WO2015060207A1 - Procédé de commande de système de manipulateur et système de manipulateur - Google Patents

Procédé de commande de système de manipulateur et système de manipulateur Download PDF

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Publication number
WO2015060207A1
WO2015060207A1 PCT/JP2014/077644 JP2014077644W WO2015060207A1 WO 2015060207 A1 WO2015060207 A1 WO 2015060207A1 JP 2014077644 W JP2014077644 W JP 2014077644W WO 2015060207 A1 WO2015060207 A1 WO 2015060207A1
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WIPO (PCT)
Prior art keywords
joint
end effector
bending
axis
input device
Prior art date
Application number
PCT/JP2014/077644
Other languages
English (en)
Japanese (ja)
Inventor
量平 小川
岸　宏亮
Original Assignee
オリンパス株式会社
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
Priority claimed from JP2014010578A external-priority patent/JP6053701B2/ja
Application filed by オリンパス株式会社 filed Critical オリンパス株式会社
Priority to CN201480055321.XA priority Critical patent/CN105612032B/zh
Priority to EP14855848.9A priority patent/EP3061577A4/fr
Publication of WO2015060207A1 publication Critical patent/WO2015060207A1/fr
Priority to US15/070,226 priority patent/US20160193000A1/en

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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
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0052—Constructional details of control elements, e.g. handles
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1492—Probes or electrodes therefor having a flexible, catheter-like structure, e.g. for heart ablation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00212—Electrical control of surgical instruments using remote controls
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
    • A61B2017/2929—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks

Definitions

  • the present invention relates to a manipulator system control method and a manipulator system.
  • Patent Documents 1 to 3 Conventionally, a medical manipulator system including a treatment instrument having an end effector and a joint part and an operation input device manually operated by an operator is known (see, for example, Patent Documents 1 to 3). The surgeon can remotely control the end effector in the body by operating the joint using the operation input device at hand.
  • the operation input device of Patent Document 1 includes a master arm having a joint structure similar to the joint structure of the joint.
  • the operation input devices of Patent Documents 2 and 3 include a joystick-type or key-type operation member.
  • the present invention has been made in view of the above-described circumstances, and in a manipulator system including a manipulator having a rotating joint and a bending joint in order from the base end side, in any direction the end effector can be operated only by a simple operation. It is an object of the present invention to provide a manipulator system control method and a manipulator system that can be operated intuitively and that can downsize an operation input device.
  • a first aspect of the present invention includes a manipulator including an end effector and a joint portion in order from the distal end side, and an operation input device capable of inputting a moving direction of the end effector, and the joint portion includes the end effector and A first joint capable of swinging about a first axis along an arrangement direction with the joint portion, and a second axis positioned nearer to the distal side than the first joint and perpendicular to the first axis
  • the operation input device has an operation member operable by an operator, and the moving direction is input by operating the operation member.
  • a control method comprising: a receiving step for receiving the moving direction from the operation input device; a rotating step for operating the first joint based on the moving direction received in the receiving step; After the step, the bending step for operating the second joint based on the movement direction received in the receiving step, and the rotation step according to a change in the magnitude of the physical quantity of the operation performed on the operation member
  • a manipulator system control method including a transition step of shifting from the bending step to the bending step.
  • the movement direction corresponding to the operation is received in the reception step, and the first joint is operated in the rotation step.
  • the swinging direction of the second joint is adjusted to the moving direction, and then, in the bending step, the end effector moves in the moving direction by the operation of the second joint. Accordingly, the end effector can be moved in the moving direction regardless of the input moving direction.
  • the operated joint is switched from the first joint to the second joint in accordance with the change in the magnitude of the physical quantity of the operation performed on the operation member.
  • the operator desires the end effector by a simple operation by giving an operation corresponding to the moving direction of the end effector to the operation member and then changing the physical quantity (for example, time, distance, pressure) of the operation. It can be moved intuitively in the direction. Further, since the operation input device only needs to be able to input at least the moving direction of the end effector, it can have a simple configuration and can be miniaturized.
  • the receiving step receives the moving direction corresponding to a two-dimensional position or direction in which the operating member is operated, and the transition step is the same position or the same direction of the operation.
  • the rotation step may be shifted to the bending step.
  • the physical quantity may be a time during which the operation member is operated or a movement amount of the operation member.
  • the first joint and the second joint are sequentially turned by continuing the operation once given to the operation member by the operator or by changing the movement amount of the operation member. Operate. Thereby, the movement of the operator's hand necessary for moving the end effector can be further reduced.
  • the first aspect includes a bending direction determining step for determining whether or not a swingable direction of the second joint coincides with the moving direction, and the transition step includes the bending direction determining step.
  • the process may proceed to the bending step. In this way, the end effector can be accurately moved in the input movement direction.
  • a second aspect of the present invention includes a manipulator having an end effector and a joint part in order from the distal end side, and an operation input device capable of inputting a moving direction of the end effector, wherein the joint part includes the end effector and the end effector.
  • a first joint capable of swinging about a first axis along an arrangement direction with the joint portion, and a second axis positioned nearer to the distal side than the first joint and perpendicular to the first axis
  • the operation input device has an operation member operable by an operator, and the moving direction is input by operating the operation member.
  • a control method comprising: a receiving step of receiving the moving direction from the operation input device; a rotating step of operating the first joint based on the moving direction received in the receiving step; After the turning step, the swingable direction of the second joint is between the bending step for operating the second joint based on the moving direction received in the receiving step and the rotating step.
