JPH08275958A - Manipulator device for operation - Google Patents
Manipulator device for operationInfo
- Publication number
- JPH08275958A JPH08275958A JP7082439A JP8243995A JPH08275958A JP H08275958 A JPH08275958 A JP H08275958A JP 7082439 A JP7082439 A JP 7082439A JP 8243995 A JP8243995 A JP 8243995A JP H08275958 A JPH08275958 A JP H08275958A
- Authority
- JP
- Japan
- Prior art keywords
- manipulator
- slave
- manipulators
- master
- observation
- 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.)
- Withdrawn
Links
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は複数のマニピュレータを
備えた手術用マニピュレータ装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surgical manipulator device having a plurality of manipulators.
【０００２】[0002]
【従来の技術】ＵＳＰ第５，３６８，０１５号公報には
遠隔操作により内視鏡下手術を行うマニピュレータ装置
が示されている。このマニピュレータ装置は１本の観察
用マニピュレータと１本の処置用マニピュレータのみが
用意され、これを遠隔的に操作するようになっている。
観察用マニピュレータと処置用マニピュレータがそれぞ
れ１本であるため、例えば処置対象の臓器を把持して切
ったり縫合したりすることができなかった。2. Description of the Related Art US Pat. No. 5,368,015 discloses a manipulator device for performing endoscopic surgery by remote control. This manipulator device is provided with only one observation manipulator and one treatment manipulator, and these are manipulated remotely.
Since there is only one observation manipulator and one treatment manipulator, for example, the organ to be treated cannot be grasped and cut or sutured.
【０００３】[0003]
【発明が解決しようとする課題】そこで、本出願人は複
数の処置手段を有するものを特願平５−２７４４０５号
の出願で提案した。しかし、この様に処置手段が複数に
なると、一方の処置手段は内視鏡の観察画像の領域内に
捉えておけるが、もう一方の処置手段は内視鏡の観察画
像の領域外に出てしまうことがあった。また、処置対象
を異なる角度から観察したいときには観察手段の観察方
向を変える必要があるが、この際に、処置手段が観察画
像から出てしまい見えなくなってしまうことが起きるこ
とがある。Therefore, the applicant of the present invention has proposed a device having a plurality of treatment means in Japanese Patent Application No. 5-274405. However, when there are a plurality of treatment means in this way, one treatment means can be caught within the area of the observation image of the endoscope, while the other treatment means goes out of the area of the observation image of the endoscope. There was something that happened. Further, when it is desired to observe the treatment target from different angles, it is necessary to change the observation direction of the observation means, but at this time, the treatment means may sometimes disappear from the observation image and disappear.
【０００４】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、より高度の医療作業を行
うことができるとともに、それらのマニピュレータの操
作性に優れた手術用マニピュレータ装置を提供すること
にある。The present invention has been made in view of the above problems, and an object of the present invention is to provide a manipulator device for surgery which is capable of performing more advanced medical work and has excellent operability of those manipulators. To provide.
【０００５】[0005]
【課題を解決する手段および作用】本発明は複数のマニ
ピュレータを有する手術用マニピュレータ装置におい
て、前記複数のマニピュレータは少なくとも複数の観察
用マニピュレータを含むことを特徴とする手術用マニピ
ュレータ装置である。マニピュレータは少なくとも複数
の観察用マニピュレータを含むため、複数の観察ができ
て、複雑な処置作業等を容易に行うことができる。The present invention is a surgical manipulator apparatus having a plurality of manipulators, wherein the plurality of manipulators include at least a plurality of observation manipulators. Since the manipulator includes at least a plurality of observation manipulators, a plurality of observations can be performed, and complicated treatment work can be easily performed.
【０００６】[0006]
（第１の実施例）図１および図２を参照して本発明の第
１の実施例に係る手術用マニピュレータ装置を説明す
る。図１はその手術用マニピュレータ装置のシステムを
概略的に示す図である。同図中１は患者が載置されるベ
ッドであり、このベッド１の縁にはこれに沿って全周的
にレール等からなる取付け用ベース２が設けられてい
る。ベース２には観察用スレーブマニピュレータあるい
は処置用スレーブマニピュレータ等の複数のスレーブマ
ニピュレータ３ａ〜３ｆが着脱自在に取り付けられる。(First Embodiment) A surgical manipulator apparatus according to a first embodiment of the present invention will be described with reference to FIGS. 1 and 2. FIG. 1 is a diagram schematically showing the system of the surgical manipulator device. In the figure, reference numeral 1 denotes a bed on which a patient is placed, and an attachment base 2 made of a rail or the like is provided on the edge of the bed 1 along the entire circumference thereof. A plurality of slave manipulators 3a to 3f such as an observation slave manipulator or a treatment slave manipulator are detachably attached to the base 2.
【０００７】図１で示す本実施例では６個のスレーブマ
ニピュレータを例示する。このうち、スレーブマニピュ
レータ３ａ，３ｂは観察用スレーブマニピュレータであ
り、他のスレーブマニピュレータ３ｃ〜３ｆは処置用ス
レーブマニピュレータとしてある。In this embodiment shown in FIG. 1, six slave manipulators are illustrated. Of these, the slave manipulators 3a and 3b are observation slave manipulators, and the other slave manipulators 3c to 3f are treatment slave manipulators.
