WO2017221323A1 - Medical system - Google Patents

Medical system Download PDF

Info

Publication number
WO2017221323A1
WO2017221323A1 PCT/JP2016/068376 JP2016068376W WO2017221323A1 WO 2017221323 A1 WO2017221323 A1 WO 2017221323A1 JP 2016068376 W JP2016068376 W JP 2016068376W WO 2017221323 A1 WO2017221323 A1 WO 2017221323A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
joint
operation unit
redundant
medical system
Prior art date
Application number
PCT/JP2016/068376
Other languages
French (fr)
Japanese (ja)
Inventor
池田　浩
享平 栗原
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 PCT/JP2016/068376 priority Critical patent/WO2017221323A1/en
Publication of WO2017221323A1 publication Critical patent/WO2017221323A1/en

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • 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 medical system.
  • Patent Literature 1 and Patent Literature 2 describe a medical system including a slave arm having a joint group including redundant joints.
  • the medical system described in Patent Document 1 is configured to operate a redundant joint by operating a switch provided on a slave arm.
  • the medical system described in Patent Document 2 is configured so that the slave arm and the operation unit for operating the end effector provided at the distal end of the slave arm include a function of operating the redundant joint. .
  • each slave arm can be arranged so as to avoid a collision between slave arms in advance.
  • the redundant joint operates by operating the operation unit operated by the operator. That is, the operator needs to operate the redundant joint.
  • the surgeon since the surgeon usually concentrates on the procedure using the end effector, if the operator tries to operate the redundant joint in addition to performing the procedure, the operation of the surgeon becomes complicated.
  • an object of the present invention is to provide a medical system in which a person other than an operator can easily operate a redundant joint.
  • a medical system has a first arm having a joint group including at least one redundant joint, and is detachably supported at a distal end of the first arm, and has an end effector.
  • a treatment tool a first operation unit configured to be able to operate the first arm and the treatment tool, and provided separately from the first arm and the first operation unit so that only the redundant joint can be operated.
  • a configured second operating unit configured to be able to operate the first arm and the treatment tool, and provided separately from the first arm and the first operation unit so that only the redundant joint can be operated.
  • the second operation unit may include a touch screen that displays the first arm and the redundant joint.
  • the second operation unit may be configured to be able to operate the redundant joint by touching the redundant joint displayed on the touch screen.
  • the medical system is configured to generate an operation signal for operating the redundant joint based on an operation signal generated and output by the second operation unit. It may further include a control unit that generates and outputs the operation signal to the redundant joint.
  • the control unit may generate the operation signal based on the operation signal under a condition in which a position and a posture of the end effector are fixed with respect to a base unit supporting the proximal end of the first arm. Good.
  • the medical system generates an operation signal for operating the redundant joint based on an operation signal generated and output by the second operation unit, You may further provide the control part which outputs an operation signal to the said redundant joint.
  • the second operation unit may have a shape similar to the shape of the first arm.
  • the control unit may generate the operation signal for operating the redundant joint so that the shape of the first arm is similar to the shape of the second operation unit.
  • the medical system according to the third or fourth aspect may further include a second arm that is disposed in proximity to the first arm and has a joint group. Good.
  • the control unit may determine whether the first arm collides with the second arm when the redundant joint is operated based on the operation signal before the redundant joint is operated.
  • the second operation unit that operates the redundant joint is provided separately from the first arm and the first operation unit, so that a person other than the operator operates the second operation unit.
  • the redundant joint can be easily operated.
  • FIG. 1 is a diagram showing an overall configuration of a medical system 1 according to the present embodiment.
  • FIG. 2 is a functional block diagram of the medical system 1.
  • the medical system 1 includes an arm 31, a treatment instrument 41, a first operation unit 11, and a second operation unit 14.
  • the medical system 1 includes four arms 31 (first arm 31A, second arm 31B, third arm 31C, and fourth arm 31D).
  • the number of arms 31 is not limited to this, and can be set as appropriate according to a desired treatment. Since the second arm 31B, the third arm 31C, and the fourth arm 31D have the same configuration as the first arm 31A, the configuration of the first arm 31A will be described below, and the other arms 31B to 31D will be described. Detailed description is omitted.
  • the first arm 31A has a joint group 32 including at least one redundant joint 34.
  • the joint group 32 includes a joint 33 (joint other than the redundant axis) and a redundant joint 34.
  • the joint 33 is, for example, one drive shaft of roll, pitch, and yaw, and is used preferentially during the operation of the first arm 31A.
  • the number of joints 33 can be appropriately set according to the degree of freedom required for the first arm 31A.
  • the redundant joint 34 is a joint having a redundant relationship with respect to one joint 33. Therefore, the redundant joint 34 provides the first arm 31A with a redundant degree of freedom in addition to the degree of freedom that one joint 33 provides to the first arm 31A.
  • the number of redundant joints 34 can be set as appropriate according to the degree of redundancy required for the first arm 31A.
  • Each joint (joint 33 or redundant joint 34) constituting the joint group 32 includes an encoder (not shown) that detects the rotation angle of each joint and an actuator (not shown) that drives each joint. have.
  • Each joint is connected to an adjacent joint 33 (or redundant joint 34) by a link.
  • the second arm 31B is disposed close to the first arm 31A.
  • the third arm 31C is disposed on the opposite side of the first arm 31A in proximity to the second arm 31B.
  • the fourth arm 31D is disposed on the opposite side of the second arm 31B in proximity to the third arm 31C.
  • the proximal end of the first arm 31A, the proximal end of the second arm 31B, the proximal end of the third arm 31C, and the proximal end of the fourth arm 31D are supported by the base portion 35, respectively.
  • the base unit 35 is disposed in the vicinity of the operating table 36 on which the patient P is placed, and the position of the base unit 35 is fixed with respect to the operating table 36.
  • the base portion 35 may be configured integrally with the operating table 36.
  • the medical system 1 includes three treatment tools 41 (a first treatment tool 41A, a second treatment tool 41B, and a third treatment tool 41C).
  • the number of treatment tools 41 is not limited to this, and can be set as appropriate according to the number of arms 31. Since the second treatment tool 41B and the third treatment tool 41C have the same configuration as the first treatment tool 41A, the configuration of the first treatment tool 41A will be described below, and the details of the other treatment tools 41B and 41C will be described. The detailed explanation is omitted.
  • the first treatment instrument 41A is detachably supported at the distal end of the first arm 31A.
  • the first treatment tool 41A has an end effector 43.
  • the first treatment instrument 41A is provided with a drive unit (not shown), and the end effector 43 can be operated by this drive unit.
  • the end effector 43 has a known end effector configuration such as a grasping forceps or a knife. The configuration of the end effector 43 may be appropriately selected according to the procedure to be performed.
  • the second treatment instrument 41B is detachably supported at the distal end of the second arm 31B.
  • the third treatment tool 41C is detachably supported at the distal end of the third arm 31C.
  • the observation device 42 is detachably supported at the distal end of the fourth arm 31D.
  • the observation device 42 is a laparoscope, for example, and is configured to be able to observe the inside of the patient P.
  • it replaces with the observation apparatus 42 and the treatment tool 41 may be supported by the distal end of 4th arm 31D.
  • 1st operation part 11 is constituted so that arm 31 and treatment implement 41 can be operated.
  • the first operation unit 11 is operated by, for example, an operator Op.
  • the second operation unit 14 is provided separately from the arm 31 and the first operation unit 11.
  • the second operation unit 14 is configured to be able to operate only the redundant joint 34.
  • the second operation unit 14 is disposed at a position where an assistant As working near the operating table 36 can be operated, and is operated by the assistant As.
  • the medical system 1 further includes a control unit 20 for controlling the entire system.
  • the control unit 20 is a computer configured with, for example, a CPU and a memory.
  • the control unit 20 is connected to each of the first operation unit 11, the second operation unit 14, the first arm 31A, the second arm 31B, the third arm 31C, and the fourth arm 31D so as to be able to transmit and receive signals.
  • the control unit 20 is connected to the first treatment instrument 41A via the first arm 31A so as to be able to transmit and receive signals.
  • the control unit 20 is connected to the second treatment tool 41B via the second arm 31B so as to be able to transmit and receive signals.
  • the control unit 20 is connected to the third treatment instrument 41C via the third arm 31C so as to be able to transmit and receive signals.
  • the control unit 20 is connected to the observation device 42 via the fourth arm 31D so as to be able to transmit and receive signals.
  • the first operation unit 11 When the arm 31 and the treatment instrument 41 are operated by the first operation unit 11, the first operation unit 11 generates a first operation signal based on an operation input by the operator Op, and the control unit 20 generates the first operation signal. Output to. Based on the first operation signal received from the first operation unit 11, the control unit 20 generates a first operation signal for operating the arm 31 or the treatment instrument 41, which is the operation target, Output to the treatment instrument 41.
  • the arm 31 and the treatment tool 41 operate based on the first operation signal received from the control unit 20.
  • the arm 31 and the treatment tool 41 that are the operation targets of the first operation unit 11 are changed by the operator Op.
  • One operation unit 11 is preset. Further, the arm 31 and the treatment tool 41 that are the operation targets of the first operation unit 11 can be appropriately changed according to the procedure performed by the operator Op.
  • the control unit 20 has a first mode and a second mode as control modes for controlling the operation of the arm 31 by the first operation unit 11.
  • the first mode is a mode in which the arm 31 is operated using only the joint 33 in the joint group 32. Therefore, in the first mode, the redundant joint 34 does not operate by the operation of the first operation unit 11.
  • the second mode is a mode in which the arm 31 is operated using both the joint 33 and the redundant joint 34.
  • the surgeon Op can set the first mode or the second mode as the control mode related to the first operation unit 11 according to the procedure he / she performs. Usually, the control mode related to the first operation unit 11 is set to the first mode. Switching between these control modes can be performed by, for example, a switch (not shown) provided in the first operation unit 11.
  • the second operation unit 14 When the redundant joint 34 of the arm 31 is operated by the second operation unit 14, the second operation unit 14 generates a second operation signal based on the operation input by the assistant As, and sends the second operation signal to the control unit 20. Output. Based on the second operation signal received from the second operation unit 14, the control unit 20 generates a second operation signal for operating the redundant joint 34 that is the operation target, and outputs the second operation signal to the redundant joint 34. .
  • the redundant joint 34 operates based on the second operation signal received from the control unit 20.
  • the arm 31 to be operated by the assistant As is set in the second operation unit 14 before the operation of the second operation unit 14. Is done. Moreover, when changing the arm 31 used as operation object, this setting is changed suitably.
  • the control unit 20 has a third mode and a fourth mode as control modes for controlling the operation of the redundant joint 34 by the second operation unit 14.
  • the third mode is a mode that permits the redundant joint 34 to be operated by the operation of the second operation unit 14. Therefore, in the third mode, the assistant As can operate the redundant joint 34 by operating the second operation unit 14.
  • the fourth mode is a mode for prohibiting the redundant joint 34 from being operated by the operation of the second operation unit 14. Therefore, in the fourth mode, even if the assistant As operates the second operation unit 14, the redundant joint 34 does not operate.
  • the control mode related to the second operation unit 14 is set to the fourth mode. When the assistant As needs to operate the redundant joint 34, the control mode is switched from the fourth mode to the third mode.
  • These control modes can be switched by, for example, a selector switch (not shown) provided in the second operation unit 14.
  • the medical system 1 further includes a monitor 12.
  • the monitor 12 is a liquid crystal display, for example, and is electrically connected to the control unit 20.
  • the monitor 12 displays the image inside the patient P acquired by the observation device 42.
  • the monitor 12 is disposed near the first operation unit 11 so that the operator Op can check an image displayed on the monitor 12.
  • the second operation unit 14 has a shape similar to the shape of the arm 31. Therefore, first, the configuration of the arm 31 will be described.
  • FIG. 3 is a schematic diagram showing the configuration of the arm 31. Note that the configuration of the arm 31 shown in FIG. 3 is an example, and the configuration of the arm 31 may be changed as appropriate according to the technique to be performed, the work environment, or the like.
