JPH08224248A - Mdical manipulator - Google Patents
Mdical manipulatorInfo
- Publication number
- JPH08224248A JPH08224248A JP7035473A JP3547395A JPH08224248A JP H08224248 A JPH08224248 A JP H08224248A JP 7035473 A JP7035473 A JP 7035473A JP 3547395 A JP3547395 A JP 3547395A JP H08224248 A JPH08224248 A JP H08224248A
- Authority
- JP
- Japan
- Prior art keywords
- arm
- treatment
- manipulator
- endoscope
- hmd
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000005452 bending Methods 0.000 claims description 26
- 238000001514 detection method Methods 0.000 claims description 18
- 238000003780 insertion Methods 0.000 claims description 18
- 230000037431 insertion Effects 0.000 claims description 18
- 238000003384 imaging method Methods 0.000 claims description 2
- 238000002674 endoscopic surgery Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000005286 illumination Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 210000003815 abdominal wall Anatomy 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000002192 cholecystectomy Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 208000013057 hereditary mucoepithelial dysplasia Diseases 0.000 description 1
- 210000004072 lung Anatomy 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
Landscapes
- Surgical Instruments (AREA)
- Endoscopes (AREA)
Abstract
Description
【0001】[0001]
【産業上の利用分野】本発明は、例えば、腹壁等の体壁
に挿入孔を開け、この挿入孔を通じてマニピュレータに
搭載した内視鏡や処置具等の手術器械を体腔内に挿入す
ることにより体腔内での様々な処置を行う経皮的内視鏡
下外科手術において用いられる医療用マニピュレータに
関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is, for example, by opening an insertion hole in a body wall such as an abdominal wall and inserting a surgical instrument such as an endoscope or a treatment tool mounted on a manipulator into the body cavity through the insertion hole. The present invention relates to a medical manipulator used in percutaneous endoscopic surgery for performing various procedures inside a body cavity.
【0002】[0002]
【従来の技術】従来、経皮的内視鏡下外科手術が行われ
ているが、こうした術式は大きな切開を要しない低侵襲
なものとして例えば胆のう摘出手術や肺の一部を摘出除
去する手術等で広く行われている。また、この種の内視
鏡下外科手術において内視鏡や処置具等の手術器械を搭
載し、遠隔操作によりその手術器械を操作し、体内部位
の手術を術者に代わって行う手術用マニピュレータ装置
が、未公開の特願平5−274405号明細書で知られ
ている。この手術用マニピュレータ装置には体内に挿入
する手術用器具として内視鏡を備えた観察用マニピュレ
ータと複数の処置用マニピュレータとがあり、これらの
各マニピュレータは別々のものとして個別的に独立して
設けられる。また、それらを操作する手段も観察用マニ
ピュレータを操作するための3次元位置センサを設けた
HMD(ヘッドマウントディスプレイ)と、各処置用マ
ニピュレータを操作するための複数のマスターアームが
それぞれ独立して個別的に設けられている。2. Description of the Related Art Conventionally, percutaneous endoscopic surgery has been performed, but such a surgical procedure is a minimally invasive procedure that does not require a large incision, for example, a cholecystectomy or a part of the lung is removed. It is widely used for surgery. Also, in this type of endoscopic surgery, a surgical manipulator that is equipped with a surgical instrument such as an endoscope and a treatment tool and operates the surgical instrument by remote control to perform an operation on a body part on behalf of the operator. A device is known from the unpublished Japanese patent application No. 5-274405. The surgical manipulator device includes an observation manipulator and a plurality of treatment manipulators each having an endoscope as a surgical instrument to be inserted into the body, and each of these manipulators is provided as a separate and individually independent manipulator. To be Further, as a means for operating them, an HMD (head mount display) provided with a three-dimensional position sensor for operating the observation manipulator and a plurality of master arms for operating each treatment manipulator are independently and individually provided. Is provided for the purpose.
【0003】[0003]
【発明が解決しようとする課題】ところで、前述した特
願平5−274405号明細書では、体内に挿入する観
察用マニピュレータと同じく体内に挿入する複数の処置
用マニピュレータがそれぞれ別々のものとして独立した
構成になっており、また、それらを遠隔操作する操作手
段であるHMDと複数のマスターアームもそれぞれ個別
的に独立した構成になっている。By the way, in the above-mentioned Japanese Patent Application No. 5-274405, the manipulator for observation to be inserted into the body and the plurality of manipulators for treatment to be inserted into the body are independent and independent from each other. In addition, the HMD, which is the operating means for remotely operating them, and the plurality of master arms are also individually independent.
【0004】そこで、この手術用装置を使用する際に
は、操作手段のHMDとマスタアームを操作したとき
に、これに対応する観察用マニピュレータと処置用マニ
ピュレータが等しい向きで動作するようにしなければな
らない。観察用マニピュレータと処置用マニピュレータ
の位置関係に合せてHMDとマスターアームの位置関係
を同じくするため、使用開始の都度、釦やレバーまたは
キーボード等で位置関係を調節しなければならなかっ
た。しかし、この手術用装置を使う度に、このような準
備をするのは非常に煩わしい。Therefore, when this surgical operating apparatus is used, when the HMD and the master arm of the operating means are operated, the observation manipulator and the treatment manipulator corresponding thereto must be operated in the same direction. I won't. In order to match the positional relationship between the HMD and the master arm in accordance with the positional relationship between the observation manipulator and the treatment manipulator, it was necessary to adjust the positional relationship with a button, a lever, a keyboard or the like each time the use was started. However, it is very troublesome to make such preparations each time the surgical device is used.
【0005】本発明は前記課題に着目してなされたもの
で、その目的とするところはマスターマニピュレータ側
と処置側のスレーブマニピュレータとの対応する位置関
係が常に等しくなり、それらの操作性がよい医療用マニ
ピュレータを提供することにある。The present invention has been made in view of the above-mentioned problems, and its object is to provide a medical device having good operability, because the corresponding positional relationship between the master manipulator side and the slave side manipulator on the treatment side is always the same. Is to provide a manipulator for use.