【０００８】図２で示す如く、観察用スレーブマニピュ
レータ３ａ（３ｂ）は図示しない電動モータによりそれ
ぞれ駆動されるＡ１軸，Ａ２軸，Ａ３軸と、フリー関節
から構成されるＡ４軸，Ａ５軸からなる。フリー関節Ａ
の４軸，Ａ５軸にはそれぞれの軸回りに回動される先端
ホールド部４が設けられている。そして、このホールド
部４には内視鏡５が着脱自在に固定される。この内視鏡
５は例えば視差のある２つの像を電子的に撮像する立体
式のものである。内視鏡５により撮像された画像は表示
装置、例えば後述のフェースマウンティッドディスプレ
イ（以下、ＦＭＤと称する）６の図示しない表示部に映
し出されて表示され、その画像を立体的に観察できるよ
うになっている。As shown in FIG. 2, the observing slave manipulator 3a (3b) comprises an A1 axis, an A2 axis and an A3 axis which are respectively driven by an electric motor (not shown), and an A4 axis and an A5 axis which are free joints. . Free joint A
The 4 axis and the A5 axis are provided with tip holding portions 4 which are rotated around the respective axes. Then, the endoscope 5 is detachably fixed to the hold portion 4. The endoscope 5 is, for example, a three-dimensional type that electronically captures two images with parallax. An image captured by the endoscope 5 is displayed on a display device, for example, a display unit (not shown) of a face-mounted display (hereinafter, referred to as FMD) 6 which will be described later and is displayed so that the image can be stereoscopically observed. Has become.
【０００９】一方、処置用スレーブマニピュレータ３ｃ
（３ｄ〜３ｆ）も前記スレーブマニピュレータ３ａ（３
ｂ）と略同様に、図示しない電動モータにより駆動され
るＡ１軸，Ａ２軸，Ａ３軸と、フリー関節から構成され
るＡ４軸，Ａ５軸からなる。また、フリー関節には先端
ホールド部７が設けられており、このホールド部７には
電動処置具８が着脱自在に固定される。On the other hand, the slave manipulator 3c for treatment
(3d to 3f) also the slave manipulator 3a (3
Similar to b), it is composed of A1 axis, A2 axis, A3 axis driven by an electric motor (not shown), and A4 axis, A5 axis composed of free joints. Further, the free joint is provided with a tip holding portion 7, and an electric treatment instrument 8 is detachably fixed to the holding portion 7.
【００１０】観察用スレーブマニピュレータ３ａ（３
ｂ）にそれぞれ保持された各内視鏡５の撮像手段は第１
の切換回路９を介してＣＣＵ（カメラコントロールユニ
ット）１０に接続されている。内視鏡５で撮像した出力
はそのＣＣＵ１０を経て処理され、図示しない映像信号
処理回路によりＴＶ画像の映像信号を得る。ＴＶ画像は
前記ＦＭＤ６内の表示部において立体的に観察できるよ
うに表示される。Observing slave manipulator 3a (3
The image pickup means of each endoscope 5 held in b) is the first
It is connected to the CCU (camera control unit) 10 via the switching circuit 9 of. The output imaged by the endoscope 5 is processed through the CCU 10 and a video signal processing circuit (not shown) obtains a video signal of a TV image. The TV image is displayed on the display unit in the FMD 6 so that it can be stereoscopically observed.
【００１１】一方、前記ＦＭＤ６には観察用マスターマ
ニピュレータを構成するため、例えば３次元デジタイザ
１１が設けられおり、３次元デジタイザ１１の３次元的
な位置及び方向についての情報を制御回路１２が検出す
る。すなわち、３次元デジタイザ１１はＦＭＤ６が装着
された術者の顔の位置及び方向を検出する。３次元デジ
タイザ１１の方式としては種々のものが考えられるが、
例えば３次元的なベース磁界を発生するソースコイルを
設け、そのベース磁界から磁気検出センサによって３次
元的な位置及び方向の情報を検出する方式が考えられ
る。On the other hand, the FMD 6 is provided with, for example, a three-dimensional digitizer 11 in order to configure an observation master manipulator, and the control circuit 12 detects information about the three-dimensional position and direction of the three-dimensional digitizer 11. . That is, the three-dimensional digitizer 11 detects the position and direction of the face of the operator who wears the FMD 6. There are various possible methods for the three-dimensional digitizer 11,
For example, a method is conceivable in which a source coil that generates a three-dimensional base magnetic field is provided, and three-dimensional position and direction information is detected from the base magnetic field by a magnetic detection sensor.
【００１２】また、制御回路１２は３次元デジタイザ１
１の検出値に応じて、その制御信号を第２の切換回路１
３を介して、選択された方の前記観察用スレーブマニピ
ュレータ３ａ（３ｂ）に送出する。しかして、ここでは
観察用スレーブマニピュレータ３ａ，３ｂは１つの観察
用マスターマニピュレータの、ＦＭＤ６に設けた３次元
デジタイザ１１の３次元的な位置及び方向に追従して動
作される。そして、術者の顔の動きに追従するように内
視鏡５の先端の位置および向きを制御する。Further, the control circuit 12 is a three-dimensional digitizer 1
According to the detected value of 1, the control signal is changed to the second switching circuit 1
It is sent to the selected slave manipulator 3a (3b) for observation via 3 (3). Therefore, here, the observation slave manipulators 3a and 3b are operated by following the three-dimensional position and direction of the three-dimensional digitizer 11 provided in the FMD 6 of one observation master manipulator. Then, the position and orientation of the tip of the endoscope 5 are controlled so as to follow the movement of the operator's face.
