WO2016152255A1 - 医療用支持アーム装置 - Google Patents
医療用支持アーム装置 Download PDFInfo
- Publication number
- WO2016152255A1 WO2016152255A1 PCT/JP2016/052983 JP2016052983W WO2016152255A1 WO 2016152255 A1 WO2016152255 A1 WO 2016152255A1 JP 2016052983 W JP2016052983 W JP 2016052983W WO 2016152255 A1 WO2016152255 A1 WO 2016152255A1
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- WIPO (PCT)
- Prior art keywords
- retractor
- support arm
- organ
- arm device
- force
- Prior art date
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/02—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00131—Accessories for endoscopes
- A61B1/0014—Fastening element for attaching accessories to the outside of an endoscope, e.g. clips, clamps or bands
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- 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
- A61B1/00131—Accessories for endoscopes
- A61B1/00133—Drive units for endoscopic tools inserted through or with the endoscope
-
- 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
- A61B1/313—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 for introducing through surgical openings, e.g. laparoscopes
- A61B1/3132—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 for introducing through surgical openings, e.g. laparoscopes for laparoscopy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
Definitions
- the present disclosure relates to a medical support arm device.
- organs organs, tissues, body walls, and the like (hereinafter collectively referred to as organs) in the body cavity. Therefore, various techniques have been developed as techniques for holding a patient's organ in order to secure a working space during surgery.
- Patent Document 1 discloses a support device that supports a retractor that is inserted into a patient's body cavity together with a laparoscope and holds an organ or tissue in the body cavity in order to secure a working space in laparoscopic surgery. Yes.
- the operator operates the control handle provided in the support device to move the position of the retractor and move the position of the organ or tissue in the body cavity.
- a working space for surgery can be formed.
- Patent Document 2 discloses a treatment apparatus used for endoscopic surgery, which includes a magnetic first medical device installed in a body cavity of a patient, a body wall to be held, and / or And a second medical instrument that is placed outside the body via an organ and guides the first medical instrument by magnetic interaction. According to the treatment apparatus, by operating the second medical instrument to guide the first medical instrument, the body wall and / or the organ is pulled in an arbitrary direction, and the working space for the operation in the body cavity. Can be formed.
- an operation on the control handle is transmitted to the retractor by mechanical elements such as a wire, a pulley, and a piston, and the retractor is positioned. That is, in the support device described in Patent Document 1, the operation of the retractor is controlled so that the retractor is positioned at a predetermined position instructed by the user via the control handle. It can be said that it is a support device. In such a support device based on position control, the retractor stays at the designated position until a new instruction is given. For example, when the retractor touches an organ while the retractor is moving, If the organ or the like is moved by the patient's breathing or pulsation while the patient is held, the retractor may damage the organ or the like.
- the present disclosure proposes a new and improved medical support arm device that can hold an organ more safely.
- a medical support arm device including an arm unit whose driving is controlled by force control, and a retractor that is provided at a distal end of the arm unit and holds a patient's organ during surgery.
- the retractor that holds the patient's organ during surgery is supported by the arm portion of the support arm device, and the drive of the arm portion is controlled by force control.
- the force control for example, a control for limiting the force can be realized, such as setting a threshold value for the force acting on the retractor and operating the arm portion. Therefore, it is possible to prevent an excessive force from being applied to the organ by the retractor, and a safer operation can be realized.
- an organ can be held more safely.
- the above effects are not necessarily limited, and any of the effects shown in the present specification, or other effects that can be grasped from the present specification, together with the above effects or instead of the above effects. May be played.
- FIG. 1 is a schematic diagram illustrating a state of surgery using a support arm device according to an embodiment of the present disclosure.
- FIG. 1 illustrates, as an example, a state in which endoscopic surgery is performed on a patient 540 on an operating table 530 using the support arm device 500 according to the present embodiment.
- endoscopic surgery a plurality of small insertion ports are provided in the body wall of a patient, and an endoscope for observing the surgical site is inserted from one insertion port.
- a treatment tool such as a scalpel for performing various treatments on the surgical site is inserted from another insertion port.
- a retractor 520 that holds an organ 541 in the body cavity of the patient 540 is inserted from another insertion port in order to secure a working space around the surgical site. While seeing the image of the surgical part taken by the endoscope, the operator operates the treatment tool and performs various treatments on the surgical part.
- the operator, the treatment instrument operated by the operator, and the endoscope are not shown.
- the support arm device 500 is for supporting the retractor 520 that holds the organ 541.
- organ is a general term for various types of organs, tissues, body walls, and the like of a patient that can be held by the retractor 520 during surgery.
- Organs can include various organs such as the stomach, intestine, and liver.
- the tissue may include blood vessels, for example.
- FIG. 1 shows only the arm 510 and the retractor 520 attached to the tip of the arm 510 in the configuration of the support arm device 500 for the sake of simplicity.
- a base portion that supports the arm portion 510 may be provided on the proximal end side of the arm portion 510.
- the support arm device 500 may be provided with a control device that controls the operation of the support arm device 500. The specific configuration of the support arm device 500 will be described in detail below (2. Configuration of the support arm device).
- the arm portion 510 includes a plurality of joint portions 511a, 511b, 511c, 511d, 511e, and 511f and a plurality of links 512a, 512b, 512c, 512d, 512e, and 512f that are rotatably connected to each other by the joint portions 511a to 511e. And a retractor 520 that is rotatably attached to the tip of the arm portion 510 via a joint portion 511f.
- Each of the joint portions 511a to 511f is provided with an actuator 430 shown in FIG. 7 to be described later.
- the joint portions 511a to 511f are configured to be rotatable about a predetermined rotation axis by driving the actuator 430. Yes.
- the rotation angles of the joint portions 511a to 511f are controlled, and the driving of the arm portion 510 is controlled.
- the driving of the arm unit 510 is controlled by force control.
- the six joint portions 511a to 511f realize six degrees of freedom for driving the arm portion 510.
- the retractor 520 can be freely moved within the movable range of the arm portion 510. Thereby, the angle at which the retractor 520 is inserted into the body cavity of the patient is not limited, and the convenience of the support arm device 500 is improved.
- the retractor 520 is an instrument that holds the organ 541 of the patient 540 at the time of surgery.
