WO2018229926A1

WO2018229926A1 - Medical manipulator

Info

Publication number: WO2018229926A1
Application number: PCT/JP2017/022097
Authority: WO
Inventors: 竜一頼本
Original assignee: オリンパス株式会社
Priority date: 2017-06-15
Filing date: 2017-06-15
Publication date: 2018-12-20

Abstract

A medical manipulator comprises an operation input unit for receiving operation input of a user, a control unit for generating an action signal based on the operation input, a drive unit driven by the action signal, and an operated portion actuated by the drive unit. The control unit comprises a first processing unit connected to the drive unit and that generates an actuation signal based on the operation input and signal generation data, and a second processing unit separated from the drive unit and configured so as to be able to generate an actuation signal for verification based on the operation input.

Description

Medical manipulator

The present invention relates to a medical manipulator.

2. Description of the Related Art Conventionally, medical manipulators that are operated by an operator with an observation means and a plurality of treatment tools inserted into the body are known.
When the treatment instrument or the like is driven by a drive source such as a motor, an operation signal is first output from the operation unit by an operator's operation. The control unit generates an operation signal for operating the drive source based on the operation signal and predetermined control parameters, a control program, and the like. When the drive source operates based on the operation signal, the treatment instrument or the like operates.

In the medical manipulator, it is important to suppress the occurrence of malfunction of the control unit as much as possible.
In relation to this problem, Patent Document 1 describes a control device including two processing systems that perform the same processing. In this control apparatus, the same command is input to two processing systems, and the processing results are compared. When the processing results do not match, it is determined which processing result is correct using the input value and the processing result determined to be normal in the past control.

Japanese Unexamined Patent Publication No. 2011-191876

By the way, after the start of sales of medical manipulators, control parameters, control programs, and the like may be updated for the purpose of improving responsiveness to operations or eliminating problems. Usually, such update is performed after verifying that there are no problems in the contents of the update data by performing verification assuming various usage situations using the update data including the updated control parameters and control program. .

With the increasing complexity of medical manipulators, control software including control parameters and control programs is becoming larger and more complex. For the above-described verification, efforts such as enhancing the number and contents of test patterns by listening to the surgeon who is a user are limited. In addition, since the number of verification personnel is not infinite, the amount of verification work that can be performed is limited.

In view of the above circumstances, an object of the present invention is to provide a medical manipulator that can perform verification of update data in a more enhanced manner.

The present invention includes an operation input unit that receives a user's operation input, a control unit that generates an operation signal based on the operation input, a drive unit that is driven by the operation signal, and a target that is operated by the drive unit. An operation unit, wherein the control unit is connected to the drive unit, and is separated from the drive unit, a first processing unit that generates the operation signal based on the operation input and signal generation data, and the operation unit A medical manipulator including a second processing unit configured to generate a verification operation signal based on an input.

The second processing unit may include a plant model that can be simulated by inputting the verification operation signal.
At this time, the plant model may be a physical model of the drive unit and the operated unit.

The second processing unit may be configured to receive information from at least one of the driving unit and the operated unit.

The medical manipulator of the present invention further includes an external detection unit configured to be able to acquire information about the inside of the patient and the periphery of the operated unit, and the second processing unit can receive information from the external detection unit May be configured.

The medical manipulator of the present invention further includes a space recognition sensor configured to be able to acquire information on a space in which the medical manipulator is disposed, and the second processing unit can receive information from the space recognition sensor. It may be configured.

The second processing unit may store data to be verified for updating the signal generation data, and the operation signal for verification may be generated based on the operation input and the data to be verified.

The medical manipulator of the present invention can perform verification of update data in a more complete manner.