  • the arm 31 includes a first joint 51, a yaw joint 52, a first pitch joint 53, a second pitch joint 54, a third pitch joint 55, a second joint 56, and a straight joint. And a moving joint 57.
  • the yaw joint 52, the first pitch joint 53, the second pitch joint 54, and the third pitch joint 55 are set as joints 33.
  • the first joint 51 and the second joint 56 are set as redundant joints 34.
  • the treatment tool 41 is supported by the linear motion joint 57.
  • the linear motion joint 57 is configured to support the treatment tool 41 along the insertion axis Ai of the treatment tool 41 and to move the treatment tool 41 along the insertion axis Ai.
  • a remote center RC of operation is set on the shaft portion of the treatment instrument 41.
  • the arm 31 is controlled by the control unit 20 so that the remote center RC is fixed to the base unit 35 when the treatment instrument 41 is operated. Since the base part 35 is provided so as not to move with respect to the patient P placed on the operating table 36, the remote center RC is fixed with respect to the patient P.
  • the first joint 51 is configured to be rotatable around a first axis A1 intersecting the remote center RC.
  • the first joint 51 rotatably connects the distal end portion of the first link 61 and the proximal end portion of the second link 62 supported by the base portion 35 at the proximal end portion.
  • the yaw joint 52 is configured to be rotatable around the yaw axis Ay intersecting the remote center RC.
  • the yaw joint 52 rotatably connects the distal end portion of the second link 62 and the proximal end portion of the third link 63 to each other.
  • the second link 62 is configured to position and orient the yaw joint 52 such that the yaw axis Ay intersects the remote center RC regardless of the rotation angle of the first joint 51.
  • the first pitch joint 53 is configured to be rotatable around a second axis A2 parallel to the pitch axis intersecting with the remote center RC.
  • the first pitch joint 53 rotatably connects the distal end portion of the third link 63 and the proximal end portion of the fourth link 64 to each other.
  • the second pitch joint 54 is configured to be rotatable around a third axis A3 parallel to the pitch axis and the second axis A2.
  • the second pitch joint 54 rotatably connects the distal end portion of the fourth link 64 and the proximal end portion of the fifth link 65 to each other.
  • the third pitch joint 55 is configured to be rotatable around a fourth axis A4 parallel to the pitch axis, the second axis A2, and the third axis A3.
  • the third pitch joint 55 rotatably connects the distal end portion of the fifth link 65 and the proximal end portion of the sixth link 66 to each other.
  • the second joint 56 is configured to be rotatable around a fifth axis A5 that intersects the remote center RC.
  • the second joint 56 rotatably connects the distal end portion of the sixth link 66 and the proximal end portion of the seventh link 67 to each other.
  • the distal end portion of the seventh link 67 supports the linear motion joint 57.
  • the seventh link 67 is configured to move the linear motion joint 57 and the treatment tool 41 along the surface of a cone having the remote center RC at the apex.
  • the first pitch joint 53, the fourth link 64, the second pitch joint 54, the fifth link 65, and the third pitch joint 55 constitute a parallel link mechanism.
  • the parallel link mechanism the first pitch joint 53, the second pitch joint 54, and the third pitch are used so that the fifth link 65 is always parallel to the third link 63 using a known mechanism or control method.
  • the joint 55 moves.
  • the arm 31 is configured such that the first axis A1 and the fifth axis A5 do not coincide with any of the yaw axis Ay, the pitch axis, and the insertion axis Ai.
  • FIG. 4 is a schematic diagram illustrating the configuration of the second operation unit 14.
  • the second operation unit 14 has a shape similar to the shape of the arm 31.
  • the assistant As can use the second operation unit 14 to sensuously operate the redundant joint 34 of the arm 31.
  • the second operation unit 14 includes a first operation joint 71 corresponding to the first joint 51, a second operation joint 72 corresponding to the yaw joint 52, a third operation joint 73 corresponding to the first pitch joint 53, Corresponding to the fourth operating joint 74 corresponding to the second pitch joint 54, the fifth operating joint 75 corresponding to the third pitch joint 55, the sixth operating joint 76 corresponding to the second joint 56, and the linear motion joint 57. And a seventh operating joint 77.
  • the second operation unit 14 includes a first operation link 81 corresponding to the first link 61, a second operation link 82 corresponding to the second link 62, and a third operation link 83 corresponding to the third link 63.
  • the first operation link 81 is supported on the base 80 of the second operation unit 14.
  • the seventh operation joint 77 supports an operation unit treatment tool 88 corresponding to the treatment tool 41.
  • an operation unit remote center RC1 is set corresponding to the remote center RC.
  • the operation joints 71 to 77 are configured to be operable in the same manner as the corresponding joints 51 to 57 of the arm 31.
  • the operation joints 71 to 77 have an encoder (not shown) for detecting the rotation angle of the joint and an actuator (not shown) for driving the joint.
  • FIG. 5 is a flowchart showing the operation of the medical system 1.
  • the assistant As operates the selector switch of the second operation unit 14 to switch the control mode related to the second operation unit 14 from the fourth mode to the third mode (step S1).
  • the control part 20 operates the 2nd operation part 14 so that the shape of the 2nd operation part 14 may correspond with the shape of the present arm 31 relatively (similarity) (step S2). That is, the operation joints 71 to 77 of the second operation unit 14 are operated by the built-in actuator so as to coincide with the current rotation angle of the corresponding joints 51 to 57 of the arm 31.
  • the control unit 20 fixes the position and posture of the operation unit treatment tool 88 of the second operation unit 14 with respect to the base 80 (step S3). Thereby, the position of the remote center RC1 for the operation unit set in the operation unit treatment tool 88 is also fixed with respect to the base 80.
  • the control unit 20 displays on the notification display unit (not shown) provided in the second operation unit 14 that the second operation unit 14 has become operable (step S4).
  • the notification display unit is, for example, a liquid crystal display disposed at a position where the assistant As can be visually recognized in the second operation unit 14. After confirming the notification displayed on the notification display unit, the assistant As operates the second operation unit 14 (step S5), and changes the second operation unit 14 into a desired shape.
  • step S ⁇ b> 5 the assistant As can operate only the first operation joint 71 and the sixth operation joint 76 corresponding to the first joint 51 and the second joint 56 that are the redundant joints 34 of the arm 31 in the second operation unit 14. .
  • the control unit 20 calculates the joint operation of the second operation unit 14 for maintaining the position and posture of the operation unit treatment tool 88 (step). S6).
  • the control unit 20 operates the second operation unit 14 based on the calculation result of the joint operation of the second operation unit 14 (step S7). For example, when the assistant As operates the first operation joint 71, the control unit 20 calculates the operations of the remaining operation joints 72 to 77 necessary for maintaining the position and posture of the operation unit treatment tool 88. To do. Then, the control unit 20 operates the operation joints 72 to 77 based on the calculation result.
  • the control unit 20 determines whether or not the arm 31 collides with another arm 31 when the arm 31 is changed to a shape that relatively matches the shape of the second operation unit 14 in step S7 (step S8). ). For example, when the operation target of the second operation unit 14 is the first arm 31A, the control unit 20 determines whether or not the first arm 31A collides with the second arm 31B disposed close to the first arm 31A. Determine whether.
  • control unit 20 determines that the collision between the arms 31 occurs, the control unit 20 displays on the notification display unit of the second operation unit 14 that the collision between the arms 31 occurs (step S9), and the assistant As is urged to operate the second operation unit 14 again.
  • the control unit 20 determines that the collision between the arms 31 does not occur, the control unit 20 puts an operation completion button (not shown) provided in the second operation unit 14 into a state where input is possible.
  • step S10 When the assistant As inputs the operation completion button (step S10), the control unit 20 operates the arm 31 so that the shape of the arm 31 is relatively matched (similar) to the current shape of the second operation unit 14. (Step S11). Until the assistant As inputs the operation completion button, the assistant As can change the shape of the second operation unit 14 again.
  • the assistant As operates the selector switch of the second operation unit 14 to switch the control mode related to the second operation unit 14 from the third mode to the fourth mode (step S12). Thereby, a series of operations of the second operation unit 14 is completed.
  • FIG. 6 and FIG. 6 and 7 are diagrams illustrating an example of the compensation operation in the medical system 1.
  • the assistant As operates the first operation joint 71 corresponding to the first joint 51 to rotate the second operation link 82 corresponding to the second link 62 in one direction with respect to the first operation link 81.
  • the control unit 20 first operates the second operation joint 72 coupled to the second operation link 82 in order to maintain the position and posture of the operation unit treatment tool 88 fixed to the base 80.
  • the third operation link 83 is rotated in the opposite direction of the one direction with respect to the second operation link 82.
  • FIG. 6 shows a state where the first operating joint 71 is rotated 180 degrees in one direction and the second operating joint 72 is rotated 180 degrees in the opposite direction from the state shown in FIG.
  • the operation tool for the operation unit is obtained only by rotating the second operation joint 72 in the reverse direction.
  • the position and posture of 88 are not maintained. That is, when the rotation shaft of the second operation joint 72 is moved, the operation unit treatment tool 88 swings about the operation unit remote center RC1.
  • control unit 20 further operates the third operation joint 73, the fourth operation joint 74, and the fifth operation joint 75 to change the second operation unit 14 into the shape shown in FIG. In the state shown in FIG. 7, the position and posture of the operation unit treatment tool 88 are maintained. With such an operation, it is possible to move the second operation link 82 while maintaining the position and posture of the operation unit treatment tool 88.
  • the compensation operation is implemented in the 2nd operation part 14.
  • the control unit 20 operates the arm 31 under the condition that the position and posture of the end effector 43 of the treatment instrument 41 are fixed with respect to the base unit 35.
  • the medical system 1 includes an arm 31 having a joint group 32 including at least one redundant joint 34, a treatment tool 41 that is detachably supported at the distal end of the arm 31 and has an end effector 43,
  • the first operation unit 11 configured to be able to operate the arm 31 and the treatment instrument 41
  • the second operation unit provided separately from the arm 31 and the first operation unit 11 and configured to be able to operate only the redundant joint 34 14.
  • the assistant As operates the second operation unit 14.
  • the redundant joint 34 can be easily operated.
  • the assistant As operates the 2nd operation part 14 the operator Op does not need to operate the redundant joint 34, but can concentrate on a procedure.
  • the second operation unit 14 has a shape similar to the shape of the arm 31, but this configuration is an example. As long as the 2nd operation part 14 is comprised so that operation of the redundant joint 34 is possible, the structure is not specifically limited.
  • FIG. 8 is a diagram illustrating the second operation unit 15 of the medical system 2 according to the present embodiment.
  • the medical system 2 is different from the medical system 1 according to the first embodiment in that the second operation unit 15 includes a touch screen 90.
  • symbol is attached
  • the touch screen 90 is configured to display the arm 31 and the redundant joint 34.
  • the second operation unit 15 is configured to be able to operate the redundant joint 34 by touching the redundant joint 34 displayed on the touch screen 90.
  • the 3D model 91 of the arm 31 is displayed on the touch screen 90 with the current posture of the arm 31.
  • joint models 92A, 92B, and 92C corresponding to the joint 33 and redundant joint models 93A, 93B, and 93C corresponding to the redundant joint 34 are displayed on the touch screen 90.
  • the assistant When operating the redundant joint 34 by the second operation unit 15, the assistant As first operates the selector switch to switch the control mode related to the second operation unit 15 from the fourth mode to the third mode. As a result, the control unit 20 displays the 3D model 91 corresponding to the current shape of the arm 31 on the touch screen 90. In this state, the assistant As can change the shape of the 3D model 91 by touching the redundant joint models 93A to 93C on the touch screen 90.
  • the control unit 20 changes the arm 31 to the other arm 31. Determine if there is a collision.
  • the control unit 20 determines that a collision between the arms 31 occurs, the control unit 20 displays on the touch screen 90 that a collision between the arms 31 occurs.
  • the control unit 20 makes the start button 95 displayed on the touch screen 90 ready for input.
  • the control unit 20 operates the arm 31 so that the shape of the arm 31 relatively matches the shape of the current 3D model 91.
  • a cancel button 96 is displayed on the touch screen 90.
  • the shape of the 3D model 91 returns to the current shape of the arm 31 (the shape before the touch operation).
  • the second operation unit 15 includes a touch screen 90 that displays the arm 31 and the redundant joint 34.
  • the second operation unit 15 is configured to be able to operate the redundant joint 34 by touching the redundant joint 34 displayed on the touch screen 90.
  • the assistant As can operate the redundant joint 34 while confirming the shape of the arm 31 displayed on the touch screen 90, so that it is easier to avoid a collision between the arms 31 and the like. It can be carried out.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Mechanical Engineering (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)