- a retractor 520 provided at the tip of the arm portion 510 is inserted into the body cavity of the patient 540, and the organ 541 in the body cavity of the patient 540 is held by the retractor 520.
- the positions and postures of the arm unit 510 and the retractor 520 are controlled by the support arm device 500.
- FIG. 1 the illustration of the specific shape of the retractor 520 is omitted for the sake of simplicity.
- various retractors 520 having various shapes depending on the surgical technique and the object to be held.
- An appropriate one can be selected and used.
- the type of the retractor 520 supported by the support arm device 500 is not limited, and various retractors 520 may be used depending on the surgical method and the object to be held.
- a specific example of the retractor 520 will be described in detail below (2. Configuration of the support arm device).
- the operation using the support arm device 500 according to the present embodiment has been described.
- FIG. 1 as an example, a case where the support arm device 500 is applied to endoscopic surgery is shown.
- the present embodiment is not limited to this example, and the support arm device 500 is used for open surgery. May be applied.
- the support arm device 500 can hold the organ in the body cavity by the retractor 520 as in the case of endoscopic surgery, but the incision is made at the laparotomy site so as to secure an opening at the laparotomy site.
- the body wall may be held so as to spread outward.
- a specialized doctor who operates the retractor 520 and holds the organ 541 is required at the time of surgery.
- the assistant has to continue to support the retractor 520 until the surgeon finishes the treatment, and this work has been a heavy burden. If the operation is performed for a long period of time, due to fatigue, an error occurs when the assistant operates the retractor 520, and the risk of an accident such as the organ 541 being damaged by the retractor 520 increases.
- the assistant operates the retractor 520 to move the position of the organ 541.
- verbal communication does not necessarily guarantee that the operator's intention is completely transmitted, and has contributed to a reduction in the efficiency of the operation.
- the retractor 520 is supported by the support arm device 500.
- Substituting the support arm device 500 for the work that has been performed manually until now can eliminate a great burden that has been applied to the assistant holding the organ 541.
- since the operator (user) can operate the support arm device 500 by himself and move the position of the organ 541, communication between the operator and the assistant becomes unnecessary, and the efficiency of the operation is improved. You can plan.
- Patent Document 1 the technology itself for supporting the retractor 520 by the support arm device has been proposed (see, for example, Patent Document 1 above).
- the existing support arm device exemplified in Patent Document 1 controls the operation of the retractor 520 by so-called position control. In the position control, the operation is controlled so that the retractor 520 continues to stay at the instructed position.
- the position of the organ 541 of the patient 540 is not necessarily constant during the operation.
- the position of the organ 541 can change slightly depending on the biological reaction of the patient 540 such as respiration and pulsation.
- the support arm device that controls the operation of the retractor 520 by position control even if the position of the organ 541 changes, the retractor 520 continues to stay in a predetermined position, so that the retractor 520 may damage the organ 541. There is.
- the retractor 520 is to be moved to a predetermined position, even if the organ 541 exists in the moving direction, the retractor 520 moves to the instructed position. There is a risk that the organ 541 may be damaged.
- the support arm device based on position control is not necessarily suitable for the use of holding the organ 541.
- force control is used as a control method of the support arm device 500.
- a force acting on the retractor 520 is detected by a torque sensor provided in each joint portion 511a to 511f, and the operation of the arm portion 510 is controlled based on the detected force acting on the retractor 520. It becomes possible. For example, when a force equal to or greater than a predetermined threshold is applied to the retractor 520, the arm unit 510 can be operated so as to release the force (that is, to cancel the force applied to the retractor 520). .
- the position of the organ 541 changes or the retractor 520 contacts the organ 541 so that the retractor 520 is not intended. Since it is considered that the force is applied, it is possible to avoid a situation in which the organ 541 is damaged by the retractor 520 by performing such control.
- the support arm device 500 supports the retractor 520 and controls the operation of the retractor 520 by force control, so that the retractor 520 can hold the organ 541 more safely. It is what makes it possible.
- FIG. 2 is a diagram illustrating an overall configuration of the support arm device according to the present embodiment.
- the support arm device 400 includes a base portion 410, an arm portion 420, and a control device 440.
- the support arm device 400 is a more specific configuration of the support arm device 500 shown in FIG. 1 described above. Similar to the support arm device 500, a medical support that holds a patient's organ by a retractor during surgery. Arm device.
- the base portion 410 is a base of the support arm device 400, and the arm portion 420 is extended from the base portion 410.
- the base portion 410 is provided with casters, and the support arm device 400 is configured to be in contact with the floor surface via the casters and movable on the floor surface by the casters.
- the configuration of the support arm device 400 according to the present embodiment is not limited to such an example.
- the base unit 410 is not provided, and the arm unit 420 is directly attached to the ceiling or wall surface of the operating room. May be configured.
- the support arm device 400 is configured with the arm unit 420 suspended from the ceiling.
- the arm portion 420 includes a plurality of joint portions 421a, 421b, 421c, 421d, 421e, and 421f, a plurality of links 422a, 422b, 422c, and 422d that are rotatably connected to each other by the joint portions 421a to 421e.
- a holding unit 429 is provided at the tip of 420 through a joint portion 421f so as to be rotatable, and a retractor 423 attached to the holding unit 429.
- the links 422a to 422d are rod-shaped members, one end of the link 422a is connected to the base portion 410 via the joint portion 421a, the other end of the link 422a is connected to one end of the link 422b via the joint portion 421b, The other end of the link 422b is connected to one end of the link 422c via the joint portions 421c and 421d. Further, the other end of the link 422c is connected to one end of a substantially L-shaped link 422d via a joint portion 421e, and the other end of the link 422d and the holding unit 429 that holds the retractor 423 are connected via the joint portion 421f. Connected. Thus, the ends of the plurality of links 422a to 422d are connected to each other by the joint portions 421a to 421f with the base portion 410 as a fulcrum, thereby forming an arm shape extending from the base portion 410.
- the retractor 423 corresponds to the retractor 520 shown in FIG. 1 described above, and is an instrument for holding a patient's organ during surgery.
- the support arm device 400 controls the positions and postures of the arm unit 420 and the retractor 423 so that the patient's organ is held by the retractor 423.
- a working space around the surgical site which is a target for the surgeon to process, is secured.
- the specific shape of the retractor 423 is not shown, but in practice, various retractors 423 having various shapes are used depending on the surgical technique and the object to be held. An appropriate one can be selected and used.
