WO2016093049A1 - Système de manipulateur - Google Patents

Système de manipulateur Download PDF

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Publication number
WO2016093049A1
WO2016093049A1 PCT/JP2015/082850 JP2015082850W WO2016093049A1 WO 2016093049 A1 WO2016093049 A1 WO 2016093049A1 JP 2015082850 W JP2015082850 W JP 2015082850W WO 2016093049 A1 WO2016093049 A1 WO 2016093049A1
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WO
WIPO (PCT)
Prior art keywords
manipulator
information
sensor
sheet
holding member
Prior art date
Application number
PCT/JP2015/082850
Other languages
English (en)
Japanese (ja)
Inventor
井上　慎太郎
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
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 JP2016528259A priority Critical patent/JPWO2016093049A1/ja
Publication of WO2016093049A1 publication Critical patent/WO2016093049A1/fr

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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements

Definitions

  • the present invention relates to a manipulator system.
  • This application claims priority based on Japanese Patent Application No. 2014-249836 for which it applied to Japan on December 10, 2014, and uses the content here.
  • an input unit for operating an endoscope which is another medical instrument
  • an operation unit of a medical instrument such as a forceps.
  • a manipulator system that performs an operation in the body corresponding to an operation outside the body includes a sensor that can be attached to the operator's finger as disclosed in Patent Documents 3, 4, and 5, thereby It is known to convert the movement of an instrument into an operation command for a medical instrument.
  • Japanese Laid-Open Patent Publication No. 10-1118015 Japanese Unexamined Patent Publication No. 2003-126116 Japanese Unexamined Patent Publication No. 2008-32511 Japanese Unexamined Patent Publication No. 2006-239278 Japanese National Table 2013-510673
  • the present invention has been made in view of the above-described circumstances, and an object of the present invention is to provide a manipulator system that prevents malfunction based on erroneous operation.
  • the manipulator system holds information capable of specifying an operation command for the first manipulator and can be attached to a second manipulator different from the first manipulator, and the information holding
  • a sensor that detects that the member is close to or less than a predetermined distance from the member or has touched the information holding member, and an operation input to the first manipulator is permitted when the sensor detects that the member has approached or is in contact.
  • a control unit A control unit.
  • the information holding member may be detachable from the operation unit of the second manipulator.
  • the information holding member can be specified by the sensor as information that can specify an operation command for the first manipulator and is different from each other.
  • a plurality of pieces of information may be held at different positions.
  • the control unit receives an operation command corresponding to information specified by the sensor from a plurality of operation commands corresponding to the plurality of information. You may select and emit to the first manipulator.
  • the information holding member includes a detected surface having conductivity, and the detected surface. And a mounting surface for mounting on the second manipulator, and the sensor is disposed apart from each other so as to be conductive by contacting the detected surface. You may have a pair of electrode.
  • the information holding member may have a plurality of conductive portions that are spaced apart from each other and have different resistance values.
  • the control unit selects at least one operation command from a plurality of different operation commands corresponding to the resistance value as resistance values in the plurality of conductive units and issues them to the first manipulator. Also good.
  • the information holding member has a plurality of conductive surface patterns arranged apart from each other, and the patterns are different from each other.
  • the sensor may have a conductive part, and the sensor may have an electrode group in which a pair of electrodes that can conduct when contacting the conductive surfaces of the plurality of conductive parts are arranged in a lattice shape,
  • the control unit selects at least one operation command from a plurality of different operation commands corresponding to the electrode pattern and uses the electrode pattern that is conductive in the electrode group as the information to the first manipulator. May be issued.
  • the information holding member palpates positions of the plurality of conductive portions between the plurality of conductive portions. You may have the protrusion made to make.
  • the information holding member may have a magnetic sheet, and the sensor A Hall element may be used.
  • the information holding member has a light reflection characteristic corresponding to the information.
  • the sensor may include a photosensor that detects reflected light from the reflective material.
  • the information holding member can be specified by the photosensor, and the plurality of reflective materials having different reflectances can be positioned at different positions. You may have.
  • control unit may include a presentation unit that presents the presence or absence of the proximity or the contact.
  • FIG. 3 is a cross-sectional view taken along line AA in FIG. 2. It is explanatory drawing which shows the relationship between the position of each electroconductive part in the information holding member in the manipulator system which concerns on 1st Embodiment of this invention, and operation
  • FIG. 1 is a schematic diagram showing a manipulator system according to a first embodiment of the present invention.
  • FIG. 2 is a plan view showing a sheet-like member that is an information holding member in the manipulator system of the present embodiment.
  • 3 is a cross-sectional view taken along line AA in FIG.
  • FIG. 4 is an explanatory diagram showing the relationship between the position of each conductive portion in the information holding member of the present embodiment and the operation of the first manipulator in the manipulator system of the present embodiment.
  • FIG. 5 is a plan view showing another configuration example of a sheet-like member that is an information holding member in the manipulator system of the present embodiment.
  • FIG. 6 is an explanatory diagram illustrating an example of a contact state of the sensor with the sheet-like member of the present embodiment.
  • a manipulator system 1 according to this embodiment shown in FIG. 1 is a medical system used for, for example, a surgical operation.
  • the manipulator system 1 includes at least a first manipulator 2 and a second manipulator 42.
  • the manipulator system 1 of the present embodiment may further include other manipulators in addition to the first manipulator 2 and the second manipulator 42 described below.
  • the first manipulator 2 includes an endoscope 3, a remote input unit 15 for operating the endoscope 3, a control unit 30 for controlling the operation of the endoscope 3, and an image obtained by the endoscope 3. Is provided, and a support arm 38 that supports the endoscope 3 is provided. Thereby, the first manipulator 2 can observe the inside of the body.
