WO2019039612A2 - Système de pince - Google Patents

Système de pince Download PDF

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Publication number
WO2019039612A2
WO2019039612A2 PCT/JP2018/031461 JP2018031461W WO2019039612A2 WO 2019039612 A2 WO2019039612 A2 WO 2019039612A2 JP 2018031461 W JP2018031461 W JP 2018031461W WO 2019039612 A2 WO2019039612 A2 WO 2019039612A2
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WO
WIPO (PCT)
Prior art keywords
rotary motor
torque
motor
forceps system
forceps
Prior art date
Application number
PCT/JP2018/031461
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English (en)
Japanese (ja)
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WO2019039612A3 (fr
Inventor
貴弘 溝口
誠通 下野
大西　公平
Original Assignee
地方独立行政法人神奈川県立産業技術総合研究所
国立大学法人横浜国立大学
学校法人慶應義塾
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Application filed by 地方独立行政法人神奈川県立産業技術総合研究所, 国立大学法人横浜国立大学, 学校法人慶應義塾 filed Critical 地方独立行政法人神奈川県立産業技術総合研究所
Publication of WO2019039612A2 publication Critical patent/WO2019039612A2/fr
Publication of WO2019039612A3 publication Critical patent/WO2019039612A3/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery

Definitions

  • the present invention relates to a forceps system.
  • MIS minimally invasive surgery
  • Laparoscopic surgery which is a typical method of MIS, is performed by inserting a tool such as forceps from a hole formed in a patient's body.
  • a surgery support robot such as Intuitive Surgical's Da Vinci, which performs this laparoscopic surgery by remote control, has been developed.
  • an operation unit (master side) operated by the operator and a holding unit (slave side) installed at a remote place and actually holding the object are included.
  • a forceps system is described which controls the gripping part in response to the operation of the part.
  • remote operation type surgery support robots can dramatically improve the performance of the surgeon, they are generally expensive and expensive to install due to the complexity and size of the device. You need to ensure a large enough space for the Moreover, in order to master such a remote control type operation support robot, the operator had to build up a long-term operation training. For this reason, there is also a demand for a medical device that is simpler, can be used without special training, and is excellent in operability.
  • forceps for grasping and pulling tissues and organs etc. are routinely used in medical fields such as examinations and diagnoses other than surgery, so it is not limited to the remote control type and is simple and conventional. It is desirable that it can be used in the same sense as The present invention has been made in view of the above background, and an object thereof is to provide a forceps system which is simple, can be used in the same sense as conventional ones, and is excellent in operability.
  • a forceps system is pivotally supported by a head portion having a first rotation motor and a second rotation motor, and the head portion, and is coupled to the first rotation motor via a power transmission mechanism, and operated An operation unit operated by a user, and a shaft unit attached to the head unit;
  • a gripping portion disposed at the tip end of the shaft portion, which grips the object, penetrates the shaft portion, one end is connected to the gripping portion via a link mechanism, and the other end is power transmission with the second rotary motor
  • a control unit configured to control the first rotary motor and the second rotary motor, wherein the control unit is configured to control the first rotary motor by bilateral control based on acceleration;
  • the angular responses of the first and second rotary motors are controlled according to the angular deviation of the second rotary motor, and the torque responses of the first and second rotary motors are controlled according to the torque response of the first and second rotary motors.
  • the torque response of the first rotary motor and the second rotary motor is controlled.
  • FIG. 1 is a schematic view showing a schematic configuration of a forceps system according to the present embodiment.
  • FIG. 2 is a view showing the internal structure of the shaft in a region A indicated by a broken line in FIG.
  • FIG. 3 is a diagram showing a prototype of the forceps system according to the present embodiment.
  • FIG. 4 is a view showing the internal structure of the head in the prototype of the forceps system shown in FIG.
  • FIG. 5 is a view showing a state in which the prototype of the forceps system shown in FIG. 3 is held by the operator U.
  • FIG. 6 is a block diagram showing an outline of control in a control unit of the forceps system according to the present embodiment.
  • FIG. 1 is a schematic view showing a schematic configuration of a forceps system according to the present embodiment.
  • FIG. 2 is a view showing the internal structure of the shaft in a region A indicated by a broken line in FIG.
  • FIG. 3 is a diagram showing a prototype of the forceps system
  • FIG. 7 is a block diagram schematically showing control of DOB and RTOB in the block diagram shown in FIG.
  • FIG. 8 is a graph showing measurement results of torque response and angle response in the master and the slave when Experiment 1 was performed (without scaling).
  • FIG. 9 is a graph showing the measurement results of torque response and angle response in the master and the slave when Experiment 1 was performed (with scaling).
  • FIG. 10 is a diagram for explaining the experimental procedure in Experiment 2.
