JPH08299363A - Manipulator system for operation - Google Patents

Abstract

PURPOSE: To improve safety of a patient and perform operation with low invasion, by making a means for observing an image of a body cavity site of the patient from the body surface positioned on a specified position, and controlling operations of a operation manipulator and a positioning means of the observing means based on a control information of a operation manipulator operating means. CONSTITUTION: A treatment slave manipulator is composed of a treatment apparatus 4 and a treatment arm 5, and also an observing manipurator is composed of an ultrasonic vibrator unit 6 and an observing arm 7. An image providing means and an operating means of an the observing manipurator are composed of a head mount display(HMD) 9. An image of a body cavity site is scanned by the ultrasonic vibrator unit 6 and is displayed on the HMD 9. The HMD 9 is mounted on the head part of an operator and can observe the image regardless of motion of the head. The motion of the HMD 9 is inputted into a control device 11, thereby the treatment apparatus 4 and the observing arm 7 are controlled.

Description

Detailed Description of the Invention

[0001]

FIELD OF THE INVENTION This invention relates to surgical manipulator systems.

[0002]

2. Description of the Related Art An insertion hole is opened in a body wall of a patient's abdominal cavity or the like, and an endoscope or a treatment tool is percutaneously inserted into the body cavity through the insertion hole to perform various treatments in the body cavity. Traditionally, endoscopic surgery is performed. Such a surgical method is widely used as a minimally invasive procedure that does not require a large incision, such as a cholecystectomy and a surgery to remove and remove a part of the lung.

On the other hand, in recent years, fine treatment has been performed using a manipulator system for surgery equipped with an endoscope and a treatment tool. A master-slave system is generally used for this purpose, and the slave arm is operated following the movement of the operator who is the master, thereby facilitating the approach to the target site in the body cavity.

[0004]

However, in the above-mentioned conventional surgical manipulator system, since the endoscope and the treatment tool are inserted into the body cavity of the patient, an insertion hole for observing an organ in the body cavity is provided. However, there is a problem in that at least two insertion holes for the treatment tool are required, and the burden on the patient becomes heavy.

The surgical manipulator system of the present invention has been made in view of these problems, and an object thereof is to provide a minimally invasive surgical manipulator system which can ensure the safety of the patient. To do.

[0006]

In order to achieve the above object, a surgical manipulator system according to the present invention comprises a surgical manipulator for treating a site inside a body cavity of a patient, and a body surface inside the body cavity of the patient. Observation means for obtaining image information about position, image providing means for providing image information from this observation means as image information that can be recognized by an operator, and observation means positioning means for positioning the observation means at a desired position And a first operating means for operating the surgical manipulator, a second operating means for operating the observing means positioning means, and control information from the first and second operating means. And a control means for controlling the operations of the surgical manipulator and the observation means positioning means.

[0007]

Embodiments of the present invention will be described in detail below with reference to the drawings. FIG. 1 is a configuration diagram of a master-slave type surgical manipulator system to which a first embodiment of the present invention is applied. In the figure, 1 is an operating table for observing and treating a patient, and 2 is a patient. Operating table 1
Bedside rails 3 are provided on both sides of the. On this bedside rail 3, a treatment arm 5 to which a treatment tool 4 for performing treatment in a body cavity of a patient is attached at the tip and an observation arm for positioning an ultrasonic transducer unit 6 for observation. 7 and 7 are detachably attached. Here, the treatment tool 4 has a configuration as shown in FIG. 2, and is inserted into a body cavity through an insertion hole 2a formed in the body wall of the patient 2, and the ultrasonic transducer unit 6 is installed in the patient 2
It can be moved by tracing the body wall of.

The treatment arm 5 and the treatment instrument 4 are connected by a free joint mechanism 19 which is a joint portion having a plurality of degrees of freedom. This is because even if the patient moves during the operation and the position of the insertion hole 2a is displaced, for example,
This is to prevent unreasonable force from being applied to a.

The treatment arm 5 and the observation arm 7 are
Upward and downward movements (direction a in FIG. 1), turning movements (direction b in FIG. 1), and expansion and contraction movements (direction c in FIG. 1) can be mechanically performed. . In order to realize such a movement, an actuator (not shown) is arranged in each arm 5, 7. As this actuator, a servo motor which is often used for positioning a robot is used.

