WO2016190401A1

WO2016190401A1 - Medical manipulator system

Info

Publication number: WO2016190401A1
Application number: PCT/JP2016/065636
Authority: WO
Inventors: 卓未磯田; 西澤　幸司
Original assignee: オリンパス株式会社
Priority date: 2015-05-27
Filing date: 2016-05-26
Publication date: 2016-12-01
Also published as: JPWO2016190401A1

Abstract

The present invention avoids interference between a plurality of medical manipulators even when the positions of the plurality of medical manipulators are changed with respect to a bed during surgery. The present invention provides a medical manipulator system (1) provided with: a bed (2) on which a patient lies; bases (7) which are movably disposed with respect to the bed (2); a plurality of medical manipulators (3b, 3c) which are respectively provided with a plurality of arms mounted on the bases (7); a position detecting unit (4) which detects the respective positions of the bases (7) of the medical manipulators (3b, 3c) with respect to the bed (2); and a control unit (6) which controls the plurality of arms by using a common control coordinate system on the basis of the positions of the bases(7) detected by the position detecting unit (4).

Description

Medical manipulator system

The present invention relates to a medical manipulator system.

Conventionally, a plurality of manipulators for holding a treatment tool and a scope for photographing a treatment site are arranged around a bed where a patient lies, and the treatment tool and the affected part reflected on an image acquired by the scope are confirmed on a monitor while the treatment tool is used. There is known a robotic surgery system that uses it to treat an affected area (for example, see Patent Document 1).

Japanese Patent No. 3540362

However, in the robot surgical system of Patent Document 1, it is assumed that the installation position of the manipulator on the bed is moved to a position suitable for treatment during the operation, and in such a case, the manipulators may interfere with each other.
The present invention has been made in view of the above-described circumstances, and provides a medical manipulator system capable of avoiding interference between manipulators even if the positions of a plurality of manipulators with respect to a bed are changed during operation. It is aimed.

In order to achieve the above object, the present invention provides the following means.
One embodiment of the present invention includes a plurality of medical manipulators including a base movably arranged with respect to a bed, and an arm mounted on the base, and a position of each of the medical manipulators with respect to the bed. A medical manipulator system comprising: a position detection unit that detects a plurality of arms; and a control unit that controls the plurality of arms using a common control coordinate system based on the position of the base detected by the position detection unit. is there.

According to this aspect, the position of each base of the plurality of medical manipulators with respect to the bed is detected by the position detection unit, and the arm mounted on each base is controlled by the control unit using a common control coordinate system. Thus, even if the positions of the plurality of medical manipulators with respect to the bed are changed during the operation, the interference arms between the arms can be avoided.

In the above aspect, the rail includes a rail fixed to the bed, the base is movably attached along a longitudinal direction of the rail, and the position detection unit reaches the base from a predetermined position of the bed. The upper distance may be measured.
In this way, since the movement of the base is limited in the longitudinal direction of the rail, the position detection unit can detect the position of the base relative to the bed only by measuring the distance between the predetermined position of the bed and the base. Can do.

In the above aspect, the position detection unit is provided on either the bed or the base and is provided on either the bed or the base, a light wave irradiation unit that emits a light wave in a direction along the rail, and the light wave A light receiving unit that receives a light wave irradiated by the irradiation unit and reflected by one of the end of the rail and the base, and a distance between the end of the rail and the base based on the light wave received by the light receiving unit. And a distance calculating unit for calculating.
By doing so, the light wave emitted from the light wave irradiation unit is received by the light receiving unit, and the distance between the end portion of the rail and the base is calculated by the distance calculation unit based on the received light wave. Here, the light wave irradiation unit and the light receiving unit are provided with the light wave irradiation unit on either the bed or the base, the light receiving unit is provided on the other, and the light receiving unit directly receives the light wave emitted from the light wave irradiation unit. And it includes both cases where the light wave irradiation part and the light receiving part are provided on one of the bed or the base and the light wave reflected on the other is received.

In the above aspect, the position detection unit is provided in any one of the bed and the base and emits a sound wave in a direction along the rail, and is provided in either the bed or the base, and the sound wave A sound receiving unit that receives a sound wave irradiated by the irradiation unit and reflected by either the end of the rail or the base, and the end of the rail and the base based on the sound wave received by the sound receiving unit A distance calculation unit that calculates the distance may be provided.

By doing in this way, when the sound wave emitted from the sound wave irradiation unit is received by the sound receiving unit, the distance between the end portion of the rail and the base is calculated by the distance calculation unit based on the received sound wave. . Here, the sound wave receiving unit and the sound receiving unit are provided with either the sound wave irradiation unit on the bed or the base, and the sound receiving unit is provided on the other side, and the sound receiving unit directly receives the sound wave emitted from the sound wave irradiation unit. And the case where the sound wave irradiation part and the sound receiving part are provided on one of the bed or the base and the sound wave reflected on the other is received.