  • the first manipulator 2 may not be a device for observing the inside of the body.
  • the first manipulator 2 may include a treatment instrument such as a grasping forceps or an electric knife.
  • the endoscope 3 includes an insertion unit 4, an operation unit (hereinafter referred to as “first operation unit 9”), and a drive unit 12.
  • the insertion portion 4 is a long portion whose distal end is inserted into the body.
  • the insertion unit 4 includes a tube unit 5, an active bending unit 7, and an imaging unit 8.
  • the tube portion 5 is a tubular member in which the active bending portion 7 is disposed at the distal end portion and the first operation portion 9 is disposed at the proximal end portion.
  • An angle wire 14 for operating the active bending portion 7 and a signal line 6 connected to the imaging portion 8 are arranged inside the tube portion 5.
  • the pipe part 5 of this embodiment is hard. In addition, the pipe part 5 may be flexible.
  • the active bending portion 7 is a cylindrical member that can bend in a predetermined direction when power is transmitted from the driving portion 12 via the angle wire 14.
  • the imaging unit 8 is disposed at the tip of the active bending portion 7.
  • the imaging unit 8 includes an optical system (not shown), an image sensor, and a control circuit for imaging a treatment target region.
  • the first operation unit 9 includes a housing 10 and a main input unit 11.
  • the housing 10 is attached to the proximal end portion of the pipe portion 5. A part of the main input unit 11 and the drive unit 12 are arranged inside the housing 10.
  • the main input unit 11 includes a switch arranged outside the casing 10 for operating the active bending section 7 and a contact circuit (not shown) arranged inside the casing 10.
  • a switch arranged outside the casing 10 for operating the active bending section 7
  • a contact circuit (not shown) arranged inside the casing 10.
  • the drive unit 12 includes a power source 13 and an angle wire 14.
  • the power source 13 includes an actuator (not shown) that operates the angle wire 14 based on an input from the main input unit 11 or the remote input unit 15.
  • the angle wire 14 is a wire that connects the power source 13 and the active bending portion 7.
  • the angle wire 14 transmits the power generated by the power source 13 to the active bending portion 7.
  • One or more angle wires 14 are connected to the drive unit 12 corresponding to the bending direction of the active bending unit 7.
  • the remote input unit 15 is provided at a position different from the main input unit 11 in order to perform an input for operating the active bending unit 7.
  • the remote input unit 15 includes a sheet-like member 16 and a detection device 21.
  • the sheet-like member 16 shown in FIG. 1 is a member assumed to be attached to a medical instrument used when the manipulator system 1 of the present embodiment is used.
  • the sheet-like member 16 of the present embodiment is attached to the second operation unit 43 of the second manipulator 42.
  • the sheet-like member 16 is provided on the other manipulator. It may be attached.
  • the sheet-like member 16 includes a detected surface 17 and an attachment surface 20.
  • the detected surface 17 includes a plurality of conductive portions 18 having conductivity and an insulating portion 19 that maintains the plurality of conductive portions 18 in an insulated state.
  • the plurality of conductive portions 18 are conductive members having different resistance values.
  • the plurality of conductive portions 18 are arranged side by side along the detected surface 17 of the sheet-like member 16 by sheet-like members having different resistance values being separated from each other and embedded in the insulating portion 19.
  • the manner in which the plurality of conductive portions 18 are arranged is not particularly limited.
  • the plurality of conductive portions 18 correspond to the bending operation direction (for example, up / down / left / right) of the active bending portion 7 of the first manipulator 2. That is, the plurality of conductive portions 18 hold information corresponding to the operation command for the drive unit 12 of the first manipulator 2.
  • the information corresponding to the operation command for the drive unit 12 of the first manipulator 2 is a resistance value specific to the plurality of conductive units 18.
  • a plane orthogonal to the center line X of the tube portion 5 and the detected surface 17 are associated with each other, and a coordinate system that defines the moving direction of the distal end of the active bending portion 7 with respect to the distal end of the tube portion 5 The orthogonal coordinate system extending in the surface direction of the detected surface 17 is associated.
  • the plurality of conductive portions 18 have predetermined vertical and horizontal directions (upward direction U, downward direction D, leftward in FIG. 4) on a plane orthogonal to the center line X of the tube portion 5.
  • Four conductive portions 18 (first conductive portion 18-1, second conductive portion 18-2, third conductive portion 18-3, and fourth conductive portion 18-4) respectively corresponding to direction L and right direction R) I have.
  • another conductive portion 18 corresponding to the upper left, lower left, upper right, and lower right may be further provided.
  • the plurality of conductive portions 18 need not correspond to the number of power sources 13 (see FIG. 1) in the drive unit 12. That is, at least one of the plurality of conductive portions 18 may hold information corresponding to an operation command for performing a cooperative operation of the plurality of power sources 13.
  • the sheet-like member 16 is a piece of information that can be specified by the sensor 23 shown in FIG.
  • the plurality of conductive portions 18 on 16 are held at different positions.
  • each conductive portion in the plurality of conductive portions 18 for example, the above-described first conductive portion 18-1, second conductive portion 18-2, third conductive portion 18-3, fourth conductive portion shown in FIG. 2). Since the resistance values 18-4) are all different from each other, the resistance value can be used as information that can specify an operation command for the first manipulator 2 (see FIG. 1).
  • the attachment surface 20 shown in FIG. 3 is a surface for attaching the sheet-like member 16 to the second manipulator 42 shown in FIG.
  • the mounting surface 20 is located on the opposite side to the detected surface 17.