Abstract

The medical system is equipped with a first arm having a group of joints including at least one redundant joint, a treatment tool detachably supported at the distal end of the first arm and having an end effector, a first operating portion configured to be capable of operating the first arm and the treatment tool, and a second operating portion provided separately from the first arm and the first operating portion and configured to be capable of operating only the redundant joint.

Description

医療システムMedical system
　本発明は、医療システムに関する。 The present invention relates to a medical system.
　従来、複数のアームを動作させることにより外科手術を行うマスタースレーブ方式の医療システムが知られている。例えば、特許文献１および特許文献２には、冗長関節を含む関節群を有するスレーブアームを備える医療システムが記載されている。特許文献１に記載された医療システムは、スレーブアーム上に設けられたスイッチを操作することによって冗長関節を動作させることが可能に構成されている。また、特許文献２に記載された医療システムは、スレーブアームおよびスレーブアームの遠位端に設けられたエンドエフェクタを操作するための操作部が冗長関節を操作する機能を含むように構成されている。 Conventionally, a master-slave type medical system that performs a surgical operation by operating a plurality of arms is known. For example, Patent Literature 1 and Patent Literature 2 describe a medical system including a slave arm having a joint group including redundant joints. The medical system described in Patent Document 1 is configured to operate a redundant joint by operating a switch provided on a slave arm. Moreover, the medical system described in Patent Document 2 is configured so that the slave arm and the operation unit for operating the end effector provided at the distal end of the slave arm include a function of operating the redundant joint. .
　上述のように、スレーブアームが冗長関節を有することによって、スレーブアームの配置の自由度を高くすることができる。例えば、スレーブアーム同士の衝突を予め回避するように、各スレーブアームを配置することができる。 As described above, since the slave arm has the redundant joint, the degree of freedom of arrangement of the slave arm can be increased. For example, each slave arm can be arranged so as to avoid a collision between slave arms in advance.
日本国特表２０１５－５１９１４６Japan Special Table 2015-519146 日本国特開２０１２－１４８３７９Japan JP2012-148379
　上述した医療システムにおいて、術者が手技を行っている最中に、スレーブアーム同士が衝突したり、スレーブアームが手術台のそばにある物や手術台のそばで作業する助手に衝突したりする可能性がある。このような状況を回避するため、術者による手技の最中に冗長関節を操作してスレーブアームの配置を調整する必要がある。 In the medical system described above, while the surgeon is performing a procedure, the slave arms collide with each other, or the slave arm collides with an object near the operating table or an assistant working near the operating table. there is a possibility. In order to avoid such a situation, it is necessary to adjust the arrangement of the slave arms by operating the redundant joints during the procedure by the operator.
　しかしながら、特許文献１に記載された医療システムでは、冗長関節を動作させるためにスレーブアーム上に設けられたスイッチを助手が操作する必要がある。このため、術者の操作によってスレーブアームが移動した場合に、助手の手や腕がスレーブアームの間に挟まれる可能性があり、調整操作が煩雑になる。また、この状況を回避するために術者の手技を一旦停止すると、手術時間が長くなるため、患者の負担が大きくなってしまう。 However, in the medical system described in Patent Document 1, an assistant needs to operate a switch provided on the slave arm in order to operate the redundant joint. For this reason, when a slave arm moves by operation of an operator, an assistant's hand and arm may be pinched between slave arms, and adjustment operation becomes complicated. In addition, once the surgeon's procedure is stopped to avoid this situation, the operation time becomes longer, which increases the burden on the patient.
　また、特許文献２に記載された医療システムでは、術者が操作する操作部を操作することによって冗長関節が動作する。すなわち、術者が冗長関節を操作する必要がある。しかしながら、術者は、通常、エンドエフェクタを用いた手技に集中しているため、手技を行うことに加えて冗長関節を操作しようとすると、術者の操作が煩雑になってしまう。 Further, in the medical system described in Patent Document 2, the redundant joint operates by operating the operation unit operated by the operator. That is, the operator needs to operate the redundant joint. However, since the surgeon usually concentrates on the procedure using the end effector, if the operator tries to operate the redundant joint in addition to performing the procedure, the operation of the surgeon becomes complicated.
　上記の事情を踏まえ、本発明は、術者以外の者が簡便に冗長関節を操作することが可能な医療システムを提供することを目的とする。 Based on the above circumstances, an object of the present invention is to provide a medical system in which a person other than an operator can easily operate a redundant joint.
　本発明の第一の態様によれば、医療システムは、少なくとも一つの冗長関節を含む関節群を有する第一アームと、前記第一アームの遠位端で着脱可能に支持され、エンドエフェクタを有する処置具と、前記第一アームおよび前記処置具を操作可能に構成された第一操作部と、前記第一アームおよび前記第一操作部から離隔して設けられ、前記冗長関節のみを操作可能に構成された第二操作部と、を備える。 According to the first aspect of the present invention, a medical system has a first arm having a joint group including at least one redundant joint, and is detachably supported at a distal end of the first arm, and has an end effector. A treatment tool, a first operation unit configured to be able to operate the first arm and the treatment tool, and provided separately from the first arm and the first operation unit so that only the redundant joint can be operated. A configured second operating unit.
　本発明の第二の態様によれば、前記第一の態様に係る医療システムにおいて、前記第二操作部は、前記第一アームおよび前記冗長関節を表示するタッチスクリーンを有していてもよい。前記第二操作部は、前記タッチスクリーンに表示された前記冗長関節をタッチすることによって、前記冗長関節を操作可能に構成されていてもよい。 According to the second aspect of the present invention, in the medical system according to the first aspect, the second operation unit may include a touch screen that displays the first arm and the redundant joint. The second operation unit may be configured to be able to operate the redundant joint by touching the redundant joint displayed on the touch screen.
　本発明の第三の態様によれば、前記第一または前記第二の態様に係る医療システムは、前記第二操作部が生成し出力する操作信号に基づいて前記冗長関節を動作させる動作信号を生成し、前記動作信号を前記冗長関節に出力する制御部をさらに備えていてもよい。前記制御部は、前記第一アームの近位端を支持するベース部に対して前記エンドエフェクタの位置および姿勢を固定した条件の下で、前記操作信号に基づいて前記動作信号を生成してもよい。 According to the third aspect of the present invention, the medical system according to the first or second aspect is configured to generate an operation signal for operating the redundant joint based on an operation signal generated and output by the second operation unit. It may further include a control unit that generates and outputs the operation signal to the redundant joint. The control unit may generate the operation signal based on the operation signal under a condition in which a position and a posture of the end effector are fixed with respect to a base unit supporting the proximal end of the first arm. Good.
　本発明の第四の態様によれば、前記第一の態様に係る医療システムは、前記第二操作部が生成し出力する操作信号に基づいて前記冗長関節を動作させる動作信号を生成し、前記動作信号を前記冗長関節に出力する制御部をさらに備えていてもよい。前記第二操作部は、前記第一アームの形状と相似した形状を有していてもよい。前記制御部は、前記第二操作部の形状に前記第一アームの形状が相似するように、前記冗長関節を動作させる前記動作信号を生成してもよい。 According to the fourth aspect of the present invention, the medical system according to the first aspect generates an operation signal for operating the redundant joint based on an operation signal generated and output by the second operation unit, You may further provide the control part which outputs an operation signal to the said redundant joint. The second operation unit may have a shape similar to the shape of the first arm. The control unit may generate the operation signal for operating the redundant joint so that the shape of the first arm is similar to the shape of the second operation unit.
　本発明の第五の態様によれば、前記第三または前記第四の態様に係る医療システムは、前記第一アームに近接して配置され、関節群を有する第二アームをさらに備えていてもよい。前記制御部は、前記動作信号に基づいて前記冗長関節が動作した場合に前記第一アームが前記第二アームに衝突するか否かを、前記冗長関節が動作する前に判定してもよい。 According to a fifth aspect of the present invention, the medical system according to the third or fourth aspect may further include a second arm that is disposed in proximity to the first arm and has a joint group. Good. The control unit may determine whether the first arm collides with the second arm when the redundant joint is operated based on the operation signal before the redundant joint is operated.
　上記した医療システムによれば、冗長関節を操作する第二操作部が第一アームおよび第一操作部から離隔して設けられているので、術者以外の者が第二操作部を操作することによって簡便に冗長関節を操作することができる。 According to the above-described medical system, the second operation unit that operates the redundant joint is provided separately from the first arm and the first operation unit, so that a person other than the operator operates the second operation unit. Thus, the redundant joint can be easily operated.
本発明の第一実施形態に係る医療システムの全体構成を示す図である。It is a figure showing the whole medical system composition concerning a first embodiment of the present invention. 前記医療システムの機能ブロック図である。It is a functional block diagram of the medical system. 前記医療システムのアームの構成を示す模式図である。It is a schematic diagram which shows the structure of the arm of the said medical system. 前記医療システムの第二操作部の構成を示す模式図である。It is a schematic diagram which shows the structure of the 2nd operation part of the said medical system. 前記医療システムの動作を示すフローチャートである。It is a flowchart which shows operation | movement of the said medical system. 前記医療システムにおける補償動作を示す図である。It is a figure which shows the compensation operation | movement in the said medical system. 前記医療システムにおける補償動作を示す図である。It is a figure which shows the compensation operation | movement in the said medical system. 本発明の第二実施形態に係る医療システムの第二操作部を示す図である。It is a figure which shows the 2nd operation part of the medical system which concerns on 2nd embodiment of this invention.
　（第一実施形態）
　以下、本発明の第一実施形態について、図１から図７を参照して説明する。 (First embodiment)
Hereinafter, a first embodiment of the present invention will be described with reference to FIGS.
　図１は、本実施形態に係る医療システム１の全体構成を示す図である。図２は、医療システム１の機能ブロック図である。 FIG. 1 is a diagram showing an overall configuration of a medical system 1 according to the present embodiment. FIG. 2 is a functional block diagram of the medical system 1.
　図１および図２に示すように、医療システム１は、アーム３１と、処置具４１と、第一操作部１１と、第二操作部１４と、を備える。 As shown in FIGS. 1 and 2, the medical system 1 includes an arm 31, a treatment instrument 41, a first operation unit 11, and a second operation unit 14.
　本実施形態では、医療システム１は、４つのアーム３１（第一アーム３１Ａ、第二アーム３１Ｂ、第三アーム３１Ｃ、および第四アーム３１Ｄ）を備える。しかしながら、アーム３１の数はこれに限定されず、所望の処置に応じて適宜設定することができる。第二アーム３１Ｂ、第三アーム３１Ｃ、および第四アーム３１Ｄは第一アーム３１Ａと同様の構成を有しているので、以下では第一アーム３１Ａの構成について説明し、他のアーム３１Ｂ～３１Ｄの詳細な説明は省略する。 In the present embodiment, the medical system 1 includes four arms 31 (first arm 31A, second arm 31B, third arm 31C, and fourth arm 31D). However, the number of arms 31 is not limited to this, and can be set as appropriate according to a desired treatment. Since the second arm 31B, the third arm 31C, and the fourth arm 31D have the same configuration as the first arm 31A, the configuration of the first arm 31A will be described below, and the other arms 31B to 31D will be described. Detailed description is omitted.
　第一アーム３１Ａは、少なくとも一つの冗長関節３４を含む関節群３２を有する。関節群３２は、関節３３（冗長軸以外の関節）および冗長関節３４から構成されている。関節３３は、例えば、ロール、ピッチ、およびヨーのうちの一つの駆動軸となり、第一アーム３１Ａの動作時において優先的に使用される。関節３３の数は、第一アーム３１Ａに必要な自由度に応じて適宜設定することができる。 The first arm 31A has a joint group 32 including at least one redundant joint 34. The joint group 32 includes a joint 33 (joint other than the redundant axis) and a redundant joint 34. The joint 33 is, for example, one drive shaft of roll, pitch, and yaw, and is used preferentially during the operation of the first arm 31A. The number of joints 33 can be appropriately set according to the degree of freedom required for the first arm 31A.
　冗長関節３４は、一つの関節３３に対して冗長関係を有する関節である。よって、冗長関節３４は、一つの関節３３が第一アーム３１Ａに提供する自由度に加えて、冗長自由度を第一アーム３１Ａに提供する。冗長関節３４の数は、第一アーム３１Ａに必要な冗長自由度に応じて適宜設定することができる。 The redundant joint 34 is a joint having a redundant relationship with respect to one joint 33. Therefore, the redundant joint 34 provides the first arm 31A with a redundant degree of freedom in addition to the degree of freedom that one joint 33 provides to the first arm 31A. The number of redundant joints 34 can be set as appropriate according to the degree of redundancy required for the first arm 31A.
　関節群３２を構成する各関節（関節３３または冗長関節３４）は、各関節の回転角度を検知するエンコーダ（不図示）と、各関節を駆動するアクチュエータ（不図示）と、を備える公知の構成を有している。また、各関節は、リンクによって隣接する関節３３（または冗長関節３４）と接続されている。 Each joint (joint 33 or redundant joint 34) constituting the joint group 32 includes an encoder (not shown) that detects the rotation angle of each joint and an actuator (not shown) that drives each joint. have. Each joint is connected to an adjacent joint 33 (or redundant joint 34) by a link.
　本実施形態では、第二アーム３１Ｂは、第一アーム３１Ａに近接して配置されている。第三アーム３１Ｃは、第二アーム３１Ｂに近接して第一アーム３１Ａの反対側に配置されている。第四アーム３１Ｄは、第三アーム３１Ｃに近接して第二アーム３１Ｂの反対側に配置されている。また、第一アーム３１Ａの近位端、第二アーム３１Ｂの近位端、第三アーム３１Ｃの近位端、および第四アーム３１Ｄの近位端は、それぞれベース部３５に支持されている。ベース部３５は、患者Ｐが載置される手術台３６の近傍に配置され、手術台３６に対してベース部３５の位置が固定されている。なお、ベース部３５は、手術台３６と一体的に構成されていてもよい。 In the present embodiment, the second arm 31B is disposed close to the first arm 31A. The third arm 31C is disposed on the opposite side of the first arm 31A in proximity to the second arm 31B. The fourth arm 31D is disposed on the opposite side of the second arm 31B in proximity to the third arm 31C. Further, the proximal end of the first arm 31A, the proximal end of the second arm 31B, the proximal end of the third arm 31C, and the proximal end of the fourth arm 31D are supported by the base portion 35, respectively. The base unit 35 is disposed in the vicinity of the operating table 36 on which the patient P is placed, and the position of the base unit 35 is fixed with respect to the operating table 36. The base portion 35 may be configured integrally with the operating table 36.