- the retractor 423 may be inserted into the body cavity of a patient and hold an organ in the body cavity during endoscopic surgery or open surgery. Or the retractor 423 may hold
- the holding unit 429 may be configured so that the retractor 423 can be attached and detached, and an appropriate type of retractor 423 is attached to the holding unit 429 in accordance with an operation method or an object to be held.
- FIGS. 3 to 6 show an example of the retractor 423.
- 3 to 6 are views showing an example of the retractor 423 supported by the support arm device 400.
- FIG. 3 to 6 are views showing an example of the retractor 423 supported by the support arm device 400.
- the retractor 423 may be a spatula-like retractor 423a.
- the organ With the spatula-shaped retractor 423a, the organ can be moved in a predetermined direction by pressing the organ with the spatula-shaped portion.
- the retractor 423 may be a rod-shaped retractor 423b.
- the organ is moved in a predetermined direction by pressing the organ with the tip of the rod-shaped portion or by engaging and pulling the tip of the rod-shaped portion with the organ. be able to.
- the retractor 423 may be a claw-shaped retractor 423c.
- the organ can be moved in a predetermined direction by engaging and pulling the claw-shaped part to the organ.
- the retractor 423 may be a retractor 423d having a fan-like spatula portion including a plurality of flat plate portions.
- the organ can be moved in a predetermined direction by pressing the organ with the spatula portion.
- retractor 423 any known retractor can be used as the retractor 423.
- Each of the joint portions 421a to 421f is provided with an actuator 430 shown in FIG. 7 described later.
- the joint portions 421a to 421f are configured to be rotatable with respect to a predetermined rotation axis by driving the actuator 430. Yes.
- Driving of the actuator 430 is controlled by the control device 440.
- the driving of the actuators 430 of the joint portions 421a to 421f the driving of the arm portion 420, for example, extending or contracting (folding) the arm portion 420 is controlled.
- the support arm device 400 has six joint portions 421a to 421f, and six degrees of freedom for driving the arm portion 420 is realized.
- the retractor 423 can be freely moved within the movable range of the arm portion 420. Thereby, the retractor 423 can be approached to the patient from various angles, and the degree of freedom in holding the patient's organ by the retractor 423 is improved.
- the configuration of the arm part 420 is not limited to the example shown in the figure, and the number and arrangement of the joint parts 421a to 421f and the links 422a to 422d, the direction of the drive shaft of the joint parts 421a to 421f, etc. It may be set as appropriate to have a degree of freedom. However, in consideration of the degree of freedom of the position and posture of the retractor 423, the arm unit 420 can be preferably configured to have six degrees of freedom or more.
- the control device 440 includes, for example, a processor such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor), or a microcomputer equipped with these processors, and executes signal processing according to a predetermined program. The operation of the support arm device 400 is controlled.
- a processor such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor), or a microcomputer equipped with these processors, and executes signal processing according to a predetermined program. The operation of the support arm device 400 is controlled.
- force control is used as a control method of the support arm device 400.
- the force acting on the arm part 420 and the retractor 423 is detected by a torque sensor of the actuator 430 provided in each joint part 421a to 421f.
- a torque generated by the actuator 430 provided in each joint portion 421a to 421f necessary for causing the arm portion 420 to perform a desired operation is calculated, and the calculated generated torque is controlled.
- the operation of the arm unit 420 is controlled.
- the operator moves the arm unit 420 in the direction of the force applied to the arm unit 420 in response to an operation to move the arm unit 420 by directly touching the arm unit 420.
- the control device 440 controls the drive of the actuator 430 so that the operation of the arm unit 420 can be controlled.
- the operator can move the arm unit 420 while directly touching the arm unit 420, and thus an easier and more intuitive operation is possible.
- a specific control method of the support arm device 400 by force control will be described in detail in the following (3. Control method of the support arm device).
- control device 440 is connected to the base portion 410 via a cable, but a control board or the like having the same function as the control device 440 may be provided inside the base portion 410. .
- FIG. 7 is a cross-sectional view showing a configuration example of an actuator mounted on the joint portions 421a to 421f of the support arm device 400 shown in FIG.
- FIG. 3 illustrates a cross-sectional view when the actuator according to the present embodiment is cut along a plane passing through the rotation axis.
- the actuator 430 includes a motor 424, a motor driver 425, a speed reducer 426, an encoder 427, and a torque sensor 428.
- the actuator 430 is an actuator corresponding to force control.
- the rotation of the motor 424 is decelerated at a predetermined reduction ratio by the speed reducer 426, and is transmitted to the other member at the subsequent stage via the output shaft, whereby the other member is driven.
- the motor 424 is a drive mechanism that generates a driving force by rotating a rotating shaft at a rotation speed corresponding to the command value.
- a brushless motor is used as the motor 424.
- the present embodiment is not limited to this example, and various known types of motors may be used as the motor 424.
- the motor driver 425 is a driver circuit (driver IC (Integrated Circuit)) that rotates the motor 424 by supplying current to the motor 424, and the rotation of the motor 424 is adjusted by adjusting the amount of current supplied to the motor 424. The number can be controlled.
- the motor driver 425 drives the motor 424 by supplying a current corresponding to a torque command value ⁇ shown in FIG.
- a speed reducer 426 is connected to the rotating shaft (drive shaft) of the motor 424.
- the speed reducer 426 reduces the rotational speed of the rotating shaft of the connected motor 424 (that is, the rotational speed of the input shaft) at a predetermined reduction ratio and transmits the reduced speed to the output shaft.
- the configuration of the speed reducer 426 is not limited to a specific one, and various known types of speed reducers may be used as the speed reducer 426.
- the speed reducer 426 it is preferable to use a speed reduction ratio that can be set with high accuracy, such as Harmonic Drive (registered trademark).
- the reduction ratio of the reduction gear 426 can be appropriately set according to the application of the actuator 430. For example, if the actuator 430 is applied to the joint portions 421a to 421f of the support arm device 400 as in the present embodiment, a speed reducer 426 having a reduction ratio of about 1: 100 can be suitably used.
- Encoder 427 detects the rotation angle of the input shaft (that is, the rotation angle of the rotation shaft of motor 424). Based on the rotational speed of the input shaft detected by the encoder 427 and the reduction ratio of the speed reducer 426, information such as the rotational angles, rotational angular velocities, and rotational angular accelerations of the joint portions 421a to 421f can be obtained.