  • the attachment surface 20 of the sheet-like member 16 can be attached to the operation part (second operation part 43 described later) of the second manipulator 42 shown in FIG.
  • the attachment surface 20 has adhesiveness in the present embodiment, and can be attached to the second operation portion 43 of the second manipulator 42.
  • the attachment surface 20 may be detachable by having slight adhesiveness.
  • the sheet-like member 16 of the present embodiment holds information that can specify an operation command for the first manipulator 2, and can be attached to a second manipulator 42 that is different from the first manipulator 2. It is a member.
  • another sheet-like member (not shown) attached to a medical instrument different from the second manipulator 42 is provided. Also good.
  • the other sheet-like member has the same configuration as that of the sheet-like member 16 attached to the second manipulator 42, so that it can be used for input to the first manipulator 2.
  • the detection device 21 shown in FIG. 1 includes a finger sack 22, a sensor 23, and a signal line 27.
  • the finger sack 22 is a bag-like or cylindrical member that can put an operator's finger.
  • the finger sack 22 is flexible so as not to obstruct the operator when operating the first manipulator 2, the second manipulator 42, or the like.
  • the sensor 23 includes a pair of electrodes 24 fixed to the finger sack 22 as schematically shown in FIG.
  • the pair of electrodes 24 includes a first electrode 25 and a second electrode 26 exposed on the outer surface of the finger sack 22.
  • the first electrode 25 and the second electrode 26 are conductors that are spaced apart from each other.
  • the first electrode 25 and the second electrode 26 are electrically connected to the input / output unit 32 (see FIG. 7) of the control unit 30 via the signal line 27, respectively.
  • the first electrode 25 and the second electrode 26 can simultaneously contact one of the plurality of conductive portions 18.
  • the first electrode 25 and the second electrode 26 Does not contact other conductive portions of the plurality of conductive portions 18. For this reason, according to the position of a pair of electrode 24, one electroconductive part can be arbitrarily selected from the some electroconductive part 18 by an operator.
  • the first electrode 25 and the second electrode 26 are in a conductive state when the sensor 23 comes into contact with any of the plurality of conductive portions 18 on the detected surface 17 of the sheet-like member 16.
  • the sensor 23 of the present embodiment is configured such that when the first electrode 25 and the second electrode 26 are in a conductive state when contacting the sheet-like member 16 that is an information holding member, the sensor 23 covers the sheet-like member 16. It is possible to detect that the sensor 23 is in contact with the detection surface 17.
  • connection means for electrically connecting the sensor 23 and the control unit 30.
  • FIG. 7 is a block diagram showing a configuration of a control unit in the manipulator system of the present embodiment.
  • the control unit 30 illustrated in FIG. 7 includes a drive system circuit 31 that operates the drive unit 12 to drive the active bending unit 7 (see FIG. 1) of the endoscope 3 and a video image acquired by the imaging unit 8. And an image pickup system circuit 36 for outputting to the camera 37.
  • the drive system circuit 31 includes an input / output unit 32, a determination unit 33, a signal generation unit 34, and a presentation unit 35.
  • the signal line 27 of the detection device 21 is connected to the input / output unit 32, and another signal line 28 for outputting a drive signal to the drive unit 12 is further connected.
  • the input / output unit 32 receives an input from the detection device 21 and outputs a drive signal corresponding to the input from the detection device 21 to the drive unit 12.
  • the determination unit 33 is connected to the input / output unit 32, and permits operation input to the first manipulator 2 when it is detected that the sensor 23 is in contact with the sheet-like member 16.
  • the state where the determination unit 33 permits the operation input to the first manipulator 2 is a state in which the drive signal can be generated by the signal generation unit 34.
  • the signal generation unit 34 of the present embodiment is provided so as to be connected to the determination unit 33 and the input / output unit 32.
  • the signal generation unit 34 of the present embodiment corresponds to the resistance value of one conductive unit selected by the detection device 21 among the plurality of conductive units 18 when the signal generation unit 34 can generate a drive signal.
  • a drive signal of the drive unit 12 corresponding to the operation command is generated.
  • the signal generation unit 34 generates a drive signal and then outputs the drive signal to the drive unit 12 via the input / output unit 32.
  • the signal generation unit 34 of the present embodiment also generates a drive signal corresponding to the operation input to the main input unit 11 of the first operation unit 9. Generation of the drive signal is controlled so as to avoid competition between the operation input to the remote input unit 15 and the operation input to the main input unit 11.
  • the presenting unit 35 presents the presence or absence of contact of the sensor 23 to the sheet-like member 16 by means (light, sound, vibration, etc.) perceivable by the operator according to the contact state of the sensor 23 to the sheet-like member 16. To do. That is, the presentation unit 35 presents to the operator whether or not the first manipulator 2 is operable in response to an input from the remote input unit 15. The presentation unit 35 causes the display device 37 to display whether or not the first manipulator 2 using the remote input unit 15 can be operated, for example.
  • the imaging system circuit 36 outputs a video signal that can be displayed by the display device 37 to the display device 37 based on the information of the video imaged by the imaging unit 8.
  • the imaging system circuit 36 receives a signal from the presentation unit 35 and receives the signal from the presentation unit 35. 8 may be output to the display device 37 together with the video imaged.
  • the display device 37 displays a video based on the video signal output from the imaging system circuit 36.
  • the support arm 38 shown in FIG. 1 includes a base 39, a movable part 40, and a connecting part 41.
  • the base 39 is a part fixed to a floor, a desk, or the like.
  • the movable part 40 includes a plurality of joints movably connected to the base 39.
