WO2015012241A1 - 医療用システムおよびその制御方法 - Google Patents

医療用システムおよびその制御方法 Download PDF

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Publication number
WO2015012241A1
WO2015012241A1 PCT/JP2014/069260 JP2014069260W WO2015012241A1 WO 2015012241 A1 WO2015012241 A1 WO 2015012241A1 JP 2014069260 W JP2014069260 W JP 2014069260W WO 2015012241 A1 WO2015012241 A1 WO 2015012241A1
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WO
WIPO (PCT)
Prior art keywords
arm
slave arm
control mode
joint
slave
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/JP2014/069260
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English (en)
French (fr)
Japanese (ja)
Inventor
量平 小川
岸　宏亮
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Olympus Corp
Original Assignee
Olympus Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Olympus Corp filed Critical Olympus Corp
Priority to EP14829493.7A priority Critical patent/EP3025672A4/en
Priority to CN201480041664.0A priority patent/CN105407827B/zh
Publication of WO2015012241A1 publication Critical patent/WO2015012241A1/ja
Priority to US15/000,648 priority patent/US10155315B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller

Definitions

  • the present invention relates to a medical system and a control method thereof.
  • a medical system including a master arm having a joint configuration similar to the joint configuration of the slave arm is known (see, for example, Patent Documents 1 and 2). .) According to such a system, since the movement corresponding to the movement of the master arm can be reproduced by the slave arm, the operator can directly recognize the shape and movement of the slave arm from the shape and movement of the master arm. However, the slave arm can be operated intuitively.
  • the present invention has been made in view of the above-described circumstances, and uses a master arm having a similar structure to the slave arm, while maintaining the intuitive operability of the slave arm, and performing rough and precise operations. It is an object of the present invention to provide a medical system and a control method thereof that can cope with both of the above and improve usability.
  • the first aspect of the present invention includes a multi-joint slave arm, a master arm similar in structure to the slave arm, the master arm operated by an operator, and the operation performed on the master arm.
  • a control unit for controlling the slave arm, and the control unit is configured to control each joint of the slave arm based on the rotation amount of each joint of the master arm so that the slave arm has a similar shape to the master arm.
  • the slave arm can be intuitively operated using the master arm.
  • the control unit causes the entire slave arm to follow the entire movement of the master arm in the first control mode. Therefore, the first control mode is suitable for performing a rough operation by relatively moving the slave arm.
  • the control unit causes the predetermined portion of the distal end portion of the slave arm to follow the movement of the predetermined portion of the distal end portion of the master arm. Therefore, it is suitable for performing a precise operation by accurately operating a predetermined portion of the distal end portion of the slave arm. Thus, it is possible to cope with both rough operation and precise operation, and usability can be improved.
  • control unit may control the slave arm so that a change amount of the shape of the slave arm is minimized in the second control mode. By doing so, the total operation amount of the slave arm is suppressed to the minimum, so that the operator can further concentrate on the operation of a predetermined part of the distal end portion of the slave arm.
  • the slave arm may be controlled so as to minimize the movement of a predetermined joint registered in advance (for example, a joint having a high probability of structurally interfering with a tissue). .
  • the control unit rotates the joints of any number of joints from the tip of the slave arm so as to be similar to the master arm. May be controlled. By doing in this way, the front-end
  • the ratio of the operation amount of the slave arm to the operation amount performed on the master arm is a predetermined constant value in the first control mode, and in the second control mode. It may be less than the predetermined constant value. By doing so, the operation amount of the slave arm in the second control mode becomes smaller than that in the first control mode. Thereby, the 2nd control mode can be made into a mode more suitable for precise operation.
  • the ratio of the operation amount of the slave arm to the operation amount performed on the master arm is a predetermined constant value in the first control mode, and in the second control mode.
  • the control unit calculates the inverse kinematics of the slave arm based on the position of the predetermined part of the tip of the master arm in the second mode.
  • a solution in which the shape of the slave arm is closest to the shape of the master arm may be selected.
  • the second control mode can be set to a mode more suitable for precise operation, and the shape and posture of the slave arm can be roughly recognized based on the master arm.