In the above aspect, the position detection unit may include a rolling element that rolls on the rail by the movement of the base, and an encoder that detects a rotation amount of the rolling element.
By doing in this way, when the base moves relative to the bed, the rolling element rolls on the rail, and the amount of rotation is detected by the encoder, whereby the amount of movement of the base can be detected. By determining the position of the base before the movement with respect to the bed, the position after the movement can also be detected based on the detected movement amount.

In the above aspect, the position detection unit is provided on the base and an inclined surface that is inclined at a predetermined angle in one direction along the longitudinal direction of the rail, and a distance for measuring a distance between the base and the inclined surface. A measuring unit, and a distance along a longitudinal direction of the rail with respect to a predetermined position of the bed may be measured based on the distance detected by the distance measuring unit.
By doing so, when the base moves along the longitudinal direction of the rail, the distance between the base and the inclined surface changes in proportion to the moving distance. Therefore, the distance measuring unit changes the distance between the base and the inclined surface. By measuring, the movement distance of the base can be obtained.
In the above aspect, the base may be provided so as to be detachable from the bed.

According to the present invention, there is an effect that interference between medical manipulators can be avoided even if the positions of a plurality of medical manipulators with respect to the bed are changed during the operation.

It is a whole lineblock diagram showing the medical manipulator system concerning one embodiment of the present invention. It is a front view which shows the bed and manipulator of the medical manipulator system of FIG. It is a top view of the bed and manipulator which show the 1st modification of the medical manipulator system of FIG. FIG. 4 is a longitudinal sectional view of a rail and a manipulator base provided in the bed of FIG. 3. It is a top view of the bed and manipulator which show the 2nd modification of the medical manipulator system of FIG. It is a longitudinal cross-sectional view which shows the rail with which the bed of FIG. 5 is equipped, and a position detection part. It is a top view of the bed and manipulator which show the 3rd modification of the medical manipulator system of FIG. It is a front view which shows the inclined surface attached to the rail with which the bed of FIG. 7 is equipped. It is a top view of the bed and manipulator which show the 4th modification of the medical manipulator system of FIG. It is a front view of the manipulator which shows the 5th modification of the medical manipulator system of FIG. It is a front view of the manipulator of FIG.

Hereinafter, a medical manipulator system 1 according to an embodiment of the present invention will be described with reference to the drawings.
As shown in FIGS. 1 and 2, a medical manipulator system 1 according to this embodiment includes a bed 2 that lies on a patient, and a plurality of, for example, three manipulators that are detachably attached to the sides of the bed 2. (Medical manipulators) 3 a, 3 b, 3 c, a position detection unit 4 that detects positions of the

manipulators

3 a, 3 b, 3 c and the bed 2, an operation unit 5 that is operated by an operator, and input by the operation unit 5 And a control unit 6 that controls the

manipulators

3a, 3b, and 3c based on the command signals and the positions of the

manipulators

3a, 3b, and 3c detected by the position detection unit 4.

Each of the

manipulators

3a, 3b, 3c includes a base 7 for detachably attaching the

manipulators

3a, 3b, 3c to the side of the bed 2 and an arm 8 mounted on the base 7. For example, as shown in FIG. 2, the arm 8 has a multi-joint structure, and the posture and position of the treatment section 9 can be arbitrarily changed.

In the example shown in FIG. 1, two

manipulators

3a, 3b, 3c are fixed on one side in the width direction of the bed 2 and one on the other side. As shown in FIG. 2, an observation device 10 such as an endoscope scope is attached to the tip of one of the manipulators 3a, and forceps or the like for treating the affected part are attached to the tips of the

other manipulators

3b and 3c. A treatment section 9 is attached.

As shown in FIG. 1, the position detection unit 4 is fixed to one end in the longitudinal direction of the bed 2 on both sides in the width direction of the bed 2, and determines the distance to the bases 7 of the

manipulators

3 a and 3 c adjacent in the longitudinal direction. Two distance sensors 11 to be measured and the base 7 of another manipulator 3b fixed to the base 7 of each

manipulator

3a, 3b, 3c and adjacent to the other end of the bed 2 in the longitudinal direction or other in the longitudinal direction of the bed 2 And a distance sensor 12 for measuring the distance to the end.

As the

distance sensors

11 and 12, a light wave is emitted from a light wave irradiation unit (not shown) along the longitudinal direction of the bed 2, and the light wave reflected at the other base 7 or the other longitudinal end of the bed 2 is received by a light receiving unit ( By receiving light by a not-shown optical device, an optical type that calculates the distance from the

distance sensors

11 and 12 to the base 7 by a distance calculating unit (not shown) based on the received light wave can be cited.
Outputs of the

distance sensors

11 and 12 are sent to the control unit 6.