  • a bending direction determination step for determining whether or not the movement direction coincides with the movement direction; and when the bending direction determination step determines that the swingable direction of the second joint coincides with the movement direction;
  • a manipulator system control method including a transition step of transition from a rotation step to the bending step.
  • the transition step shifts to the bending step. Accordingly, the end effector can be moved in the moving direction regardless of the input moving direction.
  • the operator can intuitively move the end effector in a desired direction by simply performing an operation corresponding to the moving direction of the end effector to the operation member.
  • the operation input device since the operation input device only needs to be able to input at least the moving direction of the end effector, it can have a simple configuration and can be miniaturized.
  • a return step of returning the second joint to a predetermined initial position may be included.
  • the second joint can be returned to a predetermined initial position, for example, a position where the end effector, the first joint, and the second joint are arranged in a straight line.
  • the return step may include a return command receiving step for receiving a return command for instructing the return of the second joint to the initial position. In this way, the operator can return the second joint to a predetermined initial position at an arbitrary timing by inputting a return command.
  • an operation speed of the first joint in the rotation step may be larger than an operation speed of the second joint in the bending step.
  • a third aspect of the present invention includes an end effector and a joint portion in order from the distal end side, and the joint portion can swing around a first axis along the arrangement direction of the end effector and the joint portion.
  • a manipulator having a first joint and a second joint which is located on the distal end side of the first joint and is swingable about a second axis perpendicular to the first axis; and operated by an operator
  • An operation input device capable of inputting a movement direction of the end effector by operating the operation member, and the first input based on the movement direction input to the operation input device.
  • a control device that sequentially activates the joint and the second joint, the control device actuates the first joint, and then changes in the magnitude of the physical quantity of the operation performed on the operation member
  • the second joint is made according to Is a manipulator system to be.
  • a fourth aspect of the present invention includes an end effector and a joint portion in order from the distal end side, and the joint portion can swing around a first axis along the arrangement direction of the end effector and the joint portion.
  • a manipulator having a first joint and a second joint which is located on the distal end side of the first joint and is swingable about a second axis perpendicular to the first axis; and operated by an operator
  • An operation input device capable of inputting a movement direction of the end effector by operating the operation member, and the first input based on the movement direction input to the operation input device.
  • a control device that sequentially operates the joint and the second joint, the control device operates the first joint, and then the swingable direction of the second joint is the moving direction. If the second joint is Is a manipulator system to be.
  • the operation input device can be reduced in size.
  • FIG. 1 is an overall configuration diagram of a manipulator system according to an embodiment of the present invention. It is the (a) front view and (b) side view which looked at the structure of the end effector and joint part of the treatment tool with which the manipulator system of FIG. It is a front view which shows the structure of the operation input apparatus with which the manipulator system of FIG. 1 is provided. It is a side view which shows the modification of the end effector and joint part of FIG. It is a perspective view which shows the modification of the operation input device of FIG. It is a figure explaining the operating method of the end effector using the direction key of FIG. 3, and has shown the operation
  • a manipulator system 100 includes a flexible endoscope 1 and a treatment instrument (manipulator) that can be inserted into a channel 12 of the endoscope 1 along the longitudinal direction. 2, an operation input device 3 for inputting an operation instruction for the treatment tool 2 by an operator (operator), and a control device 4 for controlling the joint portion 23 of the treatment tool 2.
  • a treatment instrument manipulator
  • an operation input device 3 for inputting an operation instruction for the treatment tool 2 by an operator (operator)
  • a control device 4 for controlling the joint portion 23 of the treatment tool 2.
  • the endoscope 1 includes an elongated insertion portion 11 having flexibility, and a channel 12 formed through the insertion portion 11 in the longitudinal direction. Further, the endoscope 1 has a camera 13 for taking a bird's-eye view of the treatment instrument 2 protruding from the outlet of the channel 12 on the distal end surface, and outputs an endoscope image acquired by the camera 13 to the display unit 5. To do. Note that the endoscope 1 is not limited to softness, and may be hard according to the application.
  • the treatment instrument 2 includes an elongated body 21 having flexibility, an end effector 22 that is positioned on the distal end side of the body 21 and treats a treatment site, and a joint 23 that connects the body 21 and the end effector 22. And a drive unit 24 for driving the joint unit 23.
  • the drive unit 24 is provided integrally with the control device 4, but the drive unit 24 may be separate from the control device 4.
  • the end effector 22 is a tip member used for general surgical treatment tools such as forceps, scissors, needle holders, electrodes, and staplers.