  • FIG. 11 is a diagram for explaining the experimental procedure in Experiment 2.
  • FIG. 12 is a diagram for explaining the experimental procedure in Experiment 2.
  • FIG. 13 is a diagram for explaining the experimental procedure in Experiment 2.
  • FIG. 14 is a graph showing measurement results for torque response and angular response at the master and slave during experiment 2.
  • FIG. 15 is a diagram showing an example of a screen on which data measured by the forceps system is displayed on a portable terminal.
  • FIG. 1 is a schematic view showing a schematic configuration of a forceps system 1 according to the present embodiment.
  • the forceps system 1 includes a shaft 2, a grip 3 (end effector), a head 4, and a controller 5.
  • the shaft portion 2 and the grip portion 3 provided at the tip of the shaft portion 2 are parts to be inserted into the patient's body, and the same ones as existing forceps can be used.
  • FIG. 2 is a view showing an internal structure of the shaft portion 2 in a region A indicated by a broken line in FIG. As shown in FIG.
  • the grip portion 3 is connected to an operation member 18 penetrating the inside of the shaft portion 2 via a link mechanism 19.
  • the link mechanism 19 is opened and the grip 3 is opened.
  • the link mechanism 19 is closed and the gripping portion 3 is closed.
  • the head unit 4 includes the operation unit 6, the grip unit 7, and the first rotation motor 8 and the second rotation motor 9.
  • the shaft 2 is attached to the head 4.
  • the operation unit 6 is a lever for the operator to operate the forceps system 1 and is rotatably supported by the rotating shaft 6 a in the head unit 4.
  • a hole 6b is formed for the operator to operate by putting a finger.
  • the operation unit 6 is connected to the first rotary motor 8 via gears as a power transmission mechanism housed in the head unit 4. That is, the pinion gear 13 a attached to the rotation shaft 6 a of the operation unit 6 is engaged with the pinion gear 13 b attached to the rotation shaft 8 a of the first rotation motor 8.
  • the operation force exerted on the operation unit 6 is transmitted to the first rotary motor 8.
  • the torque of the first rotary motor 8 is transmitted as a reaction force to the operator via the operation unit 6.
  • the invention is not limited to the case where the pinion gear 13a directly engages with the pinion gear 13b, and the pinion gear 13a may be engaged with the pinion gear 13b via some other pinion gears.
  • the operation member 18 is connected to the second rotary motor 9 through gears as a power transmission mechanism housed in the head unit 4. That is, in the operation member 18, the rack gear 14a attached to the other end opposite to the one end connected via the grip portion 3 and the link mechanism 19 (see FIG. 2) is the rotation shaft 9a of the second rotation motor 9. It is engaged with the attached pinion gear 14b.
  • the rack gear 14a and the pinion gear 14b convert the rotational motion of the second rotary motor 9 into a linear motion.
  • FIG. 3 is a diagram showing a prototype of the forceps system 1 according to the present embodiment.
  • the upper portion in FIG. 3 also shows the existing forceps 501 for comparison. As shown in FIG.
  • the external dimensions are larger than that of the conventional forceps by the size of the head portion 4 including the two rotating motors (the first rotating motor 8 and the second rotating motor 9). It has become.
  • the first rotary motor 8 and the second rotary motor 9 are connected to the control unit 5 (see FIG. 1) via the wiring 15.
  • the shaft 2 is detachably attached to the head 4 via the connection 12.
  • the operation member 18 shown in FIGS. 1 and 2 can be divided via a joint.
  • the gripping portions 3 having a shape according to the situation can be appropriately changed by replacing the shaft portions 2. It can be selected.
  • the existing forceps 501 like the forceps system 1, includes the shaft portion 502 and the grip portion 503, and further includes the handle portions 504 and 505 for opening and closing the grip portion 503.
  • the mechanism for opening and closing the gripping portion 503 is the same as the mechanism for opening and closing the gripping portion 3 of the forceps system 1 shown in FIG.
  • FIG. 4 is a view showing the internal structure of the head 4 in the prototype of the forceps system 1 shown in FIG. 4 shows the internal structure of the head 4 as viewed in the direction of arrow B in FIG.
  • the first rotary motor 8 and the second rotary motor 9 face each other across an imaginary plane parallel to a plane in which the operation unit 6 pivots, passing through a central axis in the longitudinal direction of the shaft portion 2.
  • the respective rotation axes are arranged coaxially, but they are not mechanically connected.
  • the first rotary motor 8 and the second rotary motor 9 it is difficult to apply an extra moment to the operator U who grips the grip portion 7, which improves operability, which is preferable.
  • the power transmission mechanism such as the pinion gear 13a and the pinion gear 13b coupled to the first rotation motor 8 and the power transmission mechanism such as the rack gear 14a and the pinion gear 14b coupled to the second rotation motor 9 have a small number of parts, and the head portion 4 can be stored compactly.
  • the first rotary motor 8 and the second rotary motor 9 occupy a large proportion in the total weight.