- the encoder 427 various known rotary encoders such as a magnetic encoder and an optical encoder may be used. In the illustrated example, the encoder 427 is provided only on the input shaft of the actuator 430. However, an encoder for detecting the rotation angle of the output shaft of the actuator 430 is further provided downstream of the speed reducer 426. Also good.
- the torque sensor 428 is connected to the output shaft of the actuator 430 and detects torque acting on the actuator 430. Torque sensor 428 detects torque (generated torque) output by actuator 430. The torque sensor 428 can also detect external torque applied to the actuator 430 from the outside.
- the configuration of the actuator 430 according to the present embodiment has been described above with reference to FIG.
- the encoder 427 and the torque sensor 428 provided in each actuator 430 act on the rotation angles of the joint portions 421 a to 421 f and the joint portions 421 a to 421 f. Torque is detected respectively.
- the torque acting on each joint portion 421a to 421f detected by the torque sensor 428 may include a force acting on the arm portion 420 and / or the retractor 423.
- the torque that should be generated by the actuator 430 of each joint portion 421a to 421f in order for the arm portion 420 to realize a desired operation is calculated, and the torque is used as a control value for each joint.
- the actuators 430 of the parts 421a to 421f are driven.
- a specific control method of the support arm device 400 by force control will be described in detail in the following (3. Control method of the support arm device).
- the configuration illustrated in FIG. 7 is merely an example of the configuration of the actuator 430 according to the present embodiment, and the present embodiment is not limited to such an example.
- the actuator 430 various known actuators that are generally used in various devices whose operations are controlled by force control can be used.
- FIG. 8 is a block diagram illustrating a control method of the support arm device 400 according to the present embodiment.
- attention is paid to one actuator 430 constituting the arm portion 420 of the support arm device 400, and a process flow when controlling the driving of the actuator 430 is illustrated as a block diagram.
- the operation of the arm portion 420 is controlled.
- FIG. 8 schematically shows a conceptual computing unit that performs various computations related to the drive control of the actuator 430.
- the processing in each of these blocks (calculators) can be executed by the control device 440 described above.
- the block diagram shown in FIG. 8 merely shows an example of processing when the actuator 430 is driven by force control, and the present embodiment is not limited to such an example.
- a drive control method of the actuator 430 various known control methods generally used as a control method for force control may be used.
- each actuator 430 of the support arm device 400 is modeled by a motion equation of a second-order lag system represented by the following formula (1).
- q is a rotation angle of the actuator 430
- q ref is a target rotation angle value of the actuator 430
- I a is an inertia moment (inertia) in the actuator 430
- ⁇ a is a generated torque of the actuator 430
- ⁇ e is an actuator 430 from the outside.
- the external torque ⁇ a acting on the actuator 430 is a viscous resistance coefficient.
- the above mathematical formula (1) is a theoretical model representing the motion of the actuator 430 in each joint portion 421a to 421f.
- the generated torque ⁇ a is generally used in a control system called so-called whole body cooperative control (a control system that controls the driving of a plurality of driving units (actuators) in cooperation with each other to realize a desired operation as a whole). It may be calculated by the method that is used.
- whole body cooperative control a control system that controls the driving of a plurality of driving units (actuators) in cooperation with each other to realize a desired operation as a whole. It may be calculated by the method that is used.
- JP-A-2009-95959 and JP-A-2010-188471 which are prior patent applications by the applicant of the present application, can be referred to.
- an error may occur between the actual motion of the actuator 430 and the theoretical model shown in the above equation (1) due to the influence of various disturbances.
- the modeling error is caused by mass properties such as the weight, the center of gravity, and the inertia tensor of the multi-link structure (that is, the arm part 420 to be controlled), and by the friction and inertia in the actuator 430. It can be divided roughly. Among them, the modeling error due to the former mass property can be reduced relatively easily during the construction of the theoretical model by increasing the accuracy of CAD (Computer Aided Design) data and applying an identification method.
- CAD Computer Aided Design
- the modeling error caused by the friction and inertia in the latter actuator 430 is caused by a phenomenon that is difficult to model, such as friction in the speed reducer 426. Therefore, when building a theoretical model showing the motion of the actuator 430, modeling errors that cannot be ignored may remain. Further, there is the value of inertia I a and viscosity resistance coefficient [nu a in the above equation (1), a possibility that an error occurs between these values in the actual actuator 430. These errors caused by friction, inertia, and the like inside the actuator 430 that are difficult to model can cause disturbances in the drive control of the actuator 430. Therefore, due to the influence of such disturbance, the actuator motion does not actually respond according to the theoretical model shown in the above formula (1), that is, a desired operation may not be realized.
- the response of the actuator 430 is corrected so as to perform an ideal response according to the theoretical model shown in the formula (1).
- this is referred to as ideal joint control.
- the block diagram shown in FIG. 8 shows a series of processes in the ideal joint control for the actuator 430 of one joint part among the joint parts 421a to 421f of the support arm device 400.
- the actuator 610 schematically shows the mechanism of the actuator 430 shown in FIG. 7, for example.
- a motor 611, a speed reducer 612, an encoder 613, and a torque sensor 614 are shown as components of the actuator 610. These correspond to the motor 424, the speed reducer 426, the encoder 427, and the torque sensor 428 shown in FIG.
- the calculator 631 is a calculator that performs a calculation in accordance with an ideal joint model (Ideal Joint Model) of the actuator 610 (that is, the joint portions 421a to 421f) shown in the above formula (1).
- the computing unit 631 receives the generated torque ⁇ a , the external torque ⁇ e , and the rotational angular velocity (the first derivative of the rotational angle q) as inputs, and the rotational angular acceleration target value (the rotational angle target value q shown in the left side of the above equation (1). 2nd order derivative of ref ) can be output.
- the actuator 610 responds in accordance with the theoretical model expressed by the mathematical formula (1), and when the right side of the mathematical formula (1) is given, the rotational angular acceleration on the left side is achieved. It is none other than. However, as described above, due to the influence of disturbance, an ideal response according to the above formula (1) may not actually occur. Therefore, in this embodiment, a disturbance observer 620 is introduced.