  • the movable unit 40 may be configured to manually operate with respect to the base 39, or one or more joints may be electrically operated, for example, operated under the control of the control unit 30. There may be.
  • the connecting part 41 connects the support arm 38 and the endoscope 3 by holding the insertion part 4 of the endoscope 3.
  • the second manipulator 42 shown in FIG. 1 is a treatment tool for treating a treatment target site in the body.
  • the second manipulator 42 includes an operation unit (hereinafter referred to as “second operation unit 43”), a cylindrical body 46, a treatment unit 47, and a transmission member 48.
  • the second operation unit 43 is an operation unit different from the first operation unit 9 described above, and an operation for operating the treatment unit 47 of the second manipulator 42 is input.
  • the second operation unit 43 includes a main body 44 that is held by an operator and an input member 45 attached to the main body 44.
  • the main body 44 is fixed to the base end of the cylindrical body 46. An operator can operate the second manipulator 42 by holding a part of the main body 44.
  • the input member 45 is a member attached to the main body 44 so as to be movable with respect to the main body 44 in order to operate the treatment portion 47.
  • the input member 45 is connected to the transmission member 48.
  • the cylindrical body 46 is a cylindrical member in which a transmission member 48 is arranged.
  • the cylindrical portion is hard.
  • the treatment unit 47 is a member that is connected to the transmission member 48 and operates in response to an operation on the input member 45.
  • the transmission member 48 is a wire for operating the treatment unit 47, for example.
  • the second manipulator 42 can be configured to include, for example, a pair of jaws that grip a living tissue as the treatment portion 47, and the input member 45 is a manipulator that operates the pair of jaws via the transmission member 48. Further, the second manipulator 42 includes an electrode or a heater for heating or incising the living tissue as the treatment portion 47 so that the input member 45 is a manipulator that supplies power to the treatment portion 47 via the transmission member 48. Can be configured.
  • the configuration of the second manipulator 42 is not particularly limited as long as a part including the treatment unit 47 is disposed inside the body and the other part is disposed outside the body during use.
  • the operator of the manipulator system 1 operates the first manipulator 2 and the second manipulator 42, while watching the video acquired using the first manipulator 2.
  • a treatment for a living tissue is performed using the treatment unit 47 of the manipulator 42.
  • the first manipulator 2 takes an image of the treatment target region and displays it on the display device 37.
  • the treatment target region may move out of the imaging field of the imaging unit 8 of the first manipulator 2.
  • the operator In order to operate the first manipulator 2 using the first operation unit 9 of the first manipulator 2, the operator operates the first operation unit 9 with a hand opposite to the hand holding the second manipulator 42. Just operate. However, when the first manipulator 2 and the second manipulator 42 cannot reach the first operation unit 9 due to the positional relationship between the first manipulator 2 and the second manipulator 42, or other manipulators different from the first manipulator 2 and the second manipulator 42 are used. An operator who is operating the second manipulator 42 may not be able to operate the first operation unit 9 of the first manipulator 2 in some cases, for example, when both hands are occupied with the second manipulator 42 being used.
  • the sensor 23 of the detection device 21 is brought into contact with the sheet-like member 16 attached to the second operation unit 43 of the second manipulator 42.
  • the same input as the operation input to the first operation unit 9 can be performed via the remote input unit 15.
  • first electrode 25 and the second electrode 26 are not in contact with any of the conductive portions 18 of the sheet-like member 16, an operator's finger or other medical instrument is in contact with the sheet-like member 16, Even if an operator's finger or another medical instrument comes into contact with the sensor 23 of the detection device 21, input from the remote input unit 15 to the first manipulator 2 does not occur.
  • a hand holding the second manipulator 42 in advance a hand holding the second manipulator 42 in advance.
  • the finger sack 22 of the detection device 21 is attached to the device.
  • the operator operates the second manipulator 42 with the finger sack 22 attached to the finger.
  • the operator makes the sensor 23 attached to the finger sack 22 come into contact with a desired one of the plurality of conductive portions 18 as shown in FIG. 6. Move your finger.
  • the plurality of conductive portions 18 have different resistance values. Each resistance value is information for specifying an operation command for operating the first manipulator 2 in the control unit 30. For this reason, when the operator moves the finger so that the sensor 23 attached to the finger sack 22 is in contact with a desired one of the plurality of conductive portions 18, a plurality of operations for operating the first manipulator 2 are performed. One desired operation command is specified from the command.
  • the 7 uses the signal generator 34 to select an operation command corresponding to information specified using the sensor 23 from a plurality of operation commands and generate a drive signal.
  • the plurality of operation commands are held in the control unit 30 as resistance values of the plurality of conductive portions 18 corresponding to each piece of information held in the sheet-like member 16. Further, the control unit 30 outputs a drive signal generated according to the operation command selected corresponding to the information specified by the sensor 23 to the drive unit 12 of the first manipulator 2.
  • the operator can operate the first manipulator 2 using the hand operating the second manipulator 42 while operating the second manipulator 42.
  • the sensor 23 attached to the finger sack 22 is brought into contact with any one of the plurality of conductive portions 18 of the sheet-like member 16, so that the sensor among the plurality of conductive portions 18.
  • the active bending portion 7 of the first manipulator 2 operates in accordance with the resistance value of the conductive portion with which 23 is in contact. For this reason, in the manipulator system 1 of the present embodiment, imaging is performed by operating the active bending portion 7 of the first manipulator 2 using the hand operating the second manipulator 42 while operating the second manipulator 42.
  • the imaging field of view of the unit 8 can be moved.