The operation unit 5 has a similar or pseudo-similar structure with each arm 8 provided corresponding to each

manipulator

3a, 3b, 3c. When the operator operates the operation unit 5, the control unit 6 rotates the joint portion 13 of the arm 8 of each

manipulator

3a, 3b, 3c by an angle corresponding to the operation amount.

In this case, when the control unit 6 receives distance information from the

distance sensors

11 and 12 of the position detection unit 4, the control unit 6 controls the three

manipulators

3a, 3b, and 3c using a common control coordinate system. . That is, the position of the two bases 7 with respect to the bed 2 can be known from the distance information received from the distance sensor 11 provided on the bed 2.

When the sum of the distance L1 measured by the distance sensor 11 fixed to the bed 2 and the distances L2 and L3 measured by the distance sensor 12 fixed to the base 7 is shorter than a predetermined length, It can be recognized that another base 7 exists. In the example shown in FIG. 1, the distance L1 measured by the distance sensor 11 fixed to the bed 2 on one side in the width direction of the bed 2 and the distance sensor 12 fixed to the two bases 7 are measured. Since the sum of the distances L2 and L3 is a predetermined length equivalent to the length of the bed 2, the control unit 6 has two

manipulators

3a and 3b fixed to one side in the width direction of the bed 2. Can be recognized.

Similarly, the distance L4 measured by the distance sensor 11 fixed to the bed 2 on the other side in the width direction of the bed 2 and the distance L5 measured by the distance sensor 12 fixed to one base 7 Since the total is a predetermined length equivalent to the length of the bed 2, the control unit 6 can recognize that the single manipulator 3 c is fixed to the other side in the width direction of the bed 2. Therefore, the position of each part of the arm 8 mounted on the base 7 and the position of the treatment part 9 at the tip of the arm 8 can be managed in a common control coordinate system.

That is, the control unit 6 can recognize the relative positional relationship between the plurality of

manipulators

3 a, 3 b, 3 c and the direction of the coordinate system of each

manipulator

3 a, 3 b, 3 c, and the arms 8 operated by the operation unit 5, The treatment section 9 and the treatment section 9 can be operated so as not to interfere with each other.

In the present embodiment, the

optical distance sensors

11 and 12 that detect the light waves reflected and returned from the end of the base 7 or the bed 2 that is the measurement object are employed. You may employ | adopt the distance sensor of the system which fixes to to a measuring object. Further, instead of the optical distance sensor, an acoustic distance sensor of a type in which sound waves are emitted from the sound wave irradiation unit and received by the sound receiving unit may be employed.

In the present embodiment, the case where the base 7 is directly attached to the side portion of the bed 2 has been illustrated, but instead, as shown in FIGS. 3 and 4, the side portion of the bed 2 extends along the longitudinal direction. You may attach the base 7 so that the movement along the linear rail 14 arrange | positioned is possible. In this case, even if the base 7 is moved along the rail 14, the

distance sensors

11 and 12 measure the mutual distance (the distance between the end of the rail 14 and the base 7) so that they do not interfere with each other. Can be controlled. FIG. 4 shows a longitudinal section of the base 7 of the manipulator 3a as an example.

In this case, it is preferable that the

distance sensors

11 and 12 are arranged at a position covered by the rail 14 as shown in FIG. By doing in this way, it prevents that the optical path between the light wave irradiation part of the

distance sensors

11 and 12 and a light-receiving part is interrupted | blocked by an obstruction (for example, operator etc.), and the erroneous measurement of distance generate | occur | produces. Can do.

Instead of the

non-contact distance sensors

11 and 12 such as an optical type or an acoustic type, as shown in FIGS. 5 and 6, the surface of the rail 14 is rolled as the base 7 moves along the rail 14. You may employ | adopt the position detection part 17 provided with the roller (rolling element) 15 arrange | positioned and the encoder 16 which detects the rotation amount of this roller 15. FIG. When the base 7 is mounted from one end of the rail 14 and the roller 15 comes into contact with the surface of the rail 14, the rotation of the roller 15 is started from that point and the distance measurement is started. The position of the base 7 with respect to the bed 2 can be indirectly detected by the amount of rotation.

As a position detector 18 that indirectly detects the position of the base 7 with respect to the bed 2, as shown in FIGS. 7 and 8, it has an inclined surface 19 that is inclined at a constant inclination angle along the longitudinal direction of the rail 14. Even if a member 20 is disposed and a distance sensor (distance measuring unit) 21 fixed to the base 7 is used to measure the distance X to the inclined surface 19 in the direction intersecting the longitudinal direction of the rail 14, Good. That is, when the base 7 is moved along the rail 14, the distance X between the distance sensor 21 and the inclined surface 19 changes in proportion to the amount of movement, so the distance X to the inclined surface 19 is measured by the distance sensor 21. By doing so, the position of the base 7 with respect to the bed 2 can be indirectly detected.

