JPH08117238A - Surgical manipulator - Google Patents

Abstract

PURPOSE: To provide a surgical manipulator by which an inserting part of a surgery instrument can be inserted without giving the inserting hole excessive force when observation and treatment are performed in a body cavity. CONSTITUTION: This surgical manipulator is composed of a master manipulator 11 which is installed on a area capable of operation for an operator and a slave manipulator 1 which is installed so as to get access to a surgical area and moves following the operation of the master manipulator 11, and a surgical instrument 3 is held by this slave manipulator 1, and this surgical manipulator is provided with a control means which makes the slave manipulator 11(1?) operated so that the position or the posture of this surgical instrument 3 is restricted to the operational area.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surgical manipulator for inserting a surgical instrument such as an endoscope into a body cavity for observing and treating the body cavity.

[0002]

2. Description of the Related Art Under an endoscope for performing various treatments in a body cavity by forming an insertion hole in a body wall such as an abdominal wall and percutaneously inserting an endoscope or a treatment tool into the body cavity through the insertion hole. Surgery has been performed conventionally, and such a surgical technique is widely performed as a minimally invasive procedure that does not require a large incision, such as a cholecystectomy or a surgery to remove and remove a part of the lung.

For example, Japanese Patent Application No. 4-221571 has a scope holder to which a surgical instrument for treating / observing the abdominal cavity is attached. This mechanically constrains the positioning when the observation or the surgical instrument is inserted into the insertion hole of the patient by the scope holder.

Japanese Patent Application No. 62-134503 has means for mechanically controlling the operation of the stand device so that the focus of the surgical microscope during stereotactic brain surgery is fixed at a specific position on the patient's head. There are things that are doing. Furthermore, Japanese Patent Application 1-
No. 257907 provides a device capable of positioning a surgical instrument from an arbitrary position on a virtual spherical surface surrounding the center of a surgical site toward the center for performing stereotactic brain surgery while obtaining an X-ray CT image. There is.

Further, in Japanese Patent Application No. 4-51778, the focal point at an arbitrary position of the stereoscopic microscope matches on a virtual spherical surface surrounding the center of an arbitrary position observed by the stereoscopic microscope used for stereotactic brain surgery. The technique of operating so as to perform is disclosed.

[0006]

However, Japanese Patent Application No. 4-221571 is inconvenient because it requires a mechanical adjustment work so that the insertion portion of the surgical instrument passes through the insertion hole of the body wall. Further, although the link mechanism is used so that the insertion portion passes through the insertion hole, the structure of the link mechanism is complicated and a large space is required.

In Japanese Patent Application No. 62-134503, a mechanical adjustment work is required so that the focal point coincides with a specific position of the observation target, and the operation is complicated. The link mechanism is used so that the focal points match each other, but the structure of this link mechanism is complicated and a large space is required.

Japanese Patent Application No. 1-257907 requires a mechanical adjustment work so that the surgical instrument faces the center of the surgical site, and the operation is complicated, and a link mechanism is used so that the surgical instrument faces the center of the surgical site. However, the structure of this link mechanism is complicated and requires a large space.

Japanese Patent Application No. 4-51778 discloses a technique for controlling a motor so that the focal point coincides with a specific position of an object to be observed, but operation command information by a joystick which is an operating means thereof is disclosed. Was not disclosed.

The present invention has been made in view of the above circumstances, and its purpose is to insert an insertion portion of a surgical instrument held by a manipulator into a body cavity, and perform observation and treatment in the body cavity. At that time, the insertion part of the surgical instrument is inserted without giving an excessive force to the insertion hole of the body wall,
(EN) A surgical manipulator capable of further observation and treatment, facilitating work, and restraining an insertion portion of a surgical instrument with respect to a site to be observed and treated when performing treatment. Especially.

[0011]

Means and Actions for Solving the Problems
In order to achieve the above-mentioned object, an operating means installed in an area that can be operated by an operator, a manipulator installed so as to access the operative field and performing a movement following the operation of the operating means, and held by this manipulator And a control means for moving the manipulator so that the position or posture of the surgical instrument is restrained with respect to the surgical field.

When the operator operates the operation means, the manipulator operates following the movement of the operation means. For example, if the operator mistakenly operates the operation means, the operation inserted into the body cavity of the patient. It may happen that the instrument performs an operation and exerts an unreasonable force on the insertion hole even though the movement is restricted by the insertion hole in the body wall, but the operation instrument operates with the insertion hole as a fulcrum. The operation of the manipulator is restricted (point lock) so that

[0013]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 6 show a first embodiment, in which a slave manipulator is operated by operating a master manipulator in a surgical manipulator in which a surgical instrument is inserted into a body cavity and observation and / or treatment inside the body is performed. In addition, the slave manipulator's surgical instrument insertion part is configured so that the position and orientation of the master manipulator correspond to the position and orientation of the slave manipulator so that excessive force is not applied to the insertion hole in the body wall. is there.

That is, as shown in FIG. 1, in a surgical manipulator, a slave manipulator 1 as a manipulator has an insertion portion 2 for inserting its tip into a body cavity c through an insertion hole b in a body wall a of a patient. And a robot 4 having a plurality of axes having linear and rotational degrees of freedom for supporting the surgical instrument 3. Three-dimensional (three-dimensional) at the tip of the insertion part 2
A scope 5 and a pair of treatment tools 6, 7 are provided. Three
The distal end of the dimensional (stereoscopic) scope 5 and the pair of treatment tools 6, 7 are each capable of bending with multiple degrees of freedom.