  • the control unit in the second control mode, provides a solution that minimizes a sum of differences between displacement amounts of the joints of the master arm and displacements of the joints of the slave arm. May be selected.
  • the control unit is divided into four planes that pass through the central axes of the root portions of the slave arm and the master arm and are orthogonal to each other on the central axis.
  • a solution in which the slave arm is located in a space corresponding to the space in which the master arm is located may be selected. In this way, a solution that approximates the shape and posture of the slave arm to the shape and posture of the master arm can be selected by simple calculation.
  • the control unit moves the joint at the most distal end of the slave arm to a position and posture corresponding to the position and posture of the joint at the most distal end of the master arm.
  • the slave arm may be controlled so as to be arranged.
  • an operation ratio changing unit that changes a ratio of the operation amount to the operation amount may be provided.
  • the said ratio can be changed into an appropriate value as needed, and usability can further be improved.
  • a control mode manual change unit may be provided in which an operator selects one of the first control mode and the second control mode. In this way, the operator can switch the control mode at an arbitrary timing.
  • the control mode manual change unit may be an input unit such as a switch.
  • a control mode automatic change unit that switches a control mode according to a use condition, a situation, or an environment of the slave arm may be provided. By doing so, it is possible to automatically switch to an appropriate control mode at an appropriate timing.
  • the control mode automatic change unit may switch between the first control mode and the second control mode according to the type of the slave arm. In this way, it is possible to automatically switch to a control mode suitable for the use of each slave arm.
  • each of the master arm and the slave arm precedes the first control mode. You may perform the return flow which moves at least one of the said master arm and the said slave arm so that the displacement amount of a joint may mutually correspond. By doing in this way, the 1st control mode can be started smoothly in the state where the whole position and posture of a master arm and a slave arm correspond.
  • a second aspect of the present invention is a method for controlling a medical system comprising a multi-joint slave arm and a master arm having a joint structure similar to the slave arm and operated by an operator,
  • the control mode for controlling the slave arm is to control the rotation operation of each joint of the slave arm based on the rotation amount of each joint of the master arm so that the slave arm is similar to the master arm.
  • This is a control method for the medical system that can be switched between the second control mode for controlling the rotation operation of each joint of the slave arm.
  • a master arm having a similar structure to the slave arm can be used for both rough operation and precise operation while maintaining the intuitive operability of the slave arm. There is an effect that it can be improved.
  • FIG. 1 is a block diagram showing an overall configuration of a medical system according to a first embodiment of the present invention. It is an external view which shows the structure of the front-end
  • the medical system 100 includes a manipulator 1 that is inserted into the body of a patient P, an operation input unit 2 and a control unit that are arranged around an operating table on which the patient P lies. 3 is provided.
  • an endoscope 5 and a slave arm 6 are provided at the distal end of the manipulator 1.
  • An operator (operator) Op inserts the manipulator 1 into the body of the patient P from the anus, and operates while observing the internal image taken by the endoscope 5 on the display unit 10 provided in the operation input unit 2.
  • the control unit 3 controls the manipulator 1 based on the operation performed on the operation input unit 2.
  • the operator Op can remotely operate the manipulator 1 located in the body and treat the body with the slave arm 6 included in the manipulator 1.
  • the manipulator 1 includes an elongated flexible part 4 inserted into the body, and an endoscope 5 and a slave arm 6 provided at the distal end of the flexible part 4.
  • 1 and 2 show a double-armed manipulator 1 having two slave arms 6, the manipulator 1 may be a one-armed type having a single slave arm 6. Three or more slave arms 6 may be provided.
  • the slave arm 6 has a plurality of joints, and a treatment portion 8 such as a forceps or an electric knife is provided at the tip thereof.
  • the operation input unit 2 includes a master arm 9 operated by the operator Op and a display unit 10.
  • the master arm 9 is provided corresponding to each slave arm 6.
  • FIG. 3 schematically shows the joint configuration of the slave arm 6 and the master arm 9.