  • the sheet-like member 16 can be attached to the second manipulator 42, and the plurality of conductive portions 18 provided on the sheet-like member 16 (see FIG. 2). Is detected via the sensor 23 of the detection device 21 shown in FIG. As a result, the wiring which connects the sheet-like member 16 and the control part 30 is unnecessary. For this reason, for example, even when a plurality of medical device sheet-like members 16 are attached when a plurality of medical devices are used, the wiring does not interfere with the operation.
  • the sheet-like member 16 having the plurality of conductive portions 18 is attached to the second manipulator 42, compared with a case where a switch or the like for operating the first manipulator 2 is attached to the second manipulator 42.
  • the member attached to the second manipulator 42 is light.
  • the weight increase due to the attachment of the sheet-like member 16 to the second manipulator 42 is slight, and the influence on the operational feeling of the second manipulator 42 due to the attachment of the sheet-like member 16 to the second manipulator 42 is Few.
  • the sheet-like member 16 having the detected surface 17 and the attachment surface 20 is flexible, and can be easily attached even if the second operation portion 43 of the second manipulator 42 has irregularities or curved surfaces. It is.
  • the remote input unit 15 operates the active bending unit 7 of the endoscope 3 .
  • the input from the remote input unit 15 is an input to the first manipulator 2
  • the input for the operation of the active bending portion 7 is not limited.
  • FIG. 8 is a plan view showing a sheet-like member in this modification.
  • FIG. 9 is a plan view showing a state in which an index is formed on the protrusion of the sheet-like member of the present modification.
  • the sheet-like member 16 includes protrusions 50 that make the positions of the plurality of conductive portions 18 tactile between the plurality of conductive portions 18.
  • the protrusions 50 of the sheet-like member 16 have a relative positional relationship with respect to the plurality of conductive portions 18, the positions of the plurality of conductive portions 18 in the sheet-like member 16 can be presented to the operator by touch. it can.
  • the shape of the protrusion 50 is a shape that allows the position on the sheet-like member 16 to be a reference and the direction relative to the reference position to be touched.
  • the protrusion 50 in the present modification is formed with a plurality of linear ridges that intersect at the center of the sheet-like member 16.
  • the protrusion 50 has an index 50 a formed at a position corresponding to one of the plurality of conductive portions 18 in order to make the positional relationship between the plurality of conductive portions 18 tactile. May be.
  • the operator can know the positions of the plurality of conductive portions 18 by touching the protrusion 50 provided on the sheet-like member 16 with a finger via the detection device 21.
  • the sensor 23 is preferably brought into contact with a desired conductive portion based on the position of the index 50a regardless of the mounting direction of the sheet-like member 16 with respect to the second manipulator 42. Can be made.
  • FIG. 10 is a schematic diagram showing a configuration of a manipulator system according to a second embodiment of the present invention.
  • FIG. 11A to FIG. 13 are schematic views showing the contact state between the conductive portion of the sheet-like member and the electrode of the sensor in the manipulator system of this embodiment.
  • the manipulator system 1A of the present embodiment includes a sheet-like member 16A (information holding member) instead of the sheet-like member 16 disclosed in the first embodiment. ing.
  • the sheet-like member 16A has a different configuration from the sheet-like member 16 (see FIG. 2) that is the information holding member disclosed in the first embodiment.
  • the manipulator system 1A of the present embodiment includes a sensor 23A including an electrode group 52 instead of the sensor 23 disclosed in the first embodiment.
  • 11A includes a plurality of conductive portions 51 having a pattern of a plurality of conductive surfaces 51a (see FIG. 11B) that are spaced apart from each other.
  • the pattern of each conductive surface 51 a in the plurality of conductive portions 51 is different for each conductive portion 51.
  • the first conductive portion 51-1 having the conductive surface with the pattern shown in FIG. 11B will be described, and description of the other conductive portions 51 will be omitted.
  • the electrode group 52 provided in the sensor 23A of the present embodiment includes a plurality of pairs of electrodes 53 that can conduct when contacting the conduction surfaces 51a of the plurality of conductive portions 51.
  • the pair of electrodes 53 are arranged in a lattice shape.
  • the pattern of the electrode 53 that is conductive in the electrode group 52 is determined according to the pattern of the conductive surface of the conductive portion 51 disposed on the sheet-like member 16A. That is, in the present embodiment, the information that can specify the operation command for the first manipulator 2 is defined by the positional relationship of the conductive surfaces arranged in the conductive portion 51 of the sheet-like member 16A.
  • the sheet-like member 16A which is the information holding member of the present embodiment, holds a plurality of pieces of information at different positions by the plurality of electrode groups 52 having different arrangement patterns.
  • the plurality of pieces of information can be specified by the sensor 23A as information that can specify an operation command for the first manipulator 2, and are different from each other.
  • the manipulator system 1A of the present embodiment when the number of electrodes 53 that are conductive in the electrode group 52 is equal to or larger than a predetermined number, or a predetermined area in a region where the electrode group 52 is disposed.
  • the electrode 53 of the electrode group 52 is conducting in a range exceeding the range, that is, when there is conduction exceeding a predetermined threshold with respect to the plurality of electrodes 53 (see, for example, FIG. 12), the sheet shape shown in FIG.
  • the determination unit 33 (see FIG. 7) of the control unit 30 determines that the sensor 23A shown in FIG. 10 is in contact with the member 16A, that is, the operation input to the first manipulator 2 can be permitted.
  • the signal generator 34 (see FIG. 7) operates based on a pattern constituted by the conductive electrode 53a and the non-conductive electrode 53b among the plurality of electrodes 53.
  • a drive signal is generated with reference to the command in the same manner as in the first embodiment, and is output to the drive unit 12 (see FIGS. 1 and 7).