On the other hand, as an operation procedure, there is a master manipulator 11 as an operation means having a multi-joint structure, and the master manipulator 11 has an H-shaped tip at its tip.
An MD (head mounted display) 12 and a pair of operation arms 13 and 14 for operating a treatment tool are provided.

The slave manipulator 1 and the master manipulator 11 are connected to a control device 21, the position of the tip of the master manipulator 11 corresponds to the position of the slap manipulator 1, and the HMD 1
The position of the rotating part of 2 corresponds to the bending angle of the three-dimensional (three-dimensional) scope 5, and further, the operation arms 13 and 14 for treatment operation.
Are controlled to operate in accordance with the positions of the treatment tools 6, 7.

The axis of the slave manipulator 1 is provided with an actuator (not shown), an encoder 18 for detecting its rotational position, and a speed reducer (not shown). An encoder 20 is provided at the joint portion of the master manipulator 11, the rotating portion of the HMD 12, and the joint portion of the treatment operation arm.

Incidentally, in FIG.
Although the insertion portion in which the dimensional (stereoscopic) scope 5 and the treatment tools 6 and 7 are integrated is shown, a configuration including only an endoscope or only the treatment tool may be used. Further, as the endoscope, the embodiment in which the distal end portion has the bending mechanism is shown, but a rigid endoscope may be used. FIG. 3 is a diagram showing the link mechanism in the above configuration in an easy-to-understand manner.

FIG. 2 shows the structure of the system for controlling the operation of the surgical manipulator. That is, the slave manipulator 1, the control device 21 that controls the slave manipulator 1, the operation unit 22, and the operation switch 24.
Is provided. The control device 21 includes an MPU 25,
An actuator drive circuit 20 and an input / output interface (I / F) 27 are provided, and the operating means 2 is provided.
2, slave manipulator 1 and operation switch 2
4 are connected.

Next, the operation of the surgical manipulator constructed as described above will be explained. In the above configuration, in order not to apply an unreasonable force to the insertion hole b of the body wall a,
The operation called point lock is performed. In this surgical manipulator, the operator operates the master manipulator 11 to operate the slave manipulator 1, but at this time, since the slave manipulator 1 operates following the movement of the master manipulator 11, for example, The surgeon mistakenly operates the master manipulator 11
Is operated, even though the surgical instrument 3 inserted into the body cavity c of the patient is restrained in movement by the insertion hole b, an unreasonable force is applied to the insertion hole b by performing a slave operation. That happens.

Therefore, the above-mentioned problems can be solved by limiting the operation of the slave manipulator 1 so that the surgical instrument 3 can be controlled to operate with the insertion hole b as a fulcrum. Here, this operation restriction will be referred to as a point lock.

Explaining the operation limiting method by the point lock, FIG. 4A shows the tip end portion 28 of the insertion portion 2 of the slave manipulator 1, and FIG. 4B shows the tip end portion 29 of the master manipulator 11. .

The operation relationship between the master manipulator 11 and the slave manipulator 1 in the master-slave mode is that the relative movement amount of the coordinate system of the tip portion 29 of the master manipulator 11 is the tip portion 28 of the slave manipulator 1.
This is reflected in the coordinate system of and the operation is performed.

First, as shown in FIG. 4B, the state of TCP (tool tip point) of the tip 29 of the master manipulator 11 is TCPm30, and the tip of the slave manipulator 1 shown in FIG. The state of TCP 28 is TCPs 31.

TCP of the master manipulator 11
Of the master manipulator 1 to obtain the TCP of the slave manipulator 1 and operate the slave.
A forward coordinate conversion process for obtaining a joint variable from the amount of movement from an encoder arranged on each axis 1 and for obtaining the position / orientation of TCP is performed. With this, the master manipulator 11
After the TCP is obtained, the inverse coordinate transformation for obtaining the control amount of each axis of the slave manipulator 1 is performed from the obtained TCP value.

From the above state, as shown in FIG.
The surgeon TCs the tip 29 of the master manipulator 11.
It is assumed that the position / orientation of Pm30 is moved to the state of TCPm32. At this time, the vector indicating the position / orientation moved from TCPm30 to TCPm32 is A. At the same time, it is assumed that the tip portion 29 of the master manipulator 11 is rotated by θ as shown in the figure.

The controller 21 controls the homogenous coordinate transformation matrix A'shown in FIG. 4 (a) so that it has the same positional relative relationship (homogeneous coordinate transformation matrix A) of the master manipulator 11.
(A vector connecting TCPs31 to TCPs33 in FIG. 4A) is calculated. At the same time, the line connecting the TCPs 31 and the point lock position 34 is defined as the O axis,
The line segment connecting the point lock position 34 and the TCPs 33 is defined as the P axis. Further, the angle α forming the O axis and the P axis and the vector Q perpendicular to the plane formed by the two straight lines of the O axis and the P axis are calculated.

In order to make the tip portion 28 of the slave manipulator 1 follow the tip portion 29 of the master manipulator 11, the TCP of the tip portion 28 of the slave manipulator 1 is used.
It moves from s31 to TCPs33, but at this time, it is necessary to make the condition that the axis of the tip 28 of the slave manipulator 1 passes through the point lock position 34, so the tip 28 of the slave manipulator 1 is moved to TCPs.
At the same time as moving to 33, it is moved while rotating around the Q vector by the angle α formed by the O-axis and the P-axis obtained above. Further, since the tip portion 29 of the master manipulator 11 is rotated by θ in FIG. 4B, the tip portion 29 of the slave manipulator 1 is rotated by θ with respect to the axis (P axis) of the tip portion 28.