【0006】[0006]
【課題を解決する手段および作用】本発明は、処置用内
視鏡とこれを支持する移動用マニピュレータとからなる
スレーブマニピュレータと、移動操作用マスターアーム
とHMD(ヘッドマウントディスプレイ)用アームと2
つの処置手段操作用アームとからなるマスターマニピュ
レータと、それらを制御する制御手段とを備えた医療用
マニピュレータにおいて、前記処置用内視鏡は内視鏡の
挿入部の先端に設けられた固体撮像素子からなる観察手
段とその挿入部の左右に設けた2つの処置手段と、前記
挿入部を上下左右に湾曲する湾曲部と、この湾曲部の湾
曲動作を駆動するための駆動手段を備える。前記各処置
手段は前記内視鏡の挿入部に沿って同じ向きで延び並べ
て配置されその自身の長手方向の2箇所に湾曲部を設け
た回転可能な腕部とこの腕部の先端に設けられた処置用
グリッパと前記腕部の湾曲および回転と処置用グリッパ
の回転を駆動するエンコーダ付きモータを備えている。
また、前記移動用マニピュレータは前記処置用内視鏡を
支持し、複数の直動または回転の軸を有し、各軸に駆動
手段を備え、前記処置用内視鏡の先端部の位置及び向き
が変更可能になっている。また、前記移動用マスターア
ームは、複数の回転軸を有し、各軸に角度検出手段を備
えている。また、前記HMD用アームは、移動用マスタ
ーアームに取り付けられ、角度検出手段を備えた複数の
回転軸を有し、その先端には前記固体撮像素子で撮像し
た画像を表示するHMDを有している。また、前記処置
手段用アームは移動用マスターアームに取り付けられ、
角度検出手段を備えた複数の回転軸を有し、その先端に
は角度検出手段を備えた操作用グリッパを有する。ま
た、前記制御手段は、移動用マスターアームの各軸の角
度検出手段の角度を検出して、移動用マニピュレータが
対応して動くよう制御し、HMD用アームに設けられた
角度検出手段を検出して、これに対応して観察手段の上
下左右の湾曲が動作するように制御し、左の処置手段用
アームに設けられた角度検出手段と操作用グリッパの角
度検出手段を検出し、これに対応して左の処置手段の湾
曲、回転、及び処置用グリッパの開閉が動作するように
制御し、右の処置手段用アームに設けられた角度検出手
段とグリッパの角度検出手段を検出し、これに対応して
右の処置手段の湾曲、回転、及び処置用グリッパの開閉
が動作するように制御する。これらを備えたことを特徴
とする医療用マニピュレータである。According to the present invention, there is provided a slave manipulator comprising a treatment endoscope and a manipulator for movement supporting the endoscope, a master arm for movement operation, and an arm for HMD (head mount display).
In a medical manipulator provided with a master manipulator consisting of one treatment means operating arm and a control means for controlling them, the treatment endoscope is a solid-state imaging device provided at a tip of an insertion portion of the endoscope. The observation means and the two treatment means provided on the left and right of the insertion portion, the bending portion that bends the insertion portion vertically and horizontally, and the driving means for driving the bending operation of the bending portion. The respective treatment means extend along the insertion portion of the endoscope in the same direction and are arranged side by side. The rotatable arm portion is provided with curved portions at two locations in its longitudinal direction, and the treatment arm is provided at the distal end of the arm portion. And a motor with an encoder for driving the bending and rotation of the arm portion and the rotation of the treatment gripper.
Further, the moving manipulator supports the medical treatment endoscope, has a plurality of linear motion or rotation shafts, each shaft is provided with drive means, and the position and orientation of the distal end portion of the medical treatment endoscope. Can be changed. Further, the moving master arm has a plurality of rotating shafts, and each shaft is provided with an angle detecting means. Further, the HMD arm has a plurality of rotation shafts attached to a moving master arm and provided with angle detection means, and has an HMD for displaying an image picked up by the solid-state image pickup device at its tip. There is. Also, the treatment means arm is attached to a moving master arm,
It has a plurality of rotating shafts provided with angle detection means, and has an operation gripper provided with angle detection means at its tip. Further, the control means detects the angle of the angle detecting means of each axis of the moving master arm, controls the moving manipulator to move correspondingly, and detects the angle detecting means provided on the HMD arm. In response to this, control is performed so that the up / down / left / right bending of the observation means operates, and the angle detection means and the angle detection means of the operating gripper provided on the left arm for treatment means are detected, and correspondingly Then, the bending and rotation of the left treatment means and the opening and closing of the treatment gripper are controlled to operate, and the angle detection means and the angle detection means of the gripper provided on the right treatment means arm are detected. Correspondingly, the bending and rotation of the right treatment means and the opening and closing of the treatment gripper are controlled to operate. It is a medical manipulator characterized by including these.
【0007】本発明によれば、クレームの構成をとるこ
とにより、マスターマニピュレータ側のHMDと処置具
操作部の位置関係と、スレーブマニピュレータ側の内視
鏡先端と処置具の先端の位置関係が常に等しくすること
ができ、しかも内視鏡先端がHMDの動き通りに動き、
処置具が処置具操作部の通りに動き操作しやすい。According to the present invention, by adopting the constitution of the claims, the positional relationship between the HMD on the master manipulator side and the treatment instrument operating portion and the positional relationship between the endoscope tip and the treatment instrument tip on the slave manipulator side are always maintained. Can be made equal, and the tip of the endoscope moves as the HMD moves,
The treatment tool moves and operates easily as the treatment tool operating section.
【0008】[0008]
【実施例】以下、本発明の一実施例を図面に基づいて説
明する。 (構成)図1は医療用マニピュレータシステムの全体的
な構成を概略的に示し、この医療用マニピュレータシス
テムはスレーブマニピュレータ1とマスターマニピュレ
ータ2と両マニピュレータ1,2の関連動作を制御する
ための制御装置3とを備えている。An embodiment of the present invention will be described below with reference to the drawings. (Structure) FIG. 1 schematically shows the overall structure of a medical manipulator system. This medical manipulator system controls a slave manipulator 1, a master manipulator 2, and related operations of both manipulators 1 and 2. 3 and 3.
【0009】前記スレーブマニピュレータ1は手術器械
4とこれを支持する移動用マニピュレータ(ロボット)
5を備える。手術器械4は移動用マニピュレータ5のア
ーム先端に対して着脱自在に搭載される。ここでの手術
器械4は立体式内視鏡6と一対の処置手段としての一対
の把持鉗子7a,7bとからなる。内視鏡6における挿
入部8と一対の把持鉗子7a,7bは共通のシース9の
内部に挿通されて同じ向きで配置されることにより一体
的なユニットとして構成されている。すなわち一対の処
置具7a,7bの腕部は内視鏡6の挿入部8に沿うとと
もにその挿入部8の左右の位置に隣接して並んで配置さ
れている。図1で示すように手術器械4用シース9は患
者の体壁aに形成した挿通孔bを通じて体腔cの内部に
挿入される。そして、前記手術器械4においての内視鏡
6と把持鉗子7a,7bの先端部分は略同じ向きで体腔
c内に突き出すように設置されるようになっている。The slave manipulator 1 is a surgical instrument 4 and a manipulator for movement (robot) that supports the surgical instrument 4.