  • the operation command corresponds to the resistance value of one conductive portion selected by the sensor 23 ⁇ / b> A of the detection device 21 among the plurality of conductive portions 51.
  • the senor 23A attached to the finger sack 22 can be bent slightly following the shape of the finger. That is, when the operation input to the first manipulator 2 is intended, the detection device 21 is pressed against the sheet-like member 16A so that the sensor 23A follows the shape of the detected surface 17 of the sheet-like member 16A. Deformed. Therefore, compared with the case where the sensor 23A and the sheet-like member 16A are simply touching without intention of the operation input to the first manipulator 2 (see FIG. 13), more electrodes 53 are in contact with the sheet-like member 16A and become conductive. The number of electrodes 53 in the state is also large (see FIG. 12).
  • a part of the sensor 23A of the detection device 21 is brought into contact with the sheet-like member 16A by, for example, an erroneous operation, and there is very little conduction (not exceeding a predetermined threshold) among the plurality of electrodes 53.
  • an unintentional erroneous input is prevented from occurring.
  • the sheet-like member 16A may have the protrusion 50 disclosed in the modification of the first embodiment.
  • FIG. 14 is a schematic diagram showing a configuration of a manipulator system according to a third embodiment of the present invention.
  • a manipulator system 1B of the present embodiment shown in FIG. 14 is a sheet-like structure that is different from the sheet-like member 16 disclosed in the first embodiment, instead of the sheet-like member 16 disclosed in the first embodiment.
  • a member 16B is provided.
  • the sheet-like member 16 ⁇ / b> B of this embodiment includes a magnetic sheet 60 instead of the plurality of conductive portions 18.
  • the direction of the magnetic pole of the magnetic sheet 60 and the strength of the magnetic force are not particularly limited.
  • the sheet-like member 16 ⁇ / b> B of the present embodiment has a configuration in which an adhesive is applied to one surface of the magnetic sheet 60.
  • the sensor 23B has a Hall element 61 instead of the pair of electrodes 24.
  • the Hall element 61 of this embodiment is a unit in which a plurality of elements (four elements 61-1, 61-2, 61-3, 61-4 in this embodiment) are arranged in a predetermined positional relationship. .
  • the hall element 61 is attached to the finger sack 22. In the present embodiment, the Hall element 61 may be exposed on the outer surface of the finger sack 22 or may not be exposed on the outer surface of the finger sack 22.
  • the Hall element 61 detects the position of the Hall element 61 relative to the magnetic sheet 60 in the control unit 30 by detecting a change in the magnetic field generated by the magnetic sheet 60.
  • the Hall element 61 detects the position of the magnetic sheet 60 with respect to the Hall element 61 from the difference in magnetic field intensity detected by the plurality of elements 61-1, 61-2, 61-3, 61-4.
  • the Hall element 61 when the Hall element 61 approaches the magnetic sheet 60 within a predetermined distance or less, the Hall element 61 detects a magnetic field change equal to or greater than a threshold value, thereby detecting that the sensor 23B has approached the sheet-like member 16B. It can be detected. Specifically, when the average value of the voltage that fluctuates in accordance with the magnetic field from the magnetic sheet 60 exceeds a predetermined threshold value in the four elements 61-1, 61-2, 61-3, 61-4, the sheet shape It is determined that the sensor 23B is close to the member 16B.
  • the determination unit 33 of the present embodiment permits an operation input to the first manipulator 2 when the Hall element 61 detects a magnetic field change that is equal to or greater than a threshold value.
  • Each of the above conditions uses a voltage difference in each element 61-1, 61-2, 61-3, 61-4. It should be noted that the positional relationship between the Hall element 61 and the magnetic sheet 60 can be detected using the voltage ratios of the elements 61-1, 61-2, 61-3, 61-4 in the same manner as the above conditions. Good.
  • Information on the direction obtained from the Hall element 61 based on each of the above conditions according to the positional relationship of the Hall element 61 with respect to the magnetic sheet 60 is obtained from a plurality of operation commands for operating the first manipulator 2. It is used in the control unit 30 as information for specifying. For this reason, in this embodiment, when the operator who attached the detection device 21 provided with the Hall element 61 to the finger moves the detection device 21 while approaching the magnetic sheet 60, the control unit 30 performs the operation A drive signal is generated based on an operation command corresponding to the direction in which the person moves the detection device 21, and is output to the drive unit 12 of the first manipulator 2.
  • the sheet-like member 16B which is the information holding member of the present embodiment, can specify a plurality of pieces of information that can be specified by the sensor 23B and can be specified by the sensor 23B as information that can specify an operation command for the first manipulator 2, and the magnetic sheet 60 and the sensor 23B. It can be said that they are held at different positions determined according to the positional relationship.
  • the difference or ratio between the voltage (HE1) and the voltage (HE4), the voltage (HE2) and the voltage (HE3) is monitored, and the difference or ratio is equal to or greater than a predetermined value. That is, when the finger (finger to which the sensor 23B is attached) is moved in a desired direction with respect to the magnetic sheet 60 by a sufficient distance, the determination unit 33 indicates that the operator has instructed an operation in that direction. to decide. Thereby, the operation while the finger is brought close to the magnetic sheet 60 does not become an input to the first manipulator 2.
  • the remote input unit 15 is used.
  • the determination unit 33 cancels permission of the operation input to the first manipulator.
  • an operation input is possible if the magnetic field change exceeding the threshold is sufficiently close to be detected. is there.