The above operation is calculated in the controller 21 at regular intervals. By repeating this calculation, the master-slave mode with a point lock operation in real time is realized.

The above is the slave manipulator 1
In the case where the slave manipulator 1 is inserted into the insertion hole b or when the slave manipulator 1 is removed from the insertion hole b, a countermeasure against a singular point generated will be described.

The singular point generated when inserting the tip end portion 28 of the slave manipulator 1 is determined when the position of the insertion hole b and the TCP of the slave manipulator 1 match, but the posture for insertion is determined. Since there are innumerable numbers of them, the posture of the robot 4 cannot be determined. Further, even when the position of the insertion hole b and the TCP of the slave manipulator 1 do not coincide with each other, the posture may not be determined due to the problem of calculation accuracy in the vicinity.

Therefore, with respect to the posture at the portion where the TCP of the tip end portion 28 of the slave manipulator 1 and the insertion hole b coincide with each other, this problem is solved by determining the inserted posture.

However, since it is necessary to determine in advance from which part the above-mentioned previous posture is adopted, by providing a dead zone in the vicinity of the insertion hole b, the singular point of the robot 4 is increased. Even if it happens, it is designed so that it can move smoothly.

Now, a series of flow of the operation method of the present embodiment described above will be shown. First, in order to obtain the position of the insertion hole b of the patient on the bed, for example, the slave manipulator 1 is shaped as shown in FIG.
The slave manipulator 1 is aligned with the TCP position (the posture may be any state). When performing the alignment, the positioning may be performed in the master-slave mode, and the operation switch 2 shown in FIG.
By pressing the switch assigned to No. 4, each axis of the slave manipulator 1 may be operated independently and positioning in the insertion hole b may be performed. As a result, the relative position between the insertion hole b and the slave manipulator 1 is obtained, and the position of the slave manipulator 1 is fixed, so the position of the insertion hole b is obtained.

Next, the master manipulator 11 is operated by the operation of the operator. As shown in FIG. 6, the position and rotation at the tip of the master manipulator 11 are read as operation commands on the control device 21 side. The position / orientation information obtained from the master manipulator 11 is coordinate-converted into the position or attitude of the slave manipulator 1.

After the coordinate conversion process is completed, the surgical instrument 3
Operation target part (tip TC of slave manipulator 1
It is determined whether P) is near the insertion hole b or not. Here, it is determined whether the tip TCP of the slave manipulator 1 is inside the body cavity c. If it is outside the body cavity c, the operation target site of the surgical instrument 3 (the tip T of the slave manipulator 1) is used as the value of the inclination of the long axis of the insertion section 2.
The value of CP) immediately before entering the vicinity of the insertion hole b is used, and further operation is performed so that the rotation of the insertion portion 2 about the long axis coincides with the rotation command of the slave manipulator 1. If the position of the tip TCP of the slave manipulator 1 is located inside the body cavity c of the patient, the insertion part 2 passes through the position of the insertion hole b, and the operation target site of the surgical instrument 3 (tip TCP of the slave manipulator 1) The position is made to coincide with the command position determined by the master manipulator 11, and further, the rotation about the major axis of the insertion section 2 is operated so as to coincide with the command of the rotation of the master manipulator 11.

Therefore, the master manipulator 11
Even if the position and the posture determined by the operation of 1 do not satisfy the constraint condition of passing through the insertion hole b of the surgical instrument 3 of the slave manipulator 1, the slave manipulator 1 can be operated so as to satisfy the constraint condition. The insertion portion 2 does not exert an unreasonable force on the insertion hole b.

The operator is also the master manipulator 1
When the operation 1 is performed, the slave manipulator 1 operates following the operation 1 to operate the surgical instrument 3 inserted in the body cavity c, and the HMD 12 and the rotation axis of the HMD 12 are attached to the operator's head. Since the encoder 20 is provided, when the surgeon moves the head, the three-dimensional (stereoscopic) scope 5 fixed to the slave manipulator 1 follows the movement of the encoder 20 and displays the image of the surgical field on the HMD 12. The operator can treat with the surgical instrument 3 while observing the image displayed on the HMD 12. Therefore, since the treatment can be performed in the presence of being in the body cavity c, endoscopic surgery can be performed with the sensation of laparotomy.

7 to 9 show the second embodiment, and the same components as those of the first embodiment are designated by the same reference numerals and the description thereof will be omitted. In this embodiment, a surgical instrument is inserted into a body cavity,
In a surgical manipulator for observing and / or treating the inside of a body cavity, by operating a force sensor attached to the manipulator, when operating the manipulator, the insertion portion of the surgical instrument of the slave manipulator,
The position determined by the force sensor and the position and orientation of the slave manipulator are made to correspond to each other so that an unreasonable force does not act on the insertion hole.

That is, in the manipulator for surgery, the slave manipulator 51 is provided with the endoscope 52 having the insertion portion 52a for inserting the tip portion into the body.
On the other hand, as the operation means, the slave manipulator 51 is used.
Force sensors 53a and 53b are provided on the grip portion 54 provided in the. The slave manipulator 51 and the force sensors 53a and 53b are connected to the control device 21, and operate so that the position and orientation determined by the force sensors 53a and 53b correspond to the position and orientation of the slave manipulator 51.