  • the master arm 9 has a joint structure similar to the joint structure of the slave arm 6.
  • the slave arm 6 has a roll joint J1 ', a yaw joint J2', a roll joint J3 ', and a yaw joint J4' in this order from the root side.
  • the master arm 9 also has a roll joint J1, a yaw joint J2, a roll joint J3, and a yaw joint J4 in this order from the root side.
  • the roll joints J1 ′, J3 ′, J1 and J3 rotate around the roll axis extending in the longitudinal direction of the arms 6 and 9 from the root to the tip of each arm 6 and 9, and the yaw joints J2 ′, J4 ′, J2 and J4. Rotates around the yaw axis perpendicular to the roll axis (perpendicular to the paper surface in FIG. 3). Moreover, the ratio of the distance between the adjacent joints of both arms 6 and 9 is the same.
  • the medical system 100 includes a motion scale ratio changing unit (operation ratio changing unit) 11.
  • the motion scale ratio changing unit 11 is provided in the operation input unit 2, for example, and is provided so that the operator Op can set an arbitrary value as the motion scale ratio.
  • the motion scale ratio is defined by the following equation, as will be described in detail later.
  • Motion scale ratio (movement amount of slave arm) / (movement amount of master arm)
  • the motion scale ratio changing unit 11 can switch the motion scale ratio stepwise between a scale ratio determined by the structure ratio between the master arm 9 and the slave arm 6 and a predetermined value less than the scale ratio. May be provided.
  • the motion scale ratio selected by the motion scale ratio changing unit 11 is transmitted to the control unit 3. Based on the received motion scale ratio, the control unit 3 switches the control mode for controlling the slave arm 6 between the “first control mode” and the “second control mode”. Next, a method for controlling the slave arm 6 by the control unit 3 will be described in detail.
  • the “first control mode” is a mode in which the entire slave arm 6 follows the entire movement of the master arm 9. Specifically, as shown in FIG. 4, the control unit 3 rotates each joint Ji ′ of the slave arm 6 by the same amount as the change amount ⁇ i of each joint Ji of the master arm 9. At this time, the ratio (motion scale ratio) between the operation amount performed on the master arm 9 and the operation amount of the slave arm 6 is the structural ratio between the master arm 9 and the slave arm 6. In the motion scale ratio changing unit 11, this structure ratio is set as a default ratio of the motion scale ratio.
  • the “second control mode” is a mode that is selected by the control unit 3 when the received motion scale ratio is less than the above-described default ratio that is structurally defined in the first control mode. In this mode, the tip of the slave arm 6 follows the movement of the tip of the master arm 9.
  • control unit 3 calculates the forward kinematics of the master arm 9 using the change amount ⁇ i of each joint Ji received from the operation input unit 2, as shown in FIG.
  • the movement amounts dx, dy, dz in the respective directions of the tip of the master arm 9 in the nine motion coordinate systems are calculated.
  • the control unit 3 converts the obtained movement amounts dx, dy, dz into movement amounts dx ′, dy ′, dz ′ in each direction in the operating coordinate system of the slave arm 6.
  • the control unit 3 calculates the inverse kinematics of the slave arm 6 based on the obtained movement amounts dx ′, dy ′, dz ′, and thereby the rotation amount ⁇ i ′ of each joint Ji ′ of the slave arm 6. Is calculated as a solution, and each joint Ji ′ is rotated by the obtained rotation amount ⁇ i ′.
  • the movement amounts dx ′, dy ′, and dz ′ are converted into the coordinate system of the display unit 10 so that the operation direction of the slave arm 6 displayed on the display unit 10 matches the operation direction of the master arm 9. It is desirable to convert to a later movement amount.
  • control unit 3 multiplies the movement amounts dx ′, dy ′, dz ′ by the motion scale ratio k, and uses the obtained movement amounts kdx ′, kdy ′, kdz ′ for calculation of inverse kinematics.
  • the motion scale ratio k is a motion scale ratio set by the operator Op for the motion scale ratio changing unit 11.