【００１３】一方、ここでは２個の処置用マスターマニ
ピュレータ１４，１５が設けられ、それらの処置用マス
ターマニピュレータ１４，１５からそれぞれ出力される
信号は対応する制御回路１６，１７に入力する。制御回
路１６，１７はそれぞれ切換回路１８，１９を介して処
置用スレーブマニピュレータ３ｃ（３ｄ）、３ｅ（３
ｆ）に対して制御信号を送り出す。そして、処置用スレ
ーブマニピュレータ３ｃ（３ｄ），３ｅ（３ｆ）は処置
用マスターマニピュレータ１４，１５の動作に追従して
動作する。On the other hand, here, two treatment master manipulators 14 and 15 are provided, and signals output from the treatment master manipulators 14 and 15 are input to the corresponding control circuits 16 and 17. The control circuits 16 and 17 receive the treatment slave manipulators 3c (3d) and 3e (3 via the switching circuits 18 and 19, respectively.
Send a control signal to f). The slave slave manipulators 3c (3d) and 3e (3f) operate following the operations of the master manipulators 14 and 15.
【００１４】前述した各切換回路９，１３，１８，１９
は切換スイッチ２０を操作することによりそれぞれが切
り換えられる。まず、切換回路９，１３により３次元デ
ジタイザ１１に追従するスレーブマニピュレータ３ａ，
３ｂを選択可能であり、同時に、内視鏡５，５の出力画
像の選択も可能である。また、切換回路１８によりマス
ターマニピュレータ１４に追従させるスレーブマニピュ
レータ３ｃ，３ｄのいずれかと、切換回路１９によりマ
スターマニピュレータ１５に追従させるスレーブマニピ
ュレータ３ｅ，３ｆのいずれかを選択可能である。The switching circuits 9, 13, 18, 19 described above
Can be switched by operating the changeover switch 20. First, the slave manipulator 3a, which follows the three-dimensional digitizer 11 by the switching circuits 9 and 13,
3b can be selected, and at the same time, output images of the endoscopes 5 and 5 can be selected. Further, it is possible to select either one of the slave manipulators 3c and 3d which is made to follow the master manipulator 14 by the switching circuit 18 or one of the slave manipulators 3e and 3f which is made to follow the master manipulator 15 by the switching circuit 19.
【００１５】なお、選択されたスレーブマニピュレータ
は、マスタースレーブ動作がオンの状態となり、マスタ
ーマニピュレータの動作に追従して対応するスレーブマ
ニピュレータが動作する。一方、選択されないスレーブ
マニピュレータは、マスタースレーブ動作がオフの状態
となり、静止状態となる。したがって、選択されたスレ
ーブマニピュレータに保持された内視鏡の画像がＦＭＤ
６に選択的に表示させることができる。The master slave operation of the selected slave manipulator is turned on, and the corresponding slave manipulator operates following the operation of the master manipulator. On the other hand, the slave manipulator that is not selected is in the stationary state because the master-slave operation is off. Therefore, the image of the endoscope held by the selected slave manipulator is FMD.
6 can be selectively displayed.
【００１６】なお、観察用マニピュレータは観察用スレ
ーブマニピュレータとこれを操作する観察用マスターマ
ニピュレータを含むものとする。また、処置用マニピュ
レータは処置用スレーブマニピュレータとこれを操作す
る処置用マスターマニピュレータを含むものとする。The observation manipulator includes an observation slave manipulator and an observation master manipulator that operates the slave manipulator. The treatment manipulator includes a treatment slave manipulator and a treatment master manipulator that operates the slave manipulator.
【００１７】（作用）この手術用マニピュレータ装置を
使用する場合、術者は頭部にＦＭＤ６をかぶる。また、
切換スイッチ２０を操作することにより使用しようとす
る観察用スレーブマニピュレータ３ａ，３ｂの一方を選
択して、それの内視鏡５からの体腔内画像をＦＭＤ６を
通して表示されるものを見ながら、顔を所望の位置及び
方向に向け、選択した方の観察用スレーブマニピュレー
タ３ａ，３ｂを動作させて、観察対象の部分を捉える。(Operation) When the manipulator device for surgery is used, the operator wears the FMD 6 on the head. Also,
By operating the changeover switch 20, one of the slave slave manipulators 3a and 3b for observation to be used is selected, and an image of the body cavity from the endoscope 5 of the slave manipulators 3a and 3b is selected while observing what is displayed through the FMD 6. The selected observation slave manipulators 3a and 3b are operated toward a desired position and direction to capture the observation target portion.
【００１８】次に、切換スイッチ２０を操作して、選択
した他方の観察用スレーブマニピュレータ３ａ，３ｂを
選択して、同様に観察対象を捉える。このとき、２個の
観察用スレーブマニピュレータ３ａ，３ｂによる観察を
例えば観察対象部位を別の角度から捉える様にしても良
いし、また、一方は患部全体を、他方は処置対象部位を
拡大して捉える様にしても良い。Next, the changeover switch 20 is operated to select the other observation slave manipulators 3a and 3b, and the observation object is captured in the same manner. At this time, the observation by the two observation slave manipulators 3a and 3b may be performed, for example, by observing the observation target site from another angle, or one of the entire affected part and the other of the treatment target site may be enlarged. You may make it catch.