The insertion portion 4a of the treatment instrument 4 attached to the distal end of the treatment arm 5 is designed such that the distal end portion thereof can be bent and driven in the directions a and b shown in FIG. Such bending drive is performed by driving a servo motor (not shown) provided in the servo motor housing 4b of the treatment instrument 4 and pulling a wire (not shown) inserted through the insertion portion 4a. Be seen.

Further, the treatment instrument 4 can be rotationally driven in the c direction shown in FIG. Such rotational driving is performed by driving a servomotor 4d provided in the free joint arm joint portion 4c to operate a rotation mechanism (not shown).

The forceps portion 4e at the tip of the treatment instrument 4 is provided with an opening / closing mechanism for opening / closing the forceps portion 4e. This opening / closing mechanism is a servomotor (not shown) provided in the servomotor housing portion 4b. ) Is driven to operate by pushing and pulling a rod or a wire member inserted and arranged in the insertion portion 4a.

Here, a combination of the treatment tool 4 and the treatment arm 5 is referred to as a treatment slave manipulator (surgical manipulator), and the ultrasonic transducer unit 6 as the observation means and the observation as the observation means positioning means are used. The combination with the use arm 7 will be referred to as an observation slave manipulator. A master arm (first operation means) 8 which is an input means of this treatment slave manipulator, and a head mount display 9 (hereinafter simply referred to as HM) which is an input means of the observation slave manipulator.
Called D) is shown in FIG. Where HMD9
Constitutes an image providing means and a second operating means. The master arm 8 is composed of a plurality of link mechanisms. Each link forming the link mechanism is provided with an encoder (not shown) for position detection. This encoder can detect the movement amount of the master arm 8 by detecting the operation of each link.

An electromagnetic clutch (not shown) is attached to each arm link of the master arm 8 so that the master arm 8 does not operate by its own weight when the operator releases the hand from the master arm 8. ing. That is, the operation of the master arm 8 is restricted by the electromagnetic clutch so that it does not move except when necessary.

When actually operating the treatment slave manipulator in the master-slave mode, the operation of the electromagnetic clutch is controlled by the operation of stepping on the foot switch 12. That is, the operation of the master arm 8 can be locked and the locked state can be released by the foot switch 12. Here, the master-slave mode is a mode in which the movement of the master arm 8 as the input means can be transmitted to the treatment slave manipulator,
That is, it refers to a mode in which the treatment slave manipulator can follow the movement of the master arm 8.

Further, the ultrasonic transducer unit 6 is supported by the observing arm 7 and arranged on the surface of the body cavity of the patient, and can scan the image information of the body cavity of the patient by ultrasonic waves. The ultrasonic image information output from the ultrasonic transducer unit 6 passes through the line 15a and is input to the ultrasonic observation device 15. The ultrasonic observation device 15 has a function of converting an ultrasonic information signal into a TV signal, and its output is displayed on the display unit of the HMD 9 attached to the operator's head. The display unit is configured to be set at the position of the operator's eyes when the HMD 9 is mounted on the operator's head. Further, the HMD 9 is configured so that the ultrasonic image scanned by the ultrasonic transducer unit 6 can always be observed no matter how the operator's head moves.

Here, although the operator is provided with an ultrasonic image, an image processing device is provided in the control device 11 to convert the difficult-to-understand ultrasonic image into an animation image by computer graphics, and the surgery is performed. The image may be provided by a person who is more understandable.

According to the HMD 9 having such a configuration, it is not necessary to perform a troublesome operation such as the operator shifting the line of sight to the TV monitor installed on the monitor in the operating room during the treatment, which improves the operability. To do. The echo frequency of the ultrasonic transducer can be arbitrarily changed so that each desired site in the patient's body cavity can be observed.

The amount of spatial movement of the operator's head is detected by the magnetic sensor 10. This magnetic sensor 10
A magnetic sensor source unit 10b that generates a uniform magnetic field;
The magnetic sensor sense unit 10a is attached to the HMD 9 at substantially the center thereof.