  • the joint portion 23 includes a first joint 23a and a second joint 23b in order from the proximal end side.
  • the first joint 23 a is a rotary joint provided so as to be rotatable around a first axis A ⁇ b> 1 that is coaxial with the central axis of the trunk portion 21.
  • the end effector 22 can be rotated in the circumferential direction by the rotation of the first joint 23a.
  • the second joint 23 b is a bending joint that is provided so as to be swingable around a second axis A 2 that is perpendicular to the first axis A 1, and that can be bent in a direction that intersects the central axis of the body portion 21.
  • the end effector 22 By bending the second joint 23b, the end effector 22 can move in a direction intersecting with the central axis of the trunk portion 21.
  • the end effector 22 has a left-right (LR) direction defined, and the second joint 23b and the end effector 22 are provided to be movable in the LR direction.
  • LR left-right
  • the joint part 23 provided only with two joints 23a and 23b is demonstrated, in addition to these two joints 23a and 23b, the joint part 23 is further joint. May be provided.
  • a third joint that can swing around a third axis perpendicular to the first axis A1 may be further provided on the distal end side of the second joint 23b.
  • the drive unit 24 receives a first control signal or a second control signal, which will be described later, from the control device 4, drives the first joint 23a according to the first control signal, and the second control signal according to the second control signal.
  • the joint 23b is driven.
  • the operation input device 3 includes a main body 31 having a shape and dimensions that can be held by one hand of an operator (operator), and direction keys (operation members) provided on the main body 31. 32.
  • the direction key 32 is provided at a position where it can be operated by the thumb T of one hand holding the main body 31.
  • the direction key 32 is defined in up, down, left, and right (UDLR) directions, and is configured to be able to input two-dimensional directions, preferably all directions.
  • the operation input device 3 transmits the direction in which the direction key 32 is pressed as the input direction (movement direction) to the control device 4 by wireless communication, for example.
  • FIG. 4 and 5 show modifications of the end effector 22 and the operation input device 3.
  • the gripping forceps as the end effector 22 may swing to both sides thereof.
  • an open / close switch 34 for opening and closing the grasping forceps is provided on the back side of the main body 31 with respect to the direction key 32, for example.
  • the control device 4 sequentially generates the first control signal and the second control signal based on the input direction received from the operation input device 3, and transmits the generated control signal to the drive unit 24. Is controlled in two stages. Specifically, when receiving the input direction, the control device 4 first rotates the first joint 23a so that the LR direction of the end effector 22 in the endoscopic image matches the input direction. The first control signal is generated, and the first control signal is transmitted to the drive unit 24, thereby rotating the first joint 23a. After the LR direction of the end effector 22 in the endoscopic image matches the input direction, the control device 4 subsequently generates a second control signal for bending the second joint 23b in the input direction, By transmitting the second control signal to the drive unit 24, the second joint 23b is bent. As described above, the first joint 23a and the second joint 23b are sequentially operated with the lapse of the pressing time (physical quantity) of the direction key 32, whereby the end effector 22 is moved in the direction input to the direction key 32. Move.
  • the LR direction of the end effector 22 in the endoscopic image matches the LR direction of the endoscopic image (LR direction in FIG. 6).
  • the control device 4 rotates the first joint 23a by 45 ° counterclockwise in the endoscopic image.
  • the LR direction of the end effector 22 is directed to an oblique direction connecting the upper right and lower left of the endoscopic image (see FIG. 6B).
  • the control device 4 bends the second joint 23b in the L direction (see FIG. 6C). Thereby, the end effector 22 moves to the lower left as input to the direction key 32.
  • control device 4 As long as the control device 4 continuously receives the input direction from the operation input device 3, the control device 4 sequentially generates the first control signal and the second control signal in the above-described procedure. If transmission in the input direction from the operation input device 3 is interrupted, the control device 4 stops the drive unit 24 by stopping the generation of the control signal. That is, the operator can operate the first joint 23a and the second joint 23b in order by continuously depressing the same direction of the direction key 32 to move the end effector 22 in a desired direction. .
  • 7A to 7C show the coordinate system ⁇ endoscope of the insertion portion 11, the coordinate system ⁇ instrument of the treatment instrument 2 in the insertion portion 11, the coordinate system ⁇ display of the endoscope image, and the main body 31. This shows the relationship with the coordinate system ⁇ master .
  • the orientation of the end effector 22 in the endoscopic image in the LR direction is determined using, for example, an image recognition technique such as detection of the shape of the end effector 22 in the endoscopic image or detection of a marker provided on the end effector 22. Detected.
  • an initial operation is performed so that the LR direction of the end effector 22 in the endoscopic image faces a predetermined initial direction, and the rotation angle of the first joint 23a thereafter May be detected by an encoder or the like, and the current LR direction of the end effector 22 may be calculated by integrating the detected rotation angles.