  • an operation input to the first manipulator 2 via the remote input unit 15 is possible. That is, according to the manipulator system 1B of the present embodiment, suitable operation input via the remote input unit 15 is possible while preventing the detection device 21 from being contaminated by body fluid such as blood during surgery with rubber gloves or the like.
  • a known magnetic sensor can be applied in place of the Hall element 61.
  • FIG. 15 is a schematic diagram illustrating a configuration of a manipulator system according to a fourth embodiment of the present invention.
  • a manipulator system 1C of the present embodiment shown in FIG. 15 includes a sheet-like member 16C (information holding member) instead of the sheet-like member 16 disclosed in the first embodiment.
  • the sheet-like member 16C has a different configuration from the sheet-like member 16 that is the information holding member disclosed in the first embodiment.
  • a photo sensor 66 is provided instead of the sensor 23 disclosed in the first embodiment.
  • the sheet-like member 16 ⁇ / b> C of the present embodiment includes a plurality of reflectors 65.
  • the plurality of reflectors 65 have different reflection characteristics (for example, reflectivity) and are arranged at positions separated from each other.
  • the reflection characteristics of each reflecting material in the plurality of reflecting materials 65 are associated with information that can specify an operation command for the first manipulator 2. That is, the plurality of reflectors 65 holds information that can specify different operation commands for the first manipulator 2 in a distinguishable manner as a difference in reflection characteristics.
  • the reflection characteristics are different from those of the reflective material 65 except for the portion where the reflective material 65 is provided.
  • the reflectance of the sheet-like member 16C is lower than that of any of the plurality of reflecting materials 65 except for the portion where the reflecting material 65 is provided.
  • the photo sensor 66 emits predetermined detection light L1, and detects the reflected light L2 reflected by the reflecting material 65.
  • the sheet-like member 16C which is an information holding member of the present embodiment, can specify a plurality of pieces of information that can be specified by the photosensor 66 as the information that can specify the operation command for the first manipulator 2 and that are different from each other. , Are held at different positions.
  • the photosensor 66 can detect the reflected light from the plurality of reflective members 65 even if the sheet-like member 16C and the detection device 21 are not in reliable contact. If they are close to each other, an operation input to the first manipulator 2 via the remote input unit 15 is possible, so that it is not necessary for the operator to continue pressing the detection device 21 against the sheet-like portion, and the operation is easy.

Abstract

L'invention concerne un système de manipulateur équipé d'une pluralité d'appareils médicaux, ledit système de manipulateur permettant d'éliminer l'apparition d'un dysfonctionnement dû à une opération erronée. Ce système de manipulateur comporte : un élément de support d'informations (16), qui contient des informations en mesure de spécifier une commande d'opération par rapport à un premier manipulateur (2), et qui peut être attaché à un deuxième manipulateur (42) différent du premier manipulateur; un capteur de détection (23) qui détecte une proximité à une distance prédéterminée ou plus proche par rapport à l'élément de support d'informations ou un contact par rapport à l'élément de support d'informations; et une unité de commande (30) qui permet une entrée d'opération dans le premier manipulateur quand le capteur détecte qu'il y a proximité ou contact.
PCT/JP2015/082850 2014-12-10 2015-11-24 Système de manipulateur WO2016093049A1 (fr)

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CN109866238A (zh) * 2017-11-28 2019-06-11 夏普株式会社 电子设备、控制装置以及记录介质
JP2020510489A (ja) * 2017-03-10 2020-04-09 シーエムアール サージカル リミテッドＣｍｒ Ｓｕｒｇｉｃａｌ Ｌｉｍｉｔｅｄ 外科用器具の制御
JP2021509033A (ja) * 2017-12-28 2021-03-18 エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ ロボット支援外科用プラットフォームのためのコントローラ
CN112957008A (zh) * 2021-01-29 2021-06-15 海南省妇女儿童医学中心 一种远程触诊设备
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US11672605B2 (en) 2017-12-28 2023-06-13 Cilag Gmbh International Sterile field interactive control displays
US11678881B2 (en) 2017-12-28 2023-06-20 Cilag Gmbh International Spatial awareness of surgical hubs in operating rooms
US11696760B2 (en) 2017-12-28 2023-07-11 Cilag Gmbh International Safety systems for smart powered surgical stapling
US11701139B2 (en) 2018-03-08 2023-07-18 Cilag Gmbh International Methods for controlling temperature in ultrasonic device
US11701185B2 (en) 2017-12-28 2023-07-18 Cilag Gmbh International Wireless pairing of a surgical device with another device within a sterile surgical field based on the usage and situational awareness of devices
US11737668B2 (en) 2017-12-28 2023-08-29 Cilag Gmbh International Communication hub and storage device for storing parameters and status of a surgical device to be shared with cloud based analytics systems
US11744604B2 (en) 2017-12-28 2023-09-05 Cilag Gmbh International Surgical instrument with a hardware-only control circuit
US11751958B2 (en) 2017-12-28 2023-09-12 Cilag Gmbh International Surgical hub coordination of control and communication of operating room devices
US11775682B2 (en) 2017-12-28 2023-10-03 Cilag Gmbh International Data stripping method to interrogate patient records and create anonymized record
US11771487B2 (en) 2017-12-28 2023-10-03 Cilag Gmbh International Mechanisms for controlling different electromechanical systems of an electrosurgical instrument
US11779337B2 (en) 2017-12-28 2023-10-10 Cilag Gmbh International Method of using reinforced flexible circuits with multiple sensors to optimize performance of radio frequency devices
