WO2013179693A1 - 内視鏡操作システム - Google Patents

内視鏡操作システム Download PDF

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Publication number
WO2013179693A1
WO2013179693A1 PCT/JP2013/053772 JP2013053772W WO2013179693A1 WO 2013179693 A1 WO2013179693 A1 WO 2013179693A1 JP 2013053772 W JP2013053772 W JP 2013053772W WO 2013179693 A1 WO2013179693 A1 WO 2013179693A1
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WIPO (PCT)
Prior art keywords
unit
endoscope
posture
holding arm
operation system
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.)
Ceased
Application number
PCT/JP2013/053772
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English (en)
French (fr)
Japanese (ja)
Inventor
耕太郎 只野
健嗣 川嶋
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Tokyo Institute of Technology NUC
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Tokyo Institute of Technology NUC
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Application filed by Tokyo Institute of Technology NUC filed Critical Tokyo Institute of Technology NUC
Priority to EP13797833.4A priority Critical patent/EP2856923A4/en
Priority to US14/404,341 priority patent/US20150148594A1/en
Publication of WO2013179693A1 publication Critical patent/WO2013179693A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00043—Operational features of endoscopes provided with output arrangements
    • A61B1/00045—Display arrangement
    • A61B1/00048—Constructional features of the display
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/0016—Holding or positioning arrangements using motor drive units
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/045—Control thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00216—Electrical control of surgical instruments with eye tracking or head position tracking control
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00973—Surgical instruments, devices or methods pedal-operated
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/502—Headgear, e.g. helmet, spectacles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; Determining position of diagnostic devices within or on the body of the patient
    • A61B5/065—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
    • A61B5/067—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe using accelerometers or gyroscopes

Definitions

  • the present invention relates to an endoscope operation system.
  • an enlargement ratio of a zoom lens of an endoscope is provided in a head mounted display (hereinafter also referred to as an HMD).
  • HMD head mounted display
  • Control is performed based on a detection output from a posture sensor that detects movement of the head. Further, the movement of the surgeon's head is taken out as the displacement of the posture sensor with respect to the magnetic source that generates the magnetic field.
  • the surgeon can stereoscopically observe the inside of the body cavity in which the endoscope is inserted.
  • an endoscope is gripped by a five-node link mechanism, a ball joint portion that holds a trocar penetrating the abdominal wall at the abdominal wall portion, and a drive unit and an operation unit that drive the link mechanism.
  • the laparoscope which is a kind of endoscope, is a zoom type and can quickly switch between the perspective of the screen, and the zoom type laparoscope can be quickly moved to a position desired by the operator by a controller switch. It can be moved to.
  • the present invention is an endoscope operation system that is not affected by a powerful magnet, and the endoscope moving speed is inserted from the viewpoint of safety in terms of safety.
  • An object of the present invention is to provide an endoscope operation system that can be controlled according to the amount.
  • an endoscope operation system is supported so as to be capable of reciprocating and rotating, a holding arm unit part capable of sending posture information thereof, and a holding arm unit,
  • An endoscope unit having an imaging unit in the unit, a display unit that displays an image by a head-mounted display based on an image signal from an image imaging unit of the endoscope unit, and a sensor that detects a posture state of the operator
  • an endoscope operation system composed of a detection unit and a foot switch, from posture movement information from the posture detection unit, posture information of the holding arm unit, and camera information of the imaging unit in the endoscope unit, The moving direction and speed of the distal end portion of the endoscope unit are controlled.
  • An endoscope operation system includes a distal end portion of an endoscope unit based on posture movement information from a posture detection unit, posture information of a holding arm unit, and camera information of an imaging unit in the endoscope unit. Therefore, the moving speed of the endoscope in the body can be controlled according to the insertion amount of the endoscope from the viewpoint of safety. Further, for example, when the holding arm unit is driven by a plurality of pneumatic actuators, there is an effect that the holding arm unit is not affected by a strong magnet because it does not easily interfere with the magnetic field.
