WO2021199385A1 - Remote operation device - Google Patents

Remote operation device Download PDF

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Publication number
WO2021199385A1
WO2021199385A1 PCT/JP2020/015098 JP2020015098W WO2021199385A1 WO 2021199385 A1 WO2021199385 A1 WO 2021199385A1 JP 2020015098 W JP2020015098 W JP 2020015098W WO 2021199385 A1 WO2021199385 A1 WO 2021199385A1
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WIPO (PCT)
Prior art keywords
unit
remote
operation unit
remote operation
drive
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PCT/JP2020/015098
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French (fr)
Japanese (ja)
Inventor
山本　円朗
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リバーフィールド株式会社
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Priority to PCT/JP2020/015098 priority Critical patent/WO2021199385A1/en
Publication of WO2021199385A1 publication Critical patent/WO2021199385A1/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 remote operating device that operates a treatment tool such as an endoscope.
  • Patent Document 1 discloses a medical robot system that can easily adjust the position and angle of a medical device with respect to a patient and that can easily be multifunctional as an integrated system.
  • Patent Document 2 in a surgery support system that supports surgery performed using a treatment tool while looking at the screen and a surgery support method using the same, the surgeon himself performs the surgery support work without the intervention of an assistant.
  • the surgical support method that enables this is disclosed.
  • the scopist When performing endoscopic surgery such as laparoscopic surgery, the scopist generally operates the endoscope in cooperation with the surgeon while holding the endoscope. In some cases, a robot that holds the endoscope is used. In any case, it is desired to quickly adjust the imaging position and range by the endoscope and the imaging conditions according to the intention of the surgeon according to the content and progress of the operation.
  • An object of the present invention is to provide a remote operating device that allows an operator to operate a treatment tool by himself / herself even during an operation.
  • one aspect of the present invention is a remote control device for remotely controlling an operation unit provided on the head portion of the treatment tool, which includes a main body and a holding portion for attaching the main body to the head portion.
  • a remote control device provided on the main body and comprising a drive unit for driving the operation unit and a remote operation unit for remotely operating the drive unit.
  • a drive unit is provided in the main body held by the head unit of the treatment tool, and the drive unit is driven by operating the remote operation unit to operate the operation unit of the treatment tool. Can be done. As a result, the operator can remotely control the treatment tool by operating the remote control unit without directly touching the operation unit provided on the head portion of the treatment tool.
  • the main body and the holding portion are separate from the housing and are detachably attached to the head portion.
  • the drive unit can be replaced with a different treatment tool.
  • the remote operation unit preferably has a stick-type operation body that instructs the drive of the drive unit.
  • a stick-type operation body that instructs the drive of the drive unit.
  • the treatment tool is preferably an endoscope.
  • the operator can operate the remote operation unit without directly touching the endoscope.
  • the remote operation device further includes a conversion unit that converts an operation signal generated by operating the remote operation unit into a drive signal for driving the drive unit, and the conversion unit has a low-pass filter function for the operation signal. You may be doing it. As a result, it is possible to suppress the influence of noise components included in the operation signal generated when the remote operation unit is operated and hand tremor when the operation is performed.
  • the remote operation device further includes a control unit that generates a drive signal for driving the drive unit based on the operation signal from the remote operation unit, and the control unit has a lock function that invalidates the operation of the remote operation unit. Is preferable. As a result, it is possible to invalidate the operation of the remote operation unit when it is unnecessary and prevent a malfunction.
  • the remote operation unit may have an operation unit lock function that does not generate an operation signal in the remote operation unit. In this case as well, it is possible to prevent a malfunction of the remote operation unit.
  • the remote operation device further includes a control unit that generates a drive signal for driving the drive unit based on the operation signal from the remote operation unit, and the control unit is associated with the operation time of the remote operation unit and has different drive signals. May be generated. As a result, even if the remote operation unit is operated in the same manner, the drive of the treatment tool can be switched depending on the operation time.
  • the remote operation device may further include an arm-type holding device that has an arm for holding the treatment tool and controls the position of the treatment tool by the arm. Thereby, the position and angle of the treatment tool can be controlled by the arm type holding device, and the adjustment of the treatment tool itself can be operated by the remote operation unit.
  • FIG. 1 It is a schematic diagram which illustrates the structure of the remote operation apparatus which concerns on this embodiment.
  • (A) and (b) are block block diagrams of a main body and an endoscope. It is a block block diagram of a control part. It is a schematic diagram which shows the example of the operation using the remote operation device which concerns on this embodiment. It is a schematic diagram which shows the example of the endoscope which has a lever type operation part. It is a schematic diagram which shows the example using the arm type holding device. It is a schematic diagram which shows the use example of the remote operation apparatus which concerns on this embodiment.
  • FIG. 1 is a schematic diagram illustrating the configuration of the remote operation device according to the present embodiment.
  • the remote control device 1 according to the present embodiment is for remotely controlling the operation unit 120 provided on the head unit 110 of the endoscope 100, which is an example of the treatment tool, and is the main body 10.
  • a holding unit 20, a driving unit 30, and a remote operating unit 40 are provided.
  • the endoscope 100 to be remotely controlled has a configuration in which a predetermined lens barrel 150 is attached to a head portion 110.
  • the lens barrel 150 is detachably attached to the head portion 110 so that the lens barrel 150 suitable for surgery can be replaced and used.
  • the head unit 110 is provided with an operation unit 120.
  • the endoscope 100 can be operated by operating the operation unit 120.
  • the operation unit 120 adjusts the zoom in shooting with the endoscope 100 and adjusts the imaging range.
  • the tip of the lens barrel 150 can be bent in the desired direction by operating the operation unit 120.
  • the function corresponding to the operation unit 120 may be predetermined, or the function may be assigned by the user.
  • a scopist grips the head portion 110 of the endoscope 100, and while supporting the endoscope 100, the operation portion 120 is operated with a finger according to the progress of surgery.
  • the scopist operates the operation unit 120 in time with the operator, and controls the endoscope 100 so that the image desired by the operator is displayed on the monitor.
  • the remote control device 1 is used to remotely control the operation of the endoscope 100 without directly touching the operation unit 120 provided on the head unit 110.
  • the main body 10 of the remote operating device 1 is held by the holding unit 20 at the head unit 110 of the endoscope 100.
  • the main body 10 and the holding portion 20 may be integrated with the head portion 110 of the endoscope 100, or may be separate. In the case of a separate body, it is preferable that the main body 10 and the holding portion 20 are detachably attached to the head portion 110. This makes it easy to replace the main body 10 with another head portion 110.
  • the main body 10 is provided with a drive unit 30.
  • the drive unit 30 has a mechanism for driving the operation unit 120 provided on the head unit 110 of the endoscope 100.
  • the operation unit 120 is a button type switch
  • the drive unit 30 has an actuator for turning on / off the button type switch.
  • the driving unit 30 has an actuator, a link mechanism, and the like for operating the lever.
  • the drive unit 30 has an actuator for sliding the slider.
  • the drive unit 30 is arranged so as to be positioned corresponding to the operation unit 120 provided on the head unit 110.
  • the head unit 110 is provided with a plurality of operation units 120, a drive unit 30 corresponding to each of the plurality of operation units 120 is provided.
  • the drive unit 30 is remotely controlled by the remote control unit 40.
  • the remote operation unit 40 is arranged at a position away from the main body 10 and is connected to the main body 10 by a cable C.
  • the remote operation unit 40 may drive the drive unit 30 by wireless communication.
  • a stick type operation unit is used for the remote operation unit 40.
  • a plurality of operation instructions can be given by using one stick.
  • the remote operation unit 40 may be other than a stick-type operation unit such as a foot switch or a slider switch.
  • control unit 50 is provided between the main body 10 and the remote operation unit 40.
  • the control unit 50 generates a drive signal for driving the drive unit 30 based on the operation signal from the remote operation unit 40.
  • the control unit 50 may be provided separately from the main body 10 and the remote operation unit 40, or may be incorporated in the main body 10 or the remote operation unit 40. If the main body 10 and the control unit 50 are separate bodies, one control unit 50 can be used by replacing different main bodies 10, and the configuration incorporated into the main body 10 can be simplified.
  • Both the main body 10 and the control unit 50 and the control unit 50 and the remote operation unit 40 may be connected by wire, or both may be wirelessly connected. Further, either one may be connected by wire and the other may be connected wirelessly.
  • FIG. 2A shows a block configuration diagram of the main body 10 of the remote operating device 1
  • FIG. 2B shows a block configuration diagram of the head portion of the endoscope.
  • FIG. 3 is a block configuration diagram of the control unit.
  • the main body 10 has a drive control unit 11 and a reception unit 12.
  • the drive control unit 11 gives a signal for driving the drive unit 30 to the drive unit 30.
  • a drive signal is output corresponding to each of the drive units 30.