- the disturbance observer 620 calculates a disturbance estimated value ⁇ d that is an estimated value of torque caused by the disturbance, and performs a process of correcting the calculation result by the calculator 631 using the disturbance estimated value ⁇ d .
- a generated torque ⁇ a calculated based on a method used in general force control and an external torque ⁇ e detected by the torque sensor 614 are input to the calculator 631. Is done.
- the rotation angle q of the actuator 610 detected by the encoder 613 is input to the calculator 632 that performs the differential calculation, the rotation angular velocity (first-order differential of the rotation angle q) of the actuator 610 is calculated.
- the rotational angular velocity calculated by the calculator 632 is input to the calculator 631, whereby the calculator 631 causes the rotation angular acceleration target value (second-order differential of q ref to be calculated). ) Is calculated.
- the calculated rotational angular acceleration target value is input to the calculator 633.
- the calculator 633 is a calculator that calculates torque generated in the actuator 610 based on the rotational angular acceleration of the actuator 610.
- the computing unit 633 the rotation angular acceleration target value calculated by the arithmetic unit 631, by multiplying the nominal inertia (nominal inertia) J n of the actuator 610, torque target value tau ref Is calculated.
- the actuator 610 is driven to output the torque target value ⁇ ref so that a desired operation should be realized.
- the actual response has a disturbance. Etc. may occur. Therefore, in the present embodiment, the target torque value ⁇ ref is corrected using the estimated disturbance value ⁇ d calculated by the disturbance observer 620.
- the configuration of the disturbance observer 620 will be described.
- the disturbance observer 620 calculates a disturbance estimated value ⁇ d based on the torque command value ⁇ and the rotation angular velocity calculated from the rotation angle q of the actuator 610 detected by the encoder 613.
- the torque command value ⁇ is a command value finally given to the actuator 610 after the influence of the disturbance is corrected. That is, in the control system shown in FIG. 8, the actuator 610 is driven to output the torque command value ⁇ .
- the torque command value ⁇ is substantially equal to the torque target value ⁇ ref .
- the disturbance observer 620 includes a calculator 634 and a calculator 635.
- the calculator 634 is a calculator that calculates torque generated in the actuator 610 based on the rotational angular velocity of the actuator 610.
- the calculator 634 receives the rotation angular velocity calculated by the calculator 632 based on the rotation angle q detected by the encoder 613.
- the computing unit 634 obtains the rotational angular acceleration by performing the computation represented by the transfer function J n s on the input rotational angular velocity, that is, differentiates the rotational angular velocity, and further calculates the calculated rotational speed. by multiplying the nominal inertia J n angular acceleration is calculated actually estimated value of the torque acting on the actuator 610 (torque estimated value).
- a difference between the estimated torque value and the torque command value ⁇ is taken to estimate a disturbance estimated value ⁇ d that is a torque value due to the disturbance.
- the disturbance estimated value ⁇ d is a difference between the torque command value ⁇ in the control one step before and the torque estimated value in the control in the current step.
- the estimated torque value calculated by the calculator 634 is based on an actual measurement value
- the torque command value ⁇ calculated by the calculator 633 is based on an ideal theoretical model of the actuator 610 calculated by the calculator 631. Therefore, by taking the difference between them, it is possible to estimate the influence of a disturbance that is not considered in the theoretical model.
- the computing unit 635 is a computing unit having a function of a low pass filter (LPF) provided to prevent divergence of the system.
- the calculator 635 outputs only the low frequency component of the input value by performing the calculation represented by the transfer function g / (s + g), and stabilizes the system.
- the difference value between the estimated torque value calculated by the calculator 634 and the target torque value ⁇ ref is input to the calculator 635, and the low frequency component is calculated as the estimated disturbance value ⁇ d .
- a torque command value ⁇ is calculated.
- the calculated torque command value ⁇ is input to a block 636 representing a joint portion.
- a block 636 represents the joint portions 421a to 421f (that is, the actuator 610) in a simulated manner.
- the actuator 610 is driven based on the torque command value ⁇ . Specifically, in block 636, the torque command value ⁇ is converted into a corresponding current value (current command value), and the current command value is applied to the motor 611, whereby the torque corresponding to the torque command value ⁇ .
- the actuator 610 is driven so as to output.
- the processing described above is performed on the actuators 430 of the joint portions 421a to 421f constituting the arm portion 420 of the support arm device 400, so that the arm portion 420 performs a desired operation.
- the operation of 420 can be controlled.
- the force control when the generated torque ⁇ a is calculated, various operations are performed in the arm unit 420 by calculating the generated torque ⁇ a after giving various motion purposes and constraint conditions. Can do.
- the purpose of exercise is a desired operation that the arm unit 420 wants to perform, and the constraint condition is a position, speed, force, etc. imposed on the operation of the arm unit 420 when the arm unit 420 operates. It is a restriction.
- the force acting on the joints 421a to 421f by the torque sensor 428 of the actuator 430 provided in each joint 421a to 421f, that is, the arm 420 and the retractor 423 is applied.
- the acting force (the force applied to an external object in contact with the arm part 420 and the retractor 423 and the force applied from the outside to the arm part 420 and the retractor 423) is monitored successively.
- the driving of the arm unit 420 may be controlled so that the force acting on the retractor 423 does not exceed a predetermined threshold value by appropriately setting the purpose of exercise and the constraint condition.
- the retractor 423 By performing such control, for example, when a force larger than a predetermined threshold is applied to the retractor 423, the force is released (that is, the force acting on the retractor 423 is canceled).
- the arm part 420 can be operated. Accordingly, when the retractor 423 is moved in the body cavity, or when the organ is moved unintentionally while the organ is being held by the retractor 423, the retractor 423 performs a predetermined operation. A force larger than the magnitude can be prevented from being applied to the organ, and the situation where the organ is damaged can be avoided.
- the force acting on the retractor 423 is detected based on the weight of the held organ, and the force acting on the retractor 423 is canceled based on the detected weight of the organ.
- the driving of the arm unit 420 may be controlled. By performing such control, when the surgeon manually moves the arm unit 420 while holding the organ by the retractor 423, the surgeon does not feel the weight of the organ and the arm unit with a smaller force. 420 can be moved.
- the operation of the arm unit 420 may be controlled so as to realize a so-called power assist operation.