The movement of the operator's head is detected by such a magnetic sensor 10. The detection method will be briefly described. One is generated from a magnetic sensor source portion 10b set at a predetermined place other than the HMD 9. Such a magnetic field is detected by the magnetic sensor sense unit 10a, and information about the change in the magnetic field due to the movement of the head is processed to obtain the spatial absolute movement amount and the magnetic field between the magnetic sensor source unit 10b and the magnetic sensor sense unit 10a. The Euler angle (roll, pitch, yaw), which is the inclination of the sensor sense unit 10a, is obtained to detect the amount of movement and the amount of inclination of the operator's head.

Reference numeral 14a shown in FIG. 1 is a unique ultrasonic jelly tube.
By applying the jelly inside to the body surface of patient 2,
It is possible to capture an accurate intracavity image. When applying the jelly in the ultrasonic jelly tube 14a to the body surface, the ultrasonic jelly tube 14a is fixed by a fixing member 14b for fixing the ultrasonic jelly tube 14a and a roller 14c arranged on the opposite side. The jelly may be pushed out from the ultrasonic jelly tube 14a by squeezing. The jelly discharged from the ultrasonic jelly tube 14a is applied to the body surface of the patient 2 via the tube 14e. In the figure, 14f is the ultrasonic transducer unit 6
It is a fixing member attached to the observing arm 7 so that the jelly can be applied to the body surface of the patient 2 in the vicinity of.

Next, the control device 11 for controlling the operations of the above-mentioned treatment slave manipulator and observation slave manipulator will be described. As shown in FIG. 1, the control device 11 includes some functional modules necessary for operating each slave manipulator.

That is, reference numeral 11a in the drawing denotes a microcontroller which is a higher-level CPU for centrally controlling the functional modules of the control device 11. Reference numeral 11e is an up / down counter for holding the operation amount of the encoder provided in the master arm 8. The up / down counter 11e has input ports for encoders attached to the master arm 8. Further, more specifically, the up / down counter 11e is set at the time of initial setting (control device 11 according to the relative movement amount of the master arm 8).
When the power source is turned on), the preset count value is increased or decreased.

Reference numeral 11d is a magnetic sensor data interface circuit for detecting information from the magnetic sensor sensing unit 10a attached to the HMD 9. Information on the absolute position of the magnetic sensor 10 and information on the Euler angle are input to the magnetic sensor interface circuit 11d from the magnetic sensor sensing unit 10a.

Reference numeral 11f is a keyboard interface unit for receiving information input from the keyboard 13. Reference numeral 11i is a floppy disk drive for storing the operation information of the manipulator system in this embodiment on the floppy disk 110. 11h is
A floppy disk controller for controlling the floppy disk drive 11i. In addition,
The information stored in the floppy disk 110 includes
The operation teaching data of the observation and treatment slave manipulators can be given.

Reference numeral 11g is a foot switch interface section for detecting the input information of the foot switch 12. It is determined whether or not the foot switch 12 is pressed at this portion.

Reference numeral 11b denotes a servo interface for driving each of the slave side constituent elements, namely, the treatment arm 5, the observation arm 7, and the treatment instrument 4, which is a digital interface for performing high-speed servo arithmetic processing. It has a signal processor (hereinafter referred to as DSP). 11c is
It is a servo driver for amplifying the signal of the processing result by the DSP of the servo interface 11b to the power required to actually drive the motor.

Reference numeral 11v denotes a roller driver for driving the roller 14c for pushing the ultrasonic jelly out of the ultrasonic jelly tube 14a, which is driven as necessary during observation and treatment, whereby the ultrasonic jelly is driven. Is applied to the surface of the patient's body.

Next, the interface of each of the above functional modules will be described. In FIG. 1, 11m shown in the control device 11 is a data bus line. This data bus line 11m is connected to the microcontroller 1
1a sends a position command to the servo interface 11b, reads servo feedback information from the servo unit on the slave arm side, and up / down counter 1
1e, a magnetic sensor movement amount interface 11d, a keyboard interface section 11f, a foot switch interface section 11g, a floppy disk interface section 11h, and a roller driver 11v.