  • the receiving unit 12 receives an instruction from the remote operation unit 40.
  • the receiving unit 12 includes an interface for wired communication or wireless communication. The signal received by the receiving unit 12 is sent to the drive control unit 11, and the drive control unit 11 drives the drive unit 30 based on this signal.
  • the drive unit 30 When the operation unit 120 of the endoscope 100 is a button type switch, the drive unit 30 is arranged on the operation unit 120 by attaching the main body 10 to the head unit 110 by the holding unit 20.
  • the drive unit 30 has an actuator that moves forward and backward, and the drive control unit 11 pushes the actuator of the drive unit 30 forward to push the button-type switch that is the operation unit 120.
  • the push of the button type switch is released by driving the actuator to move out by the drive control unit 11.
  • the head unit 110 of the endoscope 100 includes an imaging unit 111, an imaging adjusting unit 112, a function control unit 113, a transmitting unit 114, and a receiving unit 115.
  • the image pickup unit 111 is a photoelectric conversion unit that obtains an image by converting an image captured through the lens barrel 150 into an electric signal. Examples of the photoelectric conversion unit are CMOS and CCD.
  • the imaging adjustment unit 112 adjusts the imaging conditions of the imaging unit 111.
  • the image pickup adjusting unit 112 adjusts the imaging conditions in the image pickup unit 111 according to the instruction of the operation unit 120. For example, enlargement / reduction of the imaging range (zoom adjustment), adjustment of the imaging position (up / down / left / right adjustment), adjustment of the light source, adjustment of the aperture, and the like are performed.
  • the function control unit 113 controls the allocation of functions corresponding to the operation unit 120. That is, when the operation unit 120 is operated, what kind of function is to be provided is associated. When a plurality of operation units 120 are provided, functions are assigned based on, for example, table data corresponding to each of the operation units 120.
  • the transmission unit 114 outputs the image captured by the imaging unit 111 to an external device.
  • the transmission unit 114 includes an interface for wired communication or wireless communication.
  • the image transmitted from the transmission unit 114 is displayed on the monitor of the external device.
  • the receiving unit 115 receives the information transmitted from the external device.
  • the receiving unit 115 includes an interface for wired communication or wireless communication.
  • the receiving unit 115 receives various information transmitted from a system controller (not shown), which is an external device, and uses it for imaging with the endoscope 100.
  • the control unit 50 includes an operation signal receiving unit 51, a conversion unit 52, and a drive signal output unit 53.
  • the operation signal receiving unit 51 receives the operation signal sent from the remote operation unit 40.
  • the operation signal corresponding to the direction in which the stick is tilted (operation direction: X, Y, Z direction, etc.) and the tilted amount (operation amount: angle, etc.) is the operation signal. It is sent to the receiving unit 51.
  • the operation signal receiving unit 51 includes an interface for wired communication or wireless communication.
  • the conversion unit 52 converts the operation signal received by the operation signal receiving unit 51 into a driving signal by the driving unit 30.
  • a drive unit for driving the operation unit 120 corresponding to the operation direction based on the operation direction and the operation amount included in the operation signal output from the remote operation unit 40 It is converted into a signal for associating with 30 and obtaining the driving amount of the driving unit 30 corresponding to the operating amount.
  • the conversion unit 52 may have a low-pass filter function for the operation signal received by the operation signal reception unit 51. As a result, the noise component contained in the operation signal generated when the remote operation unit 40 is operated and the influence when the operator operates the remote operation unit 40 and the shaking (for example, hand tremor) occurs. It can be suppressed.
  • the conversion unit 52 may have a lock function that invalidates the operation of the remote operation unit 40. That is, when a specific operation (operation for instructing the lock) is received from the remote operation unit 40, the instruction regarding the remote operation of the remote operation unit 40 is not converted or the drive signal is not output. Alternatively, when a specific operation (operation for instructing unlocking) is not accepted from the remote operation unit 40, the same locking function as described above may be exhibited. As a result, it is possible to invalidate the operation of the remote operation unit 40 when it is unnecessary and prevent a malfunction.
  • the remote operation unit 40 may be provided with an operation unit lock function that does not generate an operation signal in the remote operation unit 40.
  • the operation unit lock mechanism there is a structure in which the remote operation unit 40 is provided with a physical lock mechanism, and the remote operation unit 40 can be operated only when the lock mechanism is released. No operation signal is generated when the remote operation unit 40 cannot be operated.
  • the physical locking mechanism may be released only while the remote operation unit 40 is gripped and this button is pressed.
  • the operation unit lock mechanism there is a configuration in which a soft lock mechanism is provided on the remote operation unit 40 so that an operation signal can be generated only when the lock mechanism is released.
  • a soft lock mechanism is provided on the remote operation unit 40 so that an operation signal can be generated only when the lock mechanism is released.
  • the drive signal output unit 53 transmits the drive signal converted by the conversion unit 52 to the reception unit 12.
  • the drive signal output unit 53 includes an interface for wired communication or wireless communication.
  • FIG. 4 is a schematic view showing an example of an operation using the remote operation device according to the present embodiment.
  • the main body 10 of the remote operating device 1 is attached to the head portion 110 of the endoscope 100.
  • a main body 10 separate from the head portion 110 is attached so as to cover the operation portion 120.
  • the main body 10 may be attached to the head portion 110 so as to surround the head portion 110. Regardless of the mounting method, the operation unit 120 can be driven by the drive unit 30 of the main body 10.
  • the operation unit 120 can be intuitively remotely controlled by the operation of tilting the stick 41 or returning the stick 41.
  • a predetermined operation may be instructed by an operation in the height direction (Z direction) such as pushing / pulling the stick 41.
  • Each operation of the stick 41 is associated with the operation of the operation unit 120 of the endoscope 100.
  • the function is assigned so that the operation unit 120A is remotely controlled by tilting the stick 41 forward, and the operation unit 120B is remotely controlled by tilting the stick 41 backward.
  • the operation unit 120 of the endoscope 100 is remotely controlled in conjunction with the operation of the stick 41.
  • the specific processing flow is as follows. (1) When the stick 41 is operated, information on the direction in which the stick 41 is tilted and the amount of tilting is transmitted from the remote operation unit 40 to the control unit 50. (2) The operation signal receiving unit 51 of the control unit 50 receives information on the direction in which the stick 41 is tilted and the amount of tilting, which is transmitted from the remote operation unit 40. (3) In order to drive the operation unit 120 corresponding to the assigned operation in the conversion unit 52 of the control unit 50 based on the information on the tilted direction and the tilted amount of the stick 41 received by the operation signal receiving unit 51. Convert to the signal of.
  • the converted signal includes identification information of the drive unit 30 that drives the operation unit 120 to be operated and information on the operation amount.
  • the signal converted by the conversion unit 52 is transmitted from the drive signal output unit 53 to the reception unit 12.
  • the signal received by the receiving unit 12 is sent to the drive control unit 11.
  • the drive signal that generates the operation amount based on the information on the operation amount is made to correspond to the identification information based on the identification information and the information on the operation amount included in the signal sent from the reception unit 12. It is transmitted to the drive unit 30.
  • the drive unit 30 that has received the drive signal drives based on the drive signal.
  • the corresponding operation unit 120 is operated by driving the drive unit 30.
  • the operator is arranged, for example, at hand without grasping the head unit 110 of the endoscope 100 or directly operating the operation unit 120 of the head unit 110.
  • the remote operation unit 40 it is possible to operate the endoscope 100.
  • the operation time of the remote operation unit 40 and the operation unit 120 may be associated with each other in advance, and the control unit 50 may generate a different drive signal in association with the operation time of the remote operation unit 40.
  • a foot switch is used as the remote operation unit 40, and a different drive signal is generated from the control unit 50 depending on the time when the foot switch is depressed (the time when the foot switch is ON) so that the operation unit 120 to be driven can be switched. Keep it.
  • the foot switch is briefly stepped on once, the operation unit 120 corresponding to the zoom-in is driven, and the control unit 50 generates a drive signal for performing one-step zoom-in.
  • the control unit 50 When the foot switch is depressed for a long time (when the foot switch is continuously depressed), the control unit 50 generates a drive signal for continuously zooming out by driving the operation unit 120 corresponding to the zoom out. In this way, even if the remote operation unit 40 has the same ON operation, if the operation unit 120 to be driven is switched according to the operation time, it is possible to switch a plurality of operations on the endoscope 100 with a simple operation. It will be possible.
  • FIG. 5 is a schematic view showing an example of an endoscope having a lever-type operation unit.
  • the endoscope 100 also includes a type in which the head portion 110 is provided with a lever-type operating portion 125.
  • two lever-type operating units 125 that can rotate back and forth are provided in parallel.
  • One operation unit 125 is, for example, a lever for operating the left and right of the shooting angle
  • the other operation unit 125 is, for example, a lever for operating the up and down of the shooting angle.