  • FIG. 5 is a view showing a state in which the prototype of the forceps system 1 is held by the operator U. As shown in FIG. 5, the user grips the grip portion 7 and operates by putting a finger on the hole formed in the operation portion 6. The grip 7 is sized to be gripped by the entire palm.
  • the operator U can hold the forceps system 1 stably, so the existing forceps 501 (see FIG. 3) can be recognized without being aware of the weight of the forceps system 1.
  • the forceps system 1 can be used in the same sense as in.
  • control of the first rotary motor 8 and the second rotary motor 9 in the control unit 5 shown in FIG. 1 will be described.
  • the first rotation motor 8 and the second rotation motor 9 are mutually controlled by the control unit 5 according to an acceleration-based bilateral control method.
  • the bilateral control is one of the general control methods, which responsively controls the position of the object and the force acting on the object to realize delicate work.
  • the operator can cause the slave (working side) to move according to the movement of the master by moving the master (operation side), and the slave receives the movement from the object.
  • the force can be fed back to the master operator.
  • the operation unit 6 actually operated by the operator and the first rotary motor 8 connected to the operation unit 6 via the power transmission mechanism are the master.
  • the grip 3 acting on the object and the second rotary motor 9 connected to the grip 3 via the power transmission mechanism, the operation member 18 and the like are slaves.
  • the acceleration reference means that angular acceleration, not torque, is used as a control amount.
  • a scaling function may be provided in the acceleration-based bilateral control applied to the control unit 5.
  • the scaling function is a function of enlarging or reducing the scale of the output position or force with respect to the input position or force.
  • a scaling gain is introduced to at least one of the torque and the angle, and scaling is applied to at least one of the torque and the angle between the first rotary motor 8 and the second rotary motor 9.
  • the scale of the torque or force output from the slave is reduced with respect to the torque or force input from the master by the operator. By doing this, operability can be further improved.
  • FIG. 6 is a block diagram showing an outline of control in the control unit 5 of the forceps system 1.
  • ⁇ is a scaling gain of the angular response
  • ⁇ is a scaling gain of the torque response
  • C p is a position controller
  • C f is a force controller.
  • the angular responses at the master and slave are denoted by ⁇ M res and ⁇ S res , respectively.
  • the reaction torque at the master and slave Represented by As shown in FIG. 6, the angles and torques of the first rotary motor 8 as the master and the second rotary motor 9 as the slave are disturbance observer (DOB: Disturbance Observer), and reaction torque estimation observer (RTOB: Reaction). Controlled using Torque Observer).
  • FIG. 7 is a block diagram showing an outline of control of DOB and RTOB.
  • ⁇ res is an angular response
  • I ref is a current reference
  • T reac is a reaction torque
  • T dis is a disturbance torque
  • K tn is a torque constant
  • g dis is a cut-off frequency of the low pass filter for the disturbance torque
  • g reac is a reaction The cutoff frequency of the low-pass filter with respect to torque
  • D is viscosity
  • J n is inertia
  • F c is coulomb friction.
  • DOBs are designed to quickly estimate and compensate for disturbances.
  • Robust acceleration control is achieved by DOB by estimating the sum of disturbance torques and performing compensation using the estimated disturbance torques. As shown in FIG.
  • RTOB is applied to estimate reaction torque without using a torque sensor.
  • the RTOB estimates the reaction torque applied to each rotary motor (the first rotary motor 8 and the second rotary motor 9) from the object based on the DOB. That is, in RTOB, the reaction torque is estimated by subtracting other forces such as internal friction that can be estimated in advance from the sum of disturbance torques estimated by DOB.
  • the bilateral control shown in FIG. 6 it is necessary to simultaneously satisfy two targets in order to transmit a clear sense of touch.
  • the horizontal axis represents elapsed time [s]
  • the vertical axis represents torque response [Nm].
  • the horizontal axis represents elapsed time [s]
  • the vertical axis represents angular response [rad].
  • a solid line indicates a torque response in the master, and a broken line indicates a torque response in the slave.
  • the solid line indicates the angular response at the master and the broken line indicates the angular response at the slave.
  • an open / close operation in which nothing is gripped by the grip unit 3 is performed between 0 seconds and 5 seconds.
  • the first rotary motor 8 as a master and the second rotary motor 9 as a slave rotate in accordance with the operation force acting on the master. For this reason, the torque response is small because nothing is gripped by the gripping unit 3 during the elapsed time from 0 seconds to 5 seconds. When the elapsed time is between 5 seconds and 10 seconds, the gripping portion 3 holds the sponge.
  • the horizontal axis represents elapsed time [s]
  • the vertical axis represents torque response [Nm].
  • the horizontal axis represents elapsed time [s], and the vertical axis represents angular response [rad].