It is a functional block diagram of the medical manipulator concerning a first embodiment of the present invention. It is a functional block diagram showing a modification of the medical manipulator. It is a functional block diagram which shows the medical manipulator which concerns on 2nd embodiment of this invention. It is a figure which shows the whole structure of the medical manipulator which concerns on 3rd embodiment of this invention. It is a figure which shows the front-end | tip part of the to-be-operated part in the medical manipulator. It is a functional block diagram of the medical manipulator. It is a figure which shows the whole structure of the medical manipulator which concerns on 4th embodiment of this invention. It is a functional block diagram of the medical manipulator. It is a functional block diagram of the medical manipulator which concerns on the modification of this invention.

A first embodiment of the present invention will be described with reference to FIGS. 1 to 3.
FIG. 1 is a functional block diagram of a medical manipulator (hereinafter simply referred to as “manipulator”) 1 of the present embodiment. The manipulator 1 includes an operation input unit 10 operated by a user, an operated unit 20 that operates based on an operation input to the operation input unit 10, a drive unit 30 that electrically drives the operated unit, and a drive unit 30. And a control unit 40 that controls driving.

As the operation input unit 10, various known mechanisms can be employed. For example, a touch panel, a joystick, a master arm, or the like, or a combination of buttons and levers as appropriate can be exemplified.

Also for the operated part 20, various known mechanisms can be adopted. For example, observation means such as a laparoscope and an endoscope, treatment means such as a grasping forceps and a high-frequency knife, and the like can be exemplified.

The drive unit 30 includes a drive source such as a motor and a power source. The drive source and the operated unit 20 are connected to each other by a wire that transmits electric power, a wire that transmits power, or the like according to a specific configuration of the operated unit 20.

The control unit 40 includes a first processing unit 41 and a second processing unit 51.
The first processing unit 41 includes a calculation unit 42, a volatile storage unit 43, a nonvolatile storage unit 44, an FPGA (field-programmable gate array) 45, and a drive unit driver 46.

As the calculating part 42, CPU etc. can be used, for example. For example, a RAM or the like can be used as the volatile storage unit 43. As the nonvolatile storage unit 44, for example, a flash memory or the like can be used. The FPGA 45 is a gate array that can update the contents of the program. As the drive unit driver 46, for example, when the drive source is a motor, a motor driver is used.
The calculation unit 42 is connected to the volatile storage unit 43, the nonvolatile storage unit 44, and the FPGA 45. The FPGA 45 is connected to the calculation unit 42 and the drive unit driver 46. The drive unit driver 46 is connected to the drive unit 30.

The second processing unit 51 includes a calculation unit 52, a volatile storage unit 53, a nonvolatile storage unit 54, an FPGA 55, and a plant model 56.
As the calculation unit 52, the volatile storage unit 53, the nonvolatile storage unit 54, and the FPGA 55, configurations similar to those of the calculation unit 42, the volatile storage unit 43, the nonvolatile storage unit 44, and the FPGA 45 can be used, respectively.
The calculation unit 52 is connected to the volatile storage unit 53, the nonvolatile storage unit 54, and the FPGA 55. The FPGA 55 is connected to the calculation unit 52 and the plant model 56 and is separated from the drive unit 30.

The plant model 56 is data obtained by physically modeling the structure, dimensions, operation mode, and the like of the operated unit 20, the drive unit 30, and the drive unit driver 46, and is stored in a storage medium or the like. The plant model 56 is configured to be able to execute an operation simulation of the drive unit 30 and the operated unit 20 by inputting a signal for operating the drive unit driver 46.

The FPGA 45 stores operation signal generation data for generating an operation signal for operating the drive unit driver 46 based on an output from the operation input unit 10. The operation signal generation data includes a signal generation program for generating an operation signal, a control parameter, and the like.

An operation at the time of using the manipulator 1 configured as described above will be described.
When the surgeon operates the operation input unit 10, the input content is output from the operation input unit 10 and sent to the calculation unit 42 of the first processing unit 41. The arithmetic unit 42 uses the operation signal generation data stored in the FPGA 45 to generate an operation signal based on the output of the operation input unit 10.

The generated operation signal is sent to the driver driver 46. When the drive unit driver 46 drives the drive unit 30 based on the operation signal, the operated unit 20 operates. Thereby, the surgeon can perform a desired procedure such as observation or treatment using the operated portion 20.