  • the drive unit 30 may be configured by using a link or the like for rotating the operation unit 125.
  • FIG. 6 is a schematic view showing an example using an arm type holding device.
  • the remote operation device 1 shown in FIG. 6 includes an arm type holding device 500.
  • the arm-type holding device 500 has an arm 510 for holding the endoscope 100, and the position of the endoscope 100 is controlled by the arm 510.
  • the arm 510 is an articulated type, and the position and angle of the endoscope 100 can be freely set by the movement of the arm 510.
  • the main body 10 of the remote operating device 1 may be provided at the tip end portion of the arm 510 that holds the endoscope 100, or may be provided separately from the arm 510. When the main body 10 is provided separately from the arm 510, the head portion 110 with the main body 10 attached can be attached to the arm 510.
  • the arm-type holding device 500 By providing the arm-type holding device 500, the position and angle of the endoscope 100 can be controlled by the arm-type holding device 500, and the adjustment of the endoscope 100 can be operated by the remote operation unit 40.
  • FIG. 7 is a schematic view showing a usage example of the remote operation device according to the present embodiment.
  • FIG. 7 shows an example of using the remote operating device 1 during laparoscopic surgery.
  • a trocca 60 is inserted by making a plurality of small holes in the abdomen of a patient, and an endoscope 100 or forceps 70 is inserted into the trocca 60.
  • the endoscope 100 is held by the arm 510 of the arm-type holding device 500, and the lens barrel 150 of the endoscope 100 is inserted into the patient's body from the trocca 60.
  • a forceps 70 operated by the operator is inserted from the other trocca 60.
  • a remote operation unit 40 is arranged near the operator.
  • the surgeon operates the forceps while referring to the image of the surgical site taken by the endoscope 100 on the monitor.
  • the operator controls the endoscope 100 by operating the remote operation unit 40. That is, the operator can remotely control the endoscope 100 without touching the endoscope 100 by operating the remote control unit 40, for example, the stick 41.
  • a stick-type operation unit is used as the remote operation unit 40, but a hand such as a foot switch or a head sensor-type operation unit that can detect the movement of the head and instruct the operation is used.
  • a remote operation unit 40 that can give an instruction without using the remote operation unit 40 may be used.
  • the remote operating device 1 capable of operating the endoscope 100 by the operator even during the operation.
  • the present invention is not limited to these examples.
  • a treatment tool other than the endoscope 100 such as a forceps, a cleaning device, a suction device, and an ultrasonic scalpel can also be applied.
  • those skilled in the art appropriately adding, deleting, or changing the design of each of the above-described embodiments or specific examples thereof, and those in which the features of each embodiment are appropriately combined are also included in the present invention. As long as it has a gist, it is included in the scope of the present invention.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract

An embodiment of a remote operation device according to the present invention, which allows a surgeon to operate a treatment tool himself/herself even when he/she is performing surgery, is a remote operation device with which an operation unit provided at a head unit of a treatment tool is remotely operated, the device including: a body; a holding portion for attaching the body to the head unit; a driving unit that is provided in the body and that drives the operation unit; and a remote operation unit that remotely operates the driving unit. According to said configuration, it is possible to operate the operation unit of the treatment tool by driving the driving unit as a result of operating the remote operation unit.

Description

リモート操作装置Remote control device
　本発明は、内視鏡などの処置具の操作を行うリモート操作装置に関するものである。 The present invention relates to a remote operating device that operates a treatment tool such as an endoscope.
　腹腔鏡手術では、患者の腹部に複数の穴を設け、この穴から内視鏡や鉗子などを挿入し、内視鏡によって撮影された画像を術者が見ながら鉗子などの術具を操作する。特許文献１では、患者に対する医療用器具の位置及び角度の調整を簡易に行うことができるとともに、統合型システムとして多機能化を図りやすい医療用ロボットシステムが開示される。 In laparoscopic surgery, multiple holes are made in the patient's abdomen, an endoscope or forceps are inserted through these holes, and the operator operates the surgical tools such as forceps while viewing the image taken by the endoscope. .. Patent Document 1 discloses a medical robot system that can easily adjust the position and angle of a medical device with respect to a patient and that can easily be multifunctional as an integrated system.
　特許文献２には、画面を見ながら処置具を用いて行われる手術を支援する手術支援システムおよびそれを用いた手術支援方法において、補助者を介さずに術者自らが手術支援作業を行うことを可能とする手術支援方法が開示される。 In Patent Document 2, in a surgery support system that supports surgery performed using a treatment tool while looking at the screen and a surgery support method using the same, the surgeon himself performs the surgery support work without the intervention of an assistant. The surgical support method that enables this is disclosed.
特開２０１２－００５５５７号公報Japanese Unexamined Patent Publication No. 2012-005557 特開２０１２－０６５６９８号公報Japanese Unexamined Patent Publication No. 2012-065698
　腹腔鏡手術などの内視鏡を用いた手術を行う場合、一般にスコピストが内視鏡を保持しながら術者と連携して内視鏡の操作を行う。また、内視鏡を保持するロボットを用いる場合もある。いずれの場合であっても、手術の内容や進行に合わせて内視鏡による撮像位置や範囲、撮像条件を術者の意図に沿って迅速に調整することが望まれる。 When performing endoscopic surgery such as laparoscopic surgery, the scopist generally operates the endoscope in cooperation with the surgeon while holding the endoscope. In some cases, a robot that holds the endoscope is used. In any case, it is desired to quickly adjust the imaging position and range by the endoscope and the imaging conditions according to the intention of the surgeon according to the content and progress of the operation.
　本発明は、術者が術中であっても自ら処置具を操作することができるリモート操作装置を提供することを目的とする。 An object of the present invention is to provide a remote operating device that allows an operator to operate a treatment tool by himself / herself even during an operation.
　上記課題を解決するため、本発明の一態様は、処置具のヘッド部に設けられた操作部を遠隔操作するリモート操作装置であって、本体と、本体をヘッド部に取り付けるための保持部と、本体に設けられ、操作部を駆動する駆動部と、駆動部を遠隔操作するリモート操作部と、を備えたリモート操作装置である。 In order to solve the above problems, one aspect of the present invention is a remote control device for remotely controlling an operation unit provided on the head portion of the treatment tool, which includes a main body and a holding portion for attaching the main body to the head portion. , A remote control device provided on the main body and comprising a drive unit for driving the operation unit and a remote operation unit for remotely operating the drive unit.
　このような構成によれば、処置具のヘッド部に保持される本体に駆動部が設けられており、リモート操作部を操作することで駆動部を駆動して処置具の操作部を操作することができる。これにより、術者は処置具のヘッド部に設けられた操作部に直接触れることなく、リモート操作部を操作することで処置具を遠隔操作できる。 According to such a configuration, a drive unit is provided in the main body held by the head unit of the treatment tool, and the drive unit is driven by operating the remote operation unit to operate the operation unit of the treatment tool. Can be done. As a result, the operator can remotely control the treatment tool by operating the remote control unit without directly touching the operation unit provided on the head portion of the treatment tool.
　上記リモート操作装置において、本体および保持部は、筐体とは別体であってヘッド部に着脱可能に取り付けられることが好ましい。これにより、異なる処置具に駆動部を付け替えて使用することができる。 In the remote operation device, it is preferable that the main body and the holding portion are separate from the housing and are detachably attached to the head portion. As a result, the drive unit can be replaced with a different treatment tool.
　上記リモート操作装置において、リモート操作部は、駆動部の駆動を指示するスティック型操作体を有することが好ましい。これにより、スティック型操作体を倒す／戻す操作によって直観的な操作を行うことができる。 In the remote operation device, the remote operation unit preferably has a stick-type operation body that instructs the drive of the drive unit. As a result, an intuitive operation can be performed by tilting / returning the stick-type operating body.
　上記リモート操作装置において、処置具は内視鏡であることが好ましい。これにより、術者はリモート操作部を操作することで内視鏡に直接触れることなく操作することができる。 In the remote operation device, the treatment tool is preferably an endoscope. As a result, the operator can operate the remote operation unit without directly touching the endoscope.
　上記リモート操作装置において、リモート操作部を操作することで発生する操作信号を駆動部を駆動するための駆動用信号に変換する変換部をさらに備え、変換部は、操作信号に対するローパスフィルタ機能を有していてもよい。これにより、リモート操作部を操作した際に発生する操作信号に含まれるノイズ成分や操作する際の手の震えによる影響を抑制することができる。 The remote operation device further includes a conversion unit that converts an operation signal generated by operating the remote operation unit into a drive signal for driving the drive unit, and the conversion unit has a low-pass filter function for the operation signal. You may be doing it. As a result, it is possible to suppress the influence of noise components included in the operation signal generated when the remote operation unit is operated and hand tremor when the operation is performed.