【００１９】一方、切換スイッチ２０を操作して、例え
ば処置用スレーブマニピュレータ３ｃ，３ｅを選択し
て、右手で処置用マスターマニピュレータ１４を操作
し、左手で処置用マスターマニピュレータ１５を操作
し、右手及び左手による操作を協調的に行って例えば臓
器を縫合したり切開したする等の処置を行う。この際、
例えば処置対象の部位が移動してしまったり、他の臓器
が邪魔になったりする事がある。この様な場合には切換
スイッチ２０を操作して処置用スレーブマニピュレータ
３ｄ，３ｆを選択してそれぞれ対象部位を押さえたり、
臓器を圧排する様にマスターマニピュレータ１４，１５
を操作する。その後、切換スイッチ２０を再び切換え操
作して、元のスレーブマニピュレータ３ｃ，３ｅを選択
し直して前記縫合作業を続行する。On the other hand, the changeover switch 20 is operated to select, for example, the treatment slave manipulators 3c and 3e, the treatment master manipulator 14 is operated with the right hand, and the treatment master manipulator 15 is operated with the left hand. The operation with the left hand is performed cooperatively to perform a procedure such as suturing or incising an organ. On this occasion,
For example, the part to be treated may move or other organs may get in the way. In such a case, the changeover switch 20 is operated to select the slave slave manipulators 3d and 3f for treatment to press the target parts respectively,
Master manipulators 14 and 15 to exclude organs
To operate. After that, the changeover switch 20 is changed over again to select the original slave manipulators 3c and 3e again, and the sewing operation is continued.
【００２０】なお、前記手術症例及び処置具に限定され
ず、各種症例で、各種の処置具を使用可能なのは言うま
でもない。Needless to say, various kinds of treatment tools can be used in various cases without being limited to the above-mentioned surgical cases and treatment tools.
【００２１】（効果）以上の如く、術者は両手を使って
選択した処置具の操作ができるので操作性が良く、より
高度の医療作業を行うことができる。また、手を使う事
なく顔の動作に追従して内視鏡を移動させることができ
る。(Effect) As described above, since the operator can operate the selected treatment tool with both hands, the operability is good, and more advanced medical work can be performed. In addition, the endoscope can be moved by following the movement of the face without using hands.
【００２２】（変形例）一本のスレーブマニピュレータ
に複数の内視鏡及び／又は複数の処置具が保持され選択
的または同時に動作されても良い。マスターマニピュレ
ータとは観察用マスターマニピュレータ及び／又は処置
用マスターマニピュレータの意味を含む。スレーブマニ
ピュレータとは観察用スレーブマニピュレータ及び／又
は処置用スレーブマニピュレータの意味を含む。・マス
ターマニピュレータの数とスレーブマニピュレータの数
は一致していても良い。さらに術者が触っているマスタ
ーマニピュレータのみ動作可能としても良い。観察モニ
タ上に処置用スレーブマニピュレータの番号を表示し
て、スレーブマニピュレータの切換えの判断を容易にし
ても良い。複数のスレーブマニピュレータ（以後スレー
ブマニピュレータに保持された内視鏡、処置具も含むも
のとする）が干渉する可能性があるので安全性を向上す
るために、各スレーブマニピュレータの可動範囲を限定
し、スレーブマニピュレータ間での干渉が生じないよう
制御しても良い。具体的には、スレーブマニピュレータ
をＴＶカメラで観察し、画像処理により各スレーブマニ
ピュレータの動作を監視して、干渉を避けるようにして
も良い。各スレーブマニピュレータの要所要所たとえば
関節軸に近接スイッチを入れたり、スレーブマニピュレ
ータ全体あるいは一部に感圧ゴムを入れることにより、
スレーブマニピュレータの接触を検出して、干渉を避け
るようにしても良い。内視鏡の視野以外の様子を知る事
ができるように、内視鏡の視野を動かして、広範囲の異
なる視野像を記憶しておきこの記憶画像をパノラミック
に合成して合成画像（静止画像）を表示し、現在観察し
ている部分のみ内視鏡像（リアルタイム像）に切り換え
て表示しても良い。(Modification) A plurality of endoscopes and / or a plurality of treatment tools may be held by one slave manipulator and selectively or simultaneously operated. The master manipulator includes the meaning of an observation master manipulator and / or a treatment master manipulator. The slave manipulator includes the meaning of an observation slave manipulator and / or a treatment slave manipulator. -The number of master manipulators and the number of slave manipulators may be the same. Further, only the master manipulator touched by the operator may be operable. The number of the slave manipulator for treatment may be displayed on the observation monitor to facilitate the determination of switching the slave manipulator. In order to improve safety, there is a possibility that multiple slave manipulators (including endoscopes and treatment tools held by the slave manipulator hereafter) may interfere with each other, so that the range of movement of each slave manipulator is limited to improve the safety. You may control so that interference between them may not occur. Specifically, the slave manipulator may be observed with a TV camera, and the operation of each slave manipulator may be monitored by image processing to avoid interference. Essential points of each slave manipulator, for example, by putting a proximity switch on the joint axis, or by putting a pressure sensitive rubber on all or part of the slave manipulator,
You may make it detect contact of a slave manipulator and avoid interference. The field of view of the endoscope is moved so that it is possible to know the situation other than the field of view of the endoscope, and a wide range of different field of view images are stored, and the stored images are panoramically combined to create a composite image (still image). May be displayed, and only the currently observed portion may be switched to the endoscopic image (real-time image) and displayed.