The axis of the slave manipulator 51 is provided with an actuator (not shown), an encoder 18 for detecting its rotational position, and a speed reducer (not shown). In addition, the force sensor 53a outputs three direction vectors of force (B1, B2, B3) to the force sensor 53b.
Is equipped with a strain gauge inside so that it can detect two direction vectors of force (B4, B5) and one rotation (B6).

Although the endoscope 52 is shown as a surgical instrument in FIG. 7, an insertion portion 52a in which the endoscope 52 and the treatment instrument are integrated, or a configuration having only the treatment instrument may be used. Further, the endoscope 52 may have a bending mechanism at its tip. Further, the structure of the system for controlling the operation of the surgical manipulator of the present embodiment is as shown in FIG. 2 of the first embodiment, and the explanation is omitted.

Next, the operation of the second embodiment will be described. The position and orientation determined by the force sensors 53a and 53b mean the components B1, B2, B3, B4, B5 and B6 of the force sensors 53a and 53b in FIG. When the constraint condition such that the major axes of 52 intersect is not set, the slave manipulator 51 is controlled so as to correspond to A1, A2, A3, A4, A5, and A6, respectively. Depending on the position of the target point of the insertion portion 52a determined by B1 to B5, the position of the distal end portion of the slave manipulator 51 and the inclination of the insertion portion 52a for the long axis of the insertion portion 52a to pass through the insertion hole b are determined. Insertion part 5
The rotation angle of 2a controls the rotation of the point of interest and the position of the insertion portion 52a.

That is, as shown in FIG. 8 (b), when the operator grips the grip portion 54 of the robot and moves it in the direction of the arrow, the constraint condition shown in the first embodiment is satisfied. The TCP at the tip of the endoscope 52 tries to move like a vector A as in the first embodiment. Since independent position / posture information of B1 to B6 is detected from the force sense centers 53a and 53b, the master information is obtained from the information of the encoder 20 arranged at each joint of the master manipulator 11 performed in the first embodiment. T of manipulator 11
Obtain the position and orientation of the CP, and use the master manipulator 11
It is not necessary to perform the forward coordinate conversion for calculating the component of the moving vector A on the side, and it is sufficient to use the information of the force sensors 53a and 53b as it is and perform the slave operation according to the control amount of each joint.

The control device 21 calculates the current TCP position of the slave manipulator 51 and the movement vector to the position obtained from the force sensors 53a and 53b operated by the operator (A 'in FIG. 8 (a)). . Next, using the line segment connecting the point lock position 34 and the position of the TCPs 33 indicated by the movement vector as the P-axis, the TC of the current distal end of the endoscope 52 is set.
A line segment in the long axis direction of Ps31 is defined as an O axis. O axis and P
Letting an angle with the axis be α, a vector (E vector) perpendicular to a plane formed by the two axes of the O axis and the P axis is calculated.

When the TCPs 33 is moved from the current position of the TCPs 31 of the endoscope 52, the current TCPs 31 is rotated around the P axis by the rotation angle α and moved to the position where the vector A ′ is inserted, whereby the point lock is performed. Positional movement can be performed.

The above operation is calculated in the control device 21 at regular intervals. By repeating this calculation, the master-slave mode with a point lock operation in real time is realized.

Here, as in the first embodiment, when the slave manipulator 51 is inserted into or removed from the insertion hole b, the dead zone shown in the first embodiment is provided so that a smooth operation is performed. There is.

Next, FIG. 9 shows a series of flow of the operation method of the present embodiment. The operator holds the grip portion 54 as a direct move of the slave manipulator 51, and tries to move the slave manipulator 51 in a desired moving direction. On the control device 21 side, the position and rotation at the tip of the grip portion 54 are input to the control device 21 as operation commands.

After the above processing is completed, it is determined whether the operation target portion (slave manipulator TCP) of the endoscope 52 is near the insertion hole b or not. Here, it is determined whether the slave manipulator TCP is inside the body cavity c. If the position is outside the body cavity c, the value immediately before the position of the operation target part (slave manipulator TCP) of the endoscope 52 enters the vicinity of the insertion hole b as the value of the inclination of the long axis of the insertion part 52a. Further, the insertion section 52a is operated so that the rotation about the long axis coincides with the rotation command of the slave manipulator TCP. If the slave manipulator TCP is located inside the body cavity c,
The insertion portion 52a passes through the position of the insertion hole b so that the position of the operation target portion (slave manipulator TCP) of the endoscope 52 coincides with the command position determined by the direct move. The rotation about the axis is operated so as to match the rotation command of the master manipulator 11.

Therefore, even if the position and orientation determined by the operation of the force sensors 53a and 53b do not satisfy the constraint condition of passing through the insertion hole b of the endoscope 52 of the slave manipulator 51, this constraint condition is satisfied. The insertion portion 52a of the endoscope 52 does not exert an undue force on the insertion hole b.

The operator is also required to use force sensors 53a and 53b.
When the operation is performed, the slave manipulator 51 follows the operation, and the endoscope 52 inserted into the body cavity c can be operated smoothly.

10 and 11 show a third embodiment. The same components as those of the first embodiment are designated by the same reference numerals and their description will be omitted. In this embodiment, in a surgical manipulator that inserts a surgical instrument into a body cavity and observes and / or treats the inside of the body, the manipulator is operated by operating a three-dimensional position sensor attached to a part of the operator's body. When doing so, make sure that the insertion part of the surgical instrument of the manipulator does not exert excessive force on the insertion hole.
The position and orientation determined by the dimensional position sensor correspond to the position and orientation of the manipulator.