By adopting the position detecting unit 18 of the method for measuring the distance X to the inclined surface 19 as described above, it is possible to prevent the optical path and the like from being obstructed by an obstacle, and as shown in FIG. Even if the rail 14 attached to the bed 2 has a shape other than a straight line, for example, an arc shape, the position of the base 7 with respect to the bed 2 can be indirectly detected.

As shown in FIG. 9, when the base 7 is mounted on a rail 14 having a shape other than a straight line, the coordinate system fixed to each

manipulator

3 a, 3 b, 3 c as the base 7 moves along the rail 14. The direction of changes. In this case, since the shape of the rail 14 is determined, the coordinates fixed to each

manipulator

3a, 3b, 3c based on the position of each base 7 detected by the position detection unit 4 and the shape of the rail 14 are used. The direction of the system can be detected.

That is, the control unit 6 performs the same operation of the treatment unit 9 at the distal end of the arm 8 in the common control coordinate system with respect to the same operation performed in the operation unit 5 when an operation command is given by the operation unit 5. As described above, the inverse kinematic equation is solved using the detected direction of the coordinate system to determine the operating angle of each joint portion 13 of the arm 8. Thereby, even if the position of the base 7 with respect to the bed 2 and the direction of the coordinate system change, in the image acquired by the observation device 10 such as a scope fixed to the common control coordinate system, the same by the operation unit 5 By the operation, the treatment section 9 at the tip of the arm 8 can perform the same operation, and the operability can be improved.

In the present embodiment, the relative positional relationship between the patient and each of the

manipulators

3a, 3b, and 3c may also be measured to avoid interference between the patient and the treatment unit 9 or the arm 8.
For example, a marker is attached to a patient before surgery to obtain patient physical information such as CT and MRI, and the position of the patient relative to the bed 2 can be set according to the relative positional relationship between the marker and the bed 2 during surgery. That's fine.

In the present embodiment, the case where the base 7 is detachably attached to the bed 2 or is movably attached to the rail 14 fixed to the bed 2 has been described. Instead, FIG. 10 and FIG. 11, the base 7 may be employed such that the base 7 moves independently along the side edge of the bed 2 without being attached to the bed 2.

DESCRIPTION OF SYMBOLS 1 Medical manipulator system 2

Bed

3a, 3b, 3c Manipulator (medical manipulator)
4, 17, 18 Position detection unit 6 Control unit 7 Base 8

Arm

11, 12 Distance sensor (light wave irradiation unit, light receiving unit, sound wave irradiation unit, sound receiving unit)
14 rail 15 roller (rolling element)
16 Encoder 19 Inclined surface 21 Distance sensor (Distance measuring unit)

Claims

A plurality of medical manipulators including a base movably disposed with respect to the bed and an arm mounted on the base;
A position detector for detecting the position of each base of the medical manipulator with respect to the bed;
A medical manipulator system comprising: a control unit that controls a plurality of the arms using a common control coordinate system based on the position of the base detected by the position detection unit.
A rail fixed to the bed;
The base is movably mounted along the longitudinal direction of the rail;
The medical manipulator system according to claim 1, wherein the position detection unit measures a distance on the rail from the predetermined position of the bed to the base.
The position detection unit is
A light wave irradiation unit that emits a light wave in a direction along the rail provided on either the bed or the base;
A light receiving portion that is provided on either of the bed and the base, receives a light wave that is irradiated by the light wave irradiation portion and reflected on one of the end of the rail and the base;
The medical manipulator system according to claim 2, further comprising: a distance calculation unit that calculates a distance between the end of the rail and the base based on the light wave received by the light receiving unit.
The position detection unit is
A sound wave irradiation unit that emits a sound wave in a direction along the rail, provided on either the bed or the base;
A sound receiving unit that is provided on any of the bed and the base and receives a sound wave that is irradiated by the sound wave irradiation unit and reflected on either the end of the rail or the base;
The medical manipulator system according to claim 2, further comprising: a distance calculating unit that calculates a distance between the end of the rail and the base based on the sound wave received by the sound receiving unit.
The medical manipulator system according to claim 2, wherein the position detection unit includes a rolling element that rolls on the rail by the movement of the base, and an encoder that detects a rotation amount of the rolling element.
The position detection unit includes an inclined surface that is inclined at a predetermined angle in one direction along the longitudinal direction of the rail, and a distance measuring unit that is provided on the base and measures a distance between the base and the inclined surface. Prepared,
The medical manipulator system according to claim 2, wherein a distance along a longitudinal direction of the rail with respect to a predetermined position of the bed is measured based on a distance detected by the distance measuring unit.
The medical manipulator system according to any one of claims 1 to 6, wherein the base is detachably attached to the bed.