　本実施形態では、医療システム１は、３つの処置具４１（第一処置具４１Ａ、第二処置具４１Ｂ、および第三処置具４１Ｃ）を備える。しかしながら、処置具４１の数はこれに限定されず、アーム３１の数に応じて適宜設定することができる。第二処置具４１Ｂおよび第三処置具４１Ｃは第一処置具４１Ａと同様の構成を有しているので、以下では第一処置具４１Ａの構成について説明し、他の処置具４１Ｂ、４１Ｃの詳細な説明は省略する。 In this embodiment, the medical system 1 includes three treatment tools 41 (a first treatment tool 41A, a second treatment tool 41B, and a third treatment tool 41C). However, the number of treatment tools 41 is not limited to this, and can be set as appropriate according to the number of arms 31. Since the second treatment tool 41B and the third treatment tool 41C have the same configuration as the first treatment tool 41A, the configuration of the first treatment tool 41A will be described below, and the details of the other treatment tools 41B and 41C will be described. The detailed explanation is omitted.
　第一処置具４１Ａは、第一アーム３１Ａの遠位端で着脱可能に支持されている。第一処置具４１Ａは、エンドエフェクタ４３を有する。第一処置具４１Ａには駆動部（不図示）が設けられており、この駆動部によってエンドエフェクタ４３を動作させることができる。エンドエフェクタ４３は、例えば把持鉗子やナイフなどの公知のエンドエフェクタの構成を有する。エンドエフェクタ４３の構成は、実施する手技に応じて適宜選択されてよい。 The first treatment instrument 41A is detachably supported at the distal end of the first arm 31A. The first treatment tool 41A has an end effector 43. The first treatment instrument 41A is provided with a drive unit (not shown), and the end effector 43 can be operated by this drive unit. The end effector 43 has a known end effector configuration such as a grasping forceps or a knife. The configuration of the end effector 43 may be appropriately selected according to the procedure to be performed.
　第二処置具４１Ｂは、第二アーム３１Ｂの遠位端で着脱可能に支持されている。また、第三処置具４１Ｃは、第三アーム３１Ｃの遠位端で着脱可能に支持されている。 The second treatment instrument 41B is detachably supported at the distal end of the second arm 31B. The third treatment tool 41C is detachably supported at the distal end of the third arm 31C.
　第四アーム３１Ｄの遠位端には、観察装置４２が着脱可能に支持されている。観察装置４２は、例えば腹腔鏡などであり、患者Ｐの体内を観察可能に構成されている。なお、実施する手技に応じて、観察装置４２に代えて、処置具４１が第四アーム３１Ｄの遠位端に支持されていてもよい。 The observation device 42 is detachably supported at the distal end of the fourth arm 31D. The observation device 42 is a laparoscope, for example, and is configured to be able to observe the inside of the patient P. In addition, according to the technique to implement, it replaces with the observation apparatus 42 and the treatment tool 41 may be supported by the distal end of 4th arm 31D.
　第一操作部１１は、アーム３１および処置具４１を操作可能に構成されている。第一操作部１１は、例えば術者Ｏｐによって操作される。 1st operation part 11 is constituted so that arm 31 and treatment implement 41 can be operated. The first operation unit 11 is operated by, for example, an operator Op.
　第二操作部１４は、アーム３１および第一操作部１１から離隔して設けられている。第二操作部１４は、冗長関節３４のみを操作可能に構成されている。第二操作部１４は、例えば、手術台３６のそばで作業する助手Ａｓが操作可能な位置に配置され、助手Ａｓによって操作される。 The second operation unit 14 is provided separately from the arm 31 and the first operation unit 11. The second operation unit 14 is configured to be able to operate only the redundant joint 34. For example, the second operation unit 14 is disposed at a position where an assistant As working near the operating table 36 can be operated, and is operated by the assistant As.
　医療システム１は、システム全体の制御を行うための制御部２０をさらに備える。制御部２０は、例えばＣＰＵやメモリなどを有して構成されたコンピュータである。制御部２０は、第一操作部１１、第二操作部１４、第一アーム３１Ａ、第二アーム３１Ｂ、第三アーム３１Ｃ、および第四アーム３１Ｄのそれぞれと信号を送受信可能に接続されている。また、制御部２０は、第一アーム３１Ａを介して第一処置具４１Ａと信号を送受信可能に接続されている。制御部２０は、第二アーム３１Ｂを介して第二処置具４１Ｂと信号を送受信可能に接続されている。制御部２０は、第三アーム３１Ｃを介して第三処置具４１Ｃと信号を送受信可能に接続されている。制御部２０は、第四アーム３１Ｄを介して観察装置４２と信号を送受信可能に接続されている。 The medical system 1 further includes a control unit 20 for controlling the entire system. The control unit 20 is a computer configured with, for example, a CPU and a memory. The control unit 20 is connected to each of the first operation unit 11, the second operation unit 14, the first arm 31A, the second arm 31B, the third arm 31C, and the fourth arm 31D so as to be able to transmit and receive signals. The control unit 20 is connected to the first treatment instrument 41A via the first arm 31A so as to be able to transmit and receive signals. The control unit 20 is connected to the second treatment tool 41B via the second arm 31B so as to be able to transmit and receive signals. The control unit 20 is connected to the third treatment instrument 41C via the third arm 31C so as to be able to transmit and receive signals. The control unit 20 is connected to the observation device 42 via the fourth arm 31D so as to be able to transmit and receive signals.
　第一操作部１１によってアーム３１および処置具４１を操作する場合、第一操作部１１は、術者Ｏｐによる操作入力に基づいて第一操作信号を生成し、この第一操作信号を制御部２０に出力する。制御部２０は、第一操作部１１から受け取った第一操作信号に基づいて操作対象であるアーム３１または処置具４１を動作させる第一動作信号を生成し、この第一動作信号をアーム３１および処置具４１に出力する。アーム３１および処置具４１は、制御部２０から受け取った第一動作信号に基づいて動作する。 When the arm 31 and the treatment instrument 41 are operated by the first operation unit 11, the first operation unit 11 generates a first operation signal based on an operation input by the operator Op, and the control unit 20 generates the first operation signal. Output to. Based on the first operation signal received from the first operation unit 11, the control unit 20 generates a first operation signal for operating the arm 31 or the treatment instrument 41, which is the operation target, Output to the treatment instrument 41. The arm 31 and the treatment tool 41 operate based on the first operation signal received from the control unit 20.
　本実施形態に係る医療システム１のように、複数のアーム３１および処置具４１が設けられている場合、第一操作部１１の操作対象となるアーム３１および処置具４１は、術者Ｏｐによって第一操作部１１に予め設定されている。また、第一操作部１１の操作対象となるアーム３１および処置具４１は、術者Ｏｐが行う手技に応じて適宜変更することができる。 When a plurality of arms 31 and treatment tools 41 are provided as in the medical system 1 according to the present embodiment, the arm 31 and the treatment tool 41 that are the operation targets of the first operation unit 11 are changed by the operator Op. One operation unit 11 is preset. Further, the arm 31 and the treatment tool 41 that are the operation targets of the first operation unit 11 can be appropriately changed according to the procedure performed by the operator Op.
　制御部２０は、第一操作部１１によるアーム３１の操作を制御する制御モードとして、第一モードと第二モードとを有する。第一モードは、関節群３２のうち関節３３のみを用いてアーム３１を動作させるモードである。よって、第一モードでは、第一操作部１１の操作によって冗長関節３４は動作しない。第二モードは、関節３３および冗長関節３４の両方を用いてアーム３１を動作させるモードである。術者Ｏｐは、自身が行う手技に応じて、第一操作部１１に関する制御モードとして第一モードまたは第二モードを設定することができる。通常、第一操作部１１に関する制御モードは、第一モードに設定されている。これらの制御モードの切り替えは、例えば第一操作部１１に設けられたスイッチ（不図示）によって行うことができる。 The control unit 20 has a first mode and a second mode as control modes for controlling the operation of the arm 31 by the first operation unit 11. The first mode is a mode in which the arm 31 is operated using only the joint 33 in the joint group 32. Therefore, in the first mode, the redundant joint 34 does not operate by the operation of the first operation unit 11. The second mode is a mode in which the arm 31 is operated using both the joint 33 and the redundant joint 34. The surgeon Op can set the first mode or the second mode as the control mode related to the first operation unit 11 according to the procedure he / she performs. Usually, the control mode related to the first operation unit 11 is set to the first mode. Switching between these control modes can be performed by, for example, a switch (not shown) provided in the first operation unit 11.
　第二操作部１４によってアーム３１の冗長関節３４を操作する場合、第二操作部１４は、助手Ａｓによる操作入力に基づいて第二操作信号を生成し、この第二操作信号を制御部２０に出力する。制御部２０は、第二操作部１４から受け取った第二操作信号に基づいて操作対象である冗長関節３４を動作させる第二動作信号を生成し、この第二動作信号を冗長関節３４に出力する。冗長関節３４は、制御部２０から受け取った第二動作信号に基づいて動作する。 When the redundant joint 34 of the arm 31 is operated by the second operation unit 14, the second operation unit 14 generates a second operation signal based on the operation input by the assistant As, and sends the second operation signal to the control unit 20. Output. Based on the second operation signal received from the second operation unit 14, the control unit 20 generates a second operation signal for operating the redundant joint 34 that is the operation target, and outputs the second operation signal to the redundant joint 34. . The redundant joint 34 operates based on the second operation signal received from the control unit 20.
　本実施形態に係る医療システム１のように、複数のアーム３１が設けられている場合、第二操作部１４の操作前に、助手Ａｓによって操作対象となるアーム３１が第二操作部１４に設定される。また、操作対象となるアーム３１を変更する場合には、この設定を適宜変更する。 When a plurality of arms 31 are provided as in the medical system 1 according to the present embodiment, the arm 31 to be operated by the assistant As is set in the second operation unit 14 before the operation of the second operation unit 14. Is done. Moreover, when changing the arm 31 used as operation object, this setting is changed suitably.
　制御部２０は、第二操作部１４による冗長関節３４の操作を制御する制御モードとして、第三モードと第四モードとを有する。第三モードは、第二操作部１４の操作によって冗長関節３４が動作することを許可するモードである。よって、第三モードでは、助手Ａｓは、第二操作部１４を操作することによって冗長関節３４を動作させることができる。第四モードは、第二操作部１４の操作によって冗長関節３４が動作することを禁止するモードである。よって、第四モードでは、仮に助手Ａｓが第二操作部１４を操作したとしても、冗長関節３４は動作しない。通常、第二操作部１４に関する制御モードは、第四モードに設定されている。助手Ａｓが冗長関節３４を動作させる必要が生じた場合に、制御モードを第四モードから第三モードに切り替える。これらの制御モードの切り替えは、例えば第二操作部１４に設けられたセレクタスイッチ（不図示）によって行うことができる。 The control unit 20 has a third mode and a fourth mode as control modes for controlling the operation of the redundant joint 34 by the second operation unit 14. The third mode is a mode that permits the redundant joint 34 to be operated by the operation of the second operation unit 14. Therefore, in the third mode, the assistant As can operate the redundant joint 34 by operating the second operation unit 14. The fourth mode is a mode for prohibiting the redundant joint 34 from being operated by the operation of the second operation unit 14. Therefore, in the fourth mode, even if the assistant As operates the second operation unit 14, the redundant joint 34 does not operate. Normally, the control mode related to the second operation unit 14 is set to the fourth mode. When the assistant As needs to operate the redundant joint 34, the control mode is switched from the fourth mode to the third mode. These control modes can be switched by, for example, a selector switch (not shown) provided in the second operation unit 14.
　また、医療システム１は、モニター１２をさらに備える。モニター１２は、例えば液晶ディスプレイであり、制御部２０に電気的に接続されている。モニター１２は、観察装置４２が取得した患者Ｐの体内の画像を表示する。モニター１２は、術者Ｏｐがモニター１２に表示された画像などを確認できるように、第一操作部１１の近くに配置されている。 The medical system 1 further includes a monitor 12. The monitor 12 is a liquid crystal display, for example, and is electrically connected to the control unit 20. The monitor 12 displays the image inside the patient P acquired by the observation device 42. The monitor 12 is disposed near the first operation unit 11 so that the operator Op can check an image displayed on the monitor 12.
　次に、本実施形態に係る第二操作部１４およびアーム３１の具体的な構成について説明する。本実施形態では、第二操作部１４は、アーム３１の形状と相似した形状を有する。よって、まずアーム３１の構成について説明する。 Next, specific configurations of the second operation unit 14 and the arm 31 according to the present embodiment will be described. In the present embodiment, the second operation unit 14 has a shape similar to the shape of the arm 31. Therefore, first, the configuration of the arm 31 will be described.
　図３は、アーム３１の構成を示す模式図である。なお、図３に示すアーム３１の構成は一例であり、実施する手技や作業環境などに応じてアーム３１の構成を適宜変更してもよい。 FIG. 3 is a schematic diagram showing the configuration of the arm 31. Note that the configuration of the arm 31 shown in FIG. 3 is an example, and the configuration of the arm 31 may be changed as appropriate according to the technique to be performed, the work environment, or the like.
　図３に示すように、アーム３１は、第一関節５１と、ヨー関節５２と、第一ピッチ関節５３と、第二ピッチ関節５４と、第三ピッチ関節５５と、第二関節５６と、直動関節５７と、を有する。アーム３１において、ヨー関節５２、第一ピッチ関節５３、第二ピッチ関節５４、および第三ピッチ関節５５は、関節３３として設定されている。また、第一関節５１および第二関節５６は、冗長関節３４として設定されている。 As shown in FIG. 3, the arm 31 includes a first joint 51, a yaw joint 52, a first pitch joint 53, a second pitch joint 54, a third pitch joint 55, a second joint 56, and a straight joint. And a moving joint 57. In the arm 31, the yaw joint 52, the first pitch joint 53, the second pitch joint 54, and the third pitch joint 55 are set as joints 33. The first joint 51 and the second joint 56 are set as redundant joints 34.