  • the solid line indicates the torque response in the master, and the broken line indicates the torque response in the slave.
  • the solid line indicates the angular response at the master and the broken line indicates the angular response at the slave.
  • the torque response of the master and the angular response are respectively the torque response of the slave and the angular response. It has doubled. That is, in the forceps system 1, it was confirmed that scaling of force sense transmission was correctly realized.
  • FIGS. 10 to 13 are diagrams for explaining the experimental procedure in Experiment 2.
  • the forceps system 1 according to the present embodiment is used with the right hand (left side in FIG. 10) and the existing forceps 501 is used with the left hand (right side in FIG. 10).
  • the yarn 32 and the needle 33 were the same as those used in the actual surgery.
  • the pad 31 is a member that simulates the patient's organ and has appropriate softness.
  • the needle 33 is held by the gripping portion 3 in the forceps system 1, and the tip of the needle 33 is inserted into the pad 31. Subsequently, as shown in FIG.
  • the needle 33 is pulled out of the pad 31 by the gripping portion 3 in the forceps system 1.
  • the yarn 32 is held by the gripping portion 3 of the forceps system 1
  • the needle 33 is held by the existing forceps 501
  • the existing forceps 501 is moved, and the loop formed by the yarn 32 is Make and pass the needle 33 through the loop.
  • the yarn 32 held by the grip portion 3 of the forceps system 1 and the needle 33 held by the existing forceps 501 are pulled in opposite directions to form a knot.
  • FIG. 14 is a graph showing measurement results for torque response and angle at the master and slave during experiment 2.
  • the horizontal axis represents elapsed time [s]
  • the vertical axis represents torque response [Nm].
  • the horizontal axis represents elapsed time [s]
  • the vertical axis represents angular response [rad].
  • the solid line indicates the torque response in the master, and the broken line indicates the torque response in the slave.
  • the solid line indicates the angular response at the master, and the broken line indicates the angular response at the slave.
  • scaling gains ⁇ and ⁇ in bilateral control of the forceps system 1 were set to 1. That is, the torque response and the angular response are approximately equal for the master and the slave.
  • the periods indicated by (i), (ii), (iii) and (iv) in the graph correspond to the periods in which the procedures shown in FIG. 10, FIG. 11, FIG. 12 and FIG. Do. As shown in FIG. 14, in period (i) (during the procedure of FIG.
  • the torque response increases at an elapsed time of 8 seconds. This is because the operator strongly grips the needle 33 at the moment of inserting the needle 33 into the pad 31.
  • a large torque response of about 0.2 Nm is obtained at an elapsed time of 22 seconds. This indicates that a strong gripping force was required to pull out the needle 33 from the pad 31.
  • the forceps system 1 In period (iii) (during the procedure of FIG. 12), the forceps system 1 only holds the thread 32 and moves the existing forceps 501 to form a loop with the thread 32, and the needle 33 in the loop Through. For this reason, the torque response and the angular response in the forceps system 1 are constant.
  • the external analysis device is, for example, a personal computer or a portable terminal such as an iPhone (registered trademark) or an iPad (registered trademark).
  • the forceps system 1 further includes a transmitting unit, and the transmitting unit is from the controller 5 to each of the first rotation motor 8 and the second rotation motor 9. Data of torque and angle, and transmit the data to the portable terminal.
  • the transmission means may perform wired communication such as an electric wire and an optical fiber, or may perform wireless communication.
  • FIG. 15 is a view showing an example of a screen on which data measured by the forceps system 1 is displayed on the external analysis device. As for the display in the figure, Motor0 represents the first rotary motor 8 (see FIG.
  • Motor1 represents the second rotary motor 9 (see FIG. 1).
  • the position (Posisition), the velocity (Velocity) and the operating force (Force) of the first rotary motor 8 and the second rotary motor 9 may be confirmed in real time it can.
  • measurement data can be analyzed separately by recording measurement data by pressing the Start Record button. This makes it possible, for example, to quantify delicate force adjustments in the operation of the surgeon during surgery, and improve the skill of the surgeon.
  • the present invention is not limited to the above embodiment, and can be appropriately modified without departing from the scope of the present invention.
  • the forceps system of the present invention can be used as a medical device that is simpler, can be used in the same sense as conventional ones, and has excellent operability. In particular, it can be used as a forceps for grasping or pulling a tissue or an organ or the like by an operation etc., as well as an instrument for an inspection or a diagnosis. In addition, the forceps system of the present invention can quantify delicate force changes in the operation of the forceps during surgery and can also be used as a training tool for improving the skills of the surgeon.
  • This application claims priority based on Japanese Patent Application No. 2017-158330 filed on Aug. 21, 2017, the entire disclosure of which is incorporated herein.