11j is a servo interface 11b
It is an analog command line for sending the control calculation result obtained by the DSP to the servo driver 11c. 11
k is a line for supplying a power signal from the servo driver 11c and a servo section feedback encoder line. 11u is a floppy disk drive 11
It is a data line for exchanging data between i and the floppy disk drive controller 11h. 11t is an interface between the foot switch 12 and the foot switch interface section 11g. 11s is a data line for communicating between the keyboard 13 and the keyboard interface unit 11f.

In the above interface,
Although only the data bus line 11m for transferring data is shown, it goes without saying that an address bus and a control bus for selecting each functional module are added. Further, the 11j line and 11k line for driving the servo system of the observation slave manipulator and the treatment slave manipulator only show those of the analog command line, but actually, the servo interface 11b is used to execute the PID control law. There is also an encoder feedback signal line.

Next, the flow of data in the control device 11 will be described. As described above, in the master-slave mode, the treatment slave manipulator or the observation slave manipulator operates following the operation of the master arm 8 or the HMD 9. Since the data flow is basically the same for observation and treatment, only the data flow in the master-slave mode control device 11 in the treatment manipulator will be described here.

First, the information of the encoder provided on the master arm 8 is read by the up / down counter 11e. The up / down counter 11e represents an increase / decrease in the movement amount with respect to the data initially set in the up / down counter 11e, so that the absolute movement amount (the movement amount of the master arm 8) can be detected. The data held in the up / down counter 11e is
Microcontroller 11 every time sampling is performed
It is taken into the inside of a through the data bus 11m. In the microcontroller 11a, coordinate conversion processing is performed to determine how to operate each axis of the treatment slave manipulator with respect to the movement amount.

Here, in the case of observation, only the inverse coordinate conversion (conversion work for obtaining the joint variable of each link parameter to be output to each drive unit of the observation slave manipulator from the absolute position and inclination of the magnetic sensor 10) is performed. However, in the case of treatment, since the master arm 8 is composed of a plurality of links, forward coordinate conversion (coordinate conversion work for obtaining the position and posture of the tip of the master arm 8) before performing inverse coordinate conversion. It will be necessary to do. The correspondence between the operation of the master arm 8 and the operation slave manipulator will be described later.

When the above-mentioned coordinate conversion processing is performed and the movement amount to each arm portion of the treatment slave manipulator is calculated, the command value of this movement amount is given to the microcontroller 1.
1a to the DSP of the servo interface 11b via the data bus 11m. The processing in the DSP is
It is performed based on a certain control law (for example, using a simple algorithm such as PID control). DS
The control calculation result obtained in P is the analog command value,
Servo driver 11 via analog command line 11j
c. This analog command value is amplified by the servo driver 11c, and the amplified output is output from the servo driver 11c to the motor of the treatment slave manipulator via the motor drive line 11k. Thereby, the motor arranged in the treatment slave manipulator drives the mechanism on the slave side, and the treatment slave manipulator operates.

Next, a specific operation will be described. In the master-slave mode, when the operator moves the Z-axis of the coordinate system set at the tip of the master arm 8 in the direction of the dotted line as shown in FIG. As shown in (b), the Z axis moves along the dotted line. That is, the vector S of the slave arm 5 follows the movement of the vector M at the tip of the master arm 8 and makes the same movement.

In order to enable such an operation, the above-mentioned coordinate conversion is performed on the microcontroller 11a side. Thereby, for example, when the direction of the master arm 8 is moved in the Y direction in FIG. 4A, the treatment tool 4 is oriented in the Y direction in FIG. The distal end portion of the treatment tool 4 is curved so that the movement amount is the same as the movement amount, and the slave (treatment) arm 5 moves.

In the observation slave manipulator, the observation arm 7 and the ultrasonic transducer unit 6 operate following the operation of the HMD 9 attached to the head, similarly to the above-described operation in the treatment slave manipulator. For example, when the HMD 9 is moved from the point P shown in FIG. 3A to the point Q along the dotted line (this operation is
Corresponding to the case where the operator advances forward), the ultrasonic transducer unit 6 on the slave side is S shown in FIG.
Move from point to point T along the dotted line. However, if the advance operation is performed when the ultrasonic transducer unit 6 is on the surface of the patient's body, pressure on the patient occurs,
The ultrasonic transducer unit 6 is provided with a force sensor (not shown) as a means for detecting the force in the Z-axis direction in FIG. 3B, and when the value indicated by the force sensor exceeds a certain threshold, It is designed not to proceed in the Z-axis direction. Here, the threshold value of the force sensor is selected so that the patient does not complain. In the other directions, control is performed so that the ultrasonic transducer unit 6 operates following the movement of the HMD 9.