　処置具４１は、直動関節５７に支持されている。直動関節５７は、処置具４１を処置具４１の挿入軸Ａｉに沿って支持し、かつ処置具４１を挿入軸Ａｉに沿って移動させることが可能に構成されている。処置具４１のシャフト部分には、操作の遠隔中心ＲＣが設定されている。アーム３１は、処置具４１が操作されるときに、遠隔中心ＲＣがベース部３５に対して固定されるように、制御部２０によって制御されている。ベース部３５は、手術台３６に載置される患者Ｐに対して動かないように設けられているので、遠隔中心ＲＣは、患者Ｐに対して固定されている。 The treatment tool 41 is supported by the linear motion joint 57. The linear motion joint 57 is configured to support the treatment tool 41 along the insertion axis Ai of the treatment tool 41 and to move the treatment tool 41 along the insertion axis Ai. A remote center RC of operation is set on the shaft portion of the treatment instrument 41. The arm 31 is controlled by the control unit 20 so that the remote center RC is fixed to the base unit 35 when the treatment instrument 41 is operated. Since the base part 35 is provided so as not to move with respect to the patient P placed on the operating table 36, the remote center RC is fixed with respect to the patient P.
　第一関節５１は、遠隔中心ＲＣと交差する第一軸Ａ１周りに回転可能に構成されている。第一関節５１は、近位端部をベース部３５に支持された第一リンク６１の遠位端部と第二リンク６２の近位端部とを互いに回転可能に結合している。 The first joint 51 is configured to be rotatable around a first axis A1 intersecting the remote center RC. The first joint 51 rotatably connects the distal end portion of the first link 61 and the proximal end portion of the second link 62 supported by the base portion 35 at the proximal end portion.
　ヨー関節５２は、遠隔中心ＲＣと交差するヨー軸Ａｙ周りに回転可能に構成されている。ヨー関節５２は、第二リンク６２の遠位端部と第三リンク６３の近位端部とを互いに回転可能に結合している。第二リンク６２は、第一関節５１の回転角度に関わらずヨー軸Ａｙが遠隔中心ＲＣと交差するように、ヨー関節５２を位置決めし配向するように構成されている。 The yaw joint 52 is configured to be rotatable around the yaw axis Ay intersecting the remote center RC. The yaw joint 52 rotatably connects the distal end portion of the second link 62 and the proximal end portion of the third link 63 to each other. The second link 62 is configured to position and orient the yaw joint 52 such that the yaw axis Ay intersects the remote center RC regardless of the rotation angle of the first joint 51.
　第一ピッチ関節５３は、遠隔中心ＲＣと交差するピッチ軸に平行な第二軸Ａ２周りに回転可能に構成されている。第一ピッチ関節５３は、第三リンク６３の遠位端部と第四リンク６４の近位端部とを互いに回転可能に結合している。 The first pitch joint 53 is configured to be rotatable around a second axis A2 parallel to the pitch axis intersecting with the remote center RC. The first pitch joint 53 rotatably connects the distal end portion of the third link 63 and the proximal end portion of the fourth link 64 to each other.
　第二ピッチ関節５４は、ピッチ軸および第二軸Ａ２に平行な第三軸Ａ３周りに回転可能に構成されている。第二ピッチ関節５４は、第四リンク６４の遠位端部と第五リンク６５の近位端部とを互いに回転可能に結合している。 The second pitch joint 54 is configured to be rotatable around a third axis A3 parallel to the pitch axis and the second axis A2. The second pitch joint 54 rotatably connects the distal end portion of the fourth link 64 and the proximal end portion of the fifth link 65 to each other.
　第三ピッチ関節５５は、ピッチ軸、第二軸Ａ２、および第三軸Ａ３に平行な第四軸Ａ４周りに回転可能に構成されている。第三ピッチ関節５５は、第五リンク６５の遠位端部と第六リンク６６の近位端部とを互いに回転可能に結合している。 The third pitch joint 55 is configured to be rotatable around a fourth axis A4 parallel to the pitch axis, the second axis A2, and the third axis A3. The third pitch joint 55 rotatably connects the distal end portion of the fifth link 65 and the proximal end portion of the sixth link 66 to each other.
　第二関節５６は、遠隔中心ＲＣと交差する第五軸Ａ５周りに回転可能に構成されている。第二関節５６は、第六リンク６６の遠位端部と第七リンク６７の近位端部とを互いに回転可能に結合している。第七リンク６７の遠位端部は、直動関節５７を支持している。第七リンク６７は、第二関節５６を回転させた場合に、直動関節５７および処置具４１を、遠隔中心ＲＣを頂点に有する円錐の表面に沿って移動させるように構成されている。 The second joint 56 is configured to be rotatable around a fifth axis A5 that intersects the remote center RC. The second joint 56 rotatably connects the distal end portion of the sixth link 66 and the proximal end portion of the seventh link 67 to each other. The distal end portion of the seventh link 67 supports the linear motion joint 57. When the second joint 56 is rotated, the seventh link 67 is configured to move the linear motion joint 57 and the treatment tool 41 along the surface of a cone having the remote center RC at the apex.
　アーム３１では、第一ピッチ関節５３、第四リンク６４、第二ピッチ関節５４、第五リンク６５、および第三ピッチ関節５５によって、平行リンク機構が構成されている。平行リンク機構では、公知の機構または制御方法を用いて、第五リンク６５が第三リンク６３に対して常に平行となるように、第一ピッチ関節５３、第二ピッチ関節５４、および第三ピッチ関節５５が動作する。 In the arm 31, the first pitch joint 53, the fourth link 64, the second pitch joint 54, the fifth link 65, and the third pitch joint 55 constitute a parallel link mechanism. In the parallel link mechanism, the first pitch joint 53, the second pitch joint 54, and the third pitch are used so that the fifth link 65 is always parallel to the third link 63 using a known mechanism or control method. The joint 55 moves.
　また、アーム３１は、第一軸Ａ１および第五軸Ａ５が、ヨー軸Ａｙ、ピッチ軸、および挿入軸Ａｉのいずれとも一致しないように構成されている。 The arm 31 is configured such that the first axis A1 and the fifth axis A5 do not coincide with any of the yaw axis Ay, the pitch axis, and the insertion axis Ai.
　続いて、第二操作部１４の構成について説明する。図４は、第二操作部１４の構成を示す模式図である。上述した通り、第二操作部１４は、アーム３１の形状と相似した形状を有する。これによって、助手Ａｓは、第二操作部１４を用いて感覚的にアーム３１の冗長関節３４を動作させることができる。 Subsequently, the configuration of the second operation unit 14 will be described. FIG. 4 is a schematic diagram illustrating the configuration of the second operation unit 14. As described above, the second operation unit 14 has a shape similar to the shape of the arm 31. Thus, the assistant As can use the second operation unit 14 to sensuously operate the redundant joint 34 of the arm 31.
　第二操作部１４は、第一関節５１に対応する第一操作関節７１と、ヨー関節５２に対応する第二操作関節７２と、第一ピッチ関節５３に対応する第三操作関節７３と、第二ピッチ関節５４に対応する第四操作関節７４と、第三ピッチ関節５５に対応する第五操作関節７５と、第二関節５６に対応する第六操作関節７６と、直動関節５７に対応する第七操作関節７７と、を有する。また、第二操作部１４は、第一リンク６１に対応する第一操作リンク８１と、第二リンク６２に対応する第二操作リンク８２と、第三リンク６３に対応する第三操作リンク８３と、第四リンク６４に対応する第四操作リンク８４と、第五リンク６５に対応する第五操作リンク８５と、第六リンク６６に対応する第六操作リンク８６と、第七リンク６７に対応する第七操作リンク８７と、を有する。 The second operation unit 14 includes a first operation joint 71 corresponding to the first joint 51, a second operation joint 72 corresponding to the yaw joint 52, a third operation joint 73 corresponding to the first pitch joint 53, Corresponding to the fourth operating joint 74 corresponding to the second pitch joint 54, the fifth operating joint 75 corresponding to the third pitch joint 55, the sixth operating joint 76 corresponding to the second joint 56, and the linear motion joint 57. And a seventh operating joint 77. The second operation unit 14 includes a first operation link 81 corresponding to the first link 61, a second operation link 82 corresponding to the second link 62, and a third operation link 83 corresponding to the third link 63. , Corresponding to the fourth operation link 84 corresponding to the fourth link 64, the fifth operation link 85 corresponding to the fifth link 65, the sixth operation link 86 corresponding to the sixth link 66, and the seventh link 67. And a seventh operation link 87.
　第一操作リンク８１は、第二操作部１４の基台８０に支持されている。第七操作関節７７は、処置具４１に対応する操作部用処置具８８を支持している。操作部用処置具８８には、遠隔中心ＲＣに対応して操作部用遠隔中心ＲＣ１が設定されている。操作関節７１～７７はそれぞれ、アーム３１の対応する関節５１～５７と同様に動作可能に構成されている。また、アーム３１の関節５１～５７と同様に、操作関節７１～７７は、関節の回転角度を検知するエンコーダ（不図示）と、関節を駆動するアクチュエータ（不図示）と、を有する。 The first operation link 81 is supported on the base 80 of the second operation unit 14. The seventh operation joint 77 supports an operation unit treatment tool 88 corresponding to the treatment tool 41. In the operation unit treatment tool 88, an operation unit remote center RC1 is set corresponding to the remote center RC. The operation joints 71 to 77 are configured to be operable in the same manner as the corresponding joints 51 to 57 of the arm 31. Similarly to the joints 51 to 57 of the arm 31, the operation joints 71 to 77 have an encoder (not shown) for detecting the rotation angle of the joint and an actuator (not shown) for driving the joint.
　次に、医療システム１において第二操作部１４を用いて冗長関節３４を操作する手順について説明する。図５は、医療システム１の動作を示すフローチャートである。 Next, a procedure for operating the redundant joint 34 using the second operation unit 14 in the medical system 1 will be described. FIG. 5 is a flowchart showing the operation of the medical system 1.
　助手Ａｓは、第二操作部１４のセレクタスイッチを操作して、第二操作部１４に関する制御モードを第四モードから第三モードに切り替える（ステップＳ１）。これにより、制御部２０は、第二操作部１４の形状が現在のアーム３１の形状に相対的に一致（相似）するように、第二操作部１４を動作させる（ステップＳ２）。すなわち、第二操作部１４の操作関節７１～７７はそれぞれ、内蔵するアクチュエータによって、アーム３１の対応する関節５１～５７の現在の回転角度に一致するように動作する。 The assistant As operates the selector switch of the second operation unit 14 to switch the control mode related to the second operation unit 14 from the fourth mode to the third mode (step S1). Thereby, the control part 20 operates the 2nd operation part 14 so that the shape of the 2nd operation part 14 may correspond with the shape of the present arm 31 relatively (similarity) (step S2). That is, the operation joints 71 to 77 of the second operation unit 14 are operated by the built-in actuator so as to coincide with the current rotation angle of the corresponding joints 51 to 57 of the arm 31.
　制御部２０は、第二操作部１４の操作部用処置具８８の位置および姿勢を基台８０に対して固定する（ステップＳ３）。これにより、操作部用処置具８８に設定された操作部用遠隔中心ＲＣ１の位置も基台８０に対して固定される。 The control unit 20 fixes the position and posture of the operation unit treatment tool 88 of the second operation unit 14 with respect to the base 80 (step S3). Thereby, the position of the remote center RC1 for the operation unit set in the operation unit treatment tool 88 is also fixed with respect to the base 80.
　制御部２０は、第二操作部１４に設けられた通知表示部（不図示）に、第二操作部１４が操作可能な状態になったことを表示する（ステップＳ４）。通知表示部は、例えば第二操作部１４において助手Ａｓが視認可能な位置に配置された液晶ディスプレイである。助手Ａｓは、通知表示部に表示された通知を確認した後、第二操作部１４を操作し（ステップＳ５）、第二操作部１４を所望の形状に変化させる。 The control unit 20 displays on the notification display unit (not shown) provided in the second operation unit 14 that the second operation unit 14 has become operable (step S4). The notification display unit is, for example, a liquid crystal display disposed at a position where the assistant As can be visually recognized in the second operation unit 14. After confirming the notification displayed on the notification display unit, the assistant As operates the second operation unit 14 (step S5), and changes the second operation unit 14 into a desired shape.
　ステップＳ５において、助手Ａｓは、第二操作部１４においてアーム３１の冗長関節３４である第一関節５１および第二関節５６に対応する第一操作関節７１および第六操作関節７６のみ操作可能である。助手Ａｓが第一操作関節７１または第六操作関節７６を操作すると、制御部２０は操作部用処置具８８の位置および姿勢を維持するための第二操作部１４の関節動作を計算する（ステップＳ６）。制御部２０は、第二操作部１４の関節動作の計算結果に基づいて第二操作部１４を動作させる（ステップＳ７）。例えば、助手Ａｓが第一操作関節７１を操作した場合には、制御部２０は、操作部用処置具８８の位置および姿勢を維持するために必要な残りの操作関節７２～７７の動作を計算する。そして、制御部２０は、その計算結果に基づいて、操作関節７２～７７を動作させる。 In step S <b> 5, the assistant As can operate only the first operation joint 71 and the sixth operation joint 76 corresponding to the first joint 51 and the second joint 56 that are the redundant joints 34 of the arm 31 in the second operation unit 14. . When the assistant As operates the first operation joint 71 or the sixth operation joint 76, the control unit 20 calculates the joint operation of the second operation unit 14 for maintaining the position and posture of the operation unit treatment tool 88 (step). S6). The control unit 20 operates the second operation unit 14 based on the calculation result of the joint operation of the second operation unit 14 (step S7). For example, when the assistant As operates the first operation joint 71, the control unit 20 calculates the operations of the remaining operation joints 72 to 77 necessary for maintaining the position and posture of the operation unit treatment tool 88. To do. Then, the control unit 20 operates the operation joints 72 to 77 based on the calculation result.
　制御部２０は、ステップＳ７における第二操作部１４の形状に相対的に一致する形状にアーム３１が変化した場合に、アーム３１が他のアーム３１に衝突するか否かを判定する（ステップＳ８）。例えば、第二操作部１４の操作対象が第一アーム３１Ａである場合に、制御部２０は、第一アーム３１Ａが第一アーム３１Ａに近接して配置された第二アーム３１Ｂに衝突するか否かを判定する。 The control unit 20 determines whether or not the arm 31 collides with another arm 31 when the arm 31 is changed to a shape that relatively matches the shape of the second operation unit 14 in step S7 (step S8). ). For example, when the operation target of the second operation unit 14 is the first arm 31A, the control unit 20 determines whether or not the first arm 31A collides with the second arm 31B disposed close to the first arm 31A. Determine whether.
　制御部２０がアーム３１同士の衝突が発生すると判定した場合、制御部２０は、第二操作部１４の通知表示部に、アーム３１同士の衝突が発生することを表示し（ステップＳ９）、助手Ａｓに第二操作部１４を操作し直すことを促す。また、制御部２０がアーム３１同士の衝突は発生しないと判定した場合、制御部２０は、第二操作部１４に設けられた操作完了ボタン（不図示）を入力可能な状態にする。 When the control unit 20 determines that the collision between the arms 31 occurs, the control unit 20 displays on the notification display unit of the second operation unit 14 that the collision between the arms 31 occurs (step S9), and the assistant As is urged to operate the second operation unit 14 again. In addition, when the control unit 20 determines that the collision between the arms 31 does not occur, the control unit 20 puts an operation completion button (not shown) provided in the second operation unit 14 into a state where input is possible.