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

Abstract

L'invention concerne un système de pince qui est simple, peut être utilisé avec la même sensation que des systèmes de pince classiques, et possède un excellent mode de fonctionnement. Ce système de pince est équipé d'une partie tête comportant un premier moteur rotatif et un second moteur rotatif, d'une partie manipulation supportée pivotante sur la partie tête et couplée au premier moteur rotatif par l'intermédiaire d'un mécanisme de transmission de puissance, d'une partie arbre fixée à la partie tête, d'une partie préhension disposée sur l'extrémité distale de la partie arbre et destinée à pincer une cible, d'un élément de manipulation traversant la partie arbre et dont une extrémité est couplée à la partie préhension par l'intermédiaire d'un mécanisme de liaison et l'autre extrémité est couplée au second moteur rotatif par l'intermédiaire d'un mécanisme de transmission de puissance, ainsi que d'une unité de commande qui commande le premier moteur rotatif et le second moteur rotatif. L'unité de commande utilise une commande bilatérale basée sur l'accélération pour, d'une part, commander la réponse angulaire du premier moteur rotatif et du second moteur rotatif, conformément à la déviation angulaire entre le premier moteur rotatif et le second moteur rotatif, et d'autre part, commander la réponse de couple du premier moteur rotatif et du second moteur rotatif conformément à l'écart de couple entre le premier moteur rotatif et le second moteur rotatif.
PCT/JP2018/031461 2017-08-21 2018-08-20 Système de pince WO2019039612A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017-158330 2017-08-21
JP2017158330A JP6762280B2 (ja) 2017-08-21 2017-08-21 鉗子システム

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WO2019039612A2 true WO2019039612A2 (fr) 2019-02-28
WO2019039612A3 WO2019039612A3 (fr) 2019-04-18

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Cited By (1)

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Publication number Priority date Publication date Assignee Title
WO2021200881A1 (fr) * 2020-03-31 2021-10-07 地方独立行政法人神奈川県立産業技術総合研究所 Dispositif médical et programme médical

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JPWO2020195316A1 (fr) * 2019-03-28 2020-10-01
JPWO2021049345A1 (fr) 2019-09-13 2021-03-18
JP2021041037A (ja) 2019-09-13 2021-03-18 ソニー株式会社 術具、手術支援システム、並びに手術用操作ユニット
JP2021041038A (ja) 2019-09-13 2021-03-18 ソニー株式会社 術具、手術支援システム、並びに手術用操作ユニット

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JPH0759788A (ja) * 1993-08-25 1995-03-07 Olympus Optical Co Ltd 鋏持力フィードバック鉗子装置
WO2005109139A1 (fr) * 2003-07-24 2005-11-17 Keio University Dispositif de contrôle de position/force
JP2006043349A (ja) * 2004-08-09 2006-02-16 Hitachi Medical Corp 手術支援装置
JP2009282720A (ja) * 2008-05-21 2009-12-03 Nagaoka Univ Of Technology 操作方法および操作装置
JP2010076012A (ja) * 2008-09-24 2010-04-08 Toshiba Corp マニピュレータシステムおよびその制御方法
JP6296236B2 (ja) * 2013-05-27 2018-03-20 パナソニックＩｐマネジメント株式会社 マスタースレーブ装置用マスター装置及びその制御方法、及び、マスタースレーブ装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021200881A1 (fr) * 2020-03-31 2021-10-07 地方独立行政法人神奈川県立産業技術総合研究所 Dispositif médical et programme médical
EP4129228A4 (fr) * 2020-03-31 2024-04-24 Kanagawa Institute Of Industrial Science And Technology Dispositif médical et programme médical

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