When the manipulator 1 is shipped, the same operation signal generation data as that stored in the FPGA 45 is stored in the FPGA 55 of the second processing unit 51. In the initial setting of the manipulator 1, the output of the operation input unit 10 is not sent to the second processing unit 51. Therefore, in the series of operations described above, the second processing unit 51 does not operate.

In the manipulator 1 of the present embodiment, the operation signal generation data before update can be verified by activating the second processing unit 51. The procedure will be described below.

As preparatory work, operation signal generation data to be verified (hereinafter referred to as “data to be verified”) is stored in the FPGA 55 of the second processing unit 51, and the operation signal generation data is changed. Further, the setting is changed so that the output of the operation input unit 10 is also sent to the second processing unit 51.

When the surgeon uses the manipulator 1 for which the preparation work has been completed, the output of the operation input unit 10 is sent to both the first processing unit 41 and the second processing unit 51. The first processing unit 41 that has received the output operates as described above to operate the operated unit 20.

In the second processing unit 51, the calculation unit 52 uses the data to be verified stored in the FPGA 55 and performs an operation signal (operation signal for verification) by a process different from that of the first processing unit 51 based on the output of the operation input unit 10. ) Is generated.
Subsequently, the calculation unit 52 inputs the generated operation signal to the plant model 56 and performs an operation simulation of the drive unit 30 and the operated unit 20. The result of the operation simulation is accumulated in the nonvolatile storage unit 54 in the form of a system log, an error log, or the like. The accumulated logs and the like are collected at an appropriate timing by a service person or the like, and used for operation analysis or correction of data to be verified.

Since the manipulator 1 of the present embodiment includes the second processing unit 51 including the plant model 56, it is possible to verify the data to be verified based on the output of the operation input unit 10 when the operator actually performs the procedure. it can.
The variations in output associated with the actual procedure of the surgeon are far more diverse than the test pattern assumed by the manufacturer, and the surgeon's habit at the time of use, special usage by a specific surgeon, etc. It also includes elements specific to the surgeon. Therefore, the quality of verification for the data to be verified can be remarkably improved, and the occurrence of problems and the like that occur after the update of the operation signal generation data using the data to be verified can be suitably suppressed.

Further, since the second processing unit 51 performs an operation simulation using the plant model 56, the driving unit 30 and the operated unit 20 are not operated. Therefore, even if a problem occurs during verification of the verification target data, the operations of the drive unit 30 and the operated unit 20 are not affected.

Furthermore, since the verification by the second processing unit 51 is performed in parallel with the actual procedure using the manipulator 1, it is not necessary to separately secure time for verification. Further, when the surgeon performs an operation input on the operation input unit 10, the input content is output to both the first processing unit 41 and the second processing unit 51, so there is no need to perform another operation input for verification. .

Due to the above-described actions, in the manipulator 1, the operator simply performs the procedure with the verification data stored in the FPGA 55 of the second processing unit 51, and does not affect the actual procedure and is automatically covered. Verification data is verified. Moreover, the contents of the verification are based on actual techniques in a wide variety of situations, and are very useful for finding and improving defects in data to be verified.
Therefore, by storing the data to be verified in the second processing unit 51 of the manipulator 1 that is actually operating in a hospital or the like in each place, it is possible to efficiently perform a full verification of the data to be verified, The quality of the updated operation signal generation data can be improved.

In the present embodiment, an example in which data to be verified is stored in the FPGA 55 is shown, but a configuration other than the FPGA may be used. For example, the second processing unit may be configured using a ROM instead of the FPGA 55, and may be replaced with a ROM that stores data to be verified at the time of verification.

Alternatively, as shown in FIG. 2, the control unit 40 and the server 500 storing the data to be verified are connected via the network 501, and the data to be verified is received via the network 501 and stored in the FPGA 55. There may be. In this case, a system log or error log as a simulation result may be transmitted to the server 500 via the network 501 and stored in the server 500 in real time or at a predetermined timing.

A second embodiment of the present invention will be described with reference to FIG. This embodiment is different from the first embodiment in that the second processing unit is configured to receive information from the drive unit or the like. In the following description, components that are the same as those already described are assigned the same reference numerals and redundant description is omitted.

FIG. 3 is a functional block diagram of the manipulator 101 of the present embodiment. The configuration of the functional blocks is substantially the same as that of the manipulator 1 of the first embodiment, but the drive unit driver 46 and the drive unit 30 are connected to the calculation unit 52 of the second processing unit 51. Thereby, the manipulator 101 is configured to be able to transmit information from the drive unit driver 46 and the drive unit 30 to the calculation unit 52. The flow of information is only in one direction from the drive unit driver 46 and the drive unit 30 to the calculation unit 52, and the independence of the first processing unit 41 from the second processing unit 51 is maintained.

When verifying data to be verified using the manipulator 101, the calculation unit 52 of the second processing unit 51 considers information received from the drive unit driver 46 and the drive unit 30 in addition to the plant model 56, and performs an operation simulation. I do.
Information acquired from the drive unit driver 46 and the drive unit 30 can be set as appropriate, but items that are likely to deviate from values in the actual machine in a simulation using only the plant model 56 or that are likely to fluctuate in actual use conditions are preferable. For example, an output value of an encoder indicating the amount of rotation of the drive source in the drive unit 30, a current value generated by the drive unit driver 46, and the like can be exemplified.

Similarly to the manipulator 1 of the first embodiment, the manipulator 101 of the present embodiment can perform verification of data to be verified for updating in a more substantial manner.
Furthermore, since the second processing unit 51 is configured to be able to acquire information of the drive unit 30 that is a part of the entity structure modeled in the plant model 56, the drive unit 30 that is actually operating and the target The data to be verified can be verified under conditions closer to the state of the operation unit 20.

In the present embodiment, the second processing unit 51 may be configured to be able to acquire information from parts other than the drive unit 30. For example, when the operated unit 20 has a joint and an encoder for detecting the rotation amount is attached to the joint, the manipulator is transmitted so that the output value of the encoder is transmitted to the second processing unit 51 and used for the operation simulation. It may be configured. In addition, the configuration may be such that information on the position and orientation of each part of the operated unit is acquired by an appropriate mechanism and sent to the second processing unit 51.

A third embodiment of the present invention will be described with reference to FIGS. This embodiment is different from the above-described embodiments in that the second processing unit uses information around the manipulator in the patient's body.

FIG. 4 shows an overall image of the manipulator 201 of the present embodiment. The operation input unit 210 is installed on the table 202. The drive unit 230 and the operated unit 220 are attached to an extracorporeal arm 204 disposed near the operating table 203 on which the patient P lies. The operated part 220 includes a body arm that is inserted into the body of the patient P. In FIG. 4, the distal end portion of the operated portion 220 provided with the internal arm enters the body from the mouth of the patient P.
The extracorporeal arm 204 is not included in the operated portion 220 because the position and shape are manually adjusted as necessary.

FIG. 5 is a view showing the tip of the operated part 220. As shown in FIG. 5, an endoscope 205 for observing the inside of the body, two

body arms

223 and 224 operated by an operator, and a tip of the operated part 220 are provided at the distal end of the operated part 220. An external field detection unit 225 that acquires information about the surrounding state is provided. Each of the

body arms

223 and 224 has a plurality of joints and has a grip 226 at the tip.
The

body arms

223 and 224 and the endoscope 205 are introduced into the patient P while being inserted into the overtube 206.

In this embodiment, the mode of the operation input unit 210 corresponding to the operated unit 220 is not particularly limited. For example, one operation input mechanism may be associated with one of the

body arms

223 and 224, and the two body arms may be operated with one operation input mechanism while switching the association. Alternatively, two operation input mechanisms may be provided, and each operation input mechanism may be associated with the

internal arms

223 and 224, respectively.

The outside world detection unit 225 scans the surrounding space of the manipulator 201, the position of each part of the distal end portion of the operated portion 220 located in the body of the patient P in the manipulator 201, and the periphery of the distal end portion of the operated portion 220. Information on the shape and size of the object existing in As the external detection unit 225, for example, a sensor or an imaging unit using LiDAR (Light Detection And Ranging, Laser Imaging Detection and 用いる Ranging) can be used.

FIG. 6 shows a functional block diagram of the manipulator 201. The outside world detection unit 225 is connected to the calculation unit 52 of the second processing unit 51. Accordingly, the manipulator 201 is configured to be able to transmit information from the external world detection unit 225 to the calculation unit 52. The flow of information is only in one direction from the external detection unit 225 to the calculation unit 52, and the independence of the first processing unit 41 with respect to the second processing unit 51 is maintained.

When verifying data to be verified using the manipulator 201, the calculation unit 52 of the second processing unit 51 considers information about the surrounding

body arms

223 and 224 received from the external detection unit 225 in addition to the plant model 56. And perform an operation simulation.
For example, when there is a non-target organ or the like around the target site of the procedure, whether or not the activated

internal arms

223 and 224 are in contact with the organ or the like is also verified by simulation.

Also with the manipulator 201 of the present embodiment, verification of data to be verified for updating can be performed in a more fulfilling manner, like the manipulators of the above-described embodiments.
Furthermore, since the second processing unit 51 is configured to be able to receive the information around the operated unit 220 in the body of the patient P acquired by the external detection unit 225, the manipulator 201 actually performs the procedure. The data to be verified can be verified under conditions closer to the environment.

In the present embodiment, the specific configuration of the external detection unit is not limited to the mechanism using LiDAR described above. For example, a known stereo endoscope capable of ranging can be used as the endoscope 205, and information about the operated portion in the patient's body may be acquired from the image and distance data acquired using the stereo function. . Alternatively, surrounding information may be acquired by combining a mechanism using LiDAR and an endoscopic image.

Of course, the contents of the second embodiment may be combined with this embodiment.

A fourth embodiment of the present invention will be described with reference to FIGS. This embodiment is different from the above-described embodiments in that the second processing unit uses information around the patient.

FIG. 7 shows an overall image of the manipulator 301 of the present embodiment. The operation input unit 310 operated by the operator Op is provided with a monitor 311 that displays an image inside the patient P. The operated part 320 includes a plurality of arm units 321 arranged near the operating table 203 on which the patient P lies. Each arm unit 321 has an arm part 322 including a plurality of joints 322a, and a treatment instrument unit 323 that is attached to the arm part and inserted into the patient's body. A drive unit 30 is connected to each arm unit 322.
An image displayed on the monitor 311 is acquired by the laparoscope 302. The laparoscope 302 is not included in the manipulator 301 because it is operated not by the operator Op but by the scoopist Sc.
The laparoscope 302 and each treatment instrument unit 323 are introduced into the patient P through a hole (not shown) formed in the abdominal wall of the patient P.

In the operating room where the manipulator 301 is installed, a space recognition sensor 305 that acquires information around the manipulator 301 is installed. As the space recognition sensor 305, for example, an infrared sensor or a laser sensor can be used. Or the mechanism using LiDAR mentioned above may be used as a space recognition sensor. There is no restriction | limiting in particular in the installation aspect of the space recognition sensor 305. FIG. For example, it may be attached to the ceiling of the operating room, or may be attached to a stand and placed in the operating room.

FIG. 8 shows a functional block diagram of the manipulator 301. The space recognition sensor 305 is connected to the calculation unit 52 of the second processing unit 51. Accordingly, the manipulator 301 is configured to be able to transmit information from the space recognition sensor 305 to the calculation unit 52. The information flow is only in one direction from the space recognition sensor 305 to the calculation unit 52, and the independence of the first processing unit 41 from the second processing unit 51 is maintained.

When verifying data to be verified using the manipulator 301, the calculation unit 52 of the second processing unit 51 performs an operation simulation in consideration of the operating room information received from the space recognition sensor 305 in addition to the plant model 56. Do. The information in the operating room includes, for example, the arrangement of each arm unit 321, the positions of the laparoscope 302 and the scoopist Sc, the positions of the operating table 203 and the patient P, and the like.
That is, as shown in FIG. 7, when the scopist Sc stands near a certain arm unit 321, and the laparoscope 302 is operated, the arm unit 321 that has been operated is connected to the scopist Sc, the laparoscope 302, the operating table 203, Whether or not the contact has occurred is also verified by simulation.

Also with the manipulator 301 of the present embodiment, verification of data to be verified for updating can be performed in a more fulfilling manner, as with the manipulators of the above-described embodiments.
In addition, since the second processing unit 51 is configured to be able to receive the information in the operating room acquired by the space recognition sensor 305, it is possible to take into account the situation outside the body of the patient P during the procedure using the manipulator 301. Verification data can be verified.

Of course, the contents of the second embodiment and the third embodiment may be combined with this embodiment.

The embodiments of the present invention have been described above. However, the technical scope of the present invention is not limited to the above-described embodiments, and combinations of constituent elements may be changed without departing from the spirit of the present invention. Various changes can be made to the element or deleted.

For example, in the manipulator of the present invention, the structure of the operated part stored in the plant model may be different from the structure of the operated part that actually operates. Such an aspect is useful when, for example, verification of data to be verified corresponding to the operated part is performed before a new operated part is added to the product lineup.

Further, in each of the above-described embodiments, the example in which the first processing unit and the second processing unit are configured to be physically separated in the control unit has been described, but instead, the modification illustrated in FIG. As in the example manipulator 1A, an area that functions as part of the first processing unit and an area that functions as part of the second processing unit are provided in the same hardware while ensuring independence from each other. Thus, a control unit that virtually includes the first processing unit and the second processing unit may be configured. In the manipulator 1A, the

first areas

42A, 43A, 44A, and 45A provided in the calculation unit 42, the volatile storage unit 43, the nonvolatile storage unit 44, and the FPGA 45, respectively, function as a first processing unit. The

second regions

42B, 43B, 44B, and 45B provided in the unit 42, the volatile storage unit 43, the nonvolatile storage unit 44, and the FPGA 45 function as a second processing unit.

The present invention can be applied to a medical manipulator.

1, 1A, 101, 201, 301

Medical manipulator

10, 210, 310

Operation input unit

20, 220, 320 Operated

unit

30, 230 Drive unit 40 Control unit 41 First processing unit 51 Second processing unit 56 Plant model 225 External sensor 305 Space recognition sensor

Claims

An operation input unit for receiving a user's operation input;
A control unit that generates an operation signal based on the operation input;
A drive unit driven by the operation signal;
An operated portion operated by the driving unit;
With
The controller is
A first processing unit that is connected to the driving unit and generates the operation signal based on the operation input and signal generation data;
A second processing unit separated from the drive unit and configured to generate a verification operation signal based on the operation input;
Comprising
Medical manipulator.
The second processing unit has a plant model that can be simulated by inputting the verification operation signal.
The medical manipulator according to claim 1.
The plant model is a physical model of the drive unit and the operated unit.
The medical manipulator according to claim 2.
The second processing unit is configured to receive information from at least one of the driving unit and the operated unit.
The medical manipulator according to claim 1.
Further comprising an external detection unit configured to be able to acquire information about the inside of the patient and the operated unit;
The second processing unit is configured to be able to receive information from the outside world detection unit,
The medical manipulator according to claim 1.
A space recognition sensor configured to be able to acquire information on a space in which the medical manipulator is disposed;
The second processing unit is configured to receive information from the space recognition sensor.
The medical manipulator according to claim 1.
The second processing unit stores verification data for updating the signal generation data, and generates the verification operation signal based on the operation input and the verification data.
The medical manipulator according to claim 1.