  • the cross-sectional shape of the channel 12 and the body portion 21 may be non-circular, or the channel 12 may be disposed in the channel 12 so that the relative position in the circumferential direction of the body portion 21 with respect to the insertion portion 11 is constant.
  • a structure for preventing the rotation of the body portion 21 may be provided.
  • the insertion unit 11 is inserted into the body, and is inserted at a position where a treatment site is observed in an endoscopic image displayed on the display unit 5.
  • the tip of the part 11 is arranged.
  • the treatment instrument 2 is inserted into the channel 12.
  • the surgeon can observe the end effector 22 and the joint portion 23 protruding from the outlet of the channel 12 with an endoscopic image.
  • the orientation of the end effector 22 in the endoscopic image in the LR direction is detected by providing a structure in which the relative position between the endoscope 1 and the treatment instrument 2 is constant as described above, or by image recognition or the like.
  • the detected direction is stored in the control device 4 (step S1).
  • the operator grasps the main body 31 so that the UDLR direction of the endoscopic image and the UDLR direction of the direction key 32 substantially coincide with each other, and starts to move the end effector 22 by pressing the direction key 32. .
  • the input direction is continuously transmitted from the operation input device 3 to the control device 4 (reception step S2).
  • the control device 4 first rotates the first joint 23a by generating a first control signal according to the received input direction (rotation step S3), and matches the LR direction of the end effector 22 with the input direction (bending).
  • Direction determination step S4 is performed by rotating the first joint 23a by generating a first control signal according to the received input direction.
  • step S5 After the direction adjustment of the end effector 22 is completed (YES in step S4), when the input direction is still received (transition step S5), the control device 4 continues to send the second control signal. By generating, the second joint 23b is bent in the input direction (bending step S6). As a result, the end effector 22 moves in the input direction.
  • the first joint 23a is first rotated to rotate the second joint 23b.
  • the second joint 23b is aligned so that the bendable direction of the joint 23b coincides with the input direction, and then the second joint 23b bends in the input direction.
  • the operator does not need to calculate the operation direction and the operation amount of each joint 23a, 23b, or to operate each of the two joints 23a, 23b, and presses the end effector 22 of the direction key 32. Just keep pressing the direction you want to move.
  • the operation speed of the first joint 23a is preferably larger than the operation speed of the second joint 23b.
  • the direction alignment to an input direction can be performed quickly and the swing operation of the 2nd joint 23b can be performed slowly.
  • Such a configuration is preferable because it is easy to use when the tissue is incised using the operation of the second joint 23b.
  • the end effector 22 can be intuitively moved in any desired direction by only a single simple operation.
  • the surgeon does not need to visually check the directional key 32 at hand, it is possible to keep an eye on the end effector 22 in the endoscopic image, and to focus attention on the operation of the end effector 22.
  • a small operation input device 3 that can be held with one hand is realized. Can do.
  • the first joint 23a can be rotated clockwise and counterclockwise.
  • the rotation direction of the first joint 23a in the rotation step S3 may be a predetermined direction, depending on the situation. May be selected.
  • the control device 4 may select the clockwise direction or the counterclockwise direction that requires a smaller amount of rotation.
  • the angle of the first joint 23a when the LR direction of the endoscopic image matches the LR direction of the end effector 22 in the endoscopic image is 0 °
  • the first joint When the rotation angle of 23a exceeds 90 °, the LR direction of the endoscopic image and the LR direction of the end effector 22 in the endoscopic image are reversed, and the end effector while observing the endoscopic image 22 intuitive operation becomes difficult.
  • the rotation direction of the first joint 23a may be controlled so that the rotation angle of the first joint 23a is within a range of ⁇ 90 ° to + 90 °. Further, when the rotation angle approaches the operation limit, the rotation angle may be rotated 180 degrees and then rotated in the direction in which the rotation amount is small.
  • first joint 23a and the second joint 23b are operated in order by long pressing the direction key 32, but instead, the direction key 32 is pushed.
  • the first joint 23a and the second joint 23b may be sequentially operated by changing the amount (physical amount, movement amount).
  • the direction key 32 is configured to be able to change the pressing amount in two steps of half-pressing and full-pressing.
  • the operator presses the direction key 32 half-pressed.
  • the control device 4 In a state where the direction key 32 is half-pressed (NO in transition step S7), the control device 4 generates the first control signal to rotate the first joint 23a (rotation step S3), and the second The direction of the joint 23b is aligned (bending direction determination step S4).
  • the operator After the rotation of the first joint 23a stops (YES in Step S4), the operator fully presses the direction key 32 (Reception Step S2).
  • the control device 4 In the state where the direction key 32 is fully pressed (YES in transition step S7), the control device 4 generates the second control signal and bends the second joint 23b (bending step S6).