　上記リモート操作装置において、リモート操作部からの操作信号に基づき駆動部を駆動するための駆動信号を生成する制御部をさらに備え、制御部は、リモート操作部の操作を無効にするロック機能を備えていることが好ましい。これにより、不必要な際にリモート操作部の操作を無効にして誤動作を防止することができる。リモート操作部は、リモート操作部において操作信号を発生させない操作部ロック機能を備えていてもよい。この場合も、リモート操作部の誤動作を防止することができる。 The remote operation device further includes a control unit that generates a drive signal for driving the drive unit based on the operation signal from the remote operation unit, and the control unit has a lock function that invalidates the operation of the remote operation unit. Is preferable. As a result, it is possible to invalidate the operation of the remote operation unit when it is unnecessary and prevent a malfunction. The remote operation unit may have an operation unit lock function that does not generate an operation signal in the remote operation unit. In this case as well, it is possible to prevent a malfunction of the remote operation unit.
　上記リモート操作装置において、リモート操作部からの操作信号に基づき駆動部を駆動するための駆動信号を生成する制御部をさらに備え、制御部はリモート操作部の操作時間に対応付けされて異なる駆動信号を生成するようにしてもよい。これにより、リモート操作部の同じ操作であっても操作時間によって処置具の駆動を切り替えることができる。 The remote operation device further includes a control unit that generates a drive signal for driving the drive unit based on the operation signal from the remote operation unit, and the control unit is associated with the operation time of the remote operation unit and has different drive signals. May be generated. As a result, even if the remote operation unit is operated in the same manner, the drive of the treatment tool can be switched depending on the operation time.
　上記リモート操作装置において、処置具を保持するアームを有し、アームによって処置具の位置を制御するアーム型保持装置をさらに備えていてもよい。これにより、処置具の位置や角度をアーム型保持装置によって制御し、処置具自体の調整をリモート操作部によって操作することができる。 The remote operation device may further include an arm-type holding device that has an arm for holding the treatment tool and controls the position of the treatment tool by the arm. Thereby, the position and angle of the treatment tool can be controlled by the arm type holding device, and the adjustment of the treatment tool itself can be operated by the remote operation unit.
　本発明によれば、術者が術中であっても自ら処置具を操作することができるリモート操作装置を提供することが可能になる。 According to the present invention, it is possible to provide a remote operating device that allows an operator to operate a treatment tool by himself / herself even during an operation.
本実施形態に係るリモート操作装置の構成を例示する模式図である。It is a schematic diagram which illustrates the structure of the remote operation apparatus which concerns on this embodiment. （ａ）および（ｂ）は、本体および内視鏡のブロック構成図である。(A) and (b) are block block diagrams of a main body and an endoscope. 制御部のブロック構成図である。It is a block block diagram of a control part. 本実施形態に係るリモート操作装置を用いた操作の例を示す模式図である。It is a schematic diagram which shows the example of the operation using the remote operation device which concerns on this embodiment. レバー型の操作部を有する内視鏡の例を示す模式図である。It is a schematic diagram which shows the example of the endoscope which has a lever type operation part. アーム型保持装置を用いた例を示す模式図である。It is a schematic diagram which shows the example using the arm type holding device. 本実施形態に係るリモート操作装置の使用例を示す模式図である。It is a schematic diagram which shows the use example of the remote operation apparatus which concerns on this embodiment.
　以下、本発明の実施形態を図面に基づいて説明する。なお、以下の説明では、同一の部材には同一の符号を付し、一度説明した部材については適宜その説明を省略する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same members are designated by the same reference numerals, and the description of the members once described will be omitted as appropriate.
（リモート操作装置の構成）
　図１は、本実施形態に係るリモート操作装置の構成を例示する模式図である。
　図１に示すように、本実施形態に係るリモート操作装置１は、処置具の例である内視鏡１００のヘッド部１１０に設けられた操作部１２０を遠隔操作するためのもので、本体１０と、保持部２０と、駆動部３０と、リモート操作部４０とを備える。 (Configuration of remote control device)
FIG. 1 is a schematic diagram illustrating the configuration of the remote operation device according to the present embodiment.
As shown in FIG. 1, the remote control device 1 according to the present embodiment is for remotely controlling the operation unit 120 provided on the head unit 110 of the endoscope 100, which is an example of the treatment tool, and is the main body 10. A holding unit 20, a driving unit 30, and a remote operating unit 40 are provided.
　遠隔操作の対象となる内視鏡１００は、ヘッド部１１０に所定の鏡筒１５０が取り付けられた構成を有する。鏡筒１５０はヘッド部１１０に着脱自在に取り付けられ、手術に適した鏡筒１５０を付け替えて使用できるようになっている。ヘッド部１１０には操作部１２０が設けられる。この操作部１２０を操作することで内視鏡１００の操作を行うことができる。例えば、操作部１２０によって内視鏡１００での撮影におけるズームの調整や、撮像範囲の調整が行われる。鏡筒１５０の先端が屈曲するタイプでは、操作部１２０の操作によって鏡筒１５０の先端を撮影したい方向へ曲げることができる。 The endoscope 100 to be remotely controlled has a configuration in which a predetermined lens barrel 150 is attached to a head portion 110. The lens barrel 150 is detachably attached to the head portion 110 so that the lens barrel 150 suitable for surgery can be replaced and used. The head unit 110 is provided with an operation unit 120. The endoscope 100 can be operated by operating the operation unit 120. For example, the operation unit 120 adjusts the zoom in shooting with the endoscope 100 and adjusts the imaging range. In the type in which the tip of the lens barrel 150 is bent, the tip of the lens barrel 150 can be bent in the desired direction by operating the operation unit 120.
　操作部１２０に対応した機能は予め決められていてもよいし、使用者によって機能を割り当てられるようになっていてもよい。一般には、内視鏡１００のヘッド部１１０をスコピストが把持し、内視鏡１００を支えながら手術の進行状況に応じて操作部１２０を指で操作していく。スコピストは術者とタイミングを合わせて操作部１２０を操作し、術者の希望する映像がモニタに映し出されるように内視鏡１００をコントロールする。 The function corresponding to the operation unit 120 may be predetermined, or the function may be assigned by the user. Generally, a scopist grips the head portion 110 of the endoscope 100, and while supporting the endoscope 100, the operation portion 120 is operated with a finger according to the progress of surgery. The scopist operates the operation unit 120 in time with the operator, and controls the endoscope 100 so that the image desired by the operator is displayed on the monitor.
　本実施形態に係るリモート操作装置１は、このような内視鏡１００の操作をヘッド部１１０に設けられた操作部１２０に直接手で触れることなく遠隔操作するために用いられる。 The remote control device 1 according to the present embodiment is used to remotely control the operation of the endoscope 100 without directly touching the operation unit 120 provided on the head unit 110.
　リモート操作装置１の本体１０は、保持部２０によって内視鏡１００のヘッド部１１０に保持される。本体１０および保持部２０は、内視鏡１００のヘッド部１１０と一体であってもよいし、別体であってもよい。別体の場合には、本体１０および保持部２０がヘッド部１１０に対して着脱自在に取り付けられることが好ましい。これにより、別のヘッド部１１０に本体１０を付け替えることが容易となる。 The main body 10 of the remote operating device 1 is held by the holding unit 20 at the head unit 110 of the endoscope 100. The main body 10 and the holding portion 20 may be integrated with the head portion 110 of the endoscope 100, or may be separate. In the case of a separate body, it is preferable that the main body 10 and the holding portion 20 are detachably attached to the head portion 110. This makes it easy to replace the main body 10 with another head portion 110.
　本体１０には駆動部３０が設けられる。駆動部３０は、内視鏡１００のヘッド部１１０に設けられた操作部１２０を駆動する機構を有する。例えば、操作部１２０がボタン型スイッチの場合には、駆動部３０はボタン型スイッチをＯＮ／ＯＦＦするためのアクチュエータを有する。また、操作部１２０がレバーの場合には、駆動部３０はレバーを操作するアクチュエータやリンク機構などを有する。操作部１２０がスライダの場合には、駆動部３０はスライダをスライドさせるためのアクチュエータを有する。 The main body 10 is provided with a drive unit 30. The drive unit 30 has a mechanism for driving the operation unit 120 provided on the head unit 110 of the endoscope 100. For example, when the operation unit 120 is a button type switch, the drive unit 30 has an actuator for turning on / off the button type switch. When the operating unit 120 is a lever, the driving unit 30 has an actuator, a link mechanism, and the like for operating the lever. When the operation unit 120 is a slider, the drive unit 30 has an actuator for sliding the slider.
　保持部２０によって本体１０をヘッド部１１０に保持すると、ヘッド部１１０に設けられた操作部１２０に対応して駆動部３０が位置するように配置される。ヘッド部１１０に複数の操作部１２０が設けられている場合には、複数の操作部１２０のそれぞれに対応した駆動部３０が設けられる。 When the main body 10 is held by the head unit 110 by the holding unit 20, the drive unit 30 is arranged so as to be positioned corresponding to the operation unit 120 provided on the head unit 110. When the head unit 110 is provided with a plurality of operation units 120, a drive unit 30 corresponding to each of the plurality of operation units 120 is provided.