- the power assist operation is one of the controls that are generally performed widely in various devices driven by force control.
- the driving of the arm unit 420 is controlled so as to support the movement of the arm unit 420 in the direction of the force applied from the outside according to the operation by the operator.
- various types of control generally performed in force control may be applied to drive control of the support arm device 400.
- FIG. 9 is a diagram showing an example of organ holding by the retractor during laparotomy.
- the portal branch right vein 703 and a part of the liver tissue are respectively held by the two retractors 701 a and 701 b having curved spatula tips, and the caudate lobe protrusion of the liver A state in which a part of 705 is exposed is illustrated.
- the retractors 701a and 701b are inserted into the patient's body cavity from the laparotomy site and hold the organ in the body cavity.
- the retractors 701a and 701b can be supported by the two support arm devices 400, respectively.
- FIG. 10 is a diagram schematically showing insertion positions of the endoscope, forceps, and retractor to the patient at the time of endoscopic surgery.
- FIG. 11 is a view showing an example of holding an organ in a body cavity of a patient by the forceps and the retractor shown in FIG.
- a patient 801 is provided with several small insertion openings in the body, from which various endoscopes 803, forceps 805, 807, retractors 809, etc.
- a medical instrument is inserted.
- the state of the surgical site in the body cavity is photographed by the endoscope 803 and displayed on a display device installed in the operating room.
- the surgeon operates the treatment tools such as the forceps 805 and 807 and the retractor 809 inserted from the insertion port while viewing the image of the surgical site displayed on the display device, and performs various treatments on the surgical site. I do.
- the gallbladder serosa is hooked by a retractor 809 having a claw-like tip similar to the retractor 423 c shown in FIG. 5, and the bottom of the gallbladder by forceps 805 and 807.
- a state in which both ends of the handle are gripped is shown.
- the endoscope 803 is not shown in FIG.
- the retractor 809 can be supported by the support arm device 400.
- the application example of the support arm device 400 according to the present embodiment to the operation has been specifically described.
- the retractors 701 a, 701 b, and 809 that hold a patient's organ during surgery can be supported by the support arm device 400. Therefore, as compared with the case where the support of the organ has been performed manually, it is possible to reduce the burden on the doctor (assistant) who supports the organ and to hold the organ more stably.
- the support arm device 400 since the operation of the arm unit 420 is controlled by force control, it is possible to suitably prevent the surrounding organs from being damaged by the retractors 701a, 701b, and 809 during the operation. .
- an operation that further improves the operability of the operator who operates the arm unit 420 to hold the organ such as a power assist operation, can be performed by the arm unit 420.
- this modification corresponds to the support arm device 400 according to the above-described embodiment in which the configuration of the retractor 423 is changed, and other matters such as the configuration of the support arm device 400 and the control method thereof are described above. It may be the same as the embodiment described above. Accordingly, in the following description of the present modification, matters that are different from the above-described embodiment will be mainly described, and detailed descriptions of duplicate items will be omitted.
- FIG. 12 is a view showing an example of a retractor according to this modification.
- a force sensor 432 is provided at a site that contacts the organ of the retractor 431.
- FIG. 12 as an example, a configuration in which a force sensor 432 is provided for a spatula-like retractor 431 similar to the retractor 423a shown in FIG. 3 is illustrated, but a retractor having another shape is used. Even if it exists, the force sensor 432 may be similarly provided in the site
- the retractor 431 provided with the force sensor 432 as shown in FIG. 12 is supported by the support arm device 400 shown in FIG. 2, and the organ is held by the retractor 431.
- the force sensor 432 is, for example, a pressure sensor that detects a force pressing the force sensor 432, and the force sensor 432 is held by the retractor 431 so that the force sensor 432 contacts the organ. By means of which the contact pressure by the organ can be detected.
- the force sensor 432 may be, for example, a strain sensor that detects a stress corresponding to the amount of deformation of the retractor 431 to which the force sensor 432 is attached.
- the force sensor A detection value of 432 is used.
- the arm unit is configured using the detected force acting on the retractor 431.
- the slip of the organ with respect to the retractor 431 may be detected using the detection value of the force sensor 432.
- Various known methods may be used as a method for detecting slippage.
- a method described in Japanese Patent Application Laid-Open No. 2009-34744, which is a prior patent application filed by the present applicant, will be described.
- FIG. 13 is a diagram illustrating a configuration example of the force sensor 432 used for detecting slippage.
- FIG. 13 illustrates a top view ((a)) and a side sectional view ((b)) of the force sensor 432.
- the layers constituting the force sensor 432 are illustrated in a state where the layers are transmitted stepwise.
- the force sensor 432 is mainly detected by the input unit 31 that is a part that is deformed and detects pressure by contact with an object, a fixing unit 32 that supports the input unit 31, and a detection by the force sensor 432.
- the external connection unit 33 outputs the result to the outside (for example, the control device 440 shown in FIG. 2).
- the input unit 31 is mainly configured by stacking a pressure detection unit 42 and a deformation unit 41 in this order.
- the deforming portion 41 is made of, for example, a viscoelastic material (viscoelastic body) having a viscoelastic property such as a silicon gel material, and can be easily deformed by an external load.
- the pressure detection unit 42 includes, for example, a capacitance type pressure sensor that detects pressure by using a change in capacitance.
- the deformed portion 41 When the organ comes into contact with the detection surface of the force sensor 432, the deformed portion 41 is deformed by the contact, and the pressure corresponding to the deformation of the deformed portion 41 is detected by the pressure detecting portion 42.
- the pressure detection unit 42 can detect the pressure as an in-plane force distribution.
- the deformation of the deformation unit 41 causes stress dispersion, and the pressure is diffused to the internal pressure detection unit 42. Therefore, sensing performance that is higher than the spatial resolution of the capacitive pressure sensor can be obtained.
- the information about the in-plane distribution of the force detected by the pressure detection unit 42 is transmitted to, for example, the control device 440 of the support arm device 400 illustrated in FIG. 2 via the external connection unit 33.
- the control device 440 obtains the pressure center position based on the in-plane distribution of the force detected by the pressure detection unit 42, and monitors the amount of change in the pressure center position with time, so that The slip of the organ (with respect to the retractor 431) and the amount of the slip can be detected.
- the operation of the support arm device 400 may be controlled so as to perform an operation that can continue to hold the organ.