  • the effector 22 moves in the input direction.
  • the first joint 23a and the second joint 23b are sequentially operated in order while the thumb T is placed at the same position of the direction key 32. Can do. Further, unlike the configuration using the long press described above, the operator can determine the timing of the start of bending of the second joint 23b, and the usability can be further improved.
  • first to third methods can be dealt with by one of the following first to third methods.
  • One of the following first to third methods may be selected by the surgeon.
  • the rotation of the first joint 23a is continued until the direction alignment of the second joint 23b is completed, and the second joint 23b is bent after the direction alignment is completed.
  • the rotation of the first joint 23a is stopped and the bending of the second joint 23b is started.
  • the operation of both the joints 23a and 23b is forcibly stopped, and a notification signal indicating that the direction alignment of the second joint 23b is incomplete is output.
  • the forced stop can be canceled by, for example, pressing any direction of the direction key 32 halfway.
  • a rotation mode for rotating the first joint 23a and a bending mode for bending the second joint 23b are alternatively selected.
  • a mode changeover switch 7 may be provided in the main body 31.
  • the mode switch 7 is provided at a position where it can be operated with a finger different from the thumb T, and the surgeon can switch the mode while the thumb T is placed on the direction key 32.
  • the mode change-over switch 7 shown in FIGS. 10A and 10B is a push button type, and as shown in FIG. 10A, when the mode change-over switch 7 is in the non-depressed state, the control device 4 The rotation mode is selected, and the first joint 23a is rotated when the direction key 32 is pressed.
  • the control device 4 selects the bending mode and moves the second joint 23b when the direction key 32 is pressed. Bend.
  • the control device 4 determines whether or not the LR direction of the end effector 22 in the endoscopic image matches the input direction, and the operation of the second joint 23b is performed only when they match. It is supposed to let you.
  • the mode changeover switch 7 the end effector 22 can be operated intuitively and with the thumb T placed at the same position of the direction key 32.
  • the movement range of the end effector 22 is widened. Therefore, before the first joint 23a is rotated, the end effector 22 can be smoothly moved even in a narrow space by executing a return step to return the second joint 23b to the initial position.
  • the rotation step S3 and subsequent steps may be executed while the second joint 23b is bent.
  • a first mode in which the rotation step S3 and subsequent steps are executed after the return step is executed, and a second mode in which the rotation step S3 and subsequent steps are executed while the return step is omitted and the second joint 23b is bent may be configured to be switchable depending on the situation. For example, when the end effector 22 is in contact with tissue and an external force greater than or equal to a predetermined value is applied to the end effector 22, the first mode is selected, and the magnitude of the external force is less than the predetermined value The second mode may be selected.
  • This mode switching may be automatically performed by the control device 4. For example, when an external force of a predetermined value or more is applied to the end effector 22, the operator is switched to the first mode. An alert for prompting may be output. In the second mode, only the rotation step S3 may be executed and the bending step S6 may be prohibited.
  • a means for selectively selecting the first mode and the second mode (for example, a switch similar to the mode change-over switch 7 in FIG. 10) is provided in the main body 31, and the operator can select the first mode and the second mode. One of the two modes may be selectable.
  • the return button 8 may be provided on the main body 31 as shown in FIG.
  • the return button 8 is also preferably provided at a position on the main body 31 that can be operated with a finger different from the thumb T.
  • the control device 4 receives a return command from the operation input device 3 when the return button 8 is pressed (return command receiving step), and based on the return command, at least the second joint 23b is set to the initial position. Force return. By doing so, the surgeon can return the second joint 23b to the initial position at an arbitrary timing.
  • not only the second joint 23b but also the first joint 23a has a predetermined initial position (for example, the LR direction of the endoscopic image and the LR direction of the end effector 22 in the endoscopic image). It may be configured to return to a matching position.
  • the direction key 32 has been described as the operation member. Instead, as shown in FIGS. 14A to 14C, two-dimensional plural directions, preferably all directions. Alternatively, a joystick 33 that can be tilted may be used.
  • the control device 4 shifts from the rotation step S3 to the bending step S6 in accordance with the change in the tilt angle (physical amount, movement amount) of the joystick 33.
  • the joystick 33 is configured to be able to change the tilt angle between a shallow first angle (see FIG. 14B) and a deep second angle (see FIG. 14C).
  • the control device 4 is configured to execute the rotation step S3 when the tilt angle of the joystick 33 is the first angle, and to execute the bending step S6 when the tilt angle of the joystick 33 is the second angle. Also good. Even in this case, the surgeon intuitively moves the end effector 22 in any desired direction by simply tilting the joystick 33 in one direction and then changing the tilt angle. Can do.