Although the force detecting means by the force sensor is adopted in the first embodiment, the pressure sensor may be used if the pressing force is roughly detected.

Although the operator performs the treatment while observing the scanning signal from the ultrasonic transducer unit 6 for observation, the operator may select the observation means such as an X-ray device. .

According to the first embodiment described above, it becomes possible to perform observation and treatment by the master-slave manipulator, and it is only necessary to open only the treatment tool insertion hole for treatment on the body surface of the patient. The procedure can be performed with less invasiveness than that of the master-slave manipulator system.

The second embodiment of the present invention will be described below. The second embodiment provides a patient with a minimally invasive surgical manipulator system even when the patient is remote.
FIG. 5 is a configuration diagram of the second embodiment, which has almost the same configuration as that of the first embodiment, but this embodiment shows a case where a patient is at a remote position.

For example, if there is no specialist doctor at the site, but if the situation is such that treatment is inevitable, the configuration of the first embodiment described above cannot perform observation / treatment. Therefore, in the second embodiment, as shown in FIG. 5, by making the control device 11 and the master input means (master arm 8 and HMD 9), the slave (treatment) arm 5 and the patient bed separable, In order to be able to perform treatment at any place, a patient side transmitting / receiving circuit 30 and an operating side transmitting / receiving circuit 31 are provided, and the patient side and the operator are connected by a transmission line 31. Here, the RS232C system, which is often used for serial communication, is adopted.

The command data from the patient side transmitting / receiving circuit 30 is converted into parallel data by the conversion element 20a, and the command data converted into parallel data passes through the line 20b in the case of the slave drive signal, and the above-mentioned first embodiment is used. D to execute the control law for driving the slave arm shown in
It is sent to the SP 20c, and then output to the servo amplifier 20e via the DSP command line 20d. As a result, the slave arm 5 is driven. On the other hand, when the roller 14c for supplying the ultrasonic jelly is driven, the parallel data output from the conversion element 20a is sent to the roller driver 20g via the data line 20f. As a result, the roller 14 for supplying the ultrasonic jelly is supplied.
It is possible to drive c.

On the other hand, in the controller on the operator side, the first
The DSP 11b and the servo amplifier 11c, which are present in the control device 11 in the embodiment, are arranged on the patient side in the second embodiment. Therefore, in the control device 11 in FIG. 5, conversion for converting parallel data into serial data is performed. Elements 34, 35
Only needed.

The operation of the second embodiment having the above construction will be described below. The data observed by the ultrasonic transducer unit 6 is once encoded by the ultrasonic signal encoder circuit 20h on the patient side and sent to the operator side via the communication line 31. On the operator side, the ultrasonic signal decoding circuit 33 converts the ultrasonic signal into a source signal. This source signal is input to the ultrasonic observation device 15 shown in the first embodiment, and the image is output to the HMD 9.

According to the second embodiment described above, the observation is performed by ultrasonic waves and only the treatment tool is inserted into the body cavity of the patient. Even in the room, it becomes possible to carry out the surgery in real time, and it is possible to perform minimally invasive remote surgery on the patient.

The third embodiment of the present invention will be described below. The third embodiment is intended to improve work efficiency by saving space and reduce the burden on the patient. Second mentioned above
In the embodiment, since the operator side and the patient side are connected by wire, a cable corresponding to that is required, and this cable becomes an obstacle in a place where there are various instruments such as an endoscope room. This may adversely affect the doctor's observation and treatment operations. This lowers work efficiency and prolongs the treatment time, resulting in an increased burden on the patient. Therefore, in the third embodiment, the signal cable connecting the patient side and the operator side is eliminated to save space and improve work efficiency.

FIG. 6 is a diagram showing the configuration of the third embodiment.
The difference from the second embodiment is that a wireless transmission means is provided, and in this embodiment, wireless communication by a frequency modulation method (FM) is adopted.