- the operation of the arm unit 420 is controlled so that the operation of maintaining the organ can be performed when the slip amount of the organ with respect to the retractor 431 is detected and the slip amount is larger than a predetermined threshold value. Good.
- the support arm device 400 issues a warning to the operator when an organ slip relative to the retractor 431 is detected.
- the warning may be audibly notified to the operator by sound, or may be visually notified to the operator by light.
- the support arm device 400 can be suitably provided with a sound output device such as a speaker for issuing the warning and a display device such as a lamp. The surgeon who has received the warning can appropriately operate the arm unit 420 so that the organ is reliably held by the retractor 431.
- the support arm device 400 may automatically operate the arm unit 420 so that the organ is reliably held when the slip of the organ with respect to the retractor 431 is detected.
- the support arm device 400 can be operated by the retractor 431 when slippage of the organ with respect to the retractor 431 is detected.
- the arm part 420 can be operated so that the organ is pressed more.
- the detection value of the force sensor 432 provided in the retractor 431 is not necessarily required to detect the slip of the organ with respect to the retractor 431.
- vibration that may occur in the retractor 431 and the arm unit 420 due to slipping can be detected based on a detection value by the torque sensor 428 of the actuator 430 of each joint unit 421a to 421f.
- the support arm device 400 appropriately controls so as to perform various operations that can continue to hold the organ based on the slip of the organ with respect to the retractor 431 detected based on the detection value by the torque sensor 428. Can be done.
- a medical support arm device comprising: an arm part whose drive is controlled by force control; and a retractor that is provided at a distal end of the arm part and holds a patient's organ during surgery.
- a torque sensor for detecting a torque acting on each joint portion is provided in each joint portion constituting the arm portion, and a force acting on the retractor based on each detection value of the torque sensor.
- the medical support arm device according to (1) above in which is detected.
- a medical support arm device Based on the detected force acting on the retractor, the driving of the arm unit is controlled so as to cancel the force acting on the retractor by the weight of the organ, (2) or (3) A medical support arm device according to claim 1.
- a force sensor is provided at a portion of the retractor that contacts the organ, and a force acting on the retractor is further detected based on a detection value of the force sensor.
- a torque sensor that detects torque acting on each joint portion is provided in each joint portion that constitutes the arm portion, and based on each detection value of the torque sensor, the organ with respect to the retractor
- the medical support arm device according to any one of (1) to (5), wherein slippage is detected.
- a force sensor is provided at a portion of the retractor that contacts the organ, and slippage of the organ with respect to the retractor is detected based on a detection value of the force sensor.
- the medical support arm device according to Item.
- the retractor holds the incised body wall at the laparotomy site so as to spread outward so that an opening at the laparotomy site is secured at the time of laparotomy.
- the medical support arm device according to any one of the above.
- Support arm device (12)
- the retractor is inserted into a body cavity from an insertion port provided in a body wall of a patient during endoscopic surgery, and holds the organ in the body cavity. 2.
- a medical support arm device according to item 1.
- Support arm device 410
- Base part 420 510 Arm part 421a to 421f, 511a to 511f Joint part 423, 423a, 423b, 423c, 423d, 431, 701a, 701b, 809 Retractor 430, 610 Actuator 424, 611 Motor 426 , 612 Reducer 427, 613 Encoder 428, 614 Torque sensor 440 Control device 432 Force sensor
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Abstract
Description
1.支持アーム装置を用いた手術の概要
2.支持アーム装置の構成
2-1.全体構成
2-2.アクチュエータの構成