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  • Public Health (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)

Abstract

L'invention porte sur un procédé de commande pour un système de manipulateur qui est pourvu d'un manipulateur, ayant un effecteur d'extrémité et une section d'articulations, et d'un dispositif d'entrée de manipulation qui permet à une direction de déplacement de l'effecteur d'extrémité d'être entrée par l'intermédiaire d'un élément d'actionnement, la section d'articulations ayant une première articulation, qui peut osciller autour d'un premier axe qui s'aligne sur la direction dans laquelle l'effecteur d'extrémité et la section d'articulation sont disposées, et une seconde articulation, qui est positionnée en avant de la première articulation et qui peut osciller autour d'un second axe qui est perpendiculaire au premier axe, le procédé dudit moyen de commande comprenant les étapes suivantes : la réception (S2) d'une direction de déplacement ; la rotation (S3) pour actionner la première articulation sur la base de la direction de déplacement ; la courbure (S6) pour actionner la seconde articulation ; la transition (S5) pour passer de l'étape de rotation (S3) à l'étape de courbure (S6) en fonction d'un changement dans la quantité physique d'une opération effectuée sur l'élément d'actionnement.
PCT/JP2014/077644 2013-10-22 2014-10-17 Procédé de commande de système de manipulateur et système de manipulateur WO2015060207A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201480055321.XA CN105612032B (zh) 2013-10-22 2014-10-17 机械手系统的控制方法和机械手系统
EP14855848.9A EP3061577A4 (fr) 2013-10-22 2014-10-17 Procédé de commande de système de manipulateur et système de manipulateur
US15/070,226 US20160193000A1 (en) 2013-10-22 2016-03-15 Manipulator-system controlling method and manipulator system

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201361894096P 2013-10-22 2013-10-22
US61/894096 2013-10-22
JP2014010578A JP6053701B2 (ja) 2013-10-22 2014-01-23 マニピュレータシステムの制御方法およびマニピュレータシステム
JP2014-010578 2014-01-23

Related Child Applications (1)

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WO2015060207A1 true WO2015060207A1 (fr) 2015-04-30

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS641885U (fr) * 1987-06-22 1989-01-09
JPH0511060B2 (fr) 1987-09-07 1993-02-12 Kogyo Gijutsuin
JPH10262900A (ja) 1997-03-25 1998-10-06 Olympus Optical Co Ltd 内視鏡システム
JP2001087281A (ja) * 1999-09-20 2001-04-03 Olympus Optical Co Ltd 多機能マニピュレータ
JP3339953B2 (ja) * 1993-12-29 2002-10-28 オリンパス光学工業株式会社 医療用マスタースレーブ式マニピュレータ
JP2009101077A (ja) 2007-10-25 2009-05-14 Olympus Medical Systems Corp 医療装置
JP5011060B2 (ja) * 2007-10-22 2012-08-29 オリンパスメディカルシステムズ株式会社 医療装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS641885U (fr) * 1987-06-22 1989-01-09
JPH0511060B2 (fr) 1987-09-07 1993-02-12 Kogyo Gijutsuin
JP3339953B2 (ja) * 1993-12-29 2002-10-28 オリンパス光学工業株式会社 医療用マスタースレーブ式マニピュレータ
JPH10262900A (ja) 1997-03-25 1998-10-06 Olympus Optical Co Ltd 内視鏡システム
JP2001087281A (ja) * 1999-09-20 2001-04-03 Olympus Optical Co Ltd 多機能マニピュレータ
JP5011060B2 (ja) * 2007-10-22 2012-08-29 オリンパスメディカルシステムズ株式会社 医療装置
JP2009101077A (ja) 2007-10-25 2009-05-14 Olympus Medical Systems Corp 医療装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP3061577A4 *

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