In the third embodiment, a receiving circuit 40 for receiving a slave arm driving signal, a receiving circuit 41 for receiving a driving signal for driving the roller 14c for supplying ultrasonic jelly, and an ultrasonic encoder. And a transmission circuit 42 for transmitting a signal. 44 is the control device 1 on the operator side
1 is a transmission / reception antenna for receiving or transmitting the FM wave output from 1.

On the other hand, to the controller 11 on the operator side, a transmission circuit 50 for transmitting a slave drive signal, a transmission circuit 51 for transmitting a drive signal for driving the roller 14c for supplying ultrasonic jelly, and an ultrasonic decoding signal. And a receiving circuit 52 for receiving signals. Reference numeral 54 is an FM wave transmitting / receiving antenna arranged on the operator side.

The operation of the configuration of the third embodiment described above will be described below. The transmitter circuits or receiver circuits 40 to 42 and 50 to 52 shown in the figure employ the PLL system circuit because they use the FM system. In brief, the PLL is a voltage-controlled oscillator (generally, a voltage-controlled oscillator so that the phases of the input FM wave and a predetermined reference frequency match each other).
The output of the (called VCO) is fed back to the phase comparator to match the phases so that data at a desired frequency can be picked up. On the basis of the above principle, in the third embodiment, P
It incorporates an LL type modulation / demodulation circuit to transmit / receive desired data wirelessly.

Although the FM system is shown in the present embodiment, if the patient side and the operator side are close to each other, transmission and reception may be performed by light such as infrared rays and laser light. In addition, if it is performed in a place where the noise environment is small, wireless transmission by an amplitude modulation method (AM method) may be performed.

The signal line for observation / treatment is performed by the same transmission / reception line. By separating this from the antenna for observation line and the antenna for treatment line, the observer and the operator can You can also communicate while in another location. This is extremely effective, for example, when an image of an actual treatment is provided for education at an educational institution such as a university.

Here, when the affected area is directly observed with the image as it is and the treatment is performed, a conventional manipulator for operation including an endoscope and a treatment tool may be used. Further, needless to say, the fact that the signal transmission means of the present embodiment is wireless also improves work efficiency by saving space even in the conventional surgical manipulator system.

According to the third embodiment described above, the slave arm drive signal, the ultrasonic jelly supply roller drive signal, and the ultrasonic observation signal can be wirelessly transmitted to and received from a remote position. Is unnecessary, and space saving of the treatment room is realized. As a result, work efficiency is improved and the burden on the patient can be reduced.

The technical idea of the following configuration is derived from the above-described specific embodiments. Further, the following technical ideas may be combined and configured. (1) A surgical manipulator for treating a site inside a body cavity of a patient, an observation means for obtaining image information about the site inside the body cavity from the body surface of the patient, and image information that allows an operator to recognize the image information from this observation means. As an image providing means, an observing means positioning means for positioning the observing means at a desired position, a first operating means for operating the surgical manipulator, and an observing means positioning means. And second control means for controlling the operation of the surgical manipulator and the observation means positioning means based on the control information from the first and second operation means. Manipulator system for surgery. (2) The surgical manipulator system according to the configuration (1), characterized in that the observation means includes an ultrasonic wave detection means for obtaining the image information by using an ultrasonic wave signal. (3) The surgical manipulator system according to (2), further comprising frequency changing means for changing the ultrasonic frequency of the ultrasonic detecting means arbitrarily. (4) The surgical manipulator system according to the configuration (1), characterized in that the image providing means is a head mount display attached to a surgeon's head. (5) The surgical manipulator system according to the configuration (1), wherein the image providing unit is a TV monitor. (6) The surgical manipulator system according to (4), wherein the image information output to the image providing unit is an ultrasonic image. (7) The surgical manipulator system according to (4), wherein the image information output to the image providing unit is an animation image by computer graphics. (8) The surgical manipulator system according to (5), wherein the image information output to the image providing unit is an ultrasonic image. (9) The manipulator system for surgery according to (5), wherein the image information output to the image providing unit is an animation image by computer graphics. (10) The surgical manipulator system according to the configuration (1), characterized in that the first operating means for operating the surgical manipulator is a master manipulator. (11) The manipulator system for surgery according to the configuration (1), wherein the second operation means includes a position detection sensor. (12) The surgical manipulator system according to (11), wherein the position detection sensor is a magnetic sensor. (13) The surgical manipulator system according to (1), further comprising force detection means for detecting how much force the observation means is pressed against the body surface of the patient. (14) The surgical manipulator system according to the configuration (13), wherein the force detecting means is a pressure sensor. (15) The manipulator system for surgery according to the configuration (13), wherein the force detection means is a force sensor. (16) The surgical manipulator system according to the configuration (13), wherein the force detecting means is a strain gauge. (17) The surgical manipulator system according to the configuration (2), characterized in that the ultrasonic wave detecting means is provided with an ultrasonic jelly supplying means. (18) A manipulator for surgery for observing and / or treating a site inside a body cavity of a patient, a driving means for driving the manipulator for surgery, an operating means for operating the manipulator for surgery, and this operation. Control means for controlling the operation of the surgical manipulator based on control information from the means, and electrical coupling means for electrically coupling the control information from the control means and the driving means, A surgical manipulator system characterized by being provided. (19) The surgical manipulator system according to (18), characterized in that the electrical coupling means is a radio signal transmission means and sends the control information to the driving means by an amplitude modulation method. (20) The surgical manipulator system according to (18), wherein the electrical coupling means is a radio signal transmission means and the control information is sent to the driving means by a frequency modulation method. (21) The surgical manipulator system according to (18), characterized in that the electrical coupling means is a wireless signal transmission means and sends the control information to the driving means by infrared rays. (22) The surgical manipulator system according to (18), wherein the electrical coupling means is a wireless signal transmission means and the control information is sent to the driving means by light. (23) The surgical manipulator system according to the configuration (22), wherein the light is a laser.