【００２３】（第２の実施例）図３を参照して本発明の
第２の実施例を説明する。この第２の実施例の説明にお
いて前述した第１の実施例と同様なものは同一の符号を
付し、また同様なものの説明を省略する。マスターマニ
ピュレータ１００ａ〜１００ｄから出力されたそれぞれ
の操作信号が入力する制御回路１０１ａ〜１０１ｄはセ
レクタ１０２を介してスレーブマニピュレータ３ａ〜３
ｈに制御信号を出力する。(Second Embodiment) A second embodiment of the present invention will be described with reference to FIG. In the description of the second embodiment, the same components as those in the first embodiment described above are designated by the same reference numerals, and the description of the similar components is omitted. The control circuits 101a to 101d to which the respective operation signals output from the master manipulators 100a to 100d are input are slave manipulators 3a to 3 via the selector 102.
The control signal is output to h.
【００２４】前記セレクタ１０２は切換スイッチ１２０
（２２０）の操作により、適宜切り換えられ、例えば以
下の様に切り換えられる。すなわち、各マスターマニピ
ュレータ１００ａ〜１００ｄは重複しないように（１台
のマスターマニピュレータで複数台のスレーブマニピュ
レータを制御しないように、複数のマスターマニピュレ
ータで１台のスレーブマニピュレータを制御しないよう
に）選択する。また、各マスターマニピュレータ１００
ａ〜１００ｄは全てのスレーブマニピュレータ３ａ〜３
ｈを選択的に制御可能である。The selector 102 is a changeover switch 120.
By the operation of (220), the switching is appropriately performed, for example, as follows. That is, the master manipulators 100a to 100d are selected so that they do not overlap (one master manipulator does not control a plurality of slave manipulators, and a plurality of master manipulators do not control one slave manipulator). In addition, each master manipulator 100
a to 100d are all slave manipulators 3a to 3
It is possible to selectively control h.
【００２５】さらに、各スレーブマニピュレータ３ａ〜
３ｈは全てのマスターマニピュレータ１００ａ〜１００
ｄにより選択的に制御可能である。切換スイッチ１２
０，２２０による切り換えは、マスターマニピュレータ
１００ａ〜１００ｄとスレーブマニピュレータ３ａ〜３
ｈを選択指示することにより切り替わる。スイッチ１２
０はマスターマニピュレータ１００ａ，１００ｂを、ス
イッチ２２０はマスターマニピュレータ１００ｃ，１０
０ｄを設定可能である。ただし、前記の様に重複しない
ときのみ切換えられる。Further, each slave manipulator 3a-
3h is all master manipulators 100a-100
It can be selectively controlled by d. Changeover switch 12
Switching by 0, 220 is performed by the master manipulators 100a to 100d and the slave manipulators 3a to 3d.
It is switched by selecting and instructing h. Switch 12
0 designates the master manipulators 100a and 100b, and the switch 220 designates the master manipulators 100c and 10b.
0d can be set. However, it is switched only when they do not overlap as described above.
【００２６】スレーブマニピュレータ３ａ〜３ｈは、内
視鏡あるいは処置具を選択的に保持する。すなわち、観
察用スレーブマニピュレータにもなるし、処置用スレー
ブマニピュレータにもなる。したがって、マスターマニ
ピュレータ１００ａ〜１００ｄは観察用マスターマニピ
ュレータにもなるし、処置用マスターマニピュレータに
もなる。The slave manipulators 3a to 3h selectively hold an endoscope or a treatment tool. That is, it serves as both an observation slave manipulator and a treatment slave manipulator. Therefore, the master manipulators 100a to 100d serve as observation master manipulators and treatment master manipulators.
【００２７】本実施例では、例えば第１の実施例と同様
に、スレーブマニピュレータ３ａ，３ｂに内視鏡を保持
する。他のスレーブマニピュレータ３ｃ〜３ｈには処置
具を保持することとする。前記スレーブマニピュレータ
３ａ，３ｂに保持される内視鏡の画像は２台のモニタに
常時表示される。また、マスターマニピュレータ１００
ａ〜１００ｄは、例えば全て第１の実施例の処置用マス
ターマニピュレータ１４と同構造のものである。In this embodiment, the endoscopes are held in the slave manipulators 3a and 3b as in the first embodiment, for example. The treatment tools are held on the other slave manipulators 3c to 3h. The images of the endoscopes held by the slave manipulators 3a and 3b are constantly displayed on the two monitors. In addition, the master manipulator 100
For example, all of a to 100d have the same structure as the treatment master manipulator 14 of the first embodiment.
【００２８】なお、マスターマニピュレータ１００ａ，
１００ｃが第１の実施例の観察用マスターマニピュレー
タと同構造のものでも良い。また、切換スイッチ１２
０，２２０は、１つにして全てのマスターマニピュレー
タの選択を可能にしても良い。The master manipulator 100a,
100c may have the same structure as the observation master manipulator of the first embodiment. In addition, the changeover switch 12
The numbers 0 and 220 may be one to enable selection of all master manipulators.
【００２９】（作用）第１の術者は切換スイッチ１２０
を操作してマスターマニピュレータ１００ａをスレーブ
マニピュレータ３ａに対応させ、マスターマニピュレー
タ１００ｂをスレーブマニピュレータ３ｂに対応させ、
観察対象をそれぞれ別の角度から捉えられるように、マ
スターマニピュレータ１００ａ，１００ｂを操作する。
しかして、図示しないモニタに観察対象の画像をそれぞ
れ表示させることができる。(Operation) The first operator operates the changeover switch 120.