5 is provided. The surgical instrument 4 is detachably mounted on the tip of the arm of the manipulator 5 for movement. The surgical instrument 4 here comprises a stereoscopic endoscope 6 and a pair of grasping forceps 7a and 7b as a pair of treatment means. The insertion portion 8 of the endoscope 6 and the pair of gripping forceps 7a and 7b are inserted into the common sheath 9 and arranged in the same direction, thereby forming an integral unit. That is, the arm portions of the pair of treatment tools 7a, 7b are arranged along the insertion portion 8 of the endoscope 6 and adjacent to the left and right positions of the insertion portion 8 side by side. As shown in FIG. 1, the sheath 9 for the surgical instrument 4 is inserted into the body cavity c through the insertion hole b formed in the body wall a of the patient. The distal end portions of the endoscope 6 and the grasping forceps 7a and 7b in the surgical instrument 4 are arranged so as to project into the body cavity c in substantially the same direction.
【0010】ところで、前記内視鏡6はシース9の先端
から突き出す挿入部8の先端側途中部分に自由度が2の
湾曲部11を設けてなり、この湾曲部11は上下方向B
1と左右方向B2の2方向に湾曲することにより先端部
12の向きを上下左右に変向するようになっている。By the way, the endoscope 6 is provided with a bending portion 11 having two degrees of freedom in a middle portion on the distal end side of the insertion portion 8 protruding from the distal end of the sheath 9. The bending portion 11 has a vertical direction B.
By bending in two directions, i.e., 1 and the left-right direction B2, the direction of the tip portion 12 is changed to the vertical and horizontal directions.
【0011】内視鏡6の先端部12には左右一対の照明
窓13と左右一対の観察窓14が設けられていて、この
照明窓13から体腔c内の視野に照明光を照射する。そ
して、視野内を左右一対の観察窓14を通じて観察す
る。各観察窓14の内側にはCCD等の固体撮像素子が
それぞれ設置されており、各固体撮像素子は図示しない
カメラコントロール回路によって駆動制御され、各観察
窓14を通じて得られるそれぞれの視野を撮像する。The distal end portion 12 of the endoscope 6 is provided with a pair of left and right illumination windows 13 and a pair of left and right observation windows 14 and illuminates the visual field in the body cavity c with illumination light. Then, the inside of the visual field is observed through the pair of left and right observation windows 14. A solid-state image pickup device such as a CCD is installed inside each observation window 14, and each solid-state image pickup device is driven and controlled by a camera control circuit (not shown) to image each visual field obtained through each observation window 14.
【0012】また、左右の各把持鉗子7a,7bにおい
て、シース9から突き出す腕部の途中でその長手方向の
2箇所には湾曲部15,16を設けられ、第1の湾曲部
15はC1方向に湾曲し、第2の湾曲部16はC2方向
の湾曲が行われる。第1の湾曲部15が湾曲するC1方
向と第2の湾曲部16が湾曲するC2方向とは通常の動
作において同一の面内で互いに異なる向き、例えば互い
に直角な向きに湾曲するようになっている。また把持鉗
子7a,7bにおいて、シース9から突き出す腕部はそ
の基端側に設けた回転部17によって自軸まわりのC3
方向の回転も可能である。把持鉗子7a,7bの腕部先
端には処置作業用のグリッパ18が設けられている。つ
まり、把持鉗子7a,7bは内視鏡6の挿入部8の軸に
対して左右対称の構造をとり、同様の自由度を有してい
る。Further, in each of the left and right gripping forceps 7a, 7b, curved portions 15, 16 are provided at two positions in the longitudinal direction in the middle of the arm portion protruding from the sheath 9, and the first curved portion 15 is in the C1 direction. The second bending portion 16 is bent in the C2 direction. The C1 direction in which the first bending portion 15 bends and the C2 direction in which the second bending portion 16 bends are curved in different directions in the same plane in normal operation, for example, in directions perpendicular to each other. There is. Further, in the grasping forceps 7a, 7b, the arm portion protruding from the sheath 9 is rotated by the rotating portion 17 provided on the proximal end side thereof to rotate the C3 around the self-axis.
Directional rotation is also possible. A gripper 18 for treatment work is provided at the tip of the arm of the grasping forceps 7a, 7b. In other words, the grasping forceps 7a and 7b have a bilaterally symmetrical structure with respect to the axis of the insertion portion 8 of the endoscope 6 and have the same degree of freedom.
【0013】処置用内視鏡6はその後端に駆動部19が
設けられており、この駆動部19にはエンコーダ付き電
磁モータ(図示しない)を備え、この駆動力を例えばワ
イヤー(図示しない)等によって、前記内視鏡6の湾曲
部11の湾曲と、把持鉗子7a,7bの湾曲部15,1
6の湾曲やその腕部の回転、グリッパ18の開閉などの
処置動作を駆動可能となっている。図2(a)はこのよ
うな手術器械4の各部における対偶関係を概略的に示す
ものである。The medical treatment endoscope 6 is provided with a drive unit 19 at its rear end, and the drive unit 19 is provided with an electromagnetic motor (not shown) having an encoder, and the drive force is applied to, for example, a wire (not shown). The bending of the bending portion 11 of the endoscope 6 and the bending portions 15 and 1 of the grasping forceps 7a and 7b by
It is possible to drive treatment operations such as the bending of 6, the rotation of the arm portion thereof, and the opening / closing of the gripper 18. FIG. 2A schematically shows a kinematic relationship in each part of the surgical instrument 4.
【0014】一方、前記移動用マニピュレータ5はベッ
ドサイドに設置される支持機構であり、次に述べる如
く、直動および回転の自由度を有する複数の軸を備えた
多関節アーム構造で構成されている。つまり、これは基
部20、水平旋回方向A1と垂直移動方向A2に動作す
る第1の動作軸21、この第1の動作軸21に対して水
平方向A3に移動しかつ自軸周りの旋回方向A4に回転
可能な第2の動作軸22とを備えてなり、さらに第2の
動作軸22の先端にはその軸方向に直交した旋回方向A
5とその旋回方向A5の軸に直交する軸まわりの旋回方
向A6に回転可能な器具装着部材23が取り付けられて
いる。この器具装着部材23に対して前記手術器械4の
シース9を挿通し、その状態で手術器械4が支持される
ようになっている。この移動用マニピュレータ5のリン
ク機構の対偶関係を前記各方向A1〜A6と対応させた
同一符号で概念的に示せば、図3(a)で示すようにな
る。この移動用マニピュレータ5の各軸には各方向に駆
動する電磁モータ等のアクチュエータ(図示せず)とそ
の回転角を検出するアブソリュート型エンコーダ(図示
せず)および減速機(図示せず)がそれぞれ設けられて
いる。On the other hand, the moving manipulator 5 is a support mechanism installed on the bedside, and is composed of a multi-joint arm structure having a plurality of shafts having degrees of freedom of linear movement and rotation, as described below. There is. That is, this is the base 20, the first operating shaft 21 which operates in the horizontal turning direction A1 and the vertical moving direction A2, the horizontal moving direction A3 with respect to the first operating shaft 21, and the turning direction A4 around its own axis. Is provided with a rotatable second operating shaft 22, and the tip of the second operating shaft 22 has a turning direction A orthogonal to the axial direction thereof.