　駆動部３０は、リモート操作部４０によって遠隔操作される。リモート操作部４０は本体１０から離れた位置に配置され、本体１０とケーブルＣによって接続される。なお、リモート操作部４０は無線通信によって駆動部３０を駆動するようになっていてもよい。リモート操作部４０には例えばスティック型操作部が用いられる。スティック型操作部では１つのスティックを用いて複数の操作指示を与えることができる。なお、リモート操作部４０はフットスイッチやスライダスイッチなどスティック型操作部以外であってもよい。 The drive unit 30 is remotely controlled by the remote control unit 40. The remote operation unit 40 is arranged at a position away from the main body 10 and is connected to the main body 10 by a cable C. The remote operation unit 40 may drive the drive unit 30 by wireless communication. For the remote operation unit 40, for example, a stick type operation unit is used. In the stick type operation unit, a plurality of operation instructions can be given by using one stick. The remote operation unit 40 may be other than a stick-type operation unit such as a foot switch or a slider switch.
　本実施形態では、本体１０とリモート操作部４０との間に制御部５０が設けられる。制御部５０は、リモート操作部４０からの操作信号に基づき駆動部３０を駆動するための駆動信号を生成する。制御部５０は本体１０およびリモート操作部４０とは別個に設けられていてもよいし、本体１０やリモート操作部４０に組み込まれていてよい。本体１０と制御部５０とが別体になっていれば、１つの制御部５０で異なる本体１０を付け替えて使用することができるとともに、本体１０に組み込む構成を簡素化することができる。本体１０と制御部５０との間、および制御部５０とリモート操作部４０との間の両方が有線接続されていてもよいし、両方が無線接続されていてもよい。また、いずれか一方が有線、他方が無線で接続されていてもよい。 In the present embodiment, the control unit 50 is provided between the main body 10 and the remote operation unit 40. The control unit 50 generates a drive signal for driving the drive unit 30 based on the operation signal from the remote operation unit 40. The control unit 50 may be provided separately from the main body 10 and the remote operation unit 40, or may be incorporated in the main body 10 or the remote operation unit 40. If the main body 10 and the control unit 50 are separate bodies, one control unit 50 can be used by replacing different main bodies 10, and the configuration incorporated into the main body 10 can be simplified. Both the main body 10 and the control unit 50 and the control unit 50 and the remote operation unit 40 may be connected by wire, or both may be wirelessly connected. Further, either one may be connected by wire and the other may be connected wirelessly.
（ブロック構成）
　図２（ａ）および（ｂ）は、本体および内視鏡のブロック構成図である。図２（ａ）にはリモート操作装置１の本体１０のブロック構成図が示され、図２（ｂ）には内視鏡のヘッド部のブロック構成図が示される。
　図３は、制御部のブロック構成図である。 (Block configuration)
2 (a) and 2 (b) are block block diagrams of the main body and the endoscope. FIG. 2A shows a block configuration diagram of the main body 10 of the remote operating device 1, and FIG. 2B shows a block configuration diagram of the head portion of the endoscope.
FIG. 3 is a block configuration diagram of the control unit.
　図２（ａ）に示すように、本体１０は、駆動制御部１１および受信部１２を有する。駆動制御部１１は、駆動部３０を駆動するための信号を駆動部３０に与える。複数の駆動部３０がある場合には各駆動部３０のそれぞれに対応して駆動のための信号を出力する。受信部１２は、リモート操作部４０からの指示を受信する。受信部１２は有線通信または無線通信のインタフェースを備える。受信部１２で受信した信号は駆動制御部１１に送られ、この信号に基づいて駆動制御部１１が駆動部３０を駆動させる。 As shown in FIG. 2A, the main body 10 has a drive control unit 11 and a reception unit 12. The drive control unit 11 gives a signal for driving the drive unit 30 to the drive unit 30. When there are a plurality of drive units 30, a drive signal is output corresponding to each of the drive units 30. The receiving unit 12 receives an instruction from the remote operation unit 40. The receiving unit 12 includes an interface for wired communication or wireless communication. The signal received by the receiving unit 12 is sent to the drive control unit 11, and the drive control unit 11 drives the drive unit 30 based on this signal.
　内視鏡１００の操作部１２０がボタン型スイッチの場合、本体１０を保持部２０によってヘッド部１１０に取り付けることで、操作部１２０の上に駆動部３０が配置される。駆動部３０は進退動作するアクチュエータを有しており、駆動制御部１１によって駆動部３０のアクチュエータを進出駆動することで操作部１２０であるボタン型スイッチが押下される。一方、駆動制御部１１によってアクチュエータを退去駆動することでボタン型スイッチの押下が解除される。 When the operation unit 120 of the endoscope 100 is a button type switch, the drive unit 30 is arranged on the operation unit 120 by attaching the main body 10 to the head unit 110 by the holding unit 20. The drive unit 30 has an actuator that moves forward and backward, and the drive control unit 11 pushes the actuator of the drive unit 30 forward to push the button-type switch that is the operation unit 120. On the other hand, the push of the button type switch is released by driving the actuator to move out by the drive control unit 11.
　図２（ｂ）に示すように、内視鏡１００のヘッド部１１０は、撮像部１１１、撮像調整部１１２、機能制御部１１３、送信部１１４および受信部１１５を有する。撮像部１１１は鏡筒１５０を介して取り込んだ像を電気信号に変換して画像を得る光電変換部である。光電変換部としては、例えば、ＣＭＯＳやＣＣＤである。 As shown in FIG. 2B, the head unit 110 of the endoscope 100 includes an imaging unit 111, an imaging adjusting unit 112, a function control unit 113, a transmitting unit 114, and a receiving unit 115. The image pickup unit 111 is a photoelectric conversion unit that obtains an image by converting an image captured through the lens barrel 150 into an electric signal. Examples of the photoelectric conversion unit are CMOS and CCD.
　撮像調整部１１２は、撮像部１１１での撮像条件を調整する。撮像調整部１１２は、操作部１２０の指示に応じて撮像部１１１での撮像条件を調整する。例えば、撮像範囲の拡大縮小（ズーム調整）、撮像位置の調整（上下左右調整）、光源の調整、絞りの調整などを行う。 The imaging adjustment unit 112 adjusts the imaging conditions of the imaging unit 111. The image pickup adjusting unit 112 adjusts the imaging conditions in the image pickup unit 111 according to the instruction of the operation unit 120. For example, enlargement / reduction of the imaging range (zoom adjustment), adjustment of the imaging position (up / down / left / right adjustment), adjustment of the light source, adjustment of the aperture, and the like are performed.
　機能制御部１１３は、操作部１２０に対応した機能の割り当てを制御する。すなわち、操作部１２０が操作された際、どのような機能を持たせるかという対応付けを行う。複数の操作部１２０が設けられている場合には、各操作部１２０のそれぞれに対応して、例えばテーブルデータに基づく機能の割り当てを行う。 The function control unit 113 controls the allocation of functions corresponding to the operation unit 120. That is, when the operation unit 120 is operated, what kind of function is to be provided is associated. When a plurality of operation units 120 are provided, functions are assigned based on, for example, table data corresponding to each of the operation units 120.
　送信部１１４は、撮像部１１１で取り込んだ画像を外部機器へ出力する。送信部１１４は有線通信または無線通信のインタフェースを備える。送信部１１４から送信された画像は外部機器のモニタに表示される。受信部１１５は、外部機器から送信される情報を受信する。受信部１１５は有線通信または無線通信のインタフェースを備える。受信部１１５は、外部機器であるシステムコントローラ（図示せず）から送信される様々な情報を受信し、内視鏡１００での撮像に用いる。 The transmission unit 114 outputs the image captured by the imaging unit 111 to an external device. The transmission unit 114 includes an interface for wired communication or wireless communication. The image transmitted from the transmission unit 114 is displayed on the monitor of the external device. The receiving unit 115 receives the information transmitted from the external device. The receiving unit 115 includes an interface for wired communication or wireless communication. The receiving unit 115 receives various information transmitted from a system controller (not shown), which is an external device, and uses it for imaging with the endoscope 100.