  • FIG. 1 is a diagram schematically showing an overall configuration of an endoscope operation system according to the present invention together with an operator. It is a figure which shows the holding
  • FIG. 2 shows a configuration of an example of an endoscope operation system according to the present invention together with an operator.
  • the endoscope operation system is detachable from the endoscope 24, the holding arm unit 10 that holds the endoscope 24 and controls the posture of the endoscope 24, and the head of the operator OP.
  • a head mounted display 30 (hereinafter also referred to as HMD 30) to be mounted is included as a main element.
  • the endoscope 24 includes, for example, a flexible insertion unit having an imaging unit at a distal end portion inserted into the body, an operation unit 62 that controls the optical system (see FIG. 1), a light source connected to the operation unit, and the like. And a connection unit connected to the operation unit.
  • the imaging unit includes an optical unit including an objective lens, a solid-state imaging device, and a zoom mechanism unit including an actuator that controls the lens of the optical unit to enlarge or reduce an image obtained by the imaging unit. .
  • the zoom mechanism unit of the imaging unit is controlled by an endoscope control unit 64 described later.
  • a light guide is provided adjacent to the objective lens at the distal end of the insertion portion. The light guide illuminates the inside of the body with the light guided from the light source. Note that a rigid endoscope and a flexible endoscope can be adopted as the endoscope.
  • the HMD 30 is attached to the head of the operator OP as shown in FIG.
  • the HMD 30 includes a pair of left and right display units 32 (see FIG. 1) at positions corresponding to the eyes of the operator OP and facing the front of the face of the operator OP.
  • the display unit 32 displays a color image in 3D format, for example.
  • the display unit is not limited to such an example, and may display, for example, a 2D black and white image.
  • the entire HMD 30 follows the movement of the head of the operator OP. That is, in the MHD 30, as shown by an arrow in FIG. 2, when viewed from the operator OP side, the neck is the right axis (clockwise rotation) with the neck as the center axis, and the neck is the center axis.
  • Left-handed (counterclockwise) rotation left-handed rotation
  • vertical rotation with respect to the neck flexion, extension
  • tilting right with respect to the neck bending right
  • tilting left with respect to the neck left side
  • the HMD 30 also includes a gyro sensor (hereinafter also referred to as a gyroscope) 36 that detects rotation, lateral bending, bending, and extension of the HMD 30 and a geomagnetic sensor 34 (see FIG. 1). Detection outputs from the gyro sensor 36 and the geomagnetic sensor 34 are supplied to a control unit 40 described later. Instead of the geomagnetic sensor 34, an acceleration sensor may be used.
  • a gyro sensor hereinafter also referred to as a gyroscope
  • Detection outputs from the gyro sensor 36 and the geomagnetic sensor 34 are supplied to a control unit 40 described later.
  • an acceleration sensor may be used.
  • the holding arm unit 10 is supported via a bracket (not shown) of a vane motor unit 16 described later on a gantry (not shown) adjacent to the operating table separated from the operator.
  • the holding arm unit 10 includes a chassis that movably supports a vane motor 20 that rotatably supports an endoscope 24, an endoscope 24 and a vane motor that are fixed to the chassis.
  • the pneumatic cylinder 18 for moving the 20 close to or away from the patient, the vane motor unit 16 supported via the parallel link mechanism 14 supported at one end by the above-mentioned chassis, and the output shaft of the vane motor unit 16 are connected.
  • a pneumatic shaft 12 for driving the parallel link mechanism 14 as main elements. Has been.
  • the parallel link mechanism 14 has one end of a link member constituting a part thereof connected to the rotating shaft portion and the other end portion connected to the chassis.