That is, in the present manipulator, the slave manipulator 61 has a three-dimensional (three-dimensional) scope 62 having an insertion portion 62a for inserting the distal end portion into the body cavity c.
It has. On the other hand, as the operating means, the HMD 63 attached to the operator's head has the detection unit 65 and the transmission unit 66 of the three-dimensional position sensor 64, and the three-dimensional positional relationship of the detection unit 65 with respect to the transmission unit 66 is obtained. To be

The slave manipulator 61 and the three-dimensional position sensor 64 are connected to the control device 21, and
The position and orientation determined by the dimensional position sensor 64 can be operated so as to correspond to the position and orientation of the slave manipulator 61.

The shaft of the slave manipulator 61 is provided with an actuator (not shown), an encoder 18 for detecting the rotational position of the actuator, and a speed reducer (not shown). Further, the three-dimensional position sensor 64 is composed of three orthogonal electromagnetic coils, and a method of detecting three position vectors and three orientations from the amount of change in mutual inductance of both is shown in the embodiment. As long as it can be attached to a part of the body and can detect three-dimensional position information, another method, for example,
An ultrasonic wave, light, gyro or acceleration sensor may be used. Furthermore, a visual axis detection sensor for detecting the movement of the operator's visual axis is set to H.
It is also possible to mount it in the MD63.

In FIG. 10, three-dimensional (three-dimensional)
It shows the insertion part of the endoscope consisting of the scope,
Only the treatment tool or a configuration in which the endoscope and the treatment tool are integrated may be used. Further, as the endoscope, the embodiment in which the distal end portion has the bending mechanism is shown, but a rigid endoscope may be used. Further, the structure of the system for controlling the operation of the surgical manipulator of the present embodiment is as shown in FIG. 2 of the first embodiment, and the explanation is omitted.

Next, the operation of the third embodiment will be described. As shown in FIG. 11B, a movement vector when the operator's head is moved as shown by an arrow in the figure is a homogeneous coordinate transformation matrix A. From the three-dimensional position sensor 64, the spatial positions X, Y and Z of the head and the Euler angles (roll, pitch,
Information of yaw angle) is sent to the control device. From this,
Each position / orientation component of the homogeneous coordinate transformation matrix A can be easily obtained.

The control device 21 is arranged so that it becomes the same as the movement homogeneous coordinate transformation matrix A to the operator's desired position, as shown in FIG.
Homogeneous coordinate transformation matrix A '(TC in FIG. 11A)
A vector obtained by connecting Ps31 to TCPs33) is calculated. At the same time, TCPs 31 and point lock position 34
The line segment connecting and is defined as the O axis, and the point lock position 3
The line segment connecting 4 and TCPs 33 is defined as the P axis. Further, the angle α forming the O axis and the P axis and the vector Q perpendicular to the plane formed by the two straight lines of the O axis and the P axis are calculated.

When the calculation of the vector A is completed, the tip portion of the three-dimensional scope 62 is moved to the TCPs 33, and at the same time, it is moved while being rotated around the Q vector by the angle α between the obtained O axis and P axis. Let

The above operation is calculated in the control device 21 at regular intervals. By repeating this calculation, the master-slave mode with a point lock operation in real time is realized. Here, similarly to the first embodiment, when the three-dimensional scope 62 is inserted into or removed from the insertion hole b, the dead zone shown in the first embodiment is provided so that the smooth operation is performed.

Therefore, even if the position and orientation determined by the operation of the three-dimensional position sensor 64 do not satisfy the constraint condition of passing through the insertion hole b of the three-dimensional scope 62 of the slave manipulator 61, this constraint condition is satisfied. Therefore, the insertion portion 62a of the three-dimensional scope 62 does not exert an unreasonable force on the insertion hole b.

When the operator holds the three-dimensional position sensor 64 by hand and operates the slave manipulator 61, the slave manipulator 61 operates to operate the three-dimensional scope 62 inserted into the body cavity b. It is also possible to use H on the operator's head.
When the MD 63 and the three-dimensional position sensor 64 are provided,
When the surgeon moves his / her head, the movement of the three-dimensional position sensor 64 is followed and the 3
The dimensional scope 62 displays the image of the surgical field on the HMD 63,
The operator can treat with the three-dimensional scope 62 while observing the image displayed on the HMD 63. Therefore, since the treatment can be performed in the presence of being in the body cavity c, endoscopic surgery can be performed with the sensation of laparotomy.

12 to 14 show a fourth embodiment, and the same components as those in the first embodiment are designated by the same reference numerals and the description thereof will be omitted. This embodiment is a surgical manipulator in which a surgical instrument is inserted into a body cavity to observe and / or treat the inside of the body, and a slave manipulator is operated by operating a force sensor attached to the slave manipulator. The insertion part of the surgical instrument of the manipulator is made to correspond to the position and attitude of the slave manipulator with the position and attitude determined by the force sensor so that the insertion part is inserted straight to the target site to be observed and treated. It is composed.

In this surgical manipulator, the slave manipulator 71 has its tip portion d at the patient's head.
It is composed of a surgical instrument 72 having an insertion portion 72a to be inserted therein, and a robot 73 having a plurality of axes having linear and rotational degrees of freedom for supporting the surgical instrument 72. A three-dimensional (three-dimensional) scope 74 and a pair of treatment tools 75 and 76 are provided at the tip of the insertion portion 72a. The tip portion of the three-dimensional (three-dimensional) scope 74 and the pair of treatment tools 75 and 76 can be curved with multiple degrees of freedom. Further, an HMD 77 and a three-dimensional position sensor 78 are provided on the operator's head.