　図３に示すように、制御部５０は、操作信号受信部５１、変換部５２および駆動信号出力部５３を有する。操作信号受信部５１は、リモート操作部４０から送られる操作信号を受信する。例えば、リモート操作部４０としてスティック型操作部の場合、スティックを倒した方向（操作方向：Ｘ、Ｙ、Ｚ方向など）および倒した量（操作量：角度など）に応じた操作信号が操作信号受信部５１へ送られる。操作信号受信部５１は、有線通信または無線通信のインタフェースを備える。 As shown in FIG. 3, the control unit 50 includes an operation signal receiving unit 51, a conversion unit 52, and a drive signal output unit 53. The operation signal receiving unit 51 receives the operation signal sent from the remote operation unit 40. For example, in the case of a stick-type operation unit as the remote operation unit 40, the operation signal corresponding to the direction in which the stick is tilted (operation direction: X, Y, Z direction, etc.) and the tilted amount (operation amount: angle, etc.) is the operation signal. It is sent to the receiving unit 51. The operation signal receiving unit 51 includes an interface for wired communication or wireless communication.
　変換部５２は、操作信号受信部５１で受信した操作信号を駆動部３０での駆動用の信号に変換する。例えば、リモート操作部４０としてスティック型操作部の場合、リモート操作部４０から出力された操作信号に含まれる操作方向および操作量に基づき、操作方向と対応した操作部１２０を駆動するための駆動部３０への対応付け、および操作量と対応した駆動部３０の駆動量を得るための信号へ変換する。 The conversion unit 52 converts the operation signal received by the operation signal receiving unit 51 into a driving signal by the driving unit 30. For example, in the case of a stick-type operation unit as the remote operation unit 40, a drive unit for driving the operation unit 120 corresponding to the operation direction based on the operation direction and the operation amount included in the operation signal output from the remote operation unit 40. It is converted into a signal for associating with 30 and obtaining the driving amount of the driving unit 30 corresponding to the operating amount.
　変換部５２は、操作信号受信部５１で受信した操作信号に対するローパスフィルタ機能を有していてもよい。これにより、リモート操作部４０を操作した際に発生する操作信号に含まれるノイズ成分や、術者がリモート操作部４０を操作した際に揺れ（例えば、手の震え）が発生した場合の影響を抑制することができる。 The conversion unit 52 may have a low-pass filter function for the operation signal received by the operation signal reception unit 51. As a result, the noise component contained in the operation signal generated when the remote operation unit 40 is operated and the influence when the operator operates the remote operation unit 40 and the shaking (for example, hand tremor) occurs. It can be suppressed.
　また、変換部５２は、リモート操作部４０の操作を無効にするロック機能を有していてもよい。すなわち、リモート操作部４０から特定の操作（ロックを指示する操作）を受け付けた場合、リモート操作部４０の遠隔操作に関する指示を変換しない、または駆動用信号を出力しないようにする。またはリモート操作部４０から特定の操作（ロック解除を指示する操作）を受け付けなかった場合、上記と同様なロック機能を発揮するようにしてもよい。これにより、不必要な際にリモート操作部４０の操作を無効にして誤動作を防止することができる。 Further, the conversion unit 52 may have a lock function that invalidates the operation of the remote operation unit 40. That is, when a specific operation (operation for instructing the lock) is received from the remote operation unit 40, the instruction regarding the remote operation of the remote operation unit 40 is not converted or the drive signal is not output. Alternatively, when a specific operation (operation for instructing unlocking) is not accepted from the remote operation unit 40, the same locking function as described above may be exhibited. As a result, it is possible to invalidate the operation of the remote operation unit 40 when it is unnecessary and prevent a malfunction.
　リモート操作部４０には、リモート操作部４０において操作信号を発生させない操作部ロック機能が設けられていてもよい。操作部ロック機構の一例として、リモート操作部４０に物理的なロック機構を設け、このロック機構が解除された場合のみリモート操作部４０が操作可能となる構造が挙げられる。リモート操作部４０が操作不能な状態では操作信号は発生しない。かかる構造の具体的な一例として、リモート操作部４０をグリップした状態でのみ押せるボタンを設けることが挙げられる。リモート操作部４０をグリップしてこのボタンを押している間のみ上記の物理的なロック機構が解除されればよい。操作部ロック機構の他の一例として、リモート操作部４０にソフト的なロック機構を設け、ロック機構が解除された場合のみ操作信号が発生可能となる構成が挙げられる。かかる構成の具体的な一例として、リモート操作部４０をグリップした状態でのみ押せるボタンを押している間は操作信号が発生可能となることが挙げられる。 The remote operation unit 40 may be provided with an operation unit lock function that does not generate an operation signal in the remote operation unit 40. As an example of the operation unit lock mechanism, there is a structure in which the remote operation unit 40 is provided with a physical lock mechanism, and the remote operation unit 40 can be operated only when the lock mechanism is released. No operation signal is generated when the remote operation unit 40 cannot be operated. As a specific example of such a structure, it is possible to provide a button that can be pressed only while the remote operation unit 40 is gripped. The physical locking mechanism may be released only while the remote operation unit 40 is gripped and this button is pressed. As another example of the operation unit lock mechanism, there is a configuration in which a soft lock mechanism is provided on the remote operation unit 40 so that an operation signal can be generated only when the lock mechanism is released. As a specific example of such a configuration, it is possible to generate an operation signal while pressing a button that can be pressed only while the remote operation unit 40 is gripped.
　駆動信号出力部５３は、変換部５２で変換した駆動用の信号を受信部１２へ送信する。駆動信号出力部５３は有線通信または無線通信のインタフェースを備える。 The drive signal output unit 53 transmits the drive signal converted by the conversion unit 52 to the reception unit 12. The drive signal output unit 53 includes an interface for wired communication or wireless communication.
（リモート操作の例）
　図４は、本実施形態に係るリモート操作装置を用いた操作の例を示す模式図である。
　リモート操作装置１の本体１０は、内視鏡１００のヘッド部１１０に取り付けられる。図４に示す例ではヘッド部１１０とは別体の本体１０を操作部１２０の上に被せるように取り付けている。ヘッド部１１０への本体１０の取り付けとしてはヘッド部１１０を囲むように取り付けてもよい。いずれの取り付け方であっても本体１０の駆動部３０によって操作部１２０を駆動できるようになっている。 (Example of remote operation)
FIG. 4 is a schematic view showing an example of an operation using the remote operation device according to the present embodiment.
The main body 10 of the remote operating device 1 is attached to the head portion 110 of the endoscope 100. In the example shown in FIG. 4, a main body 10 separate from the head portion 110 is attached so as to cover the operation portion 120. The main body 10 may be attached to the head portion 110 so as to surround the head portion 110. Regardless of the mounting method, the operation unit 120 can be driven by the drive unit 30 of the main body 10.
　リモート操作部４０としてスティック型操作部を用いる場合、スティック４１を倒す操作や、スティック４１を戻す操作によって操作部１２０を直観的に遠隔操作することができる。なお、スティック４１による操作として倒す／戻す動作に加え、スティック４１を押す／引き上げるといった高さ方向（Ｚ方向）の操作によって所定の動作を指示できるものでもよい。スティック４１のそれぞれの操作に内視鏡１００の操作部１２０の操作が対応付けされている。 When the stick type operation unit is used as the remote operation unit 40, the operation unit 120 can be intuitively remotely controlled by the operation of tilting the stick 41 or returning the stick 41. In addition to the operation of pushing / returning the stick 41, a predetermined operation may be instructed by an operation in the height direction (Z direction) such as pushing / pulling the stick 41. Each operation of the stick 41 is associated with the operation of the operation unit 120 of the endoscope 100.
　例えば、内視鏡１００のヘッド部１１０に設けられた一つの操作部１２０（１２０Ａ）に撮像範囲のズームイン、他の一つの操作部１２０（１２０Ｂ）に撮像範囲のズームアウトが割り当てられている場合、一例として、スティック４１を前方に倒すことで操作部１２０Ａを遠隔操作し、スティック４１を後方に倒すことで操作部１２０Ｂを遠隔操作するように機能を割り当てておく。 For example, when one operation unit 120 (120A) provided in the head unit 110 of the endoscope 100 is assigned to zoom in the imaging range, and the other operation unit 120 (120B) is assigned to zoom out the imaging range. As an example, the function is assigned so that the operation unit 120A is remotely controlled by tilting the stick 41 forward, and the operation unit 120B is remotely controlled by tilting the stick 41 backward.
　これにより、スティック４１の操作と連動して内視鏡１００の操作部１２０が遠隔操作される。具体的な処理の流れは次のようになる。
　（１）スティック４１を操作するとリモート操作部４０から制御部５０へスティック４１を倒した方向、および倒した量の情報が送信される。
　（２）制御部５０の操作信号受信部５１でリモート操作部４０から送信されたスティック４１を倒した方向、および倒した量の情報を受信する。
　（３）制御部５０の変換部５２において、操作信号受信部５１で受信したスティック４１を倒した方向、および倒した量の情報に基づき、割り当てられた操作に対応する操作部１２０を駆動するための信号に変換する。変換された信号には、操作対象の操作部１２０を駆動する駆動部３０の識別情報および操作量に関する情報が含まれる。
　（４）変換部５２で変換した信号を駆動信号出力部５３から受信部１２へ送信する。
　（５）受信部１２で受信した信号を駆動制御部１１へ送る。
　（６）駆動制御部１１において、受信部１２から送られた信号に含まれる識別情報および操作量に関する情報に基づき、操作量に関する情報に基づく操作量を発生させる駆動信号を、識別情報と対応する駆動部３０へ送信する。
　（７）駆動信号を受信した駆動部３０は、駆動信号に基づく駆動を行う。駆動部３０の駆動によって対応する操作部１２０が操作される。 As a result, the operation unit 120 of the endoscope 100 is remotely controlled in conjunction with the operation of the stick 41. The specific processing flow is as follows.