  • the chassis is rotated in the clockwise direction around the lower end of the rotating shaft portion in FIG. 3 is rotated in the counterclockwise direction with respect to the rotation center at the lower end of the rotation shaft portion. That is, as will be described later, the imaging unit of the endoscope 24 can move around the rotation center point GP in a direction corresponding to the vertical rotation (bending and extension) of the head with respect to the surgeon's neck in the MHD 30. Is done.
  • the rotation center point GP is located in the vicinity of the patient's body wall on a common straight line with a rotation axis G of the rotation shaft portion described later.
  • the rotation axis G is set to be parallel to the Lx coordinate axis of the orthogonal coordinate system in FIG. 3 taken in the holding arm unit 10.
  • the Lx coordinate axis is set in a direction orthogonal to the patient's body wall, and the coordinate axis Lz is set to be perpendicular to the Lx coordinate axis.
  • the pneumatic cylinder 18 is supported by the chassis so that its rod is substantially parallel to the central axis of the endoscope 24.
  • the imaging unit of the endoscope 24 and the vane motor 20 in FIG. 3 are moved relative to the chassis in a direction away from the patient, while the rod of the pneumatic cylinder 18 is in the contracted state.
  • the imaging unit of the endoscope 24 and the vane motor 20 are moved with respect to the chassis in a direction approaching the patient.
  • each of the link members constituting the parallel link mechanism 14 is connected to a predetermined distance along the central axis of the rotary shaft portion provided in parallel with the vane motor unit 16 at a position apart from the center shaft line.
  • the rotating shaft portion is rotatably supported by the vane motor unit 16 around the rotating axis G.
  • the vicinity of the operation unit in the endoscope 24 is supported by the vane motor 20 so as to be rotatable.
  • the imaging unit of the endoscope 24 can rotate (roll) by a predetermined angle around the rotation center axis of the vane motor 20. That is, as will be described later, the imaging unit of the endoscope 24 is moved in a direction corresponding to the side bending of the surgeon in the MHD 30.
  • a control unit 40 and an endoscope control system 60 for controlling the operation of the holding arm unit 10 are provided.
  • the endoscope control system 60 includes an endoscope control unit 64 that controls the operation of the zoom mechanism unit and the light source of the endoscope 24 based on a command signal group from the operation unit 62, and an endoscope control unit 64 through the endoscope control unit 64. And an image processing PC 66 that performs predetermined image processing based on the imaging data DD obtained from the solid-state imaging device of the endoscope 24.
  • the image processing PC 66 performs predetermined image processing based on the imaging data DD, forms an image data ID, and supplies it to the control unit 40 and the MHD 30. Accordingly, an image based on the image data ID from the image processing PC 66 is displayed on the display unit 32 of the MHD 30 in the 3D format.
  • the control unit 40 includes a signal group GS representing the above-described angular velocity vectors of the operator's head from the gyro sensor 36 in the MHD 30 and the inclination of the operator's head from the various magnetic sensors 34 in each direction described above.
  • a signal group EM representing an angle
  • a command signal Cf representing an operation stop command of the holding arm unit 10 from the on / off switching foot switch 50
  • an insertion portion of the endoscope 24 from the zoom operation foot switch 52 into the body.
  • a command signal Cz1 representing a command for increasing the insertion amount by a predetermined amount or a command signal Cz2 representing a command for decreasing the insertion amount of the insertion portion of the endoscope 24 by a predetermined amount is supplied.
  • the control unit 40 represents program data for controlling the air pressure of the vane motor unit 16, the vane motor 20, the pneumatic cylinder 12 and the pneumatic cylinder 18, an image data ID from the image processing PC 66, and a calculation result of a drift compensation calculation unit 46 which will be described later.
  • a storage unit 40M is provided for storing data, data representing the computation result of the speed control computing unit 48, a signal group EM representing the tilt angle from the geomagnetic sensor 34, and the like.
  • the control unit 40 includes a communication unit 42 that performs transmission / reception of the control unit CD and the communication unit 54 of the valve unit controller 56 in a bidirectional manner.