US11786251B2 (en) 2017-12-28 2023-10-17 Cilag Gmbh International Method for adaptive control schemes for surgical network control and interaction
US11801098B2 (en) 2017-10-30 2023-10-31 Cilag Gmbh International Method of hub communication with surgical instrument systems
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US11832899B2 (en) 2017-12-28 2023-12-05 Cilag Gmbh International Surgical systems with autonomously adjustable control programs
US11839396B2 (en) 2018-03-08 2023-12-12 Cilag Gmbh International Fine dissection mode for tissue classification
US11844579B2 (en) 2017-12-28 2023-12-19 Cilag Gmbh International Adjustments based on airborne particle properties
US11857152B2 (en) 2017-12-28 2024-01-02 Cilag Gmbh International Surgical hub spatial awareness to determine devices in operating theater
US11864728B2 (en) 2017-12-28 2024-01-09 Cilag Gmbh International Characterization of tissue irregularities through the use of mono-chromatic light refractivity
US11871901B2 (en) 2012-05-20 2024-01-16 Cilag Gmbh International Method for situational awareness for surgical network or surgical network connected device capable of adjusting function based on a sensed situation or usage
US11890065B2 (en) 2017-12-28 2024-02-06 Cilag Gmbh International Surgical system to limit displacement
US11896443B2 (en) 2017-12-28 2024-02-13 Cilag Gmbh International Control of a surgical system through a surgical barrier
US11896322B2 (en) 2017-12-28 2024-02-13 Cilag Gmbh International Sensing the patient position and contact utilizing the mono-polar return pad electrode to provide situational awareness to the hub
US11903601B2 (en) 2017-12-28 2024-02-20 Cilag Gmbh International Surgical instrument comprising a plurality of drive systems
US11903587B2 (en) 2017-12-28 2024-02-20 Cilag Gmbh International Adjustment to the surgical stapling control based on situational awareness
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US11925350B2 (en) 2019-02-19 2024-03-12 Cilag Gmbh International Method for providing an authentication lockout in a surgical stapler with a replaceable cartridge
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US11969216B2 (en) 2018-11-06 2024-04-30 Cilag Gmbh International Surgical network recommendations from real time analysis of procedure variables against a baseline highlighting differences from the optimal solution

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JP2020510489A (ja) * 2017-03-10 2020-04-09 シーエムアール サージカル リミテッドＣｍｒ Ｓｕｒｇｉｃａｌ Ｌｉｍｉｔｅｄ 外科用器具の制御
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US11911045B2 (en) 2017-10-30 2024-02-27 Cllag GmbH International Method for operating a powered articulating multi-clip applier
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US11903601B2 (en) 2017-12-28 2024-02-20 Cilag Gmbh International Surgical instrument comprising a plurality of drive systems
US11737668B2 (en) 2017-12-28 2023-08-29 Cilag Gmbh International Communication hub and storage device for storing parameters and status of a surgical device to be shared with cloud based analytics systems
US11744604B2 (en) 2017-12-28 2023-09-05 Cilag Gmbh International Surgical instrument with a hardware-only control circuit
US11751958B2 (en) 2017-12-28 2023-09-12 Cilag Gmbh International Surgical hub coordination of control and communication of operating room devices
US11937769B2 (en) 2017-12-28 2024-03-26 Cilag Gmbh International Method of hub communication, processing, storage and display
US11775682B2 (en) 2017-12-28 2023-10-03 Cilag Gmbh International Data stripping method to interrogate patient records and create anonymized record
US11771487B2 (en) 2017-12-28 2023-10-03 Cilag Gmbh International Mechanisms for controlling different electromechanical systems of an electrosurgical instrument
US11779337B2 (en) 2017-12-28 2023-10-10 Cilag Gmbh International Method of using reinforced flexible circuits with multiple sensors to optimize performance of radio frequency devices
US11786251B2 (en) 2017-12-28 2023-10-17 Cilag Gmbh International Method for adaptive control schemes for surgical network control and interaction
US11696760B2 (en) 2017-12-28 2023-07-11 Cilag Gmbh International Safety systems for smart powered surgical stapling
US11678881B2 (en) 2017-12-28 2023-06-20 Cilag Gmbh International Spatial awareness of surgical hubs in operating rooms
US11818052B2 (en) 2017-12-28 2023-11-14 Cilag Gmbh International Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs
US11672605B2 (en) 2017-12-28 2023-06-13 Cilag Gmbh International Sterile field interactive control displays
US11832899B2 (en) 2017-12-28 2023-12-05 Cilag Gmbh International Surgical systems with autonomously adjustable control programs
JP2021509033A (ja) * 2017-12-28 2021-03-18 エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ ロボット支援外科用プラットフォームのためのコントローラ
US11844579B2 (en) 2017-12-28 2023-12-19 Cilag Gmbh International Adjustments based on airborne particle properties
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US11864728B2 (en) 2017-12-28 2024-01-09 Cilag Gmbh International Characterization of tissue irregularities through the use of mono-chromatic light refractivity
US11666331B2 (en) 2017-12-28 2023-06-06 Cilag Gmbh International Systems for detecting proximity of surgical end effector to cancerous tissue
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US11896322B2 (en) 2017-12-28 2024-02-13 Cilag Gmbh International Sensing the patient position and contact utilizing the mono-polar return pad electrode to provide situational awareness to the hub
US11701185B2 (en) 2017-12-28 2023-07-18 Cilag Gmbh International Wireless pairing of a surgical device with another device within a sterile surgical field based on the usage and situational awareness of devices
US11903587B2 (en) 2017-12-28 2024-02-20 Cilag Gmbh International Adjustment to the surgical stapling control based on situational awareness
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US11701139B2 (en) 2018-03-08 2023-07-18 Cilag Gmbh International Methods for controlling temperature in ultrasonic device
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