5 and the instrument mounting member 23 rotatable in a turning direction A6 around an axis orthogonal to the axis of the turning direction A5. The sheath 9 of the surgical instrument 4 is inserted through the instrument mounting member 23, and the surgical instrument 4 is supported in this state. FIG. 3 (a) conceptually shows the pair relationship of the link mechanism of the moving manipulator 5 with the same reference numerals corresponding to the respective directions A1 to A6. An actuator (not shown) such as an electromagnetic motor that drives in each direction, an absolute encoder (not shown) and a speed reducer (not shown) that detect the rotation angle thereof are provided on each axis of the moving manipulator 5. It is provided.
【0015】また、内視鏡6と一対の把持鉗子7a,7
bからなる手術器械4のユニットは、移動用マニピュレ
ータ5の先端に設けられた器具装着部材23に対して着
脱可能な状態で取り付けられる。このスレーブマニピュ
レータ1の着脱部分の構成は図4(a)に示される。す
なわち、器具装着部材23には手術器械4を保持するシ
ース9の基部を挿入して装着する取付け孔25が設けら
れ、シース9の基部外周にはナット26の雌ねじ27を
ねじ込むための雄ねじ部28を形成してなり、器具装着
部材23にシース9の基部を嵌め込んでナット26を締
め付けることにより移動用マニピュレータ5の先端とそ
の内視鏡6側を結合し、また離脱可能となっている。In addition, the endoscope 6 and a pair of gripping forceps 7a, 7
The unit of the surgical instrument 4 consisting of b is detachably attached to the instrument attachment member 23 provided at the tip of the moving manipulator 5. The structure of the detachable portion of the slave manipulator 1 is shown in FIG. That is, the instrument mounting member 23 is provided with a mounting hole 25 into which the base portion of the sheath 9 for holding the surgical instrument 4 is inserted and mounted, and a male screw portion 28 for screwing the female screw 27 of the nut 26 on the outer periphery of the base portion of the sheath 9. By fitting the base portion of the sheath 9 into the instrument mounting member 23 and tightening the nut 26, the distal end of the manipulator 5 for movement and the endoscope 6 side thereof can be coupled and separated.
【0016】一方、操作手段のマスターマニピュレータ
2は移動用マスターアーム31と、これの先端に設けら
れたHMD用アーム32及び一対の処置手段操作用アー
ム33a,33bとによって構成されている。前記移動
用マスターアーム31はリンク機構から構成されてお
り、手術室の壁部や架台等の基台34に取り付けられそ
の軸まわりのD1方向に回転する第1の軸部材36と、
この第1の軸部材36の先端に関節37を介してD2方
向に回転するように連結された第2の軸部材38と、こ
の第2の軸部材38の先端に関節39を介してD3方向
に回転するように連結された第3の軸部材40と、この
第3の軸部材40の先端にD4方向に回転するように連
結された装着用先端部材41を連結してなる。この移動
用マスターアーム31のリンク機構の関節はこれに対応
した各回転方向A1〜A6と同一符号で概念的に示せ
ば、図3(b)で示すようになる。また、これらの各回
転軸部分にはその回転角度を検出可能なようにエンコー
ダ42がそれぞれ取り付けられていて、これの検出デー
タによって移動用マスターアーム31の先端の位置と向
きとを検出可能になっている。On the other hand, the master manipulator 2 of the operating means comprises a moving master arm 31, an HMD arm 32 provided at the tip of the moving master arm 31, and a pair of treatment means operating arms 33a and 33b. The moving master arm 31 is composed of a link mechanism, is attached to a base 34 such as a wall portion or a pedestal of an operating room, and is rotated around a shaft thereof in a D1 direction.
A second shaft member 38 connected to the tip of the first shaft member 36 through a joint 37 so as to rotate in the D2 direction, and a D39 direction through a joint 39 at the tip of the second shaft member 38. A third shaft member 40 that is rotatably connected to the third shaft member 40 and a mounting tip member 41 that is rotatably connected to the D4 direction are connected to the tip of the third shaft member 40. The joints of the link mechanism of the moving master arm 31 are conceptually shown by the same reference numerals as the corresponding rotation directions A1 to A6, as shown in FIG. 3 (b). An encoder 42 is attached to each of these rotary shaft portions so as to detect its rotation angle, and the position and orientation of the tip of the moving master arm 31 can be detected by the detection data of the encoder 42. ing.
【0017】前記HMD用アーム32は2つの回転関節
51,52を持つアーム53とこのアーム53の先端に
固定された表示手段としてのHMD(ヘッドマウントデ
ィスプレイ)54とによって構成されている。このアー
ム53の回転関節51,52の回転方向E1,E2は図
2(b)で示すように互いに直交する向きにあり、それ
ぞれにはエンコーダ55,56が設けられ、そのHMD
54の各回転方向E1,E2の回転量をそれぞれ検出可
能になっている。The HMD arm 32 comprises an arm 53 having two rotary joints 51 and 52, and an HMD (head mount display) 54 as a display means fixed to the tip of the arm 53. The rotation directions E1 and E2 of the rotary joints 51 and 52 of the arm 53 are orthogonal to each other as shown in FIG. 2B, and encoders 55 and 56 are provided on the respective HMDs.
The rotation amount of each of the rotation directions E1 and E2 of 54 can be detected.
【0018】また、一方の処置手段操作用アーム33a
は3つの回転関節61,62,63を持つアーム64
と、そのアーム64の先端に設けられた開閉可能な操作
用グリッパ65によって構成されている。各回転関節6
1,62,63によってそれぞれF3,F1,F2の3
つの方向への動きが可能になっている。また、3つの回
転関節61,62,63とグリッパ65にはそれぞれエ
ンコーダが設けられ、その各回転関節61,62,63
の回転角度やグリッパ65の開き角度がそれぞれ検出可
能になっている。他方の処置手段操作用アーム33bは
一方の処置手段用アーム33aに対して前記回転方向D
4の回転軸に対して左右対称の構造をとり、その両者の
構成は同様であるため、他方の処置手段操作用アーム3
3bの説明を省略する。In addition, one treatment means operating arm 33a
Is an arm 64 having three revolute joints 61, 62, 63
And an openable / closable operation gripper 65 provided at the tip of the arm 64. Each rotary joint 6
1, 62, and 63 are F3, F1, and F2, respectively.