3.支持アーム装置の制御方法
4.支持アーム装置の手術への適用例
4-1.開腹手術への適用例
4-2.内視鏡手術への適用例
5.変形例
6.補足
本開示の好適な一実施形態に係る支持アーム装置の構成について詳細に説明するに先立ち、本開示をより明確なものとするために、本実施形態に係る支持アーム装置を用いた手術の概要について説明する。
(2-1.全体構成)
図2を参照して、本実施形態に係る支持アーム装置の全体構成について説明する。図2は、本実施形態に係る支持アーム装置の全体構成を示す図である。
図7を参照して、図2に示す支持アーム装置400の関節部421a~421fに搭載されるアクチュエータの構成について説明する。図7は、図2に示す支持アーム装置400の関節部421a~421fに搭載されるアクチュエータの一構成例を示す断面図である。図3では、本実施形態に係るアクチュエータを、回転軸を通る平面で切断した場合における断面図を図示している。
図8を参照して、本実施形態に係る支持アーム装置400の制御方法について説明する。図8は、本実施形態に係る支持アーム装置400の制御方法を示すブロック図である。図8では、支持アーム装置400のアーム部420を構成する1つのアクチュエータ430に注目し、当該アクチュエータ430の駆動を制御する際の処理の流れをブロック図として図示している。各関節部421a~421fに設けられる各アクチュエータ430に対して同様の処理が行われることにより、アーム部420の動作が制御されることとなる。
本実施形態に係る支持アーム装置400の手術への適用例について具体的に説明する。
図9は、開腹手術時におけるレトラクタによる器官の保持の一例を示す図である。図9では、一例として、湾曲したへら状の先端部を有する2つのレトラクタ701a、701bによって、門枝右脈703、及び肝臓の組織の一部が、それぞれ保持され、肝臓の尾状葉突起部705の一部が露出されている様子が図示されている。このように、開腹手術時には、レトラクタ701a、701bが、開腹部位から患者の体腔内に挿入され、当該体腔内において器官を保持する。本適用例では、当該レトラクタ701a、701bが、2台の支持アーム装置400によって、それぞれ支持され得る。
図10は、内視鏡手術時における患者への内視鏡、鉗子及びレトラクタの挿入位置を概略的に示す図である。図11は、図10に示す鉗子及びレトラクタによる、患者の体腔内での器官の保持の一例を示す図である。
以上説明した実施形態の一変形例について説明する。以上説明した実施形態では、レトラクタ423に作用する力は、各関節部421a~421fのアクチュエータ430のトルクセンサ428の検出値に基づいて検出されていた。一方、本変形例では、レトラクタ423にも力センサが設けられ、当該力センサによる検出値に更に基づいて、レトラクタ423に作用する力が検出され得る。
以上、添付図面を参照しながら本開示の好適な実施形態について詳細に説明したが、本開示の技術的範囲はかかる例に限定されない。本開示の技術分野における通常の知識を有する者であれば、特許請求の範囲に記載された技術的思想の範疇内において、各種の変更例または修正例に想到し得ることは明らかであり、これらについても、当然に本開示の技術的範囲に属するものと了解される。
(1)力制御によって駆動が制御されるアーム部と、前記アーム部の先端に設けられ、手術時に患者の器官を保持するレトラクタと、を備える、医療用支持アーム装置。
(2)前記アーム部を構成する各関節部に、前記各関節部に作用するトルクをそれぞれ検出するトルクセンサが設けられ、前記トルクセンサの各々の検出値に基づいて、前記レトラクタに作用する力が検出される、前記(1)に記載の医療用支持アーム装置。
(3)検出された前記レトラクタに作用する力が所定のしきい値を超えないように、前記アーム部の駆動が制御される、前記(2)に記載の医療用支持アーム装置。
(4)検出された前記レトラクタに作用する力に基づいて、前記器官の重量によって前記レトラクタに作用する力を打ち消すように、前記アーム部の駆動が制御される、前記(2)又は(3)に記載の医療用支持アーム装置。
(5)前記レトラクタの前記器官と接触する部位に力センサが設けられ、前記力センサの検出値に更に基づいて、前記レトラクタに作用する力が検出される、前記(2)~(4)のいずれか1項に記載の医療用支持アーム装置。
(6)前記アーム部を構成する各関節部に、前記各関節部に作用するトルクをそれぞれ検出するトルクセンサが設けられ、前記トルクセンサの各々の検出値に基づいて、前記レトラクタに対する前記器官の滑りが検出される、前記(1)~(5)のいずれか1項に記載の医療用支持アーム装置。
(7)前記レトラクタの前記器官と接触する部位に力センサが設けられ、前記力センサの検出値に基づいて、前記レトラクタに対する前記器官の滑りが検出される、前記(1)~(6)のいずれか1項に記載の医療用支持アーム装置。
(8)前記レトラクタに対する前記器官の滑りが検出された場合に、ユーザに対して警告が発せられる、前記(6)又は(7)に記載の医療用支持アーム装置。
(9)ユーザによる操作に応じて外部から与えられる力の方向への前記アーム部の移動をサポートするように前記アーム部の駆動が制御される、前記(1)~(8)のいずれか1項に記載の医療用支持アーム装置。
(10)前記レトラクタは、開腹手術時に、開腹部位における開口が確保されるように、当該開腹部位における切開された体壁を外側に向かって広げるように保持する、前記(1)~(9)のいずれか1項に記載の医療用支持アーム装置。
(11)前記レトラクタは、開腹手術時に、開腹部位から患者の体腔内に挿入され、当該体腔内において前記器官を保持する、前記(1)~(9)のいずれか1項に記載の医療用支持アーム装置。
(12)前記レトラクタは、内視鏡手術時に、患者の体壁に設けられる挿入口から体腔内に挿入され、当該体腔内において前記器官を保持する、前記(1)~(9)のいずれか1項に記載の医療用支持アーム装置。
410 ベース部
420、510 アーム部
421a~421f、511a~511f 関節部
423、423a、423b、423c、423d、431、701a、701b、809 レトラクタ
430、610 アクチュエータ
424、611 モータ
426、612 減速機
427、613 エンコーダ
428、614 トルクセンサ
440 制御装置
432 力センサ
Claims (12)
- 力制御によって駆動が制御されるアーム部と、
前記アーム部の先端に設けられ、手術時に患者の器官を保持するレトラクタと、
を備える、
医療用支持アーム装置。 - 前記アーム部を構成する各関節部に、前記各関節部に作用するトルクをそれぞれ検出するトルクセンサが設けられ、
前記トルクセンサの各々の検出値に基づいて、前記レトラクタに作用する力が検出される、
請求項1に記載の医療用支持アーム装置。 - 検出された前記レトラクタに作用する力が所定のしきい値を超えないように、前記アーム部の駆動が制御される、
請求項2に記載の医療用支持アーム装置。 - 検出された前記レトラクタに作用する力に基づいて、前記器官の重量によって前記レトラクタに作用する力を打ち消すように、前記アーム部の駆動が制御される、
請求項2に記載の医療用支持アーム装置。 - 前記レトラクタの前記器官と接触する部位に力センサが設けられ、
前記力センサの検出値に更に基づいて、前記レトラクタに作用する力が検出される、
請求項3に記載の医療用支持アーム装置。 - 前記アーム部を構成する各関節部に、前記各関節部に作用するトルクをそれぞれ検出するトルクセンサが設けられ、
前記トルクセンサの各々の検出値に基づいて、前記レトラクタに対する前記器官の滑りが検出される、
請求項1に記載の医療用支持アーム装置。 - 前記レトラクタの前記器官と接触する部位に力センサが設けられ、
前記力センサの検出値に基づいて、前記レトラクタに対する前記器官の滑りが検出される、
請求項1に記載の医療用支持アーム装置。 - 前記レトラクタに対する前記器官の滑りが検出された場合に、ユーザに対して警告が発せられる、
請求項7に記載の医療用支持アーム装置。 - ユーザによる操作に応じて外部から与えられる力の方向への前記アーム部の移動をサポートするように前記アーム部の駆動が制御される、
請求項1に記載の医療用支持アーム装置。 - 前記レトラクタは、開腹手術時に、開腹部位における開口が確保されるように、当該開腹部位における切開された体壁を外側に向かって広げるように保持する、
請求項1に記載の医療用支持アーム装置。 - 前記レトラクタは、開腹手術時に、開腹部位から患者の体腔内に挿入され、当該体腔内において前記器官を保持する、
請求項1に記載の医療用支持アーム装置。 - 前記レトラクタは、内視鏡手術時に、患者の体壁に設けられる挿入口から体腔内に挿入され、当該体腔内において前記器官を保持する、
請求項1に記載の医療用支持アーム装置。
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JP2017507555A JP6733660B2 (ja) | 2015-03-25 | 2016-02-02 | 医療用支持アーム装置 |
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US15/554,754 US10856726B2 (en) | 2015-03-25 | 2016-02-02 | Medical support arm apparatus |
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US20180042464A1 (en) | 2018-02-15 |
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