  • the tip of the slave arm 6 controlled in such a “second control mode” moves in a direction corresponding to the moving direction of the tip of the master arm 9, but the amount of movement is the movement of the tip of the master arm 9. Reduced to quantity. For example, when the motion scale ratio is set to “0.2”, the movement amount of the tip of the slave arm 6 is 1/5 of the movement amount of the master arm 9.
  • FIG. 5 shows two solutions (solution 1 and solution 2) as an example.
  • the controller 3 has a solution in which the overall shape of the slave arm 6 is the closest to the overall shape of the master arm 9 (in the example of FIG. 5, the solution 2), for example, A solution in which the total sum of differences in rotation angles between the corresponding joints Ji and Ji ′ is the smallest is adopted.
  • the soft part 4 of the manipulator 1 is inserted into the body of the patient P, and the in-vivo image acquired by the endoscope 5 is displayed. While observing on the display unit 10, the tip of the manipulator 1 is moved to the vicinity of the affected part.
  • the surgeon Op operates the master arm 9 while moving the slave arm 6 while observing the image displayed on the display unit 10, and performs, for example, pretreatment necessary to treat the affected part and the affected part. Apply to the periphery.
  • the surgeon Op usually operates the slave arm 6 in the “first control mode” by the motion scale ratio changing unit 11 (YES in step S1) (step S2). ).
  • each joint Ji ′ of the slave arm 6 is rotated by the same amount as the change amount ⁇ i of each joint Ji of the master arm 9 (step S1). S21, S22), the entire slave arm 6 follows the movement of the entire master arm 9 (step S23). That is, since the shape and posture of the entire master arm 9 correspond to the shape and posture of the entire slave arm 6, the operator Op directly recognizes the current shape and posture of the slave arm 6 from the master arm 9. can do. Therefore, for example, whether the elbows (joints J2, J4) of the slave arm 6 are pressing the lumen wall during the operation of the slave arm 6 in a narrow lumen, etc. The slave arm 6 can be appropriately operated while paying attention to the shape.
  • the operator Op sets the motion scale ratio in the “first control mode” by the motion scale ratio changing section 11 after arranging the treatment section 8 in the vicinity of the affected area.
  • a value less than the default ratio, for example, “0.2” is set (NO in step S1).
  • the slave arm 6 is controlled in the “second control mode” (step S3).
  • the tip of the slave arm 6 follows the movement of the tip of the master arm 9 based on the movement of the tip of the master arm 9 (steps S31 and S32). As described above (steps S33 and S35), the slave arm 6 is controlled (step S36).
  • the amount of movement of the tip of the slave arm 6 at this time is 1/10 of the amount of operation of the tip of the master arm 9 (step S34), and the tip of the slave arm 6 finely moves at a low speed. Therefore, the operator Op can easily realize the delicate movement of the treatment portion 8 at the distal end of the slave arm 6 and can accurately perform the precise treatment by the treatment portion 8.
  • the entire slave arm 6 does not move greatly. Therefore, the operator Op does not need to pay attention to the entire shape of the slave arm 6 and can concentrate the consciousness only on the operation of the distal end of the slave arm 6. Further, when a plurality of solutions are obtained in the inverse kinematics calculation in step S33, a solution having a shape close to the right master arm 11R is selected, and the overall shape and posture of the slave arm 6 is determined by the master arm 9 It roughly corresponds to the overall shape and posture of the. Therefore, the operator Op can roughly recognize the shape and posture of the slave arm 6 from the master arm 9.
  • the slave arm 6 by changing the motion scale ratio between a scene where a large movement of the slave arm 6 is required and a scene where a precise movement is required, it is suitable for each scene. There is an advantage that the slave arm 6 can be operated under conditions and the usability can be improved.
  • the slave arm 6 is driven with a motion scale ratio determined by the structure ratio of the arms 6 and 9 or a motion scale ratio lower than this, but in addition to this, the structure ratio
  • the slave arm 6 may be driven with a motion scale ratio exceeding. In this way, by setting the motion scale ratio to a value larger than the structure ratio, the entire slave arm 6 can be moved more greatly, which is effective, for example, for a wide range of rough treatments.