  • the valve unit controller 56 controls the control signals DM1, DM2, based on the control data CD from the control unit 40 in order to control the vane motor unit 16, the vane motor 20, the pneumatic cylinder 12 and the pneumatic cylinder 18 in the holding arm unit 10 described above.
  • DC1 and DC2 are formed and supplied to the valve unit 58, respectively.
  • the valve unit 58 controls each valve based on the control signals DM1, DM2, DC1, and DC2, and the working air from the air supply source is supplied to the vane motor unit 16, the vane motor 20, and the air pressure in the holding arm unit 10. Supply to cylinder 12 and pneumatic cylinder 18.
  • valve unit controller 56 is provided.
  • the present invention is not limited to such an example.
  • the control unit 40 and the valve unit 58 are directly connected without using the valve unit controller 56.
  • the holding arm unit 10 may be controlled by the control unit 40.
  • the control unit 40 controls the holding arm unit 10 so as to control the insertion amount and speed of the endoscope 24 into the patient's body and to control the posture of the imaging unit of the endoscope 24. It is supposed to be Further, the control unit 40 performs drift compensation at a predetermined timing on the signal group GS representing the above-described angular velocity vectors of the operator's head from the gyro sensor 36 in the MHD 30.
  • the speed control calculation unit 48 in the control unit 40 is a command signal Cz1 representing an instruction to increase the insertion amount of the insertion unit of the endoscope 24 from the zoom operation foot switch 52 in the MHD 30 into the body by a predetermined amount or the endoscope.
  • a command signal Cz2 representing a command to reduce the insertion amount of the insertion portion of the mirror 24 by a predetermined amount
  • a signal group GS representing the above-described angular velocity vectors of the operator's head from the gyro sensor 36 in the MHD 30.
  • a target speed value Pref overdot of the imaging unit of the endoscope 24 is set.
  • Control data forming unit 44 as the imaging unit of the endoscope 24 based on the target speed value P ref over dots follow the target speed value, the pneumatic cylinders 12, 18 of the holding arm units 10 and, vane motor 16 In order to perform the operation, the control data CD is formed and supplied to the communication unit 42.
  • the speed control calculation unit 48 performs a calculation according to a calculation formula described later according to each calculation step shown in Formula 1.
  • the speed control calculation unit 48 calculates the angular velocity command vector ⁇ cmd from the following equation based on the signal group GS representing the angular velocity vector from the gyroscope 36.
  • Kr represents a velocity gain represented by a matrix described later
  • ⁇ s represents the following angular velocity vector.
  • ⁇ s is an angular velocity vector of the head obtained from the gyroscope.
  • this angular velocity vector is drift-compensated (described later), it is an angular velocity vector after drift compensation.
  • a coordinate system fixed to the head is used as the coordinate system.
  • the center axis of the neck of the operator OP shown in FIG. 2 is the y-axis
  • the left-right direction of the operator OP is the x-axis
  • the front-rear direction of the operator OP is the z-axis.
  • the sensitivity of movement can be set according to the user's preference.
  • the constant Kr can be set to a different value for each direction.
  • Kr may be a function.
  • the speed control calculation unit 48 sets the angular velocity command vector ⁇ cmd to a predetermined limit value ⁇ lim with a limiter. That is, when the angular velocity command vector ⁇ cmd exceeds the limit value ⁇ lim , the angular velocity command vector ⁇ ′cmd is set to the limit value ⁇ lim , and when the angular velocity command vector ⁇ cmd is less than or equal to the limit value ⁇ lim , the angular velocity command vector ⁇ 'Cmd is set as the angular velocity command vector ⁇ cmd . This is because the operation of the holding arm unit 10 operates at an excessive speed so that the internal organs are not damaged by the imaging unit. Note that data of the value of the angular velocity command vector ⁇ ′cmd is stored in the storage unit 40M.
  • the speed control calculation unit 48 converts the angular velocity command vector ⁇ ′cmd into the local coordinates (Lx, Ly, Lz) (see FIG. 3) of the holding arm using the conversion matrix T according to the following equation, and further converts the matrix R into By multiplying, the angular velocity command vector ⁇ ′′ cmd of the orthogonal coordinate system (Cx, Cy, Cz) (see FIG. 3) at the distal end portion of the endoscope 24 is obtained.
  • the coordinate axis Cz is taken along the central axis of the insertion portion of the endoscope 24, that is, along the advancing direction or the retreating direction of the imaging portion of the endoscope 24.
  • the matrix R represents the posture of the endoscope 24 and is sequentially obtained from the joint displacement q of the holding arm unit 10 (see q1, q2, and q4 in FIG. 3) by forward kinematics calculation.
  • E represents a rotation matrix.
  • the vertical and horizontal directions in the screen of the display unit in the MHD 30 and the vertical and horizontal directions of the surgeon's head always coincide. That is, the coordinate system fixed to the head in the MHD 30 matches the coordinate system fixed to the endoscope tip. Therefore, the image displayed on the display unit in the MHD 30 follows the movement of the surgeon's head.
  • the angular velocity command vector ⁇ ′cmd is converted into the local coordinates (Lx, Ly, Lz) of the holding arm by the conversion matrix T, and further multiplied by the matrix R, so that the distal end portion of the endoscope 24 is obtained.
  • the angular velocity command vector ⁇ ′′ cmd of the Cartesian coordinate system (Cx, Cy, Cz) is obtained, but is not limited to such an example. Conversion from the local coordinates (Lx, Ly, Lz) of the holding arm to the orthogonal coordinate system (Cx, Cy, Cz) at the distal end portion of the endoscope 24 may be omitted.
  • the local coordinates (Lx, Ly, Lz) to the orthogonal coordinate system (Cx, Cy, Cz) at the distal end portion of the endoscope 24 can be omitted.
  • the speed control calculation unit 48 converts the angular speed command vector ⁇ ′′ cmd to a target speed vector Vxy of the distal end (imaging unit) of the endoscope 24 according to the following equation. That is, angular velocity command vector is orthogonal coordinate system by taking the vector l 3 and outer product to the tip of the endoscope from the rotation center GP of the holding arm unit 10 (Cx, Cy, Cz) target of the distal end of the endoscope in It is converted into a component Vxy in the vertical and horizontal directions of the speed.
  • the speed control calculation unit 48 performs a calculation on the target speed vector Vxy in order to adjust the speed of the imaging unit so that the speed of the imaging unit can be changed according to the amount of insertion into the body of the imaging unit of the endoscope. This is done according to the formula.
  • the target velocity vector V′xy of the imaging unit of the endoscope becomes large, while insertion in the imaging unit of the endoscope
  • the target velocity vector V′xy of the imaging unit of the endoscope becomes small.
  • r xy is a constant and is set in a range in which the sign of Vxy does not invert.
  • q3 is positive in the direction in which the endoscope is inserted from the intermediate position, and negative in the direction in which it is pulled out.
  • the center of the movable range of q3 in FIG. 3 is the intermediate position, and the intermediate position is 0.
  • r xy may be a function.
  • the speed control calculation unit 48 follows the Cz coordinate axis (see FIG. 3) in the imaging unit of the endoscope 24 based on the variable d represented by the command signals Cz1 and Cz2 from the zoom operation foot switch 52 according to the following equation.
  • the target speed vector Vz is calculated.
  • the variable d is 1 when only the command signal Cz1 is present, is -1 when only the command signal Cz2 is present, and is 0 when neither of the command signals Cz1 and Cz2 is present.
  • Kz represents the gain set by the user. When d is 1, it indicates zoom in, and when d is -1, it indicates zoom out. When d is 0, it indicates invariance.
  • the speed control calculation unit 48 sets the target speed command vector Vz to a predetermined limit value V zlim with a limiter. That is, when the target speed command vector Vz exceeds the limit value V zlim , the target speed command vector V′z is set to the limit value V zlim , and when the target speed command vector Vz is less than or equal to the limit value V zlim , the target speed command The vector V′z is set as the target speed command vector Vz. This is to prevent the holding arm unit 10 from operating at an excessive speed. By suppressing the operation of the holding arm unit 10 so as not to become an excessive speed, safety can be achieved so that the endoscope does not hit and damage the internal organs.
  • the speed control calculation unit 48 converts the obtained target speed command vector V′z into a target speed vector V ′′ z at the distal end (imaging unit) of the endoscope 24 according to the following equation. Thereby, the movement of the head back and forth and the movement of the endoscope back and forth can be matched.
  • the speed control calculation unit 48 performs a calculation on the target speed vector V ′′ z in order to adjust the speed of the imaging unit so that the speed of the imaging unit can be changed according to the amount of insertion into the body of the imaging unit of the endoscope. This is done according to the formula.
  • the vertical and horizontal movements (movements of the rotations q1 and q2 of the holding arm unit 10) (see FIG. 3) are enlarged when zoomed in (inserted deeply) and reduced when zoomed out.
  • the back-and-forth movement (the movement of the endoscope insertion q3 of the holding arm) has the opposite behavior.
  • r z may be a constant or a function.
  • the speed control calculation unit 48 adds the speed components in the up / down / left / right direction and the front / rear direction in accordance with the following equation to obtain the final target speed value Pref overdot of the endoscope tip (imaging unit).
  • the roll component (the operation of tilting the neck) of the rotational speed of the operator's head is directly related to the roll component of the angular velocity command vector ⁇ ′cmd described above.
  • the target speed the present invention is not limited to such an example. This operation may be disabled.
  • the front-rear direction command is performed by the foot switch, but is not limited to this method.
  • Other methods include generation of front-rear direction command values by acceleration sensors, optical flow, skin displacement near the eyebrows, or myoelectric potential measurement.
  • the effects generated by using the on / off switching foot switch 50 are as follows. If you do not want to operate the endoscope, you can move the head freely by turning off the switch. Also, for example, when moving the endoscope to the right with the switch turned on, even if your head reaches the right movable limit, turn the switch off and return the head to the left before turning on the switch. Then, the endoscope can be moved further to the right. Further, since the endoscope is not interlocked with the movement of the head unless the switch is turned on, an unexpected operation can be avoided.
  • the drift compensation calculation unit 46 of the control unit 40 is constituted by, for example, a microcomputer, and a program executed by the microcomputer will be described with reference to a flowchart shown in FIG.
  • step S1 the offset value is set to a predetermined value ADV, and in step S2, a group of signals representing the above-described angular velocity vectors of the operator's head from the gyro sensor 36 in the MHD 30.
  • GS captures the signal group EM representing the tilt angle from the local magnetic sensors 34 in the above-mentioned directions of the operator's head, performs differential operation based on the signal group EM in the subsequent step S3, obtains the angular velocity, and obtains step S4. Proceed to In step S4, it is determined whether or not the obtained absolute value
  • step S4 If the absolute value
  • step S7 If it is determined in step S7 that the count value CN of the stationary counter is less than the threshold value T, the process proceeds to step S8, and a predetermined value ADV as an offset value is subtracted from the angular velocity vector ⁇ s based on the signal group GS from the gyro sensor 36.
  • step S9 the filter processing program is executed, and in the subsequent step S10, the angular velocity vector ⁇ s is sent to the velocity control calculation unit 48, and the operation proceeds to the subsequent step S11.
  • step S11 it is determined whether or not an end flag is set. If the end flag is set, the program ends. If the end flag is not set, the process returns to step S2. And in step 2, it performs similarly to the above-mentioned, and the subsequent steps are also performed similarly.