It is possible to move in one direction. An encoder is provided on each of the three rotary joints 61, 62, 63 and the gripper 65, and each rotary joint 61, 62, 63 is provided with an encoder.
The rotation angle and the opening angle of the gripper 65 can be detected. The other treatment means operating arm 33b is rotated with respect to the one treatment means arm 33a in the rotation direction D
4 has a bilaterally symmetric structure with respect to the axis of rotation, and since both of them have the same structure, the other treatment means operating arm 3
The description of 3b is omitted.
【0019】前記HMD用アーム32と一対の処置手段
操作用アーム33a,33bとは同じ連結基部66に対
して取り付けられる操作ユニットを構成しており、その
連結基部66は移動用マスターアーム31の先端部材4
1に対して着脱可能な状態で取着される。この着脱部の
構成を図4(b)で示す。移動用マスターアーム31の
先端部材41はその先端面中央に係合突起67を設ける
と共にナット68を回転自在に係着してある。一方、前
記HMD用アーム32と一対の処置手段操作用アーム3
3a,33bの操作ユニットを取り付けた同じ連結基部
66の基端面には前記係合突起67を嵌め込む孔69が
形成され、さらに連結基部66の外周には前記ナット6
8の雌ねじ68aをねじ込む雄ねじ70が設けられてい
る。そして、移動用マスターアーム31の先端部材41
に連結基部66を突き合わせて係合突起67を孔69に
嵌め込むとともに前記ナット68を雄ねじ70にねじ込
むことにより両者を結合し、また離脱可能になってい
る。The HMD arm 32 and the pair of treatment means operating arms 33a and 33b constitute an operation unit attached to the same connecting base portion 66, and the connecting base portion 66 is the tip of the moving master arm 31. Member 4
It is attached in a detachable manner with respect to 1. The structure of this attachment / detachment portion is shown in FIG. The tip member 41 of the moving master arm 31 is provided with an engagement protrusion 67 at the center of its tip surface and a nut 68 rotatably attached thereto. On the other hand, the HMD arm 32 and a pair of treatment means operating arms 3
A hole 69 into which the engaging projection 67 is fitted is formed in the base end surface of the same connection base 66 to which the operation units 3a and 33b are attached, and the nut 6 is formed on the outer periphery of the connection base 66.
A male screw 70 into which the female screw 68a of No. 8 is screwed is provided. Then, the tip member 41 of the moving master arm 31
The connection base 66 is butted against the above, the engaging projection 67 is fitted into the hole 69, and the nut 68 is screwed into the male screw 70 so that they can be coupled and separated from each other.
【0020】次に、前記スレーブマニピュレータ1とマ
スターマニピュレータ2の関連動作を制御する制御装置
3の構成を説明する。図1で示すように制御装置3は第
1の制御装置71、第2の制御装置72、第3の制御装
置73からなる。第1の制御装置71は移動用マスター
アーム31の各エンコーダ42と電気的に接続され、そ
のエンコーダ42により回転角を検出することにより、
移動用マスターアーム31の先端の位置を検出すること
ができる。さらに第1の制御装置71は移動用マニピュ
レータ5の各電磁モータとこのモータに付いているエン
コーダと電気的に接続され、そのエンコーダで移動量を
検出しながらそのモータを駆動し、移動用マニピュレー
タ5の位置を決めることが可能である。第2の制御装置
72は、HMD用アーム32の各エンコーダ55,56
と電気的に接続され、このエンコーダ55,56の回転
角を検出することにより、HMD54の向きを検出する
ことができる。さらに第2の制御装置72は駆動部19
内に設けられたモータと、このモータに付いているエン
コーダと電気的に接続され、エンコーダで移動量を検出
しながらモータを駆動できるので、指定された方向に処
置用内視鏡6の湾曲部11を湾曲させることが可能であ
る。Next, the configuration of the control device 3 for controlling the related operations of the slave manipulator 1 and the master manipulator 2 will be described. As shown in FIG. 1, the control device 3 includes a first control device 71, a second control device 72, and a third control device 73. The first control device 71 is electrically connected to each encoder 42 of the moving master arm 31 and detects the rotation angle by the encoder 42,
The position of the tip of the moving master arm 31 can be detected. Further, the first control device 71 is electrically connected to each electromagnetic motor of the moving manipulator 5 and an encoder attached to this motor, drives the motor while detecting the moving amount by the encoder, and moves the manipulator 5 for moving. It is possible to determine the position of. The second control device 72 uses the encoders 55 and 56 of the HMD arm 32.
The direction of the HMD 54 can be detected by electrically connecting to the HMD 54 and detecting the rotation angles of the encoders 55 and 56. Further, the second control device 72 has a drive unit 19
Since the motor provided inside is electrically connected to the encoder attached to the motor and the motor can be driven while detecting the movement amount by the encoder, the bending portion of the medical treatment endoscope 6 in the designated direction. It is possible to bend 11.
【0021】第3の制御装置73は処置手段操作用アー
ム33a,33bの各エンコーダ74と電気的に接続さ
れ、このエンコーダの回転角を検出することにより、グ
リッパの向きと位置およびその開閉角度を検出すること
ができる。さらに第3の制御装置73は駆動部19内に
設けられた処置手段駆動用の各電磁モータと、このモー
タに付いているエンコーダと電気的に接続され、エンコ
ーダで移動量を検出しながらそのモータを駆動できるの
で、処置手段の位置と方向等を決めることが可能であ
る。The third control device 73 is electrically connected to the encoders 74 of the treatment means operating arms 33a and 33b, and detects the rotation angle of the encoders to determine the direction and position of the gripper and the opening / closing angle thereof. Can be detected. Further, the third control device 73 is electrically connected to each electromagnetic motor for driving the treatment means provided in the drive unit 19 and an encoder attached to the motor, and the motor is detected while the encoder detects the movement amount. Since it can be driven, it is possible to determine the position and direction of the treatment means.
