in a moving part of the arm, and a control means for operating a manipulator having an observation means corresponding to the movement of the display means. The surgical manipulator system described.

(21) The manipulator system for surgery according to the item 17, further comprising image processing means for displaying on the display means the direction indicated by the coordinate system fixed to the treatment means of the manipulator.

(22) A plurality of slave manipulators installed so as to be able to access the operative field (working range) from various different directions, and the slave manipulators corresponding to the areas operable by the operator are different. A master manipulator installed to access from a direction, a master manipulator installed to access from a direction different from the slave manipulator, and the master manipulator by converting the coordinate system of the slave manipulator and the master manipulator. And a coordinate transformation means for determining the relationship between the position and orientation of the slave manipulator and the surgical manipulator system.

(23) The master manipulator is less than the number of slave manipulators, and at least a part of the master manipulators also serves as a plurality of slave manipulators. 23. The manipulator system for surgery according to the above 22, wherein the manipulator system for surgery is provided.

(24) Addition of (2) and (17) to be added, and as an addition of coordinate conversion means for determining the relationship between the slave manipulator of (2) and the slave manipulator of (17), A master manipulator installed in an operable area, a slave manipulator having an operation field observation means installed to access the operation field and following the operation of the operation means, and a slave manipulator obtained from the observation means. Display means for displaying an image, first control means for determining the position and / or orientation of the master manipulator with reference to its own coordinate system, and the first control means with reference to its own coordinate system. The position and / or orientation of the slave manipulator is determined by information from the control means to determine the slave manipulator. Second control means for moving the puulator, and coordinates for converting the setting of at least one of the coordinate systems to set the correspondence between the position and / or orientation of the master manipulator operating means and the position and / or orientation of the slave manipulator. An operating manipulator system comprising: a converting unit; a coordinate system of the manipulator; and a unit that associates a screen direction of a display unit that displays an image obtained from an observing unit of the manipulator.

[0116]

As described above, according to the present invention, the surgery viewed from the operator by setting and changing the coordinate system of the surgical manipulator and the coordinate system of the operating means in accordance with the relationship between the coordinate system and the coordinate system of the operating means. It is possible to make the operating directions of the operating manipulator and the operating means coincide with each other, and the constraint of the operability due to the relative positional relationship at the time of installing them can be avoided. That is,
It is possible to perform an operation intended by the operator without impairing the operability in the operation direction due to the relative positional relationship between the surgical manipulator and the operating means.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of a manipulator system according to a first embodiment of the present invention.

FIG. 2 is an explanatory diagram of a control system in the manipulator system according to the first embodiment of this invention.

FIG. 3 is an explanatory diagram for changing the setting of the coordinate system of the manipulator in the first embodiment of the present invention.

FIG. 4 is a diagram showing a procedure for changing the setting of the coordinate system of the manipulator in the first embodiment of the present invention.

FIG. 5 is a diagram showing a procedure for changing the setting of the coordinate system of the manipulator in the first embodiment of the present invention.

FIG. 6 is an explanatory diagram of another method for changing the setting of the coordinate system of the manipulator in the first embodiment of the present invention.

FIG. 7 is a diagram showing another procedure for changing the setting of the coordinate system of the manipulator in the first embodiment of the present invention.

FIG. 8 is an explanatory diagram of another method of changing the setting of the coordinate system of the manipulator in the first embodiment of the present invention.

FIG. 9 is an explanatory diagram of another method for changing the setting of the coordinate system of the manipulator according to the first embodiment of the present invention.

FIG. 10 is a diagram showing another procedure for changing the setting of the coordinate system of the manipulator in the first embodiment of the present invention.

FIG. 11 is an explanatory diagram of a manipulator system according to a second embodiment of the present invention.

FIG. 12 is an explanatory diagram of a control device in the manipulator system according to the second embodiment of the present invention.

FIG. 13 is an explanatory diagram of operating means in the manipulator system according to the second embodiment of the present invention.

FIG. 14 is an explanatory diagram of a usage state of the manipulator system according to the second embodiment of the present invention.

FIG. 15 is an explanatory diagram of a usage state of the manipulator in the surgical field according to the third embodiment of the present invention.

FIG. 16 is an explanatory diagram of a usage state of the HMD in the third embodiment of the present invention.

FIG. 17 is an explanatory view of the operation of the HMD and the stereoscopic scope in the third embodiment of the present invention.

FIG. 18 is an explanatory diagram of a method of detecting the line of sight of an HMD according to the third embodiment of the present invention.

FIG. 19 is an explanatory diagram of a manipulator system using a voice input device according to a fourth embodiment of the present invention.

FIG. 20 is a plan view showing an example of a switch type operation panel as an input means of the operation means.

FIG. 21 is a plan view showing an example of a joystick type operation panel as an input means of the operation means.

FIG. 22 is an explanatory diagram of a manipulator system according to a fifth embodiment of the present invention.

FIG. 23 is a perspective view of a manipulator according to a fifth embodiment of the present invention.

FIG. 24 is a perspective view of the operating means in the sixth embodiment of the present invention.

FIG. 25 is a perspective view of a manipulator according to a sixth embodiment of the present invention.

FIG. 26 is an explanatory diagram of a manipulator system according to a seventh embodiment of the present invention.

FIG. 27 is a perspective view of a manipulator according to an eighth embodiment of the present invention.

FIG. 28 is a front view of the TV monitor according to the eighth embodiment of the present invention.

FIG. 29 is an explanatory diagram of a manipulator system according to a ninth embodiment of the present invention.

FIG. 30 is an explanatory diagram of a manipulator system according to a tenth embodiment of the present invention.

FIG. 31 is an explanatory diagram of a manipulator system according to an eleventh embodiment of the present invention.

FIG. 32 is a perspective view of a manipulator in use according to a twelfth embodiment of the present invention.

[Explanation of symbols]

1 ... Operating table (bed), 2 ... Patient, 3 ... First slave manipulator, 4 ... Second slave manipulator,
9, 10 ... Treatment tool, 13, 14 ... Base coordinate system, 15,
16 ... Task coordinate system, 16 ... First master manipulator, 17 ... Second master manipulator, 18 ... Operation console, 23, 24 ... Base coordinate system, 27 ... Task coordinate system,
31, 32 ... Control device, 33, 34 ... MPU, 35, 3
6 ... Actuator drive circuit, 37, 38 ... Interface circuit.

Claims (1)

[Claims] 1. An operating means installed in an area that can be operated by an operator, a manipulator installed so as to access the operating field and performing a movement following the operation of the operating means, with a unique coordinate system as a reference. A first control means for determining the operation position and / or orientation of the operation means, and a position and / or orientation of the manipulator based on information from the first control means with reference to a unique coordinate system. Second control means for moving the manipulator, and setting and / or orientation of the operating means and the manipulator by converting the setting of at least one of the unique coordinate system of the operating means and the unique coordinate system of the manipulator. A manipulator system for surgery, which comprises: