WO2018003049A1 - Medical system and control method thereof - Google Patents

Medical system and control method thereof Download PDF

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Publication number
WO2018003049A1
WO2018003049A1 PCT/JP2016/069377 JP2016069377W WO2018003049A1 WO 2018003049 A1 WO2018003049 A1 WO 2018003049A1 JP 2016069377 W JP2016069377 W JP 2016069377W WO 2018003049 A1 WO2018003049 A1 WO 2018003049A1
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arm
interference
arms
unit
operation target
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PCT/JP2016/069377
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French (fr)
Japanese (ja)
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満彰 長谷川
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オリンパス株式会社
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Priority to PCT/JP2016/069377 priority Critical patent/WO2018003049A1/en
Publication of WO2018003049A1 publication Critical patent/WO2018003049A1/en

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    • 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
    • A61B34/35—Surgical robots for telesurgery

Definitions

  • the present invention relates to a medical system and a control method thereof.
  • a medical system including a plurality of arms having joints with redundant degrees of freedom is known (see, for example, Patent Document 1).
  • This medical system uses the redundancy of the joints that make up each arm to move the joint positions of the arms without changing the posture of the treatment tool, thereby causing interference between arms or interference between arms and obstacles. Trying to avoid.
  • One aspect of the present invention is provided with a joint group having redundant degrees of freedom, a plurality of arms that move an end effector attached to the tip, an operation unit that inputs an operation command for operating the arms, and the operation
  • a control unit that controls the arm based on the operation command input to the control unit, and the control unit controls the arm and the operation target based on the operation command input to the operation unit.
  • An interference prediction unit that predicts interference with another arm that is not the target, and when the interference prediction unit predicts that interference will occur, the other arm that is not the operation target is set as the operation target.
  • the medical system is operated in a direction away from the arm.
  • the control unit controls the arm to be operated based on the input operation command and is attached to the tip of the arm.
  • a treatment target can be treated by the end effector.
  • the control unit stops the joints with redundant degrees of freedom, and obtains the end effector to an appropriate position and posture by obtaining the operation angle of each joint without performing a huge calculation. Can be arranged.
  • the interference prediction unit While operating the operation unit and operating the arm that is the operation target, the interference prediction unit provided in the control unit causes the arm that is the operation target and the other arm that is not the operation target to Interference is expected.
  • the control unit causes the other arm that is not the operation target to be moved away from the operation target arm.
  • an arm that is not an operation target can operate without changing the posture and position of the end effector attached to the tip. Thereby, interference between arms can be avoided without changing the state of the end effector with respect to the treatment target.
  • control unit causes the arm that is not the operation target to perform the interference avoidance operation, not the operation target arm that is operated by the operation unit. It is not necessary to add a calculation for avoiding interference to the calculation process for operating the arm, and the calculation load can be reduced.
  • the interference prediction unit calculates an operation target position of the arm that is an operation target based on the operation command input to the operation unit, and the calculated operation target position and the operation target The interference may be predicted from the current position of the other arm that is not.
  • the said end effector attached to one of the said arms is a treatment tool for treating an affected part
  • the said end effector attached to the other said arm is the said affected part and the said treatment tool. It may be an image pickup apparatus for taking pictures.
  • the operation unit is operated to operate the arm to which the imaging device is attached, the arm is stopped in a state where the affected part is arranged in the visual field range, and then the operation unit is operated to perform treatment.
  • the other arm to which the instrument is attached can be operated to treat the affected area with the treatment instrument.
  • the operation for avoiding interference is performed by the arm to which the imaging device is attached.
  • the arm to which the treatment tool is attached is stopped and the arm to which the imaging device is attached is an operation target, an operation for avoiding interference is performed by the arm to which the treatment tool is attached.
  • the switching unit can switch between the arm that is the operation target and the other arm that is not the operation target, and the avoidance operation can be performed by any of the arms, reducing the calculation load.
  • the interference between the arms can be avoided more reliably.
  • a group of joints having redundant degrees of freedom is provided, and one of a plurality of arms for moving an end effector attached to the tip is operated to operate any one of the arms to be operated.
  • the prediction step for predicting interference between the arm that is the operation target and the other arm that is not the operation target includes an interference avoiding operation step of operating another arm that is not an operation target in a direction away from the arm that is an operation target.
  • FIG. 1 is an overall configuration diagram showing a medical system according to an embodiment of the present invention. It is a block diagram which shows the medical system of FIG. It is a flowchart explaining the control method of the medical system of FIG.
  • the medical system 1 includes a bed 2 on which a patient O is laid, a surgical robot 3 disposed on the side of the bed 2, and an operation unit 4 operated by an operator. And a control unit 5.
  • the surgical robot 3 includes a plurality of, for example, four arms (first to fourth arms) 6a, 6b, 6c, 6d and a base 7 that supports the arms 6a, 6b, 6c, 6d (
  • the arm 6a is displayed on the front side
  • the arm 6d is displayed on the depth side.
  • the base 7 has a structure that rises from the floor to the side of the bed 2, but is not limited thereto, and may have a structure that is fixed to the ceiling.
  • Each arm 6a, 6b, 6c, 6d includes a joint group 8a, 8b, 8c, 8d having redundant degrees of freedom of 7 axes or more.
  • An endoscope (end effector, imaging device) 9 is attached to the distal end of the first arm 6a, and the distal ends of the other three arms (second arm to fourth arm) 6b, 6c, 6d, respectively.
  • a treatment tool (end effector) 10 is attached.
  • each arm 6a, 6b, 6c, 6d includes a drive unit 11 such as a motor for operating each joint constituting the arms 6a, 6b, 6c, 6d, and the drive unit. 11 and a sensor 12 for detecting the angle of each joint operated by the control unit 11.
  • the operation unit 4 includes an operation input unit 14 that is operated by an operator, and a monitor 13 that displays an internal image of the patient O by an endoscope 9 attached to the arm 6a.
  • the operation input unit 14 includes two handles (right handle and left handle) 15 and 16 that the operator holds with both hands, and a changeover switch (switching unit) 17. Then, one or two of the four arms 6a, 6b, 6c, 6d, for example, the second arm 6b and the third arm 6c are selected by the changeover switch 17 to operate the handles 15, 16
  • the arms 6b and 6c selected by the above can be operated.
  • the arms 6b and 6c selected by the changeover switch 17 become operation targets, and the unselected arms 6a and 6d become non-operation targets.
  • the operator operates the operation input unit 14 while looking at the affected part and the distal end part of the treatment instrument 10 attached to the arms 6b and 6c in the in-vivo image of the patient O displayed on the monitor 13, and the arms 6b and 6c. And the treatment tool 10 is operated so that the affected part can be treated.
  • the control unit 5 calculates position / posture calculation for calculating a target angle (operation target position) of each joint of the arms 6b and 6c to be operated based on an operation command input by a handle operation of the operation input unit 14. Based on the target angle of each joint calculated by the position / posture calculation unit 18, the interference prediction unit 19 that predicts interference with the arms 6 a and 6 d that are not the operation target, and the interference prediction unit 19 is provided with a drive command generation unit 20 that operates the arms 6a and 6d that are not the operation target based on the prediction result by the operation unit 19.
  • the position / posture calculation unit 18 uses the six-axis joint groups 8b and 8c excluding the joints constituting the redundant degrees of freedom of the arms 6b and 6c to be operated in accordance with the operation commands input by the operation input unit 14.
  • the target angle of each joint when achieving the position and posture of the end effector 10 is calculated. Thereby, since the angles of the joints of the arms 6b and 6c corresponding to the operation command are uniquely determined, the target angle can be calculated with a small amount of calculation.
  • the interference prediction unit 19 also calculates the target angles of the joints of the arms 6b and 6c that are the operation targets calculated by the position / posture calculation unit 18 and the current angles of the arms 6a and 6d that are not the operation targets. Based on the angle of the joint, the presence or absence of interference between the mechanical parts of the arms 6a, 6b, 6c, 6d is predicted. Since the dimensions and the like of the mechanism portion are determined in advance, the presence or absence of interference between the mechanism portions of the arms 6a, 6b, 6c, and 6d can be easily predicted by determining the angle of each joint.
  • the interference prediction unit 19 When interference is predicted by the interference prediction unit 19, the joints of the arms 6b and 6c that are the operation targets are moved to the target angle, and the arms 6a and 6d that are not the operation targets are operated. It is supposed to let you. Specifically, when it is predicted that interference will occur, the interference predicting unit 19 sends a signal to that effect to the drive command generating unit 20.
  • the drive command generator 20 For the arms 6b and 6c to be operated, the drive command generator 20 generates a drive command signal for driving each joint based on the target angle of each joint calculated by the position / posture calculator 18. It is generated and sent to the drive unit 11. In addition, when a signal indicating interference is transmitted from the interference prediction unit 19, the drive command generation unit 20 detects the treatment tool 10 or the endoscope 9 attached to the arms 6a and 6d that are not the operation target. An operation command signal for each joint is generated so that the arms 6a and 6d that are not the operation target are moved away from the arms 6b and 6c that are the operation targets while maintaining the position and the posture. It has become.
  • the arms 6a and 6d that are not the operation target are proximal to the distal end shaft while maintaining the position and posture of the distal end shaft by the joint groups 8a and 8d including joints that form redundant degrees of freedom.
  • One or more joints arranged in the above are operated to generate a drive command signal that moves in a direction away from a position where it does not interfere with the operation target arms 6 b and 6 c, and sends the drive command signal to the drive unit 11. It has become.
  • the angles of the joints constituting each arm 6a, 6b, 6c, 6d are detected by the sensor 12 and fed back to the position / posture calculation unit 18.
  • any one or two arms 6 b and 6 c are set as operation targets by the changeover switch 17 of the operation input unit 14 (steps).
  • step S1 it is determined whether or not an operation command is input by the right handle 16 or the left handle 15 of the operation input unit 14 (step S2).
  • the target angle of each joint constituting the arms 6b and 6c set as the operation target corresponding to the input handles 15 and 16 is calculated (step S3).
  • the targets of the minimum number of joints that can achieve the position and posture of the end effector 10 corresponding to the operation command input from the handles 15 and 16 are achieved. An angle is calculated.
  • a prediction calculation of the presence or absence of interference with the arms 6a and 6d that are not the operation targets is performed (prediction step S4).
  • the prediction result in the prediction step S4 is determined (step S5) and it is predicted that interference will occur
  • the arm 6a, 6d that is not the operation target generates a drive command signal for each joint that can avoid interference.
  • the drive command generation unit 20 generates a drive command signal for achieving the calculated target angle of the arms 6b and 6c to be operated (interference avoiding operation step S6). It is generated (step S7). Then, the drive unit 11 is driven based on the generated drive command signal (step S8).
  • the drive command signals for the arms 6a and 6d that are not operated are superimposed so that only the positions of one or more joints on the proximal end side are moved while maintaining the positions and postures of the end effectors 9 and 10 at the distal ends.
  • the joint groups 8a and 8d having degrees of freedom are generated to be operated.
  • the arm 6b which is set as an operation target and is operated in real time according to the operation of the right handle 16 and the left handle 15 of the operation input unit 14,
  • the minimum necessary number of joint groups 8b and 8c not including joints constituting redundant degrees of freedom are operated, so the calculation load is extremely small and stable without using a high-performance computer.
  • the operation can be performed.
  • the joint groups 8a and 8d having redundant degrees of freedom of the arms 6a and 6d that are not the operation target instead of the arms 6b and 6c that are the operation target. Is used to perform the interference avoidance operation, so that the arms 6a and 6d that are not operated are not increased without increasing the calculation load for operating the arms 6b and 6c that are the operation targets operated in real time. There is an advantage that interference can be avoided by a minimum calculation for operation.
  • each joint of the first arm 6a is based on the operation command input from the operation input unit 14.
  • the target angle is calculated, and the presence or absence of interference between the arms 6a, 6b, 6c and 6d is predicted together with the angles of the current joints of the other three arms 6b, 6c and 6d.
  • the interference avoiding operation by the arms 6b, 6c, 6d other than the first arm 6a is performed, and the first arm 6a does not perform the interference avoiding operation, and only the minimum necessary joints are used.
  • the endoscope 9 To move the endoscope 9 to a desired position. Thereby, the visual field by the endoscope 9 can be smoothly changed to reach the affected area.
  • the left handle 15 and The second arm 6b and the third arm 6c are operated in accordance with an operation command input by operating the right handle 16.
  • This operation also uses a minimum number of joints without using redundant joints, so that the calculation load is low and the operation is stable and smooth.
  • the first arm 6a is operated by using the joint group 8a having redundant degrees of freedom, so that the position and posture of the endoscope 9 are maintained, that is, the inner arm displayed on the monitor 13 is maintained. It is not necessary to change the angle of view of the endoscopic image.
  • the fourth arm 6d is operated, and the distal treatment instrument 10
  • the operation can be stably performed without increasing the calculation load in the operation of the fourth arm 6d.
  • the treatment can be performed by smoothly moving.
  • each arm 6a, 6b, 6c, 6d may be arbitrary as long as it is 7 axes or more.
  • the interference avoidance operation is performed only by the arms 6a and 6d that are not the operation target.
  • interference cannot be avoided only by the arms 6a and 6d that are not the operation target.
  • the operations of the arms 6b and 6c that are the operation targets may be limited or stopped.
  • the arms 6b and 6c to be operated may be subjected to an interference avoidance operation by the joint groups 8b and 8c including the joints constituting redundant degrees of freedom.

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Abstract

In order to more reliability avoid interference of the arms while reducing the calculation load, a medical system (1) according to the invention is equipped with a joint group (8a, 8b, 8c, 8d) having redundant degrees of freedom and is equipped with a plurality of arms (6a, 6b, 6c, 6d) for moving an end effector (9, 10) attached to a tip, an operation unit (4) for inputting operating instructions for operating the arms, and a control unit (5) for controlling the arms on the basis of the operating instructions inputted to the operation unit. The control unit is equipped with an interference prediction unit for predicting interference of an arm serving as an operation target on the basis of the operating instructions inputted to the operation unit and other arms not serving as operation targets. When the interference prediction unit predicts that interference will occur, other arms not serving as the operation target are moved in a direction away from the arm serving as the operation target.

Description

医療システムとその制御方法Medical system and control method thereof
　本発明は、医療システムとその制御方法に関するものである。 The present invention relates to a medical system and a control method thereof.
　冗長な自由度の関節を有する複数のアームを備えた医療システムが知られている（例えば、特許文献１参照。）。
　この医療システムは、各アームを構成する関節の冗長性を利用して、処置具の姿勢を変更することなくアームの各関節位置を移動させて、アームどうしの干渉やアームと障害物との干渉を回避することとしている。 A medical system including a plurality of arms having joints with redundant degrees of freedom is known (see, for example, Patent Document 1).
This medical system uses the redundancy of the joints that make up each arm to move the joint positions of the arms without changing the posture of the treatment tool, thereby causing interference between arms or interference between arms and obstacles. Trying to avoid.
米国特許出願公開第２０１３／３２５０３１号公報US Patent Application Publication No. 2013/325031
　しかしながら、特許文献１の医療システムにおいて、アームに自動的に干渉回避動作を行わせるために、膨大な計算を高速で行う必要があり、高性能計算機を用いる必要がある。特に、マスタの操作によってアームの先端の処置具をリアルタイムに移動させながら、干渉を回避するには、より多くの計算をリアルタイムに行う必要があり、高コストかつ動作が不安定になるという不都合がある。
　本発明は、上述した事情に鑑みてなされたものであって、演算負荷を軽減しながら、アームの干渉をより確実に回避することができる医療システムとその制御方法を提供することを目的としている。 However, in the medical system of Patent Document 1, in order to cause the arm to automatically perform the interference avoidance operation, it is necessary to perform enormous calculations at high speed and to use a high performance computer. In particular, in order to avoid interference while moving the treatment tool at the tip of the arm in real time by the operation of the master, it is necessary to perform more calculations in real time, which is disadvantageous in that it is expensive and unstable in operation. is there.
The present invention has been made in view of the above-described circumstances, and an object thereof is to provide a medical system and a control method thereof that can more reliably avoid arm interference while reducing a calculation load. .
　本発明の一態様は、冗長な自由度を有する関節群を備え、先端に取り付けたエンドエフェクタを移動させる複数のアームと、該アームを操作するための操作指令を入力する操作部と、該操作部に入力された前記操作指令に基づいて前記アームを制御する制御部とを備え、該制御部が、前記操作部に入力された前記操作指令に基づいて操作対象となっている前記アームと操作対象となっていない他の前記アームとの干渉を予測する干渉予測部を備え、該干渉予測部により干渉が発生すると予測された場合に、操作対象となっていない他の前記アームを操作対象となっている前記アームから離間させる方向に動作させる医療システムである。 One aspect of the present invention is provided with a joint group having redundant degrees of freedom, a plurality of arms that move an end effector attached to the tip, an operation unit that inputs an operation command for operating the arms, and the operation A control unit that controls the arm based on the operation command input to the control unit, and the control unit controls the arm and the operation target based on the operation command input to the operation unit. An interference prediction unit that predicts interference with another arm that is not the target, and when the interference prediction unit predicts that interference will occur, the other arm that is not the operation target is set as the operation target. The medical system is operated in a direction away from the arm.
　本態様によれば、操作者が操作部を操作して操作指令を入力すると、入力された操作指令に基づいて、制御部が操作対象となっているアームを制御し、アームの先端に取り付けたエンドエフェクタによって処置対象に対し処置を行うことができる。この場合において、制御部は、冗長な自由度の関節については、これを停止させておくことにより、膨大な演算を行うことなく各関節の動作角度を求めてエンドエフェクタを適切な位置および姿勢に配置することができる。 According to this aspect, when the operator operates the operation unit and inputs an operation command, the control unit controls the arm to be operated based on the input operation command and is attached to the tip of the arm. A treatment target can be treated by the end effector. In this case, the control unit stops the joints with redundant degrees of freedom, and obtains the end effector to an appropriate position and posture by obtaining the operation angle of each joint without performing a huge calculation. Can be arranged.
　操作部を操作して操作対象となっているアームを動作させている間に、制御部に設けられた干渉予測部により、操作対象となっているアームと操作対象となっていない他のアームとの干渉が予測される。干渉予測部によって干渉が発生することが予測された場合には、制御部により操作対象となっていない他のアームが、操作対象となっているアームから離間させる方向に動作させられる。 While operating the operation unit and operating the arm that is the operation target, the interference prediction unit provided in the control unit causes the arm that is the operation target and the other arm that is not the operation target to Interference is expected. When the interference predicting unit predicts that interference will occur, the control unit causes the other arm that is not the operation target to be moved away from the operation target arm.
　アームは冗長な自由度を有する関節群を備えているので、操作対象となっていないアームも先端に取り付けたエンドエフェクタの姿勢および位置を変化させずに動作することができる。これにより、処置対象に対するエンドエフェクタの状態を変化させることなく、アームどうしの干渉を回避することができる。 Since the arm is provided with a joint group having redundant degrees of freedom, an arm that is not an operation target can operate without changing the posture and position of the end effector attached to the tip. Thereby, interference between arms can be avoided without changing the state of the end effector with respect to the treatment target.
　この場合において、制御部は、操作部によって操作されている操作対象となっているアームではなく、操作対象となっていないアームに干渉回避の動作を行わせるので、リアルタイムで演算されている操作対象となっているアームを動作させるための演算処理に、干渉回避のための演算を上乗せせずにすみ、演算負荷を軽減することができる。 In this case, the control unit causes the arm that is not the operation target to perform the interference avoidance operation, not the operation target arm that is operated by the operation unit. It is not necessary to add a calculation for avoiding interference to the calculation process for operating the arm, and the calculation load can be reduced.
　上記態様においては、前記干渉予測部が、前記操作部に入力された前記操作指令に基づいて、操作対象となっている前記アームの動作目標位置を算出し、算出された動作目標位置と操作対象となっていない他の前記アームの現在位置とから干渉を予測してもよい。
　このようにすることで、操作部に入力された操作指令に応じて、操作対象となっているアームと、操作対象となっていないアームとの干渉をリアルタイムに予測することができる。 In the above aspect, the interference prediction unit calculates an operation target position of the arm that is an operation target based on the operation command input to the operation unit, and the calculated operation target position and the operation target The interference may be predicted from the current position of the other arm that is not.
By doing in this way, according to the operation command inputted into the operation part, interference with the arm used as an operation object and the arm which is not an operation object can be predicted in real time.
　また、上記態様においては、いずれかの前記アームに取り付けられた前記エンドエフェクタが患部を処置するための処置具であり、他の前記アームに取り付けられた前記エンドエフェクタが、前記患部および前記処置具を撮影するための撮像装置であってもよい。 Moreover, in the said aspect, the said end effector attached to one of the said arms is a treatment tool for treating an affected part, and the said end effector attached to the other said arm is the said affected part and the said treatment tool. It may be an image pickup apparatus for taking pictures.
　このようにすることで、操作部を操作して、撮像装置が取り付けられたアームを動作させて、患部を視野範囲に配置した状態でアームを停止させ、次に、操作部を操作して処置具が取り付けられた他のアームを動作させて、処置具によって患部を処置することができる。この場合において、処置具が取り付けられたアームが操作対象となっている場合には、撮像装置が取り付けられたアームにより干渉回避の動作を行わせる。逆に、処置具が取り付けられたアームが停止しており、撮像装置が取り付けられたアームが操作対象となっている場合には、処置具が取り付けられたアームにより干渉回避の動作が行われる。 In this way, the operation unit is operated to operate the arm to which the imaging device is attached, the arm is stopped in a state where the affected part is arranged in the visual field range, and then the operation unit is operated to perform treatment. The other arm to which the instrument is attached can be operated to treat the affected area with the treatment instrument. In this case, when the arm to which the treatment tool is attached is an operation target, the operation for avoiding interference is performed by the arm to which the imaging device is attached. Conversely, when the arm to which the treatment tool is attached is stopped and the arm to which the imaging device is attached is an operation target, an operation for avoiding interference is performed by the arm to which the treatment tool is attached.
　また、上記態様においては、操作対象となっている前記アームと、操作対象となっていない他の前記アームとを切り替える切替部を備えていてもよい。
　このようにすることで、切替部によって操作対象となっているアームと操作対象となっていない他のアームとを切り替えて、いずれかのアームによって回避動作を行わせることができ、演算負荷を軽減しながら、アームどうしの干渉をより確実に回避することができる。 Moreover, in the said aspect, you may provide the switching part which switches the said arm used as operation object, and the other said arm which is not operation object.
In this way, the switching unit can switch between the arm that is the operation target and the other arm that is not the operation target, and the avoidance operation can be performed by any of the arms, reducing the calculation load. However, the interference between the arms can be avoided more reliably.
　また、本発明の他の態様は、冗長な自由度を有する関節群を備え、先端に取り付けたエンドエフェクタを移動させる複数のアームの内、操作対象としたいずれかの前記アームを動作させるための操作指令に基づいて、操作対象となっている前記アームと、操作対象となっていない他の前記アームとの干渉を予測する予測ステップと、該予測ステップにおいて干渉が発生すると予測された場合に、操作対象となっていない他の前記アームを操作対象となっている前記アームから離間させる方向に動作させる干渉回避動作ステップとを含む医療システムの制御方法である。 In another aspect of the present invention, a group of joints having redundant degrees of freedom is provided, and one of a plurality of arms for moving an end effector attached to the tip is operated to operate any one of the arms to be operated. Based on the operation command, when it is predicted that interference occurs in the prediction step, the prediction step for predicting interference between the arm that is the operation target and the other arm that is not the operation target, The medical system control method includes an interference avoiding operation step of operating another arm that is not an operation target in a direction away from the arm that is an operation target.
　本発明によれば、演算負荷を軽減しながら、アームの干渉をより確実に回避することができるという効果を奏する。 According to the present invention, it is possible to more reliably avoid arm interference while reducing the calculation load.
本発明の一実施形態に係る医療システムを示す全体構成図である。1 is an overall configuration diagram showing a medical system according to an embodiment of the present invention. 図１の医療システムを示すブロック図である。It is a block diagram which shows the medical system of FIG. 図１の医療システムの制御方法を説明するフローチャートである。It is a flowchart explaining the control method of the medical system of FIG.
　以下、本発明の一実施形態に係る医療システム１とその制御方法について、図面を参照して以下に説明する。
　本実施形態に係る医療システム１は、図１に示されるように、患者Ｏを寝かせるベッド２と、該ベッド２の脇に配置された手術用ロボット３と、操作者によって操作される操作部４と、制御部５とを備えている。 Hereinafter, a medical system 1 and a control method thereof according to an embodiment of the present invention will be described with reference to the drawings.
As shown in FIG. 1, the medical system 1 according to the present embodiment includes a bed 2 on which a patient O is laid, a surgical robot 3 disposed on the side of the bed 2, and an operation unit 4 operated by an operator. And a control unit 5.
　手術用ロボット３は、複数、例えば４つのアーム（第１アームから第４アーム）６ａ，６ｂ，６ｃ，６ｄと、各アーム６ａ，６ｂ，６ｃ，６ｄを支持するベース７とを備えている（図１では手前側にアーム６ａ、奥行側にアーム６ｄを表示している。）。図１に示す例では、ベース７は、ベッド２の側方にフロアから立ち上がる構造を有しているが、これに限定されるものではなく、天井に固定される構造のものでもよい。 The surgical robot 3 includes a plurality of, for example, four arms (first to fourth arms) 6a, 6b, 6c, 6d and a base 7 that supports the arms 6a, 6b, 6c, 6d ( In FIG. 1, the arm 6a is displayed on the front side, and the arm 6d is displayed on the depth side. In the example shown in FIG. 1, the base 7 has a structure that rises from the floor to the side of the bed 2, but is not limited thereto, and may have a structure that is fixed to the ceiling.
　各アーム６ａ，６ｂ，６ｃ，６ｄは、それぞれ７軸以上の冗長な自由度を有する関節群８ａ，８ｂ，８ｃ，８ｄを備えている。
　第１アーム６ａの先端には、内視鏡（エンドエフェクタ、撮像装置）９が装着されており、他の３つのアーム（第２アームから第４アーム）６ｂ，６ｃ，６ｄの先端にはそれぞれ処置具（エンドエフェクタ）１０が装着されている。
　各アーム６ａ，６ｂ，６ｃ，６ｄには、図２に示されるように、該アーム６ａ，６ｂ，６ｃ，６ｄを構成している各関節を動作させるモータ等の駆動部１１と、該駆動部１１により動作させられる各関節の角度を検出するセンサ１２とが備えられている。 Each arm 6a, 6b, 6c, 6d includes a joint group 8a, 8b, 8c, 8d having redundant degrees of freedom of 7 axes or more.
An endoscope (end effector, imaging device) 9 is attached to the distal end of the first arm 6a, and the distal ends of the other three arms (second arm to fourth arm) 6b, 6c, 6d, respectively. A treatment tool (end effector) 10 is attached.
As shown in FIG. 2, each arm 6a, 6b, 6c, 6d includes a drive unit 11 such as a motor for operating each joint constituting the arms 6a, 6b, 6c, 6d, and the drive unit. 11 and a sensor 12 for detecting the angle of each joint operated by the control unit 11.
　操作部４は、図１および図２に示されるように、操作者によって操作される操作入力部１４と、アーム６ａに装着された内視鏡９による患者Ｏの体内の画像を表示するモニタ１３とを備えている。操作入力部１４は、例えば、図２に示されるように、操作者が両手でそれぞれ把持する２つのハンドル（右ハンドルおよび左ハンドル）１５，１６と、切替スイッチ（切替部）１７とを備えていて、切替スイッチ１７によって４つのアーム６ａ，６ｂ，６ｃ，６ｄの内のいずれか１つまたは２つのアーム、例えば、第２アーム６ｂおよび第３アーム６ｃを選択して、ハンドル１５，１６の操作により選択されたアーム６ｂ，６ｃを動作させることができるようになっている。 As shown in FIGS. 1 and 2, the operation unit 4 includes an operation input unit 14 that is operated by an operator, and a monitor 13 that displays an internal image of the patient O by an endoscope 9 attached to the arm 6a. And. For example, as shown in FIG. 2, the operation input unit 14 includes two handles (right handle and left handle) 15 and 16 that the operator holds with both hands, and a changeover switch (switching unit) 17. Then, one or two of the four arms 6a, 6b, 6c, 6d, for example, the second arm 6b and the third arm 6c are selected by the changeover switch 17 to operate the handles 15, 16 The arms 6b and 6c selected by the above can be operated.
　切替スイッチ１７により選択されたアーム６ｂ，６ｃが操作対象となり、選択されなかったアーム６ａ，６ｄは非操作対象となる。
　操作者はモニタ１３上に表示された患者Ｏの体内の画像において、患部とアーム６ｂ，６ｃに取り付けられた処置具１０の先端部とを見ながら操作入力部１４を操作してアーム６ｂ，６ｃおよび処置具１０を動作させ患部を処置することができるようになっている。 The arms 6b and 6c selected by the changeover switch 17 become operation targets, and the unselected arms 6a and 6d become non-operation targets.
The operator operates the operation input unit 14 while looking at the affected part and the distal end part of the treatment instrument 10 attached to the arms 6b and 6c in the in-vivo image of the patient O displayed on the monitor 13, and the arms 6b and 6c. And the treatment tool 10 is operated so that the affected part can be treated.
　制御部５は、操作入力部１４のハンドル操作により入力された操作指令に基づいて、操作対象となっているアーム６ｂ，６ｃの各関節の目標角度（動作目標位置）を演算する位置・姿勢演算部１８と、該位置・姿勢演算部１８により演算された各関節の目標角度に基づいて、操作対象となっていないアーム６ａ，６ｄとの干渉を予測する干渉予測部１９と、該干渉予測部１９による予測結果に基づいて、操作対象となっていないアーム６ａ，６ｄを動作させる駆動指令生成部２０とを備えている。 The control unit 5 calculates position / posture calculation for calculating a target angle (operation target position) of each joint of the arms 6b and 6c to be operated based on an operation command input by a handle operation of the operation input unit 14. Based on the target angle of each joint calculated by the position / posture calculation unit 18, the interference prediction unit 19 that predicts interference with the arms 6 a and 6 d that are not the operation target, and the interference prediction unit 19 is provided with a drive command generation unit 20 that operates the arms 6a and 6d that are not the operation target based on the prediction result by the operation unit 19.
　位置・姿勢演算部１８は、操作対象となっているアーム６ｂ，６ｃの冗長な自由度を構成する関節を除く６軸の関節群８ｂ，８ｃによって、操作入力部１４により入力された操作指令通りのエンドエフェクタ１０の位置および姿勢を達成する場合の各関節の目標角度を演算するようになっている。これにより、操作指令に対応するアーム６ｂ，６ｃの各関節の角度は一義的に決定されるので、少ない演算量で目標角度を演算することができる。 The position / posture calculation unit 18 uses the six- axis joint groups 8b and 8c excluding the joints constituting the redundant degrees of freedom of the arms 6b and 6c to be operated in accordance with the operation commands input by the operation input unit 14. The target angle of each joint when achieving the position and posture of the end effector 10 is calculated. Thereby, since the angles of the joints of the arms 6b and 6c corresponding to the operation command are uniquely determined, the target angle can be calculated with a small amount of calculation.
　また、干渉予測部１９は、位置・姿勢演算部１８により演算された操作対象となっているアーム６ｂ，６ｃの各関節の目標角度と、操作対象となっていないアーム６ａ，６ｄの現在の各関節の角度とに基づいて、アーム６ａ，６ｂ，６ｃ，６ｄの機構部どうしの干渉の有無を予測するようになっている。機構部の寸法等は予め定まっているので、各関節の角度を決定することにより、アーム６ａ，６ｂ，６ｃ，６ｄの機構部どうしの干渉の有無を容易に予測することができる。 The interference prediction unit 19 also calculates the target angles of the joints of the arms 6b and 6c that are the operation targets calculated by the position / posture calculation unit 18 and the current angles of the arms 6a and 6d that are not the operation targets. Based on the angle of the joint, the presence or absence of interference between the mechanical parts of the arms 6a, 6b, 6c, 6d is predicted. Since the dimensions and the like of the mechanism portion are determined in advance, the presence or absence of interference between the mechanism portions of the arms 6a, 6b, 6c, and 6d can be easily predicted by determining the angle of each joint.
　干渉予測部１９により、干渉することが予測された場合には、操作対象となっているアーム６ｂ，６ｃの各関節を目標角度に動作させるとともに、操作対象となっていないアーム６ａ，６ｄを動作させるようになっている。
　具体的には、干渉予測部１９は、干渉することが予測された場合には、その旨の信号を駆動指令生成部２０に送るようになっている。 When interference is predicted by the interference prediction unit 19, the joints of the arms 6b and 6c that are the operation targets are moved to the target angle, and the arms 6a and 6d that are not the operation targets are operated. It is supposed to let you.
Specifically, when it is predicted that interference will occur, the interference predicting unit 19 sends a signal to that effect to the drive command generating unit 20.
　駆動指令生成部２０は、操作対象となっているアーム６ｂ，６ｃについては、位置・姿勢演算部１８において演算された各関節の目標角度に基づいて、各関節を駆動するための駆動指令信号を生成し、駆動部１１に送るようになっている。また、駆動指令生成部２０は、干渉予測部１９から干渉する旨の信号が送られてきたときには、操作対象となっていないアーム６ａ，６ｄに取り付けられている処置具１０または内視鏡９の位置および姿勢を保持したまま、当該操作対象となっていないアーム６ａ，６ｄを操作対象となっているアーム６ｂ，６ｃから離間させる方向に移動させるよう、各関節の動作指令信号を生成するようになっている。 For the arms 6b and 6c to be operated, the drive command generator 20 generates a drive command signal for driving each joint based on the target angle of each joint calculated by the position / posture calculator 18. It is generated and sent to the drive unit 11. In addition, when a signal indicating interference is transmitted from the interference prediction unit 19, the drive command generation unit 20 detects the treatment tool 10 or the endoscope 9 attached to the arms 6a and 6d that are not the operation target. An operation command signal for each joint is generated so that the arms 6a and 6d that are not the operation target are moved away from the arms 6b and 6c that are the operation targets while maintaining the position and the posture. It has become.
　すなわち、操作対象となっていないアーム６ａ，６ｄは、冗長な自由度を構成する関節を含めた関節群８ａ，８ｄにより、先端軸の位置および姿勢を維持したまま、先端軸よりも基端側に配置されている１以上の関節を動作させて、操作対象となっているアーム６ｂ，６ｃと干渉しない位置まで離れる方向に動作するような駆動指令信号を生成し、駆動部１１に送るようになっている。
　各アーム６ａ，６ｂ，６ｃ，６ｄを構成している各関節の角度については、センサ１２により検出されて、位置・姿勢演算部１８にフィードバックされるようになっている。 That is, the arms 6a and 6d that are not the operation target are proximal to the distal end shaft while maintaining the position and posture of the distal end shaft by the joint groups 8a and 8d including joints that form redundant degrees of freedom. One or more joints arranged in the above are operated to generate a drive command signal that moves in a direction away from a position where it does not interfere with the operation target arms 6 b and 6 c, and sends the drive command signal to the drive unit 11. It has become.
The angles of the joints constituting each arm 6a, 6b, 6c, 6d are detected by the sensor 12 and fed back to the position / posture calculation unit 18.
　このように構成された本実施形態に係る医療システム１の制御方法について、以下に説明する。
　本実施形態に係る医療システム１の制御方法においては、図３に示されるように、操作入力部１４の切替スイッチ１７によっていずれか１つまたは２つのアーム６ｂ，６ｃが操作対象に設定され（ステップＳ１）、操作入力部１４の右ハンドル１６または左ハンドル１５により操作指令が入力されたか否かが判定される（ステップＳ２）。 A control method of the medical system 1 according to this embodiment configured as described above will be described below.
In the control method of the medical system 1 according to the present embodiment, as shown in FIG. 3, any one or two arms 6 b and 6 c are set as operation targets by the changeover switch 17 of the operation input unit 14 (steps). S1), it is determined whether or not an operation command is input by the right handle 16 or the left handle 15 of the operation input unit 14 (step S2).
　操作指令が入力された場合には、入力されたハンドル１５，１６に対応して操作対象に設定されているアーム６ｂ，６ｃを構成している各関節の目標角度が算出される（ステップＳ３）。この場合には、操作対象となっているアーム６ｂ，６ｃにおいては、ハンドル１５，１６から入力された操作指令に対応するエンドエフェクタ１０の位置および姿勢を達成し得る最小限の数の関節の目標角度が算出される。 When the operation command is input, the target angle of each joint constituting the arms 6b and 6c set as the operation target corresponding to the input handles 15 and 16 is calculated (step S3). . In this case, in the arms 6b and 6c to be operated, the targets of the minimum number of joints that can achieve the position and posture of the end effector 10 corresponding to the operation command input from the handles 15 and 16 are achieved. An angle is calculated.
　操作対象となっているアーム６ｂ，６ｃの各関節の目標角度が算出されると、操作対象となっていないアーム６ａ，６ｄとの干渉の有無の予測演算が行われる（予測ステップＳ４）。
　予測ステップＳ４による予測の結果が判定され（ステップＳ５）、干渉するとの予測がなされた場合には、操作対象となっていないアーム６ａ，６ｄにより、干渉を回避し得る各関節の駆動指令信号が、駆動指令生成部２０において生成される（干渉回避動作ステップＳ６）とともに、操作対象となっているアーム６ｂ，６ｃの演算された目標角度を達成するための駆動指令信号が駆動指令生成部２０において生成される（ステップＳ７）。そして、生成された駆動指令信号に基づいて駆動部１１が駆動される（ステップＳ８）。 When the target angles of the respective joints of the arms 6b and 6c that are the operation targets are calculated, a prediction calculation of the presence or absence of interference with the arms 6a and 6d that are not the operation targets is performed (prediction step S4).
When the prediction result in the prediction step S4 is determined (step S5) and it is predicted that interference will occur, the arm 6a, 6d that is not the operation target generates a drive command signal for each joint that can avoid interference. The drive command generation unit 20 generates a drive command signal for achieving the calculated target angle of the arms 6b and 6c to be operated (interference avoiding operation step S6). It is generated (step S7). Then, the drive unit 11 is driven based on the generated drive command signal (step S8).
　操作対象となっていないアーム６ａ，６ｄの駆動指令信号は、先端のエンドエフェクタ９，１０の位置および姿勢を維持したまま基端側の１以上の関節の位置のみを移動させるように、重畳な自由度を有する関節群８ａ，８ｄを動作させるように生成される。 The drive command signals for the arms 6a and 6d that are not operated are superimposed so that only the positions of one or more joints on the proximal end side are moved while maintaining the positions and postures of the end effectors 9 and 10 at the distal ends. The joint groups 8a and 8d having degrees of freedom are generated to be operated.
　このように、本実施形態に係る医療システム１とその制御方法によれば、操作対象に設定されていて操作入力部１４の右ハンドル１６および左ハンドル１５の操作に従ってリアルタイムに動作させられるアーム６ｂ，６ｃについては、冗長な自由度を構成している関節を含まない必要最小限の数の関節群８ｂ，８ｃを動作させるので、演算負荷は極めて小さく、高性能の計算機を用いることなく、安定した操作を行うことができるという利点がある。 Thus, according to the medical system 1 and its control method according to the present embodiment, the arm 6b, which is set as an operation target and is operated in real time according to the operation of the right handle 16 and the left handle 15 of the operation input unit 14, For 6c, the minimum necessary number of joint groups 8b and 8c not including joints constituting redundant degrees of freedom are operated, so the calculation load is extremely small and stable without using a high-performance computer. There is an advantage that the operation can be performed.
　また、干渉が発生することが予測された場合には、操作対象となっているアーム６ｂ，６ｃではなく、操作対象となっていないアーム６ａ，６ｄの冗長な自由度を有する関節群８ａ，８ｄを利用して干渉回避動作を行わせるので、リアルタイムに操作している操作対象となっているアーム６ｂ，６ｃを動作させるための演算負荷を増大させることなく、操作していないアーム６ａ，６ｄを動作させるための最小限の演算によって干渉を回避することができるという利点がある。 Further, when it is predicted that interference will occur, the joint groups 8a and 8d having redundant degrees of freedom of the arms 6a and 6d that are not the operation target instead of the arms 6b and 6c that are the operation target. Is used to perform the interference avoidance operation, so that the arms 6a and 6d that are not operated are not increased without increasing the calculation load for operating the arms 6b and 6c that are the operation targets operated in real time. There is an advantage that interference can be avoided by a minimum calculation for operation.
　上記においては、第２アーム６ｂおよび第３アーム６ｃを操作対象とし、第１アーム６ａおよび第４アーム６ｄを操作対象としない場合を例示したが、例えば、内視鏡９を支持している第１アーム６ａを操作対象として操作し、他の３つのアーム６ｂ，６ｃ，６ｄを操作対象としていない場合には、操作入力部１４から入力された操作指令に基づいて、第１アーム６ａの各関節の目標角度が演算され、他の３つのアーム６ｂ，６ｃ，６ｄの現在の各関節の角度とともに、アーム６ａ，６ｂ，６ｃ，６ｄ間での干渉の有無が予測される。 In the above, the case where the second arm 6b and the third arm 6c are set as the operation targets and the first arm 6a and the fourth arm 6d are not set as the operation targets is illustrated, but for example, the first arm 6 supporting the endoscope 9 When one arm 6a is operated as the operation target and the other three arms 6b, 6c, 6d are not the operation targets, each joint of the first arm 6a is based on the operation command input from the operation input unit 14. The target angle is calculated, and the presence or absence of interference between the arms 6a, 6b, 6c and 6d is predicted together with the angles of the current joints of the other three arms 6b, 6c and 6d.
　干渉が発生すると予測された場合には、第１アーム６ａ以外のアーム６ｂ，６ｃ，６ｄによる干渉回避動作が行われ、第１アーム６ａは、干渉回避動作を行わずに必要最小限の関節のみを動作させて内視鏡９を所望の位置に配置する。これにより、内視鏡９による視野を滑らかに変化させて患部まで到達させることができる。 When it is predicted that interference will occur, the interference avoiding operation by the arms 6b, 6c, 6d other than the first arm 6a is performed, and the first arm 6a does not perform the interference avoiding operation, and only the minimum necessary joints are used. To move the endoscope 9 to a desired position. Thereby, the visual field by the endoscope 9 can be smoothly changed to reach the affected area.
　一方、処置具１０を支持している第２アーム６ｂおよび第３アーム６ｃが操作対象として選択され、第１アーム６ａおよび第４アーム６ｄが操作対象とされていない場合には、左ハンドル１５および右ハンドル１６の操作により入力された操作指令に従って第２アーム６ｂおよび第３アーム６ｃが動作させられる。この動作も、冗長な自由度を構成する関節を使用せず、必要最小限の関節を動作させるので、演算負荷が低く、安定した滑らかな動作となる。 On the other hand, when the second arm 6b and the third arm 6c supporting the treatment instrument 10 are selected as the operation targets, and the first arm 6a and the fourth arm 6d are not the operation targets, the left handle 15 and The second arm 6b and the third arm 6c are operated in accordance with an operation command input by operating the right handle 16. This operation also uses a minimum number of joints without using redundant joints, so that the calculation load is low and the operation is stable and smooth.
　そして、内視鏡９を支持している第１アーム６ａとの干渉が予測された場合には、第１アーム６ａを動作させることにより、第２アーム６ｂおよび第３アーム６ｃの動作のための演算負荷を増大させずに干渉回避することができる。さらに、第１アーム６ａは、冗長な自由度を有する関節群８ａを利用して動作させられることにより、内視鏡９の位置および姿勢を保持したまま、すなわち、モニタ１３に表示されている内視鏡画像の画角を変動させずに済む。 And when interference with the 1st arm 6a which supports the endoscope 9 is estimated, by operating the 1st arm 6a, for operation | movement of the 2nd arm 6b and the 3rd arm 6c Interference can be avoided without increasing the calculation load. Further, the first arm 6a is operated by using the joint group 8a having redundant degrees of freedom, so that the position and posture of the endoscope 9 are maintained, that is, the inner arm displayed on the monitor 13 is maintained. It is not necessary to change the angle of view of the endoscopic image.
　さらに、操作対象としていた第２アーム６ｂまたは第３アーム６ｃのいずれかを操作対象から外し、第４アーム６ｄを操作対象に切り替えることにより、第４アーム６ｄを動作させて、先端の処置具１０により患部を把持する位置を変更する等の処置を行う場合にも、第４アーム６ｄの操作における演算負荷を増大させることなく安定して動作させることができる。そして、第１アーム６ａとの干渉が予測された場合にも、第１アーム６ａにより回避動作を行わせて、画角の変動しない内視鏡画像内において第４アーム６ｄに取り付けた処置具１０を滑らかに移動させて処置を行うことができる。 Furthermore, by removing either the second arm 6b or the third arm 6c, which was the operation target, from the operation target, and switching the fourth arm 6d to the operation target, the fourth arm 6d is operated, and the distal treatment instrument 10 Thus, even when performing a treatment such as changing the position where the affected part is gripped, the operation can be stably performed without increasing the calculation load in the operation of the fourth arm 6d. Even when the interference with the first arm 6a is predicted, the treatment tool 10 attached to the fourth arm 6d in the endoscopic image in which the angle of view is not changed by performing the avoidance operation by the first arm 6a. The treatment can be performed by smoothly moving.
　なお、本実施形態においては、４つのアーム６ａ，６ｂ，６ｃ，６ｄを有する場合について例示したが、２以上のアームであれば任意の数のアームを備えていてもよい。また、各アーム６ａ，６ｂ，６ｃ，６ｄの自由度も７軸以上であれば任意でよい。 In addition, in this embodiment, although illustrated about the case where it has four arms 6a, 6b, 6c, 6d, as long as it is two or more arms, you may provide the arbitrary number of arms. Further, the degree of freedom of each arm 6a, 6b, 6c, 6d may be arbitrary as long as it is 7 axes or more.
　また、本実施形態においては、操作対象となっていないアーム６ａ，６ｄのみによって干渉回避の動作を行わせることとしたが、操作対象となっていないアーム６ａ，６ｄのみによるのでは干渉が回避できない場合には、操作対象となっているアーム６ｂ，６ｃの動作を制限ないし停止させることにしてもよい。あるいは、この場合に限って、操作対象となっているアーム６ｂ，６ｃについても冗長な自由度を構成する関節を含めた関節群８ｂ，８ｃによって干渉回避の動作を行わせることにしてもよい。 In the present embodiment, the interference avoidance operation is performed only by the arms 6a and 6d that are not the operation target. However, interference cannot be avoided only by the arms 6a and 6d that are not the operation target. In this case, the operations of the arms 6b and 6c that are the operation targets may be limited or stopped. Alternatively, only in this case, the arms 6b and 6c to be operated may be subjected to an interference avoidance operation by the joint groups 8b and 8c including the joints constituting redundant degrees of freedom.
　１　医療システム
　４　操作部
　５　制御部
　６ａ　第１アーム（アーム）
　６ｂ　第２アーム（アーム）
　６ｃ　第３アーム（アーム）
　６ｄ　第４アーム（アーム）
　８ａ，８ｂ，８ｃ，８ｄ　関節群
　９　内視鏡（撮像装置、エンドエフェクタ）
　１０　処置具（エンドエフェクタ）
　１７　切替部（切替スイッチ）
　１９　干渉予測部
　Ｓ４　予測ステップ
　Ｓ６　干渉回避動作ステップ DESCRIPTION OF SYMBOLS 1 Medical system 4 Operation part 5 Control part 6a 1st arm (arm)
6b Second arm (arm)
6c 3rd arm (arm)
6d 4th arm (arm)
8a, 8b, 8c, 8d Joint group 9 Endoscope (imaging device, end effector)
10 Treatment tool (end effector)
17 Changeover part (changeover switch)
19 Interference Prediction Unit S4 Prediction Step S6 Interference Avoidance Operation Step

Claims (5)

  1. 　冗長な自由度を有する関節群を備え、先端に取り付けたエンドエフェクタを移動させる複数のアームと、
    　該アームを操作するための操作指令を入力する操作部と、
    　該操作部に入力された前記操作指令に基づいて前記アームを制御する制御部とを備え、
    　該制御部が、前記操作部に入力された前記操作指令に基づいて操作対象となっている前記アームと操作対象となっていない他の前記アームとの干渉を予測する干渉予測部を備え、該干渉予測部により干渉が発生すると予測された場合に、操作対象となっていない他の前記アームを操作対象となっている前記アームから離間させる方向に動作させる医療システム。     A plurality of arms having a joint group having redundant degrees of freedom and moving an end effector attached to the tip;
    An operation unit for inputting an operation command for operating the arm;
    A control unit for controlling the arm based on the operation command input to the operation unit,
    The control unit includes an interference prediction unit that predicts interference between the arm that is an operation target and the other arm that is not the operation target based on the operation command input to the operation unit, A medical system that causes another arm that is not an operation target to move away from the arm that is an operation target when interference is predicted by the interference prediction unit.
  2. 　前記干渉予測部が、前記操作部に入力された前記操作指令に基づいて、操作対象となっている前記アームの動作目標位置を算出し、算出された動作目標位置と操作対象となっていない他の前記アームの現在位置とから干渉を予測する請求項１に記載の医療システム。 The interference prediction unit calculates the operation target position of the arm that is the operation target based on the operation command input to the operation unit, and the calculated operation target position and the operation target are not The medical system according to claim 1, wherein interference is predicted from a current position of the arm.
  3. 　いずれかの前記アームに取り付けられた前記エンドエフェクタが患部を処置するための処置具であり、
    　他の前記アームに取り付けられた前記エンドエフェクタが、前記患部および前記処置具を撮影するための撮像装置である請求項１または請求項２に記載の医療システム。     The end effector attached to any of the arms is a treatment tool for treating an affected area,
    The medical system according to claim 1 or 2, wherein the end effector attached to the other arm is an imaging device for imaging the affected area and the treatment tool.
  4. 　操作対象となっている前記アームと、操作対象となっていない他の前記アームとを切り替える切替部を備える請求項１から請求項３のいずれかに記載の医療システム。 The medical system according to any one of claims 1 to 3, further comprising a switching unit that switches between the arm that is an operation target and the other arm that is not the operation target.
  5. 　冗長な自由度を有する関節群を備え、先端に取り付けたエンドエフェクタを移動させる複数のアームの内、操作対象としたいずれかの前記アームを動作させるための操作指令に基づいて、操作対象となっている前記アームと、操作対象となっていない他の前記アームとの干渉を予測する予測ステップと、
    　該予測ステップにおいて干渉が発生すると予測された場合に、操作対象となっていない他の前記アームを操作対象となっている前記アームから離間させる方向に動作させる干渉回避動作ステップとを含む医療システムの制御方法。
     
          Based on an operation command for operating any one of the plurality of arms that include a joint group having redundant degrees of freedom and move an end effector attached to the tip, A prediction step of predicting interference between the arm and the other arm that is not the operation target;
    An interference avoidance operation step of causing the other arm not to be operated to move away from the arm to be operated when interference is predicted in the prediction step. Control method.

PCT/JP2016/069377 2016-06-30 2016-06-30 Medical system and control method thereof WO2018003049A1 (en)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010516398A (en) * 2007-01-26 2010-05-20 インテュイティブ サージカル インコーポレイテッド Compact counterbalance for robotic surgical systems
JP2011206312A (en) * 2010-03-30 2011-10-20 Terumo Corp Medical robot system

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010516398A (en) * 2007-01-26 2010-05-20 インテュイティブ サージカル インコーポレイテッド Compact counterbalance for robotic surgical systems
JP2011206312A (en) * 2010-03-30 2011-10-20 Terumo Corp Medical robot system

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