【0022】また、前記内視鏡6の左のCCDの出力は
図示しないビデオプロセッサによりTV信号に変換さ
れ、HMD54の左目の表示部の例えばLCDにその映
像を表示することが可能になっている。また、右のCC
Dの出力は図示しないビデオプロセッサによりTV信号
に変換され、HMD54の右目の表示部の例えばLCD
にその映像を表示することが可能になっている。 (作用)次に、前述した医療用マニピュレータシステム
を使用する際の作用について説明する。まず、術者80
はHMD54を頭にかぶり、左手で左のグリッパ65を
持ち、右手で右のグリッパ65を持つ。このとき、術者
80はHMD54により内視鏡6により得られた体腔内
の映像を立体視することができる。The output of the CCD on the left side of the endoscope 6 is converted into a TV signal by a video processor (not shown), and the image can be displayed on the LCD of the left eye display unit of the HMD 54, for example. . Also, CC on the right
The output of D is converted into a TV signal by a video processor (not shown), and is displayed on the display unit of the right eye of the HMD 54, for example, LCD.
It is possible to display the video on. (Operation) Next, an operation when the above-described medical manipulator system is used will be described. First, the surgeon 80
Holds the HMD 54 on his head, holds the left gripper 65 with his left hand, and holds the right gripper 65 with his right hand. At this time, the operator 80 can stereoscopically view the image in the body cavity obtained by the endoscope 6 by the HMD 54.
【0023】ついで、術者80が患部を観察するための
動作を説明する。術者80がその頭部の位置を変える
と、その位置の変化を移動用マスターアーム31の各軸
のエンコーダ42が検知し、第1の制御装置71はこれ
により移動用マスターアーム31の先端位置を計算し、
これに対応して内視鏡6における挿入部8の先端の位置
が動くようにスレーブ側の移動用マニピュレータ5の各
電磁モータを制御する。このとき、図3(a)に示す座
標系81と、図3(b)に示す座標系82とがそれぞれ
対応するように制御を行う。Next, the operation of the operator 80 for observing the affected area will be described. When the operator 80 changes the position of the head, the encoder 42 of each axis of the moving master arm 31 detects the change of the position, and the first control device 71 thereby detects the position of the tip of the moving master arm 31. And calculate
In response to this, each electromagnetic motor of the slave manipulator 5 for movement is controlled so that the position of the tip of the insertion portion 8 in the endoscope 6 moves. At this time, control is performed such that the coordinate system 81 shown in FIG. 3A and the coordinate system 82 shown in FIG. 3B correspond to each other.
【0024】術者80が首の向きを変えると、HMD用
アーム32のエンコーダ55,56がこの動きを検出
し、第2の制御装置72はHMD54の回転E1,E2
と、内視鏡6の湾曲B1,B2が1対1に対応して動く
ように駆動部19内の図示しないエンコーダ付きモータ
を制御する。これらにより、処置用内視鏡6の位置及び
向きが、術者80の頭の位置及び向きに対応して動くの
で、術者80はその頭の位置や向きを変えることによっ
て患部に処置用内視鏡6を誘導し、様々な角度から患部
を立体的に観察することが可能になる。When the operator 80 changes the direction of the neck, the encoders 55 and 56 of the HMD arm 32 detect this movement, and the second controller 72 rotates the EMDs E1 and E2 of the HMD 54.
Then, the motor with an encoder (not shown) in the drive unit 19 is controlled so that the curves B1 and B2 of the endoscope 6 move in a one-to-one correspondence. As a result, the position and orientation of the medical treatment endoscope 6 move in accordance with the position and orientation of the head of the operator 80. It is possible to guide the endoscope 6 and stereoscopically observe the affected area from various angles.
【0025】次に、術者80が処置するときの動作を説
明する。術者80が、例えば右の操作用グリッパ65の
位置を変えたり、そのグリッパ65を開閉させたときの
動きを処置手段操作用アーム33aの各関節61,6
2,63等に設けられたエンコーダ74が検知し、第3
の制御装置73は右の処置手段操作用アーム33aの回
転F1,F2,F3と、右の把持鉗子7aの回転C1、
C2、C3が1対1に対応し、さらに操作用グリッパ6
5の開閉F4が、右の処置用グリッパ18の開閉C4の
開閉量と一致して動作するように駆動部19内の図示し
ないエンコーダ付きモータを制御する。また、第3の制
御装置73cは左の処置手段操作用アーム33bと右の
処置用把持鉗子7bも同様に1対1に対応して動くよう
に、駆動部19内の図示しないエンコーダ付きモータを
制御するが、右側と同様のため、これの説明は省略す
る。このように術者80の手の動きと処置具の動きが1
対1に対応するので、術者80はHMD54の映像を観
察しながら、例えば左の把持鉗子7bで患部を押さえ、
右の把持鉗子7aで患部の剥離を行うなどの動作が可能
である。Next, the operation when the operator 80 makes a treatment will be described. When the operator 80 changes the position of the right operation gripper 65 or opens and closes the gripper 65, the movement of the operation gripper 65 is controlled by the joints 61, 6 of the treatment means operating arm 33a.
The encoder 74 provided at 2, 63, etc. detects and
The control device 73 of the rotations F1, F2 and F3 of the right treatment means operating arm 33a and the rotation C1 of the right grasping forceps 7a,
C2 and C3 correspond one-to-one, and the operating gripper 6
The motor with encoder (not shown) in the drive unit 19 is controlled so that the opening / closing F4 of 5 operates in accordance with the opening / closing amount of the opening / closing C4 of the right treatment gripper 18. Further, the third control device 73c controls the motor with an encoder (not shown) in the drive unit 19 so that the left treatment means operating arm 33b and the right treatment grasping forceps 7b also move in a one-to-one correspondence. It is controlled, but the description is omitted because it is similar to the right side. In this way, the movement of the hand of the surgeon 80 and the movement of the treatment tool are 1
Since it corresponds to the pair 1, the operator 80, while observing the image of the HMD 54, presses the affected area with, for example, the left grasping forceps 7b,
The right gripping forceps 7a can perform operations such as peeling the affected area.
【0026】また、スレーブマニピュレータ1の処置用
内視鏡6は把持鉗子7a,7bと手術器械4として一体
的にユニット化され、またマスターマニピュレータ2の
HMD用アーム32と処置手段操作用アーム33a,3
3bも操作部として一体的にユニット化される。そし
て、各ユニットがそれぞれ着脱自在なので、例えば剥離
をするときは剥離に最適の、縫合するときは縫合に最適
の内視鏡及び処置具と、これに対応したマスターマニピ
ュレータが使用可能になる。 [付記] (1)特許請求の範囲に記載の内容の医療用マニピュレ
ータ。The treatment endoscope 6 of the slave manipulator 1 is integrally united as the grasping forceps 7a, 7b and the surgical instrument 4, and the HMD arm 32 of the master manipulator 2 and the treatment means operating arm 33a, Three
3b is also integrally unitized as an operation part. Since each unit is detachable, it is possible to use an endoscope and a treatment tool that are optimal for peeling when peeling, and optimal for suturing when suturing, and a master manipulator corresponding thereto. [Additional Notes] (1) A medical manipulator having the contents described in the claims.