  • step S4 if the absolute value
  • step S7 when it is determined in step S7 that the count value CN of the stationary counter is equal to or greater than the threshold value T, the process proceeds to step S14, where the average value ADV is calculated by dividing the integral value GIV by the count value CN and then stored. In step S8, the updated value ADV is subtracted.
  • the subsequent steps are executed in the same manner as described above.
  • the problem of zero point drift caused by the signal group GS from the gyro sensor 36 is solved by the drift compensation calculation unit 46 of the control unit 40. Therefore, the image displayed on the display unit 32 of the MHD 30 does not move even when the head is stopped, and the moving speed (angular velocity) of the image varies depending on the right and left rotations of the head. Such a situation is resolved. Furthermore, since more accurate position information of the MHD 30 can be obtained, the safety of the operation is improved.
  • FIG. 4 shows a characteristic line representing the effect when the drift compensation calculation unit 46 performs the drift compensation calculation on the output value of the angular velocity based on the signal group GS from the gyro sensor 36.
  • the vertical axis indicates the angular velocity and the horizontal axis indicates the time.
  • the characteristic line L1 indicates the case where the drift compensation calculation is performed, and the characteristic line L2 indicates that the drift compensation calculation is performed. Indicates no case.
  • the angular velocity is surely converged to near zero as clearly seen in the vicinity of 38 seconds as compared with the characteristic line L2.
  • Equation 8 the present invention is not limited to the calculation method shown in Equation 8.
  • any of the following calculation methods can be employed.
  • a coefficient relating to Vxy a coefficient that is 1 when q3 is 0 and monotonously increases with respect to q3 can be employed.
  • Equation 11 is not limited. For example, any of the following calculation methods can be employed.
  • a coefficient concerning V ′′ z a coefficient that is 1 when q3 is 0 and monotonously increases with respect to q3 can be employed.
  • the moving speed of the distal end portion of the endoscope unit can be controlled from the camera information of the imaging unit in the endoscope unit.
  • the camera information of the imaging unit in the endoscope unit is the zoom magnification of the camera.
  • the speed control calculation unit 48 performs a calculation on the target speed vector Vxy in order to adjust the speed of the image pickup unit in accordance with the zoom magnification of the camera. Thereby, the movement amount of the visual field by the rotation of the head can be adjusted. Therefore, the intuitiveness of operation is improved.
  • the speed control calculation unit 48 performs a calculation on the target speed vector V ′′ z in order to adjust the speed of the imaging unit to be changeable according to the zoom magnification of the camera. By this calculation, it is possible to adjust the amount of movement of the field of view due to the longitudinal movement of the endoscope. Therefore, the intuitiveness of operation is improved.
  • the HMD 30 informs the surgeon from the viewpoint of safety and automatically stops the system. Also good.
  • the coordinate system fixed to the head is converted to the local coordinates of the holding arm, but the present invention is not limited to this method. Since the method of taking the coordinate system is arbitrary, for example, the front-rear direction of the head may be set to the y-axis and the vertical direction may be set to the z-axis. Further, q1 and q2 may be calculated directly from the angular velocity of the head, similarly to the calculation of q4, without performing coordinate conversion.
  • Passive softness is achieved by driving a pneumatic actuator such as a pneumatic cylinder, and no excessive driving force is generated. Softness can be easily realized by adjusting the pressure. 2. If a part of the endoscope contacts an organ or the like, the contact force can be estimated from the differential pressure of the pneumatic actuator. 3. It is designed so that the insertion point of the abdominal wall is mechanically fixed. The linear motion of the pneumatic cylinder is converted into rotation by the slider crank mechanism, and the vertical motion is realized, and the left and right and rotation are realized by the pneumatic swing actuator. A total of 4 degrees of freedom can be realized using the linear motion of the pneumatic cylinder.

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PCT/JP2013/053772 2012-05-29 2013-02-16 内視鏡操作システム Ceased WO2013179693A1 (ja)

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JP2013244377A (ja) 2013-12-09

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