On the other hand, as an operation procedure, force sensors 79a and 79b provided on the slave manipulator 71 are provided. The slave manipulator 71, the three-dimensional position sensor 78, and the force sensors 79a and 79b are connected to the control device 21, and the force sensors 79a and 79b.
The position and orientation determined by b correspond to the position and orientation of the slave manipulator 71.
The position and orientation determined by the three-dimensional position sensor 78 are operated so as to correspond to the bending angle of the three-dimensional (three-dimensional) scope 74.

The pair of treatment instruments 75 and 76 are mechanically operated by the operating portions 80a, 80b, 80c and 80d. Further, the force sensor 79a outputs three direction vectors of force, and the force sensor 79b outputs two direction vectors of force.
A strain gauge is installed inside so that one rotation can be detected.

In FIG. 12, three-dimensional (three-dimensional)
Although the insertion portion in which the endoscope as the scope and the treatment tool are integrated is shown, the configuration may be made with only the endoscope or only the treatment tool. Further, as the endoscope, the embodiment in which the distal end portion has the bending mechanism is shown, but a rigid endoscope may be used. Further, the structure of the system for controlling the operation of the surgical manipulator of the present embodiment is the same as that shown in FIG. 2 of the first embodiment, and the explanation thereof will be omitted.

Next, the operation of this embodiment will be described.
Since the point lock position in the field outside the brain is a part located inside the patient's head d, it is necessary to recognize the position of the target site in advance by an image observation device such as CT. In order to know the position of the target part, for example, by inputting position information from the standard input device of the control device 21, the target part (point lock position) and the slave slave manipulator 71 are connected on the control device 21 side. It is also possible to recognize the positional relationship.

Next, the specific operation will be described.
As shown in FIG. 13A, in order to move the surgical instrument 72 in the horizontal direction (arrow direction) from the state of S1, the slave manipulator 71 is operated so as to extend the A3 axis (the force sensor 79a is set to B3). Push in the direction). When not in the point lock mode, the tip of the surgical instrument 72 moves as shown by the dotted line in FIG. 13A, but in the point lock mode, the point lock position A and the long axis of the surgical instrument 72 coincide. Because it works like
The state moves from the state S1 shown in FIG. 13A to the state S2.

In order to move the surgical instrument 72 in the vertical direction (the direction of the arrow) from the state of S3 as shown in FIG. 13B, the slave manipulator 71 as shown in FIG.
Operation to shorten A2 axis of force sensor (force sensor 79a-B
Push in two directions). When not in the point lock mode, the surgical instrument 72 moves to the part shown by the dotted line in FIG.
3 (b) Move to the state of S4.

Further, although the horizontal / vertical movement method has been described, the slave manipulator 71 can also rotate, and the slave manipulator 71 can be rotated from the state of S3 shown in FIG. 13C. 71 A
B5 of the force sensor 79b is operated so that the five axes rotate. When not in the point lock mode, the surgical instrument 72 moves from the state of S5 in FIG. 13 (c) to the portion indicated by the dotted line, but in the point lock mode, the posture is changed to S6 in order to satisfy the point lock constraint condition. To move.

The operation method of the slave manipulator 71 when the surgical instrument 72 used in the extracranial field is attached to the slave manipulator 71 has been described above. It is in the patient's head d.

Therefore, as shown in the first embodiment, it does not actually pass through the point lock position. However, if the point lock position and the position of the distal end portion of the surgical instrument 72 match, As shown in the first embodiment, a singular point is generated. Therefore, in this embodiment as well, when the control device 21 performs the dead zone processing shown in the first embodiment and the posture cannot be determined. The processing for determining the posture immediately before entering the dead zone is performed on the control device 21 side.

FIG. 14 shows the series of operations described above. FIG.
4, the operator operates the direct move. After the operation, the force sensor inputs the position and rotation at the tip of the direct move as operation commands to the control device. When the position and rotation information of the direct move is input, the position / orientation information obtained by the direct move is coordinate-converted into the position or attitude of the surgical instrument of the slave manipulator.

After coordinate conversion, it is judged whether or not the position of the operation target site of the surgical instrument is near the position of the site to be treated or observed, and if it is near the target site, As the value of the inclination of the long axis of the insertion part, the value immediately before the position of the operation target part of the surgical instrument enters a distance close to the position of the part targeted for treatment or observation is used. The rotation about the long axis is operated so as to match the rotation command of the slave manipulator.

If the position of the operation target part of the surgical instrument matches the command position determined by the master-slave manipulator, the rotation of the insertion part around the long axis matches the command of the slave manipulator rotation. Let

Therefore, the position and posture determined by the operation of the force sensor do not satisfy the constraint condition that the insertion portion of the surgical instrument of the slave manipulator inserts the insertion portion straight into the target site to be observed and treated. Even in the case, it is possible to operate so as to satisfy the constraint condition.

When the operator operates the force sensor, the slave manipulator operates following the operation of the force sensor,
The surgical instrument inserted in the body cavity can be smoothly operated.

Further, since the operator also has the HMD and the three-dimensional position sensor on the operator's head, when the operator moves the head, the operator follows the movement of the three-dimensional position sensor and the three-dimensional position sensor moves. Since the bending portion of the scope operates, the operator can perform treatment with the surgical instrument while observing the image displayed on the HMD. Therefore, since the treatment can be performed in the presence of being in a body cavity, endoscopic surgery can be performed with the sensation of laparotomy.