【0027】(2)スレーブマニピュレータにおける処
置用内視鏡及び複数の処置手段をユニットとし、これと
移動用マニピュレータとの間を着脱する機構を設け、さ
らにマスターマニピュレータにおけるHMD用アーム及
び2つの処置手段用アームをユニットとし、これと移動
操作用マスターアームとの間を着脱する機構を設けたこ
とを特徴とする第2項に記載の医療用マニピュレータ。
これによれば、スレーブマニピュレータの処置用内視鏡
と、マスターマニピュレータのHMD用アームと処置手
段用アームが、それぞれ着脱可能になることにより、手
技に応じた最適の処置用内視鏡とマスターアームが選択
使用できる。これによれば、移動用マスターアームによ
り移動用マニピュレータの制御と、HMD用アームによ
る立体内視鏡の制御と、処置手段用アームによる2つの
処置具の制御がそれぞれ独立しているため、各部分ごと
で制御が完結している。これにより、制御装置の構成を
簡略化できる。(2) A treatment endoscope and a plurality of treatment means in the slave manipulator are used as a unit, and a mechanism for attaching and detaching the treatment endoscope and the moving manipulator is provided, and further, an HMD arm and two treatment means in the master manipulator. The manipulator for medical treatment according to item 2, wherein the arm for use is a unit, and a mechanism for attaching and detaching the arm for operation to and from the master arm for movement operation is provided.
According to this, the treatment endoscope of the slave manipulator, and the HMD arm and the treatment means arm of the master manipulator can be attached and detached respectively, so that the treatment endoscope and the master arm that are most suitable for the procedure can be obtained. Can be selected and used. According to this, the control of the manipulator for movement by the master arm for movement, the control of the stereoscopic endoscope by the arm for HMD, and the control of the two treatment tools by the arm for treatment means are independent of each other. The control is completed for each. This can simplify the configuration of the control device.
【0028】(3)制御手段は、第1の制御手段と第2
の制御手段と第3の制御手段とからなり、第1の制御手
段は移動用マスターアームの各角度検出手段を検出し、
移動用マニピュレータがこれに対応して動作するように
制御し、第2の制御手段はHMD用アームの角度検出手
段を検出し、内視鏡の湾曲がこれに対応して動作するよ
うに制御し、第3の制御手段は左右の処置用アームの角
度検出手段を検出し、左右の処置手段がこれに対応して
動作するように制御することを特徴とする第1項または
第2項に記載の医療用マニピュレータ。これによれば、
移動用マスターアームにより移動用マニピュレータの制
御と、HMD用アームによる立体式内視鏡の制御と、処
置手段用アームによる2つの処置具の制御がそれぞれ独
立しているため、各部分ごとで制御が完結している。こ
れにより、制御装置の構成を簡略化できる。(3) The control means are the first control means and the second control means.
And a third control means, the first control means detects each angle detection means of the moving master arm,
The moving manipulator controls so as to operate correspondingly, and the second control means detects the angle detecting means of the HMD arm and controls so that the bending of the endoscope operates correspondingly. The third control means detects the angle detection means of the left and right treatment arms and controls the left and right treatment means to operate in response to the angle detection means. Medical manipulator. According to this,
Since the control of the movement manipulator by the movement master arm, the control of the stereoscopic endoscope by the HMD arm, and the control of the two treatment tools by the treatment means arm are independent of each other, the control is performed for each part. It's complete. This can simplify the configuration of the control device.
【0029】(4)前記処置用内視鏡の観察手段には、
左右2つの固体撮像素子が設けられ、前記HMDは左目
用表示部と右目用表示部にそれぞれ前記2つの固体撮像
素子で撮像した画像をそれぞれ個別的に表示することを
特徴とする第1項、第2項または第3項に記載の医療用
マニピュレータ。これによれば、術者はHMDによって
体腔内の立体画像を得ることができるので、より臨場感
のある環境で、内視鏡下手術が可能となる。(4) The observation means of the medical treatment endoscope includes
Two left and right solid-state image pickup devices are provided, and the HMD individually displays images captured by the two solid-state image pickup devices on the left-eye display unit and the right-eye display unit, respectively. The medical manipulator according to claim 2 or 3. According to this, the operator can obtain a three-dimensional image of the inside of the body cavity by the HMD, so that the endoscopic surgery can be performed in a more realistic environment.
【0030】[0030]
【発明の効果】以上説明したように本発明によれば、マ
スターマニピュレータ側のHMDと処置具操作部の位置
関係と、スレーブマニピュレータ側の内視鏡先端と処置
具の先端の位置関係が常に等しく、内視鏡の先端が術者
の頭の動き通りに動き、処置具が手の動き通りに動くこ
とにより、術者はあたかも体腔内にいるような臨場感の
中で、内視鏡下手術が可能となる。As described above, according to the present invention, the positional relationship between the HMD on the master manipulator side and the treatment instrument operating portion and the positional relationship between the endoscope tip and the treatment instrument tip on the slave manipulator side are always the same. , The tip of the endoscope moves according to the movement of the surgeon's head, and the treatment instrument moves according to the movement of the hand, so that the surgeon can perform endoscopic surgery in the presence of being in a body cavity. Is possible.
【図1】本発明の一実施例に係る医療用マニピュレータ
システムの全体的な構成を概略的に示す説明図。FIG. 1 is an explanatory diagram schematically showing the overall configuration of a medical manipulator system according to an embodiment of the present invention.
【図2】(a)は前記医療用マニピュレータシステムに
おけるマスターマニピュレータの手術器械の対偶関係を
示す説明図、(b)は前記医療用マニピュレータシステ
ムにおけるHMD用アームと処置手段用アームの対偶関
係を示す説明図。FIG. 2 (a) is an explanatory view showing a kinematic relationship of surgical instruments of a master manipulator in the medical manipulator system, and FIG. 2 (b) shows a kinematic relationship of an HMD arm and a treatment means arm in the medical manipulator system. Explanatory drawing.
【図3】(a)は前記スレーブマニピュレータにおける
移動用マニピュレータの対偶関係を示す説明図、(b)
は前記マスターマニピュレータにおける移動用マスター
アームの対偶関係を示す説明図。FIG. 3 (a) is an explanatory diagram showing a kinematic relationship of the moving manipulators in the slave manipulator, and FIG.
FIG. 4 is an explanatory diagram showing a kinematic relationship of moving master arms in the master manipulator.
【図4】(a)は手術器械のユニットの着脱部の断面
図、(b)は前記HMD用アームと一対の処置手段用ア
ームのユニットの着脱部の断面図。FIG. 4A is a cross-sectional view of a detachable portion of a unit of a surgical instrument, and FIG. 4B is a cross-sectional view of a detachable portion of the unit of the HMD arm and a pair of treatment means arms.