(1) When the stick 41 is operated, information on the direction in which the stick 41 is tilted and the amount of tilting is transmitted from the remote operation unit 40 to the control unit 50.
(2) The operation signal receiving unit 51 of the control unit 50 receives information on the direction in which the stick 41 is tilted and the amount of tilting, which is transmitted from the remote operation unit 40.
(3) In order to drive the operation unit 120 corresponding to the assigned operation in the conversion unit 52 of the control unit 50 based on the information on the tilted direction and the tilted amount of the stick 41 received by the operation signal receiving unit 51. Convert to the signal of. The converted signal includes identification information of the drive unit 30 that drives the operation unit 120 to be operated and information on the operation amount.
(4) The signal converted by the conversion unit 52 is transmitted from the drive signal output unit 53 to the reception unit 12.
(5) The signal received by the receiving unit 12 is sent to the drive control unit 11.
(6) In the drive control unit 11, the drive signal that generates the operation amount based on the information on the operation amount is made to correspond to the identification information based on the identification information and the information on the operation amount included in the signal sent from the reception unit 12. It is transmitted to the drive unit 30.
(7) The drive unit 30 that has received the drive signal drives based on the drive signal. The corresponding operation unit 120 is operated by driving the drive unit 30.
　このようなリモート操作部４０での操作によって、術者は内視鏡１００のヘッド部１１０を把持したり、ヘッド部１１０の操作部１２０を直接操作したりすることなく、例えば手元に配置されたリモート操作部４０を使用することで、内視鏡１００を操作することが可能となる。 By such an operation with the remote operation unit 40, the operator is arranged, for example, at hand without grasping the head unit 110 of the endoscope 100 or directly operating the operation unit 120 of the head unit 110. By using the remote operation unit 40, it is possible to operate the endoscope 100.
　また、予め、リモート操作部４０の操作時間と操作部１２０とを対応付けしておき、制御部５０よって、リモート操作部４０の操作時間に対応付けされて異なる駆動信号を生成するようにしてもよい。例えば、リモート操作部４０としてフットスイッチを用い、フットスイッチを踏んでいる時間（ＯＮになっている時間）によって制御部５０から異なる駆動信号を生成し、駆動対象の操作部１２０を切り替えられるようにしておく。一例として、フットスイッチを短く１回踏むとズームインに対応した操作部１２０を駆動して１段階のズームインを行う駆動信号を制御部５０で生成する。短く１回踏む操作を繰り返すことで、ステップ的にズームインして踏むごとに拡大された映像を得る。一方、フットスイッチを長く踏んだ場合（踏み続けた場合）、ズームアウトに対応した操作部１２０を駆動して連続的なズームアウトを行う駆動信号を制御部５０で生成する。このように、リモート操作部４０の同じＯＮ操作であっても操作時間によって駆動対象の操作部１２０を切り替えるようにすれば、簡単な操作で内視鏡１００における複数の操作の切り替えを行うことが可能となる。 Further, the operation time of the remote operation unit 40 and the operation unit 120 may be associated with each other in advance, and the control unit 50 may generate a different drive signal in association with the operation time of the remote operation unit 40. good. For example, a foot switch is used as the remote operation unit 40, and a different drive signal is generated from the control unit 50 depending on the time when the foot switch is depressed (the time when the foot switch is ON) so that the operation unit 120 to be driven can be switched. Keep it. As an example, when the foot switch is briefly stepped on once, the operation unit 120 corresponding to the zoom-in is driven, and the control unit 50 generates a drive signal for performing one-step zoom-in. By repeating the operation of stepping once briefly, the image is magnified step by step and enlarged each time it is stepped on. On the other hand, when the foot switch is depressed for a long time (when the foot switch is continuously depressed), the control unit 50 generates a drive signal for continuously zooming out by driving the operation unit 120 corresponding to the zoom out. In this way, even if the remote operation unit 40 has the same ON operation, if the operation unit 120 to be driven is switched according to the operation time, it is possible to switch a plurality of operations on the endoscope 100 with a simple operation. It will be possible.
　図５は、レバー型の操作部を有する内視鏡の例を示す模式図である。
　図５に示すように、内視鏡１００には、ヘッド部１１０にレバー型の操作部１２５を備えるタイプもある。この例では、前後に回動可能な２つのレバー型の操作部１２５が並列に設けられる。一方の操作部１２５は、例えば撮影アングルの左右を操作するレバーであり、他方の操作部１２５は、例えば撮影アングルの上下を操作するレバーである。このようなレバー型の操作部１２５を有する内視鏡１００については、操作部１２５を回動させるリンクなどを用いて駆動部３０を構成すればよい。 FIG. 5 is a schematic view showing an example of an endoscope having a lever-type operation unit.
As shown in FIG. 5, the endoscope 100 also includes a type in which the head portion 110 is provided with a lever-type operating portion 125. In this example, two lever-type operating units 125 that can rotate back and forth are provided in parallel. One operation unit 125 is, for example, a lever for operating the left and right of the shooting angle, and the other operation unit 125 is, for example, a lever for operating the up and down of the shooting angle. For the endoscope 100 having such a lever-type operation unit 125, the drive unit 30 may be configured by using a link or the like for rotating the operation unit 125.
（アーム型保持装置の例）
　図６は、アーム型保持装置を用いた例を示す模式図である。
　図６に示すリモート操作装置１は、アーム型保持装置５００を備える。アーム型保持装置５００は、内視鏡１００を保持するアーム５１０を有し、アーム５１０によって内視鏡１００の位置を制御する。アーム５１０は多関節型になっていて、アーム５１０の動きによって内視鏡１００の位置や角度を自在に設定することができる。 (Example of arm type holding device)
FIG. 6 is a schematic view showing an example using an arm type holding device.
The remote operation device 1 shown in FIG. 6 includes an arm type holding device 500. The arm-type holding device 500 has an arm 510 for holding the endoscope 100, and the position of the endoscope 100 is controlled by the arm 510. The arm 510 is an articulated type, and the position and angle of the endoscope 100 can be freely set by the movement of the arm 510.
　リモート操作装置１の本体１０は、内視鏡１００を保持するアーム５１０の先端部分に設けられていてもよいし、アーム５１０とは別体に設けられていてもよい。本体１０がアーム５１０とは別体に設けられている場合には、本体１０が取り付けられた状態のヘッド部１１０をアーム５１０に取り付けられるようになっている。アーム型保持装置５００を備えることで、内視鏡１００の位置や角度をアーム型保持装置５００によって制御し、内視鏡１００の調整をリモート操作部４０によって操作することができる。 The main body 10 of the remote operating device 1 may be provided at the tip end portion of the arm 510 that holds the endoscope 100, or may be provided separately from the arm 510. When the main body 10 is provided separately from the arm 510, the head portion 110 with the main body 10 attached can be attached to the arm 510. By providing the arm-type holding device 500, the position and angle of the endoscope 100 can be controlled by the arm-type holding device 500, and the adjustment of the endoscope 100 can be operated by the remote operation unit 40.
（使用例）
　図７は、本実施形態に係るリモート操作装置の使用例を示す模式図である。
　図７には、腹腔鏡手術の際のリモート操作装置１の使用例が示される。腹腔鏡手術では患者の腹部に複数箇所の小さな穴を開けてトロッカ６０を挿入し、トロッカ６０に内視鏡１００や鉗子７０を挿入して施術する。図６に示す例では、内視鏡１００がアーム型保持装置５００のアーム５１０に保持されており、内視鏡１００の鏡筒１５０がトロッカ６０から患者の体内に挿入されている。他のトロッカ６０からは術者が操作する鉗子７０が挿入される。術者の近くにはリモート操作部４０が配置される。 (Example of use)
FIG. 7 is a schematic view showing a usage example of the remote operation device according to the present embodiment.
FIG. 7 shows an example of using the remote operating device 1 during laparoscopic surgery. In laparoscopic surgery, a trocca 60 is inserted by making a plurality of small holes in the abdomen of a patient, and an endoscope 100 or forceps 70 is inserted into the trocca 60. In the example shown in FIG. 6, the endoscope 100 is held by the arm 510 of the arm-type holding device 500, and the lens barrel 150 of the endoscope 100 is inserted into the patient's body from the trocca 60. A forceps 70 operated by the operator is inserted from the other trocca 60. A remote operation unit 40 is arranged near the operator.