  • the control unit 3 when switching from the “second control mode” to the “first control mode”, the control unit 3 executes the return flow prior to the start of the “first control mode”. It is preferable. In the return flow, the control unit 3 moves at least one of the slave arm 6 and the master arm 9 to make the positions and postures of the arms 6 and 9 correspond to each other.
  • the return flow described above may be manually performed by the operator Op operating the master arm 9 instead of being automatically executed by the control unit 3.
  • the controller 3 determines that the rotational angle deviation between the joints Ji and Ji ′ of the arms 6 and 9 is within a predetermined range. When this happens, the return flow may be terminated.
  • the control unit 3 may display on the display unit 10 a display for guiding the operation of the master arm 9 by the operator Op.
  • the solution in which the overall shapes of both arms 6 and 9 are closest to each other is adopted.
  • the method is not limited to this.
  • a solution corresponding to the position of the joints J4 and J4 ′ on the most distal side may be selected.
  • the posture of the treatment unit 8 corresponds to the posture of the distal end portion of the master arm 9, the operator Op can operate the treatment unit 8 more intuitively.
  • the first to fourth spaces are four spaces that define a central axis A of the base portion of each arm 6, 9 and are divided by two planes that pass through the axis A and are orthogonal to each other.
  • the overall attitude of the slave arm 6 can be made to correspond to the overall attitude of the master arm 9.
  • the medical system 200 according to the present embodiment includes the control mode manual change unit 12 and the contents of the “second control mode” in the first embodiment. Mainly different. Therefore, in the present embodiment, the control mode manual change unit 12 and the “second control mode” will be mainly described, and the same components as those in the first embodiment are denoted by the same reference numerals and the description thereof is omitted. To do.
  • the control mode manual change unit 12 is provided in the operation input unit 2, for example, and is provided so that one of the “first control mode” and the “second control mode” can be selected by the operator Op.
  • a signal indicating the control mode selected by the control mode manual changing unit 12 is transmitted to the control unit 3, and the control unit 3 controls the slave arm 6 in the control mode specified by the received signal.
  • the “first control mode” is the same as the “first control mode” described in the first embodiment except that the number of joints is different, as shown in FIG. To do.
  • the movement amounts dx ′, dy ′, dz ′ of the tip of the slave arm 6 are obtained by the same procedure as the embodiment, and the inverse kinematics of the slave arm 6 is calculated using the movement amounts dx ′, dy ′, dz ′. To do.
  • the operation of the medical system 200 configured as described above will be described with reference to FIGS. 14 and 15.
  • the “first control mode” is selected by the control mode manual changing unit 12 (YES in step S1 ′)
  • the procedure until the treatment unit 8 is arranged in the vicinity of the affected part is This is the same as the first embodiment.
  • the surgeon Op performs the “second control mode” from the “first control mode” by the control mode manual changing unit 12, as shown in FIG. (NO in step S1 ′).
  • the tip of the slave arm 6 is the tip of the master arm 9.
  • the slave arm 6 is controlled so as to accurately follow the movement (steps S33 and S35 ′) (step S36).
  • the total operation amount of the slave arm 6 at this time is suppressed to the minimum (step S35 '). Therefore, the operator Op does not need to pay attention to the entire shape of the slave arm 6 and can concentrate the consciousness only on the operation of the distal end of the slave arm 6.
  • the slave arm 6 as a whole is operated as usual in a scene where a large movement of the slave arm 6 is required, and other than the tip of the slave arm 6 in a scene where precise movement is required.
  • By restricting the operation of this portion it is possible to operate the slave arm 6 under operating conditions suitable for each scene, and there is an advantage that usability can be improved.
  • the motion scale ratio changing unit 11 described in the first embodiment may be provided.
  • the movement amounts kdx ′, kdy ′, and kdz ′ may be used instead of the movement amounts dx ′, dy ′, and dz ′.
  • the control unit 3 may maintain a predetermined motion scale ratio k and always finely move the tip of the slave arm 6 in the “second control mode”.