　助手Ａｓが操作完了ボタンを入力すると（ステップＳ１０）、制御部２０は、現在の第二操作部１４の形状にアーム３１の形状が相対的に一致（相似）するように、アーム３１を動作させる（ステップＳ１１）。なお、助手Ａｓが操作完了ボタンを入力するまでは、助手Ａｓは、第二操作部１４の形状を再度変化させることができる。 When the assistant As inputs the operation completion button (step S10), the control unit 20 operates the arm 31 so that the shape of the arm 31 is relatively matched (similar) to the current shape of the second operation unit 14. (Step S11). Until the assistant As inputs the operation completion button, the assistant As can change the shape of the second operation unit 14 again.
　アーム３１の動作が完了した後、助手Ａｓは、第二操作部１４のセレクタスイッチを操作して、第二操作部１４に関する制御モードを第三モードから第四モードに切り替える（ステップＳ１２）。これにより、第二操作部１４の一連の操作が終了する。 After the operation of the arm 31 is completed, the assistant As operates the selector switch of the second operation unit 14 to switch the control mode related to the second operation unit 14 from the third mode to the fourth mode (step S12). Thereby, a series of operations of the second operation unit 14 is completed.
　ここで、ステップＳ６およびＳ７における第二操作部１４の動作（補償動作）の具体例について、図４、図６、および図７を参照して説明する。図６および図７は、医療システム１における補償動作の一例を示す図である。 Here, a specific example of the operation (compensation operation) of the second operation unit 14 in steps S6 and S7 will be described with reference to FIG. 4, FIG. 6, and FIG. 6 and 7 are diagrams illustrating an example of the compensation operation in the medical system 1. FIG.
　アーム３１において、冗長関節３４である第一関節５１に結合された第二リンク６２を、周囲の物体との衝突を避けるため、図３に示される状態から移動させる場合を例として説明する。この場合、第二操作部１４は、図４に示される状態になっている。 In the arm 31, the case where the second link 62 coupled to the first joint 51, which is the redundant joint 34, is moved from the state shown in FIG. 3 in order to avoid collision with surrounding objects will be described as an example. In this case, the second operation unit 14 is in the state shown in FIG.
　助手Ａｓは、第一関節５１に対応する第一操作関節７１を操作して、第二リンク６２に対応する第二操作リンク８２を第一操作リンク８１に対して一方向に回転させる。このとき、制御部２０は、操作部用処置具８８の位置および姿勢を基台８０に対して固定した状態を維持するため、まず第二操作リンク８２に結合する第二操作関節７２を動作させて、第三操作リンク８３を第二操作リンク８２に対して前記一方向の逆方向に回転させる。 The assistant As operates the first operation joint 71 corresponding to the first joint 51 to rotate the second operation link 82 corresponding to the second link 62 in one direction with respect to the first operation link 81. At this time, the control unit 20 first operates the second operation joint 72 coupled to the second operation link 82 in order to maintain the position and posture of the operation unit treatment tool 88 fixed to the base 80. Then, the third operation link 83 is rotated in the opposite direction of the one direction with respect to the second operation link 82.
　図６は、図４に示す状態から第一操作関節７１を一方向に１８０度回転させ、第二操作関節７２を逆方向に１８０度回転させた状態を示す。図６に示すように、第二操作関節７２の回転軸は第一操作関節７１の回転軸からずれているため、第二操作関節７２を逆方向に回転させただけでは、操作部用処置具８８の位置および姿勢が維持されない。すなわち、第二操作関節７２の回転軸が移動することによって、操作部用処置具８８が操作部用遠隔中心ＲＣ１を中心に揺動する。 FIG. 6 shows a state where the first operating joint 71 is rotated 180 degrees in one direction and the second operating joint 72 is rotated 180 degrees in the opposite direction from the state shown in FIG. As shown in FIG. 6, since the rotation axis of the second operation joint 72 is deviated from the rotation axis of the first operation joint 71, the operation tool for the operation unit is obtained only by rotating the second operation joint 72 in the reverse direction. The position and posture of 88 are not maintained. That is, when the rotation shaft of the second operation joint 72 is moved, the operation unit treatment tool 88 swings about the operation unit remote center RC1.
　このため、制御部２０は、さらに第三操作関節７３、第四操作関節７４、および第五操作関節７５を動作させ、第二操作部１４を図７に示す形状に変化させる。図７に示す状態では、操作部用処置具８８の位置および姿勢が維持されている。このような動作によって、操作部用処置具８８の位置および姿勢を維持しつつ、第二操作リンク８２を移動させることができる。 For this reason, the control unit 20 further operates the third operation joint 73, the fourth operation joint 74, and the fifth operation joint 75 to change the second operation unit 14 into the shape shown in FIG. In the state shown in FIG. 7, the position and posture of the operation unit treatment tool 88 are maintained. With such an operation, it is possible to move the second operation link 82 while maintaining the position and posture of the operation unit treatment tool 88.
　なお、上述した第二操作部１４はアーム３１の形状と相似した形状を有しているため、第二操作部１４において補償動作を実施している。しかしながら、第二操作部１４がアーム３１の形状と相似した形状を有していない場合には、アーム３１において上述した補償動作と同様の補償動作が直接実施されてもよい。この場合、制御部２０は、処置具４１のエンドエフェクタ４３の位置および姿勢をベース部３５に対して固定した条件の下で、アーム３１を動作させる。 In addition, since the 2nd operation part 14 mentioned above has a shape similar to the shape of the arm 31, the compensation operation is implemented in the 2nd operation part 14. FIG. However, when the second operation unit 14 does not have a shape similar to the shape of the arm 31, the compensation operation similar to the compensation operation described above may be directly performed in the arm 31. In this case, the control unit 20 operates the arm 31 under the condition that the position and posture of the end effector 43 of the treatment instrument 41 are fixed with respect to the base unit 35.
　本実施形態に係る医療システム１は、少なくとも一つの冗長関節３４を含む関節群３２を有するアーム３１と、アーム３１の遠位端で着脱可能に支持され、エンドエフェクタ４３を有する処置具４１と、アーム３１および処置具４１を操作可能に構成された第一操作部１１と、アーム３１および第一操作部１１から離隔して設けられ、冗長関節３４のみを操作可能に構成された第二操作部１４と、を備える。 The medical system 1 according to the present embodiment includes an arm 31 having a joint group 32 including at least one redundant joint 34, a treatment tool 41 that is detachably supported at the distal end of the arm 31 and has an end effector 43, The first operation unit 11 configured to be able to operate the arm 31 and the treatment instrument 41, and the second operation unit provided separately from the arm 31 and the first operation unit 11 and configured to be able to operate only the redundant joint 34 14.
　上述した構成によれば、冗長関節３４を操作する第二操作部１４がアーム３１および第一操作部１１から離隔して設けられているので、助手Ａｓが第二操作部１４を操作することによって簡便に冗長関節３４を操作することができる。また、第二操作部１４は助手Ａｓが操作するため、術者Ｏｐは冗長関節３４を操作する必要はなく、手技に集中することができる。 According to the configuration described above, since the second operation unit 14 that operates the redundant joint 34 is provided apart from the arm 31 and the first operation unit 11, the assistant As operates the second operation unit 14. The redundant joint 34 can be easily operated. Moreover, since the assistant As operates the 2nd operation part 14, the operator Op does not need to operate the redundant joint 34, but can concentrate on a procedure.
　なお、本実施形態では、第二操作部１４はアーム３１の形状と相似した形状を有しているとしたが、この構成は一例である。第二操作部１４は、冗長関節３４を操作可能に構成されている限り、その構成は特に限定されない。 In the present embodiment, the second operation unit 14 has a shape similar to the shape of the arm 31, but this configuration is an example. As long as the 2nd operation part 14 is comprised so that operation of the redundant joint 34 is possible, the structure is not specifically limited.
　（第二実施形態）
　次に、本発明の第二実施形態について、図８を参照して説明する。 (Second embodiment)
Next, a second embodiment of the present invention will be described with reference to FIG.
　図８は、本実施形態に係る医療システム２の第二操作部１５を示す図である。医療システム２は、第二操作部１５がタッチスクリーン９０を有する点で、第一実施形態に係る医療システム１と異なっている。なお、第一実施形態に係る医療システム１と同様の構成を有する部分については、同じ符号を付し、その詳細な説明を省略する。 FIG. 8 is a diagram illustrating the second operation unit 15 of the medical system 2 according to the present embodiment. The medical system 2 is different from the medical system 1 according to the first embodiment in that the second operation unit 15 includes a touch screen 90. In addition, about the part which has the structure similar to the medical system 1 which concerns on 1st embodiment, the same code | symbol is attached | subjected and the detailed description is abbreviate | omitted.
　タッチスクリーン９０は、アーム３１および冗長関節３４を表示可能に構成されている。第二操作部１５は、タッチスクリーン９０に表示された冗長関節３４をタッチすることによって、冗長関節３４を操作可能に構成されている。 The touch screen 90 is configured to display the arm 31 and the redundant joint 34. The second operation unit 15 is configured to be able to operate the redundant joint 34 by touching the redundant joint 34 displayed on the touch screen 90.
　図８に示すように、タッチスクリーン９０には、アーム３１の３Ｄモデル９１が、現在のアーム３１の姿勢で表示されている。また、３Ｄモデル９１において、関節３３に対応する関節モデル９２Ａ、９２Ｂ、９２Ｃ、および冗長関節３４に対応する冗長関節モデル９３Ａ、９３Ｂ、９３Ｃが、タッチスクリーン９０上に表示されている。 As shown in FIG. 8, the 3D model 91 of the arm 31 is displayed on the touch screen 90 with the current posture of the arm 31. In the 3D model 91, joint models 92A, 92B, and 92C corresponding to the joint 33 and redundant joint models 93A, 93B, and 93C corresponding to the redundant joint 34 are displayed on the touch screen 90.
　第二操作部１５によって冗長関節３４を操作する場合、助手Ａｓは、まずセレクタスイッチを操作して、第二操作部１５に関する制御モードを第四モードから第三モードに切り替える。これにより、制御部２０は、タッチスクリーン９０上に現在のアーム３１の形状に対応する３Ｄモデル９１を表示する。この状態で、助手Ａｓは、タッチスクリーン９０上の冗長関節モデル９３Ａ～９３Ｃをタッチ操作することによって、３Ｄモデル９１の形状を変化させることができる。 When operating the redundant joint 34 by the second operation unit 15, the assistant As first operates the selector switch to switch the control mode related to the second operation unit 15 from the fourth mode to the third mode. As a result, the control unit 20 displays the 3D model 91 corresponding to the current shape of the arm 31 on the touch screen 90. In this state, the assistant As can change the shape of the 3D model 91 by touching the redundant joint models 93A to 93C on the touch screen 90.
　第一実施形態に係る医療システム１と同様に、制御部２０は、変化後の３Ｄモデル９１の形状に相対的に一致する形状にアーム３１が変化した場合に、アーム３１が他のアーム３１に衝突するか否かを判定する。制御部２０がアーム３１同士の衝突が発生すると判定した場合、制御部２０は、タッチスクリーン９０上にアーム３１同士の衝突が発生することを表示する。また、制御部２０がアーム３１同士の衝突は発生しないと判定した場合、制御部２０は、タッチスクリーン９０上に表示されたスタートボタン９５を入力可能な状態にする。 Similar to the medical system 1 according to the first embodiment, when the arm 31 changes to a shape that relatively matches the shape of the changed 3D model 91, the control unit 20 changes the arm 31 to the other arm 31. Determine if there is a collision. When the control unit 20 determines that a collision between the arms 31 occurs, the control unit 20 displays on the touch screen 90 that a collision between the arms 31 occurs. When the control unit 20 determines that the arms 31 do not collide with each other, the control unit 20 makes the start button 95 displayed on the touch screen 90 ready for input.
　助手Ａｓがスタートボタン９５を入力すると、制御部２０は、現在の３Ｄモデル９１の形状にアーム３１の形状が相対的に一致するように、アーム３１を動作させる。なお、タッチスクリーン９０上には、スタートボタン９５に加えて、キャンセルボタン９６が表示されている。助手Ａｓがキャンセルボタン９６を入力すると、３Ｄモデル９１の形状が現在のアーム３１の形状（タッチ操作する前の形状）に戻る。 When the assistant As inputs the start button 95, the control unit 20 operates the arm 31 so that the shape of the arm 31 relatively matches the shape of the current 3D model 91. In addition to the start button 95, a cancel button 96 is displayed on the touch screen 90. When the assistant As inputs the cancel button 96, the shape of the 3D model 91 returns to the current shape of the arm 31 (the shape before the touch operation).
　本実施形態に係る医療システム２において、第二操作部１５は、アーム３１および冗長関節３４を表示するタッチスクリーン９０を有する。第二操作部１５は、タッチスクリーン９０に表示された冗長関節３４をタッチすることによって、冗長関節３４を操作可能に構成されている。 In the medical system 2 according to the present embodiment, the second operation unit 15 includes a touch screen 90 that displays the arm 31 and the redundant joint 34. The second operation unit 15 is configured to be able to operate the redundant joint 34 by touching the redundant joint 34 displayed on the touch screen 90.
　上述した構成によれば、助手Ａｓは、タッチスクリーン９０上に表示されたアーム３１の形状を確認しながら冗長関節３４を操作することができるので、アーム３１同士の衝突などの回避をより容易に行うことができる。 According to the above-described configuration, the assistant As can operate the redundant joint 34 while confirming the shape of the arm 31 displayed on the touch screen 90, so that it is easier to avoid a collision between the arms 31 and the like. It can be carried out.
　以上、本発明の好ましい実施形態を説明したが、本発明はこれら実施形態に限定されることはない。本発明の趣旨を逸脱しない範囲で、構成の付加、省略、置換、およびその他の変更が可能である。 The preferred embodiments of the present invention have been described above, but the present invention is not limited to these embodiments. Additions, omissions, substitutions, and other modifications can be made without departing from the spirit of the present invention.
　上記した本発明の実施形態によれば、術者以外の者が簡便に冗長関節を操作することが可能な医療システムを提供することができる。 According to the embodiment of the present invention described above, it is possible to provide a medical system in which a person other than the operator can easily operate the redundant joint.
　１、２　医療システム
　１１　第一操作部
　１４、１５　第二操作部
　２０　制御部
　３１　アーム
　３１Ａ　第一アーム
　３１Ｂ　第二アーム
　３２　関節群
　３４　冗長関節
　３５　ベース部
　４１　処置具
　４３　エンドエフェクタ
　９０　タッチスクリーン DESCRIPTION OF SYMBOLS 1, 2 Medical system 11 1st operation part 14, 15 2nd operation part 20 Control part 31 Arm 31A 1st arm 31B 2nd arm 32 Joint group 34 Redundant joint 35 Base part 41 Treatment tool 43 End effector 90 Touch screen