　術者は、内視鏡１００で撮影された術部の映像をモニタで参照しながら鉗子を操り手術を行っていく。手術を進めて行くなかで内視鏡１００の撮像条件を変更したい場合、術者はリモート操作部４０を操作することで内視鏡１００を自らコントロールする。すなわち、術者は自らリモート操作部４０の例えばスティック４１を操作することで内視鏡１００に触れることなく内視鏡１００を遠隔操作することができる。 The surgeon operates the forceps while referring to the image of the surgical site taken by the endoscope 100 on the monitor. When it is desired to change the imaging conditions of the endoscope 100 while proceeding with the operation, the operator controls the endoscope 100 by operating the remote operation unit 40. That is, the operator can remotely control the endoscope 100 without touching the endoscope 100 by operating the remote control unit 40, for example, the stick 41.
　なお、図７に示す例ではリモート操作部４０としてスティック型操作部を用いる例を示しているが、フットスイッチや頭の動きを検知して動作を指示できるヘッドセンサ型操作部など、手を使わずに指示を与えることができるリモート操作部４０を用いるようにしてもよい。 In the example shown in FIG. 7, a stick-type operation unit is used as the remote operation unit 40, but a hand such as a foot switch or a head sensor-type operation unit that can detect the movement of the head and instruct the operation is used. A remote operation unit 40 that can give an instruction without using the remote operation unit 40 may be used.
　以上説明したように、実施形態によれば、術者が術中であっても自ら内視鏡１００を操作することができるリモート操作装置１を提供することが可能になる。 As described above, according to the embodiment, it is possible to provide the remote operating device 1 capable of operating the endoscope 100 by the operator even during the operation.
　なお、上記に本実施形態およびその具体例を説明したが、本発明はこれらの例に限定されるものではない。例えば、処置具として内視鏡１００の例を示したが、鉗子、洗浄装置、吸引装置、超音波メスなど内視鏡１００以外の処置具であっても適用可能である。また、前述の各実施形態またはその具体例に対して、当業者が適宜、構成要素の追加、削除、設計変更を行ったものや、各実施形態の特徴を適宜組み合わせたものも、本発明の要旨を備えている限り、本発明の範囲に包含される。 Although the present embodiment and specific examples thereof have been described above, the present invention is not limited to these examples. For example, although the example of the endoscope 100 is shown as a treatment tool, a treatment tool other than the endoscope 100 such as a forceps, a cleaning device, a suction device, and an ultrasonic scalpel can also be applied. In addition, those skilled in the art appropriately adding, deleting, or changing the design of each of the above-described embodiments or specific examples thereof, and those in which the features of each embodiment are appropriately combined are also included in the present invention. As long as it has a gist, it is included in the scope of the present invention.
１…リモート操作装置
１０…本体
１１…駆動制御部
１２…受信部
２０…保持部
３０…駆動部
４０…リモート操作部
４１…スティック
５０…制御部
５１…操作信号受信部
５２…変換部
５３…駆動信号出力部
６０…トロッカ
７０…鉗子
１００…内視鏡
１１０…ヘッド部
１１１…撮像部
１１２…撮像調整部
１１３…機能制御部
１１４…送信部
１１５…受信部
１２０，１２０Ａ，１２０Ｂ，１２５…操作部
１５０…鏡筒
５００…アーム型保持装置
５１０…アーム
Ｃ…ケーブル 1 ... Remote operation device 10 ... Main body 11 ... Drive control unit 12 ... Reception unit 20 ... Holding unit 30 ... Drive unit 40 ... Remote operation unit 41 ... Stick 50 ... Control unit 51 ... Operation signal reception unit 52 ... Conversion unit 53 ... Drive Signal output unit 60 ... Trocca 70 ... Forceps 100 ... Endoscope 110 ... Head unit 111 ... Imaging unit 112 ... Imaging adjustment unit 113 ... Function control unit 114 ... Transmission unit 115 ... Receiver unit 120, 120A, 120B, 125 ... Operation unit 150 ... Lens barrel 500 ... Arm type holding device 510 ... Arm C ... Cable

Claims (9)

  1. 　処置具のヘッド部に設けられた操作部を遠隔操作するリモート操作装置であって、
    　本体と、
    　前記本体を前記ヘッド部に保持するための保持部と、
    　前記本体に設けられ、前記操作部を駆動する駆動部と、
    　前記駆動部を遠隔操作するリモート操作部と、
    　を備えたリモート操作装置。     It is a remote control device that remotely controls the operation unit provided on the head portion of the treatment tool.
    With the main body
    A holding portion for holding the main body to the head portion,
    A drive unit provided on the main body and driving the operation unit,
    A remote control unit that remotely controls the drive unit and
    Remote control device equipped with.
  2. 　前記本体および前記保持部は、前記ヘッド部とは別体であって前記ヘッド部に着脱可能に取り付けられる、請求項１記載のリモート操作装置。 The remote operating device according to claim 1, wherein the main body and the holding portion are separate from the head portion and are detachably attached to the head portion.
  3. 　前記リモート操作部は、前記駆動部の駆動を指示するスティック型操作体を有する、請求項１または請求項２に記載のリモート操作装置。 The remote operating device according to claim 1 or 2, wherein the remote operating unit has a stick-type operating body that directs driving of the driving unit.
  4. 　前記処置具は内視鏡である、請求項１から請求項３のいずれか１項に記載のリモート操作装置。 The remote operating device according to any one of claims 1 to 3, wherein the treatment tool is an endoscope.
  5. 　前記リモート操作部を操作することで発生する操作信号を前記駆動部を駆動するための駆動用信号に変換する変換部をさらに備え、
    　前記変換部は、前記操作信号に対するローパスフィルタ機能を有する、請求項１から請求項４のいずれか１項に記載のリモート操作装置。     A conversion unit that converts an operation signal generated by operating the remote operation unit into a drive signal for driving the drive unit is further provided.
    The remote operation device according to any one of claims 1 to 4, wherein the conversion unit has a low-pass filter function for the operation signal.
  6. 　前記リモート操作部からの操作信号に基づき前記駆動部を駆動するための駆動信号を生成する制御部をさらに備え、前記制御部は、前記リモート操作部の操作を無効にするロック機能を備えた、請求項１から請求項５のいずれか１項に記載のリモート操作装置。 A control unit that generates a drive signal for driving the drive unit based on the operation signal from the remote operation unit is further provided, and the control unit has a lock function that invalidates the operation of the remote operation unit. The remote operating device according to any one of claims 1 to 5.
  7. 　前記リモート操作部は、前記リモート操作部において操作信号を発生させない操作部ロック機能を備えた、請求項１から請求項６のいずれか１項に記載のリモート操作装置。 The remote operation device according to any one of claims 1 to 6, wherein the remote operation unit has an operation unit lock function that does not generate an operation signal in the remote operation unit.
  8. 　前記リモート操作部からの操作信号に基づき前記駆動部を駆動するための駆動信号を生成する制御部をさらに備え、前記制御部は、前記リモート操作部の操作時間に対応付けされて異なる駆動信号を生成する、請求項１から請求項７のいずれか１項に記載のリモート操作装置。 A control unit that generates a drive signal for driving the drive unit based on the operation signal from the remote operation unit is further provided, and the control unit transmits a different drive signal in association with the operation time of the remote operation unit. The remote operating device according to any one of claims 1 to 7, which is generated.
  9. 　前記処置具を保持するアームを有し、前記アームによって前記処置具の位置を制御するアーム型保持装置をさらに備えた、請求項１から請求項８のいずれか１項に記載のリモート操作装置。
          The remote operation device according to any one of claims 1 to 8, further comprising an arm-type holding device for holding the treatment tool and controlling the position of the treatment tool by the arm.
PCT/JP2020/015098 2020-04-01 2020-04-01 Remote operation device WO2021199385A1 (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01317423A (en) * 1988-06-17 1989-12-22 Olympus Optical Co Ltd Endoscope
JP2002264048A (en) * 2001-03-08 2002-09-18 Hitachi Ltd Positioning control device for towed mechanism
JP2010279688A (en) * 2009-05-07 2010-12-16 Univ Of Occupational & Environmental Health Japan Endoscope remote-controlled operating system
JP2018158009A (en) * 2017-03-23 2018-10-11 株式会社メディカロイド Movement method of patient mount table

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01317423A (en) * 1988-06-17 1989-12-22 Olympus Optical Co Ltd Endoscope
JP2002264048A (en) * 2001-03-08 2002-09-18 Hitachi Ltd Positioning control device for towed mechanism
JP2010279688A (en) * 2009-05-07 2010-12-16 Univ Of Occupational & Environmental Health Japan Endoscope remote-controlled operating system
JP2018158009A (en) * 2017-03-23 2018-10-11 株式会社メディカロイド Movement method of patient mount table

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