By operating the master manipulator 100a to correspond to the slave manipulator 3a, and the master manipulator 100b to correspond to the slave manipulator 3b,
The master manipulators 100a and 100b are operated so that the observation target can be captured from different angles.
Therefore, the images to be observed can be displayed on the monitor (not shown).
【００３０】次に、第１の術者は切換スイッチ１２０を
操作して例えばマスターマニピュレータ１００ａ，１０
０ｂをそれぞれスレーブマニピュレータ３ｆ，３ｄに対
応させ、スレーブマニピュレータ３ｆ側で例えば邪魔な
臓器を圧排し、スレーブマニピュレータ３ｄ側で対象臓
器を押さえる。Next, the first operator operates the changeover switch 120 to, for example, the master manipulators 100a, 10a.
0b is made to correspond to the slave manipulators 3f and 3d, for example, the slave manipulator 3f side excludes, for example, a disturbing organ, and the slave manipulator 3d side presses the target organ.
【００３１】一方、第２の術者は切換スイッチ２２０を
操作して、マスターマニピュレータ１００ｃ，１００ｄ
をそれぞれスレーブマニピュレータ３ｃ，３ｅに対応さ
せ縫合等の処置を行う。On the other hand, the second operator operates the changeover switch 220 to operate the master manipulators 100c and 100d.
Are treated corresponding to the slave manipulators 3c and 3e, respectively, and a treatment such as suturing is performed.
【００３２】また、観察対象を更に別の角度から見た
い、あるいは別の観察対象を見たい場合は、例えば第２
の術者が縫合の操作を一時休止して、スイッチ２２０を
操作して、マスターマニピュレータ１００ｃ，１００ｄ
を、スレーブマニピュレータ３ａ，３ｂに対応させ、所
望の観察画像が得られる様に、マスターマニピュレータ
１００ｃ，１００ｄを操作する。When it is desired to view the observation target from another angle or to view another observation target, for example, the second
Surgeon pauses the suturing operation and operates the switch 220 to operate the master manipulators 100c and 100d.
To the slave manipulators 3a and 3b, and the master manipulators 100c and 100d are operated so that a desired observation image can be obtained.
【００３３】処置作業の以外の他の作業、例えばフック
電極および把持鉗子を用いて処置作業をしたい場合、第
２の術者はスイッチ２２０を操作して、例えばマスター
マニピュレータ１００ｃ，１００ｄをスレーブマニピュ
レータ３ｇ，３ｈに対応させて、スレーブマニピュレー
タ３ｇ、３ｈにそれぞれ保持された図示しないフック電
極、把持鉗子により処置作業をする。When a work other than the treatment work, for example, a treatment work using the hook electrode and the grasping forceps is desired, the second operator operates the switch 220 so that, for example, the master manipulators 100c and 100d are operated by the slave manipulator 3g. , 3h corresponding to each of the slave manipulators 3g, 3h.
【００３４】なお、縫合作業あるいはその他の作業を第
１の術者が行っても良いし、第１と第２の術者が協調し
て行っても良い。また、全てのスレーブマニピュレータ
の操作を１人で行っても良いし、３人以上の術者により
協調して観察、処置作業をしても良い。The first operator may perform the suturing operation or other operations, or the first and second operators may cooperate with each other. Further, all slave manipulators may be operated by one person, or may be observed and treated by three or more operators in cooperation.
【００３５】（効果）全てのスレーブマニピュレータを
一人で操作可能であり、複雑な処置も一人で可能であ
る。また、複数人で協調してスレーブマニピュレータを
操作可能でもあり、複雑な処置を何人かで分担して短時
間で処置することが可能である。(Effect) All slave manipulators can be operated by one person, and complicated treatment can be performed by one person. In addition, a plurality of people can operate the slave manipulator in cooperation with each other, and a complicated procedure can be shared by several persons to perform the procedure in a short time.
【００３６】［付記］ ・1-1 複数のマニピュレータを有する手術用マニピュレ
ータ装置において、前記複数のマニピュレータは少なく
とも複数の観察用マニピュレータを含むことを特徴とす
る手術用マニピュレータ装置。 ・1-2 前記観察用マニピュレータは観察用スレーブマニ
ピュレータとこれを操作する観察用マスターマニピュレ
ータを含むことを特徴とする付記第1-1 項に記載の手術
用マニピュレータ装置。 ・1-3 複数のマニピュレータの少なくとも１つは処置用
マニピュレータを含むことを特徴とする付記第1-1 項に
記載の手術用マニピュレータ装置。 ・1-4 処置用マニピュレータは処置用スレーブマニピュ
レータとこれを操作する処置用マスターマニピュレータ
を含むことを特徴とする付記第1-1 項に記載の手術用マ
ニピュレータ装置。 ・1-5 複数のマニピュレータは複数の処置用マニピュレ
ータを含むことを特徴とする付記第1-1 項に記載の手術
用マニピュレータ装置。 ・1-6 マスターマニピュレータは術者が操作できる領域
に設定されることを特徴とする付記第1-1 項に記載の手
術用マニピュレータ装置。 ・1-7 処置用スレーブマニピュレータには体腔内に挿入
する手術器具が固定されることを特徴とする付記第1-1
項に記載の手術用マニピュレータ装置。 ・1-8 観察用スレーブマニピュレータには体腔内の画像
を撮像する内視鏡を固定されることを特徴とする付記第
1-1 項に記載の手術用マニピュレータ装置。 ・1-9 観察用マスターマニピュレータは、術者の頭部ま
たは術者の頭部に固定された表示装置に固定されたセン
サであり、このセンサの動きに観察用スレーブマニピュ
レータが追従することを特徴とする付記第1-1 項に記載
の手術用マニピュレータ装置。[Supplementary Notes] -1-1 A surgical manipulator apparatus having a plurality of manipulators, wherein the plurality of manipulators include at least a plurality of observation manipulators. 1-2 The surgical manipulator device according to the paragraph 1-1, wherein the observation manipulator includes an observation slave manipulator and an observation master manipulator that operates the observation slave manipulator. 1-3 The manipulator device for surgery according to the paragraph 1-1, wherein at least one of the plurality of manipulators includes a manipulator for treatment. -1-4 The manipulator for treatment includes a slave manipulator for treatment and a master manipulator for treatment for operating the slave manipulator, and the manipulator apparatus for surgery according to the paragraph 1-1.・ 1-5 The manipulator device for surgery according to the paragraph 1-1, wherein the plurality of manipulators includes a plurality of manipulators for treatment.・ 1-6 The manipulator device for surgery according to the paragraph 1-1, wherein the master manipulator is set in an area that can be operated by the operator. 1-7 The surgical slave manipulator is fixed with a surgical instrument to be inserted into the body cavity.