Claims (5)

  1. 　少なくとも一つの冗長関節を含む関節群を有する第一アームと、
    　前記第一アームの遠位端で着脱可能に支持され、エンドエフェクタを有する処置具と、
    　前記第一アームおよび前記処置具を操作可能に構成された第一操作部と、
    　前記第一アームおよび前記第一操作部から離隔して設けられ、前記冗長関節のみを操作可能に構成された第二操作部と、
    　を備える医療システム。     A first arm having a joint group including at least one redundant joint;
    A treatment instrument detachably supported at the distal end of the first arm and having an end effector;
    A first operation unit configured to be able to operate the first arm and the treatment instrument;
    A second operating portion provided separately from the first arm and the first operating portion, and configured to be operable only the redundant joint;
    A medical system comprising:
  2. 　請求項１に記載の医療システムであって、
    　前記第二操作部は、前記第一アームおよび前記冗長関節を表示するタッチスクリーンを有し、
    　前記第二操作部は、前記タッチスクリーンに表示された前記冗長関節をタッチすることによって、前記冗長関節を操作可能に構成されている
    　医療システム。     The medical system according to claim 1,
    The second operation unit has a touch screen that displays the first arm and the redundant joint,
    The second operation unit is configured to be able to operate the redundant joint by touching the redundant joint displayed on the touch screen.
  3. 　請求項１または２に記載の医療システムであって、
    　前記第二操作部が生成し出力する操作信号に基づいて前記冗長関節を動作させる動作信号を生成し、前記動作信号を前記冗長関節に出力する制御部をさらに備え、
    　前記制御部は、前記第一アームの近位端を支持するベース部に対して前記エンドエフェクタの位置および姿勢を固定した条件の下で、前記操作信号に基づいて前記動作信号を生成する
    　医療システム。     The medical system according to claim 1 or 2,
    A control unit that generates an operation signal for operating the redundant joint based on an operation signal generated and output by the second operation unit, and outputs the operation signal to the redundant joint;
    The control unit generates the operation signal based on the operation signal under a condition in which a position and a posture of the end effector are fixed with respect to a base unit that supports a proximal end of the first arm. .
  4. 　請求項１に記載の医療システムであって、
    　前記第二操作部が生成し出力する操作信号に基づいて前記冗長関節を動作させる動作信号を生成し、前記動作信号を前記冗長関節に出力する制御部をさらに備え、
    　前記第二操作部は、前記第一アームの形状と相似した形状を有し、
    　前記制御部は、前記第二操作部の形状に前記第一アームの形状が相似するように、前記冗長関節を動作させる前記動作信号を生成する
    　医療システム。     The medical system according to claim 1,
    A control unit that generates an operation signal for operating the redundant joint based on an operation signal generated and output by the second operation unit, and outputs the operation signal to the redundant joint;
    The second operation part has a shape similar to the shape of the first arm,
    The control unit generates the operation signal for operating the redundant joint so that the shape of the first arm is similar to the shape of the second operation unit.
  5. 　請求項３または４に記載の医療システムであって、
    　前記第一アームに近接して配置され、関節群を有する第二アームをさらに備え、
    　前記制御部は、前記動作信号に基づいて前記冗長関節が動作した場合に前記第一アームが前記第二アームに衝突するか否かを、前記冗長関節が動作する前に判定する
    　医療システム。     The medical system according to claim 3 or 4,
    A second arm disposed proximate to the first arm and having a joint group;
    The control unit determines whether or not the first arm collides with the second arm when the redundant joint is operated based on the operation signal before the redundant joint is operated.
PCT/JP2016/068376 2016-06-21 2016-06-21 Medical system WO2017221323A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2016/068376 WO2017221323A1 (en) 2016-06-21 2016-06-21 Medical system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2016/068376 WO2017221323A1 (en) 2016-06-21 2016-06-21 Medical system