The conventional techniques for the above-mentioned configurations (1) to (23) are as described above, but the problems and objects to be solved by the invention are as follows. 1. Configurations (1) to (17) (Problems to be Solved by the Invention) However, since the endoscope and the treatment instrument are inserted into the body cavity of the patient, the insertion hole and the treatment instrument for observing the organ in the body cavity are provided. At least two insertion holes are required, which increases the burden on the patient. (Purpose) To provide a minimally invasive surgical manipulator while ensuring patient safety. 2. Configurations (18) to (23) (Problems to be Solved by the Invention) In the case of controlling a multi-axis robot such as a surgical manipulator, the number of signal lines increases and a cable corresponding to that is required. ,
In a place where various medical instruments are arranged, such as an endoscope room, such a cable becomes an obstacle, and if anything, the observation / treatment operation of the doctor is affected and the efficiency becomes poor. This increases the burden on the patient due to the extended treatment time. (Purpose) To improve work efficiency by saving space at the work site, and to reduce the burden on the patient by shortening the operation time.

[0059]

According to the manipulator system for surgery according to the present invention, since it is possible to treat a patient by making only one hole for inserting a treatment tool in the body wall, it is possible to reduce the invasion to the patient. Is possible.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a master-slave surgical manipulator system to which a first embodiment of the present invention is applied.

FIG. 2 is a diagram showing a configuration of a treatment tool.

FIG. 3 is a diagram for explaining a master-slave operation of an observation manipulator.

FIG. 4 is a diagram for explaining a master-slave operation of a treatment manipulator.

FIG. 5 is a configuration diagram of a master-slave surgical manipulator system to which a second embodiment of the present invention is applied.

FIG. 6 is a configuration diagram of a master-slave surgical manipulator system to which a third embodiment of the present invention is applied.

[Explanation of symbols]

4 ... Treatment tool, 5 ... Treatment arm, 6 ... Ultrasonic transducer unit, 7 ... Observation arm, 8 ... Master arm, 9 ... Head mount display (HMD).

Claims (1)

[Claims] 1. A surgical manipulator for treating a site in a body cavity of a patient, an observation means for obtaining image information on the site in the body cavity from the body surface of the patient, and an operator can recognize the image information from the observation means. Image providing means for providing as image information, observing means positioning means for positioning the observing means at a desired position, first operating means for operating the surgical manipulator, and observing means locating means A second operation unit for operating, and a control unit for controlling the operations of the surgical manipulator and the observation unit positioning unit based on the control information from the first and second operation units. A manipulator system for surgery characterized by.