The manipulator device for surgery according to the item.・ 1-8 The slave manipulator for observation has an endoscope fixed to capture an image of the inside of the body cavity.
The manipulator device for surgery according to the item 1-1.・ 1-9 The observation master manipulator is a sensor fixed to the operator's head or a display device fixed to the operator's head, and the observation slave manipulator follows the movement of this sensor. The surgical manipulator device according to paragraph 1-1.
【００３７】・2-1 複数のスレーブマニピュレータと、
このスレーブマニピュレータを操作する少なくとも１つ
のマスターマニピュレータと、前記マスターマニピュレ
ータの操作に応じて動作するスレーブマニピュレータ
を、任意に選択するスレーブマニピュレータ選択手段と
を具備したことを特徴とする手術用マニピュレータ装
置。 ・2-2 スレーブマニピュレータの数より少ないマスター
マニピュレータを有することを特徴とする付記第2-1 項
に記載の手術用マニピュレータ装置。 ・2-3 １つのスレーブマニピュレータを複数のマスター
マニピュレータで選択的に操作可能であることを特徴と
する付記第2-1 項に記載の手術用マニピュレータ装置。 ・2-4 全てのスレーブマニピュレータを１つのマスター
マニピュレータで選択的に操作可能であることを特徴と
する付記第2-1 項に記載の手術用マニピュレータ装置。 ・2-5 複数のスレーブマニピュレータの少なくとも１つ
は観察用スレーブマニピュレータを含むことを特徴とす
る付記第2-1 〜2-7 項に記載の手術用マニピュレータ装
置。 ・2-6 複数のスレーブマニピュレータの少なくとも１つ
は処置用スレーブマニピュレータを含むことを特徴とす
る付記第2-1 〜2-5 項に記載の手術用マニピュレータ装
置。 ・2-7 マスターマニピュレータは選択的に観察用スレー
ブマニピュレータあるいは処置用スレーブマニピュレー
タを操作可能であることを特徴とする付記第2-5〜2-6
項に記載の手術用マニピュレータ装置。 ・2-8 マスターマニピュレータは術者が操作できる領域
に設定されることを特徴とする付記第2-1 〜2-4 、2-7
項に記載の手術用マニピュレータ装置。 ・2-9 処置用スレーブマニピュレータには体腔内に挿入
する手術器具が固定されることを特徴とする付記第2-6
、2-7 項に記載の手術用マニピュレータ装置。 ・2-10観察用スレーブマニピュレータには体腔内の画像
を表示する内視鏡が、固定されることを特徴とする付記
第2-5 、2-7 項に記載の手術用マニピュレータ装置。 ・2-11マスタマニピュレータは観察用マスターマニピュ
レータを含み、観察用マスターマニピュレータは、術者
の頭部または術者の頭部に固定された表示装置に固定さ
れたセンサであり、このセンサの動きに観察用スレーブ
マニピュレータが追従することを特徴とする付記第2-5
、2-7 、2-10項に記載の手術用マニピュレータ装置。 ・2-12１人の術者の頭部に固定されたセンサに追従する
観察用スレーブマニピュレータを選択可能であることを
特徴とする付記第2-11項に記載の手術用マニピュレータ
装置。.2-1 a plurality of slave manipulators,
An operating manipulator device comprising: at least one master manipulator for operating the slave manipulator; and slave manipulator selecting means for arbitrarily selecting a slave manipulator that operates according to the operation of the master manipulator. -2-2 The manipulator device for surgery according to the paragraph 2-1, which has a master manipulator smaller than the number of slave manipulators. -2-3 The surgical manipulator device according to the paragraph 2-1, wherein one slave manipulator can be selectively operated by a plurality of master manipulators.・ 2-4 All the slave manipulators can be selectively operated by one master manipulator, and the surgical manipulator device according to the paragraph 2-1. 2-5 At least one of the plurality of slave manipulators includes an observation slave manipulator, and the surgical manipulator device according to any one of the paragraphs 2-1 to 2-7. 2-6 At least one of the plurality of slave manipulators includes a slave slave manipulator for treatment, and the surgical manipulator device according to any one of the paragraphs 2-1 to 2-5.・ 2-7 The master manipulator can selectively operate the observation slave manipulator or the treatment slave manipulator.