Publications (1)

Publication Number Publication Date
WO2017221323A1 true WO2017221323A1 (en) 2017-12-28

Family

ID=60784500

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2016/068376 WO2017221323A1 (en) 2016-06-21 2016-06-21 Medical system

Country Status (1)

Country Link
WO (1) WO2017221323A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114098953A (en) * 2021-11-11 2022-03-01 深圳市精锋医疗科技股份有限公司 Mechanical arm, slave operation device and surgical robot
JP2022530606A (en) * 2020-03-31 2022-06-30 シーエムアール・サージカル・リミテッド Configuration of surgical robot system

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005103741A (en) * 2003-10-02 2005-04-21 Hitachi Ltd Operation input device, remote operation system, and remote operation method
JP2012148379A (en) * 2011-01-20 2012-08-09 Olympus Corp Master-slave manipulator and medical master-slave manipulator
JP2014180751A (en) * 2013-03-15 2014-09-29 Samsung Electronics Co Ltd Robot and method for controlling the same
JP2015024035A (en) * 2013-07-26 2015-02-05 オリンパス株式会社 Medical system and control method for the same
JP2015534835A (en) * 2012-11-30 2015-12-07 オリンパス株式会社 Surgery support system and control method for surgery support system
JP2016516487A (en) * 2013-03-15 2016-06-09 インテュイティブ サージカル オペレーションズ， インコーポレイテッド System and method for positioning a manipulator arm by clutching in zero orthogonal space simultaneously with zero space motion

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005103741A (en) * 2003-10-02 2005-04-21 Hitachi Ltd Operation input device, remote operation system, and remote operation method
JP2012148379A (en) * 2011-01-20 2012-08-09 Olympus Corp Master-slave manipulator and medical master-slave manipulator
JP2015534835A (en) * 2012-11-30 2015-12-07 オリンパス株式会社 Surgery support system and control method for surgery support system
JP2014180751A (en) * 2013-03-15 2014-09-29 Samsung Electronics Co Ltd Robot and method for controlling the same
JP2016516487A (en) * 2013-03-15 2016-06-09 インテュイティブ サージカル オペレーションズ， インコーポレイテッド System and method for positioning a manipulator arm by clutching in zero orthogonal space simultaneously with zero space motion
JP2015024035A (en) * 2013-07-26 2015-02-05 オリンパス株式会社 Medical system and control method for the same

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2022530606A (en) * 2020-03-31 2022-06-30 シーエムアール・サージカル・リミテッド Configuration of surgical robot system
JP7350085B2 (en) 2020-03-31 2023-09-25 シーエムアール・サージカル・リミテッド Configuration of surgical robot system
CN114098953A (en) * 2021-11-11 2022-03-01 深圳市精锋医疗科技股份有限公司 Mechanical arm, slave operation device and surgical robot

Similar Documents

Publication Publication Date Title
JP7275204B2 (en) System and method for on-screen menus in telemedicine systems
US10022195B2 (en) User interface for a robot
US8892224B2 (en) Method for graphically providing continuous change of state directions to a user of a medical robotic system
JP5744455B2 (en) Master / slave manipulator control device and control method thereof
JP6203249B2 (en) Master-slave system
JP5669590B2 (en) Master-slave manipulator and medical master-slave manipulator
JP7080861B2 (en) Surgical system
JP2012055996A (en) Master-slave manipulator
WO2017179629A1 (en) Surgical system
EP4008287A1 (en) Robotic surgical system and display method
JP2021083473A (en) Surgery support robot and positioner operation method
US20230380913A1 (en) Surgical system
WO2017221323A1 (en) Medical system
EP3662859A1 (en) Master operation input device and master-slave manipulator
JP2024094769A (en) Surgical support system and method for controlling surgical support system
CN112888398A (en) Main robot and control method thereof
EP4035620A1 (en) Surgical system and display method
KR20200068455A (en) Method and system for remotely controlling surgical slave arm
JP2024036816A (en) Surgery support system and operation device control method
JP2022187879A (en) Surgery support system, operator side device, and control method for surgery support system
WO2023219143A1 (en) Surgery support system and method for controlling surgery support system
WO2023238891A1 (en) Surgical system
JP2023008647A (en) Surgery system, display method and program
JP2023008313A (en) Surgery system, display method and program
JP2024009700A (en) Surgery system and operation method of surgery system

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16906240

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 16906240

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: JP