FIG. 15 shows the fifth embodiment, and the same components as those in the first embodiment are designated by the same reference numerals and the description thereof will be omitted.
This embodiment is a surgical manipulator for inserting a surgical instrument into a body cavity and observing and / or treating the inside of the body,
When operating the slave manipulator by operating the mastata manipulator, operate the surgical instrument to insert the insertion portion of the operation device of the slave manipulator so as not to apply excessive force to the insertion hole. It is configured as follows.

As shown in the fourth embodiment, when positioning is performed in the body cavity, for example, in the brain of the patient's head d, a point lock is performed for insertion. At this time, a surgical instrument is used. If the posture of the tip TCP of the treatment instrument 81 is not the same as that on the point lock axis, the insertion is not possible. In order to solve this, in this embodiment, the posture change of the distal end TCP of the treatment instrument 81 will be described.

FIG. 15A shows the tip T of the current treatment instrument 81.
The positional relationship between CP and the patient's head d is shown. When attempting to insert the treatment tool 81 into the patient's head d as it is, FIG.
It is dangerous to contact the patient's head d as shown in (b).

Therefore, the posture is changed so that the desired position in the patient's head d and the Z axis of the treatment tool are the same. As processing on the control device 21 side, the desired position and the current treatment tool 81
Draw a line segment R that connects the position of the tip TCP of. Next, the posture of the line segment R in space is obtained, and the posture of the distal end TCP of the treatment instrument 81 at the current position is obtained.

After the above processing is finished, the slave manipulator 71 is operated so that the posture of the line segment R and the posture of the treatment instrument 81 are the same while keeping the position of the tip TCP of the treatment instrument 81 as it is. Specifically, the control device 21 is operated so that the difference between the posture value of the treatment instrument 81 and the posture value of the line segment R becomes zero. As a result, FIG.
As shown in (c), the posture is changed for inserting the treatment instrument 81, and the treatment instrument 81 is inserted into the patient's head d while performing point locking after the posture conversion.

Therefore, the slave manipulator 71
Even when the major axis of the treatment instrument 81 provided in the above does not face the insertion hole of the head portion d, the insertion hole can be operated so as to be on the extension line of the major axis, and the treatment instrument 81 can be easily inserted. Becomes

When the operator operates the master manipulator, the slave manipulator 71 operates following the operation of the master manipulator to operate the treatment instrument 81 inserted into the body cavity, and also the head of the operator. HMD77 and H in part d
Since the rotary shaft encoder 20 of the MD77 is provided,
When the operator moves the head, the three-dimensional (stereoscopic) scope 74 fixed to the slave manipulator 71 follows the movement of the encoder 20 to display an image of the operative field on the HMD 77, and the operator is displayed on the HMD 77. Treatment can be performed with the treatment tool 81 while observing the image. Therefore, since the treatment can be performed in the presence of being in a body cavity, endoscopic surgery can be performed with the sensation of laparotomy.

FIG. 16 shows a sixth embodiment, and the description of the same components and operations as those of the first embodiment will be omitted. Explaining a series of operations based on FIG. 16, the operation means is operated, and the position and orientation information is input to the control means from the operation means. The position and orientation information obtained from the operating means is coordinate-converted into the position or orientation of the surgical instrument of the slave manipulator. The position and orientation obtained by the coordinate conversion is compared with the constraint condition, and the position or orientation of the surgical instrument is operated so as to match the operation of the operating means.

FIG. 17 shows a seventh embodiment, and the description of the same components and operations as those of the first embodiment will be omitted. A series of operations will be described with reference to FIG. 17. By direct insertion, the insertion portion of the surgical instrument at the tip of the slave manipulator is aligned with the position of the insertion hole.
The position of the insertion hole is recognized, and the position of the insertion hole is stored in the control device. Next, the posture of the insertion portion is changed so that the long axis, that is, the insertion portion enters the insertion hole. After that, the operator operates the master manipulator, and the position and rotation at the tip of the master manipulator are input to the control device as operation commands.

The position / orientation information obtained by the master manipulator is coordinate-converted into the position or attitude of the surgical instrument of the slave manipulator. Therefore, a comparison is made with a constraint condition regarding whether or not the position of the surgical instrument target portion is near the insertion hole, and the following two operation modes are selected according to the result. If the constraint conditions are met, the value of the inclination of the insertion part immediately before the position of the operation target part of the surgical instrument enters the vicinity of the insertion hole is used, and the rotation of the insertion part about the long axis is The slave manipulator is operated so as to match the rotation command. On the other hand, if the constraint conditions are not met, the position of the operation target part of the surgical instrument passes through the insertion position of the insertion part so that it coincides with the command position determined by the master manipulator. The rotation of is operated so as to match the rotation command of the master manipulator.