The manipulator device for surgery according to the item.・ 2-8 The master manipulator is set in the area that can be operated by the surgeon.Supplementary notes 2-1 to 2-4, 2-7
The manipulator device for surgery according to the item.・ 2-9 The surgical slave manipulator is fixed with a surgical instrument to be inserted into the body cavity.
The manipulator device for surgery according to the paragraph 2-7. 2-10 The operation manipulator device according to the above-mentioned items 2-5 and 2-7, wherein an endoscope for displaying an image of a body cavity is fixed to the observation slave manipulator.・ 2-11 The master manipulator includes an observation master manipulator, and the observation master manipulator is a sensor fixed to the operator's head or a display device fixed to the operator's head. Additional note 2-5 characterized by the slave manipulator for observation following
The surgical manipulator device according to any one of 2 to 7 and 2 to 10. 2-12 The surgical manipulator device according to the additional clause 2-11, wherein an observation slave manipulator that follows a sensor fixed to the head of one operator can be selected.
【００３８】付記2-1 項ないし第2-12項に対する先行例
とその欠点は次の通りである。特願平６−２３１５０９
では、複数の手術用マニピュレータが提案されている
が、１人の術者が両手で対応できるのは２つまで、両足
を入れても４つまでであり、これ以上の手術用マニピュ
レータを簡単に操作するのは難しかった。また、操作可
能な手術用スレーブマニピュレータが限られているの
に、各スレーブマニピュレータにそれぞれマスターマニ
ピュレータを割り当てておくのは効率、価格の点で好ま
しくない。また、術者が手にしていないマスターマニピ
ュレータにアシスタント等が触ってしまうと、術者の予
期しない動作をしてしまう。そこで、付記2-1 項ないし
第2-12項に対する目的は安価でしかも操作性に優れた手
術用マニピュレータ装置を提供することにある。なお、
前記付記項は、従属の一例を示したもので、付記項同志
の組み合わせは任意である。The preceding examples and their drawbacks with respect to Appendix 2-1 to 2-12 are as follows. Japanese Patent Application No. 6-231509
In this, multiple surgical manipulators have been proposed, but one operator can handle with two hands up to two, and even with both legs inserted, up to four can be easily operated. It was difficult to operate. Further, although the operable slave manipulators are limited, it is not preferable in terms of efficiency and cost to assign a master manipulator to each slave manipulator. Further, if the assistant or the like touches the master manipulator that the surgeon does not have, the surgeon may perform an unexpected operation. Therefore, an object of Supplementary Notes 2-1 to 2-12 is to provide a manipulator device for surgery which is inexpensive and excellent in operability. In addition,
The additional items show an example of subordination, and the combination of the additional items is arbitrary.
【００３９】[0039]
【発明の効果】以上説明したように本発明によれば、よ
り高度の医療作業を行うことができるとともに、それら
のマニピュレータの操作性に優れた手術用マニピュレー
タ装置を提供することができる。As described above, according to the present invention, it is possible to provide a manipulator device for surgery which is capable of performing more advanced medical work and has excellent operability of those manipulators.
【図１】第１の実施例に係る手術用マニピュレータ装置
のシステムを概略的に示す説明図。FIG. 1 is an explanatory view schematically showing a system of a surgical manipulator device according to a first embodiment.
【図２】同実施例におけるスレーブマニピュレータの使
用状態の説明図。FIG. 2 is an explanatory view of a usage state of a slave manipulator in the same embodiment.
【図３】第２の実施例に係る手術用マニピュレータ装置
の制御システムの概略的な説明図。FIG. 3 is a schematic explanatory view of a control system of a surgical manipulator device according to a second embodiment.
１…ベッド、２…取付け用ベース、３ａ〜３ｆ…スレー
ブマニピュレータ、３ａ，３ｂ…観察用スレーブマニピ
ュレータ、５…内視鏡、６…ＦＭＤ（フェースマウンテ
ィッドディスプレイ）、９…第１の切換回路、１１…３
次元デジタイザ、１２…制御回路、１３…第２の切換回
路、１４，１５…処置用マスターマニピュレータ、１
６，１７…制御回路、１８，１９…切換回路、２０…切
換スイッチ。1 ... Bed, 2 ... Mounting base, 3a to 3f ... Slave manipulator, 3a, 3b ... Observing slave manipulator, 5 ... Endoscope, 6 ... FMD (face mounted display), 9 ... First switching circuit, 11 ... 3
Dimensional digitizer, 12 ... Control circuit, 13 ... Second switching circuit, 14, 15 ... Treatment master manipulator, 1
6, 17 ... Control circuit, 18, 19 ... Changeover circuit, 20 ... Changeover switch.
Claims (1)
ピュレータ装置において、前記複数のマニピュレータは
少なくとも複数の観察用マニピュレータを含むことを特
徴とする手術用マニピュレータ装置。1. A surgical manipulator apparatus having a plurality of manipulators, wherein the plurality of manipulators includes at least a plurality of observation manipulators.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7082439A JPH08275958A (en) | 1995-04-07 | 1995-04-07 | Manipulator device for operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7082439A JPH08275958A (en) | 1995-04-07 | 1995-04-07 | Manipulator device for operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH08275958A true JPH08275958A (en) | 1996-10-22 |
Family
ID=13774582
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7082439A Withdrawn JPH08275958A (en) | 1995-04-07 | 1995-04-07 | Manipulator device for operation |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH08275958A (en) |
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