  • the inverse kinematics is calculated based on only the tip position of the slave arm 6 in the “second control mode”, but instead, the tip side of the slave arm 6 is calculated.
  • the positions and postures of some of the joints may be used as a reference. Specifically, for any number of joints from the tip of the slave arm 6, a constraint condition is attached so as to be similar to the master arm 9, and the displacement of the position and posture of the corresponding joint of the master arm 9. Inverse kinematics may be calculated to follow.
  • the inverse kinematics according to the movement amount of the tip of the master arm 9 may be geometrically calculated by attaching the above-described constraint condition to all the joints J1 ′ to J7 ′. .
  • the inverse kinematics of the slave arm 6 is calculated according to the movement amount of the position and orientation of the tip of the master arm 9, and then any number of joints on the tip side of the slave arm 6 are the corresponding joints of the master arm 9.
  • the slave arm 6 may be moved so as to match the movement.
  • the inverse kinematics is calculated again and returned to the original position.
  • the operator Op manually switches between the “first control mode” and the “second control mode”.
  • the unit (control mode automatic change unit) 3 may automatically switch between the “first control mode” and the “second control mode” according to the use condition, situation, or environment of the slave arm 6.
  • the conditions for using the slave arm 6 include, for example, what the type of the slave arm 6 is, whether the movement speed of the joint of the slave arm 6 is within a predetermined threshold, and the amount of displacement of the joint of the slave arm 6 is Whether or not it is within a predetermined threshold. For example, in FIG.
  • the control unit 3 reads the memory chip provided in the slave arm 6 when the slave arm 6 is connected to the control unit 3, thereby determining the type of the slave arm 6 (for example, the treatment unit 8 Recognizes the grasping forceps).
  • the control unit 3 can acquire the control mode corresponding to the recognized type from the table information of the type and control mode of the slave arm 6 stored in advance, and can switch to the appropriate control mode.
  • the controller 3 when performing a U-turn operation in which the slave arm 6 is arranged in a U shape as shown in FIG. 16, the controller 3 forcibly selects the “second control mode” after this operation. May be. Further, the control unit 3 determines whether or not the region to which the distal end portion of the slave arm 6 has reached is a narrow space. Based on the determination result, if the region is a narrow space, the control unit 3 May be forcibly selected. The size of the space in which the distal end portion of the slave arm 6 is located is determined using, for example, image analysis of the video of the endoscope 5. Further, the control unit 3 may switch the control mode according to the type of the slave arm 6 associated with the master arm 9.
  • the “first control mode” is used when the slave arm 6 is a retractor tool used for traction of a large motion
  • the “second control mode” is used when the slave arm 6 is an energy tool that often requires precise operation. May be selected.
  • the control unit 3 recognizes the surgical scene based on information such as the image, the surgical tool used, the surgical method, and the current elapsed time and the status of the surgical field, and switches to the optimal control mode. Also good.
  • control unit 3 causes the operator Op to coarsely operate the entire slave arm 6 based on the amount of change ⁇ i of each joint Ji of the master arm 9 or finely operates the tip of the slave arm 6.
  • the first control mode and the second control mode may be switched based on the determination result.
  • control unit 3 may switch to the “second control mode” when the rotation angle of any joint Ji reaches the maximum during the control in the “first control mode”.

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  • Robotics (AREA)
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  • Heart & Thoracic Surgery (AREA)
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PCT/JP2014/069260 2013-07-26 2014-07-18 医療用システムおよびその制御方法 Ceased WO2015012241A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP14829493.7A EP3025672A4 (en) 2013-07-26 2014-07-18 Medical system and control method for same
CN201480041664.0A CN105407827B (zh) 2013-07-26 2014-07-18 医疗用系统及其控制方法
US15/000,648 US10155315B2 (en) 2013-07-26 2016-01-19 Medical system and method for controlling the same

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JP2013-155885 2013-07-26
JP2013155885A JP6164964B2 (ja) 2013-07-26 2013-07-26 医療用システムおよびその制御方法

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US15/000,648 Continuation US10155315B2 (en) 2013-07-26 2016-01-19 Medical system and method for controlling the same

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