According to the embodiment described above, the following constitution can be obtained. (Supplementary Note 1) Operating means installed in 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 surgical instrument held by this manipulator And a control means for moving the manipulator so that the position or posture of the surgical instrument is restrained with respect to the surgical field. (Supplementary Note 2) The operating manipulator according to Supplementary Note 1, wherein the operating means is a master manipulator. (Supplementary Note 3) The operating manipulator according to Supplementary Note 1, wherein the operating means is a force sensor. (Supplementary Note 4) The manipulator for surgery according to Supplementary Note 1, wherein the operating means is a position sensor. (Bath 5) The position manipulator is a three-dimensional position sensor, and the manipulator for surgery according to note 4. (Supplementary Note 6) The surgical manipulator according to Supplementary Note 1, wherein the surgical instrument is an endoscope. (Supplementary note 7) The surgical manipulator according to Supplementary note 6, wherein the endoscope is a three-dimensional (three-dimensional) scope. (Supplementary Note 8) The surgical manipulator according to Supplementary Note 1, wherein the surgical instrument is a curved endoscope. (Supplementary Note 9) The surgical manipulator according to Supplementary Note 1, wherein the surgical instrument is a treatment tool. (Supplementary note 10) The surgical manipulator according to Supplementary note 1, wherein the surgical instrument is a treatment instrument with a curve. (Supplementary Note 11) The surgical manipulator according to Supplementary Note 1, wherein the surgical instrument has an endoscope and a treatment tool integrated with each other. (Additional remark 12) The constraint condition is the position of the insertion hole into the body cavity of the surgical instrument. (Supplementary note 13) The manipulator for surgery according to Supplementary note 1, wherein the constraint condition is the position of a region targeted for treatment or observation. (Supplementary note 14) The surgical manipulator according to supplementary note 1, wherein the operating means operates the slave manipulator so that the slave manipulator moves from a state in which the constraint condition is not satisfied to a position and posture in which the constraint condition is satisfied. (Supplementary Note 15) The constraint condition of the operating means is that the insertion portion passes through the insertion hole position, the position of the operation target portion of the surgical instrument becomes the command position determined by the operation means, and the rotation of the insertion portion around the long axis is determined. The manipulator for surgery according to appendix 1, wherein the manipulator is adapted to match the rotation command of the operating means. (Supplementary Note 16) The constraint condition of the operating means is that the insertion portion passes through the insertion hole position, the position of the operation target portion of the surgical instrument becomes the command position determined by the operation means, and further, the rotation of the insertion portion about the long axis is When controlled to match the rotation command of the operating means, the position of the operation target part of the surgical instrument is
The manipulator for surgery according to appendix 1, wherein the inclination of the long axis is controlled so as to take the previous value when entering a predetermined distance with respect to the insertion hole position. (Supplementary Note 17) As a constraint condition of the operating means, the position of the operation target portion of the surgical instrument becomes a command position determined by the operating means, the long axis of the insertion portion passes through a portion targeted for treatment or observation, and further, The surgical manipulator according to appendix 1, wherein the rotation of the insertion section about the major axis matches the rotation command of the operating means. (Supplementary note 18) The constraint condition of the operation means is that the position of the operation target portion of the surgical instrument becomes the command position determined by the operation means, the long axis of the insertion portion passes through a portion targeted for treatment or observation, and , When the rotation of the insertion part around the major axis is controlled to match the rotation command of the operating means, the position of the operation target part of the surgical instrument is relative to the position of the site to be treated or observed. The manipulator for surgery according to appendix 1, wherein the inclination of the major axis takes a value before that when entering a predetermined distance. (Supplementary note 19) A step of operating with an operating means installed in an area that can be operated by an operator, and a step of operating the slave manipulator following the operation of the operating means installed to access the operative field, And a step of operating the position or posture of the surgical instrument held by the slave manipulator so as to be restrained with respect to the surgical field.

[0092]

As described above, according to the present invention, when the insertion portion of the surgical instrument held by the slave manipulator is inserted into the body cavity and the observation and treatment are performed in the body cavity, the insertion of the surgical instrument is performed. The portion can be inserted into the insertion hole without giving an excessive force, and the observation and treatment can be facilitated. Furthermore, when the insertion portion of the surgical instrument held by the slave manipulator is inserted into the body cavity and the observation and treatment are performed in the body cavity, the insertion portion of the surgical instrument is directed straight toward the target site to be observed and treated. Furthermore, there is an effect that it can be inserted straight.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of a surgical manipulator showing a first embodiment of the present invention.

FIG. 2 is a block diagram of a control device of the surgical manipulator of the same embodiment.

FIG. 3 is a schematic configuration diagram of a surgical manipulator of the same embodiment.

FIG. 4 is an operation explanatory view of the same embodiment.

FIG. 5 is a side view of the slave manipulator of the same embodiment.

FIG. 6 is a flowchart showing the operation of the embodiment.

FIG. 7 is a perspective view of a surgical manipulator showing a second embodiment of the present invention.

FIG. 8 is an explanatory view of the operation of the same embodiment.

FIG. 9 is a flowchart showing the operation of the embodiment.

FIG. 10 is a perspective view of a surgical manipulator showing a third embodiment of the present invention.

FIG. 11 is an operation explanatory view of the same embodiment.

FIG. 12 is a perspective view of a surgical manipulator showing a fourth embodiment of the present invention.

FIG. 13 is an operation explanatory view of the same embodiment.

FIG. 14 is a flowchart showing the operation of the embodiment.

FIG. 15 is an operation explanatory view of the surgical manipulator showing the fifth embodiment of the invention.

FIG. 16 is a flowchart showing a sixth embodiment of the present invention.

FIG. 17 is a flowchart showing a seventh embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Slave manipulator, 2 ... Insertion part, 3 ... Surgical instrument, 11 ... Master manipulator, 21 ... Control device.

Claims (1)

[Claims] 1. An operating means installed in an area that can be operated by an operator, a manipulator installed to access the operative field and performing a movement following the operation of the operating means, and an operation held by this manipulator. A surgical manipulator comprising: an instrument; and a control means for moving the manipulator so that the position or posture of the surgical instrument is restrained with respect to the surgical field.