1…スレーブマニピュレータ、2…マスターマニピュレ
ータ、3…制御装置、4…手術器械、5…移動用マニピ
ュレータ、6…処置用内視鏡、7a,7b…把持鉗子、
8…挿入部、9…シース、23…器具装着部材、25…
取付け孔、26…ナット、27…雌ねじ、28…雄ね
じ、31…移動用マスターアーム、32…HMD用アー
ム、33a,33b…処置手段操作用アーム、41…先
端部材、66…連結基部、67…係合突起、68…ナッ
ト、69…孔、70…雄ねじ。DESCRIPTION OF SYMBOLS 1 ... Slave manipulator, 2 ... Master manipulator, 3 ... Control device, 4 ... Surgical instrument, 5 ... Manipulator for movement, 6 ... Endoscope for treatment, 7a, 7b ... Grasping forceps,
8 ... Insertion part, 9 ... Sheath, 23 ... Instrument mounting member, 25 ...
Mounting hole, 26 ... Nut, 27 ... Female thread, 28 ... Male thread, 31 ... Moving master arm, 32 ... HMD arm, 33a, 33b ... Treatment means operating arm, 41 ... Tip member, 66 ... Coupling base, 67 ... Engagement protrusion, 68 ... Nut, 69 ... Hole, 70 ... Male screw.
Claims (1)
ピュレータとからなるスレーブマニピュレータと、移動
操作用マスターアームとHMD(ヘッドマウントディス
プレイ)用アームと2つの処置手段操作用アームとから
なるマスターマニピュレータと、それらを制御する制御
手段とを備えた医療用マニピュレータにおいて、前記処
置用内視鏡は内視鏡の挿入部の先端に設けられた固体撮
像素子からなる観察手段とその挿入部の左右に設けた2
つの処置手段と、前記挿入部を上下左右に湾曲する湾曲
部と、この湾曲部の湾曲動作を駆動するための駆動手段
を備える。前記各処置手段は前記内視鏡の挿入部に沿っ
て同じ向きで延び並べて配置されその自身の長手方向の
2箇所に湾曲部を設けた回転可能な腕部とこの腕部の先
端に設けられた処置用グリッパと前記腕部の湾曲および
回転と処置用グリッパの回転を駆動するエンコーダ付き
モータを備えている。また、前記移動用マニピュレータ
は前記処置用内視鏡を支持し、複数の直動または回転の
軸を有し、各軸に駆動手段を備え、前記処置用内視鏡の
先端部の位置及び向きが変更可能になっている。また、
前記移動用マスターアームは、複数の回転軸を有し、各
軸に角度検出手段を備えている。また、前記HMD用ア
ームは、移動用マスターアームに取り付けられ、角度検
出手段を備えた複数の回転軸を有し、その先端には前記
固体撮像素子で撮像した画像を表示するHMDを有して
いる。また、前記処置手段用アームは移動用マスターア
ームに取り付けられ、角度検出手段を備えた複数の回転
軸を有し、その先端には角度検出手段を備えた操作用グ
リッパを有する。また、前記制御手段は、移動用マスタ
ーアームの各軸の角度検出手段の角度を検出して、移動
用マニピュレータが対応して動くよう制御し、HMD用
アームに設けられた角度検出手段を検出して、これに対
応して観察手段の上下左右の湾曲が動作するように制御
し、左の処置手段用アームに設けられた角度検出手段と
操作用グリッパの角度検出手段を検出し、これに対応し
て左の処置手段の湾曲、回転、及び処置用グリッパの開
閉が動作するように制御し、右の処置手段用アームに設
けられた角度検出手段とグリッパの角度検出手段を検出
し、これに対応して右の処置手段の湾曲、回転、及び処
置用グリッパの開閉が動作するように制御する。これら
を備えたことを特徴とする医療用マニピュレータ。1. A slave manipulator comprising a medical treatment endoscope and a manipulator for movement supporting the endoscope, a master arm for movement operation, an arm for HMD (head mount display), and two treatment means operation arms. In a medical manipulator having a master manipulator and a control means for controlling them, the treatment endoscope is an observation means consisting of a solid-state imaging device provided at the tip of the insertion portion of the endoscope and its insertion portion. 2 on the left and right
One treatment means, a bending portion that bends the insertion portion vertically and horizontally, and a driving means for driving the bending operation of the bending portion. The respective treatment means extend along the insertion portion of the endoscope in the same direction and are arranged side by side. The rotatable arm portion is provided with curved portions at two locations in its longitudinal direction, and the treatment arm is provided at the distal end of the arm portion. And a motor with an encoder for driving the bending and rotation of the arm portion and the rotation of the treatment gripper. Further, the moving manipulator supports the medical treatment endoscope, has a plurality of linear motion or rotation shafts, each shaft is provided with drive means, and the position and orientation of the distal end portion of the medical treatment endoscope. Can be changed. Also,
The moving master arm has a plurality of rotating shafts, and each shaft is provided with an angle detecting means. Further, the HMD arm has a plurality of rotation shafts attached to a moving master arm and provided with angle detection means, and has an HMD for displaying an image picked up by the solid-state image pickup device at its tip. There is. Further, the treatment means arm is attached to the moving master arm, has a plurality of rotation shafts provided with angle detection means, and has an operation gripper provided with angle detection means at its tip. Further, the control means detects the angle of the angle detecting means of each axis of the moving master arm, controls the moving manipulator to move correspondingly, and detects the angle detecting means provided on the HMD arm. In response to this, control is performed so that the up / down / left / right bending of the observation means operates, and the angle detection means and the angle detection means of the operating gripper provided on the left arm for treatment means are detected, and correspondingly Then, the bending and rotation of the left treatment means and the opening and closing of the treatment gripper are controlled to operate, and the angle detection means and the angle detection means of the gripper provided on the right treatment means arm are detected. Correspondingly, the bending and rotation of the right treatment means and the opening and closing of the treatment gripper are controlled to operate. A medical manipulator characterized by including these.
Priority Applications (1)
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JP03547395A JP3610110B2 (en) | 1995-02-23 | 1995-02-23 | Medical manipulator |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP03547395A JP3610110B2 (en) | 1995-02-23 | 1995-02-23 | Medical manipulator |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH08224248A true JPH08224248A (en) | 1996-09-03 |
JP3610110B2 JP3610110B2 (en) | 2005-01-12 |
Family
ID=12442754
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JP03547395A Expired - Fee Related JP3610110B2 (en) | 1995-02-23 | 1995-02-23 | Medical manipulator |
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