WO2024042651A1 - Dispositif d'actionnement pour dispositif d'assistance chirurgicale - Google Patents

Dispositif d'actionnement pour dispositif d'assistance chirurgicale Download PDF

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Publication number
WO2024042651A1
WO2024042651A1 PCT/JP2022/031923 JP2022031923W WO2024042651A1 WO 2024042651 A1 WO2024042651 A1 WO 2024042651A1 JP 2022031923 W JP2022031923 W JP 2022031923W WO 2024042651 A1 WO2024042651 A1 WO 2024042651A1
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Prior art keywords
operator
finger
section
operating
main body
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PCT/JP2022/031923
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English (en)
Japanese (ja)
Inventor
真崇 鈴木
Original Assignee
リバーフィールド株式会社
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Application filed by リバーフィールド株式会社 filed Critical リバーフィールド株式会社
Priority to PCT/JP2022/031923 priority Critical patent/WO2024042651A1/fr
Publication of WO2024042651A1 publication Critical patent/WO2024042651A1/fr

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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
    • A61B34/37—Master-slave robots

Definitions

  • the present disclosure relates to an operating device used to operate a surgical support device such as a surgical robot system.
  • This surgical support device includes a patient-side unit that is placed near a patient and performs a desired treatment on the patient, and an operation unit that is operated by an operator.
  • the patient-side unit is equipped with a manipulator arm.
  • Medical equipment used in surgery is connected to the tip of this manipulator arm.
  • An example of a medical device connected to the manipulator arm is a medical device including an end effector at the tip of a shaft-like member that opens and closes in accordance with an operation signal. More specifically, examples include grasping forceps and a bipolar electric scalpel.
  • the operating unit includes a control device and an operating device.
  • the operating device includes a main body that is held by an operator, and an operating unit that can be operated while the operator holds the main body.
  • the operator operates the surgical support device by performing an operation to change the position of the operating device or performing a predetermined operation on the operating portion while holding the main body.
  • an operation is performed on the operating device, an operating signal is output from the control device, and the corresponding portion of the patient-side unit is activated.
  • the manipulator arm of the patient-side unit is operated according to the operating signal from the control device, and the position of the tip of the manipulator arm is changed to changed to the corresponding position.
  • the end effector of the connected medical device is activated, and the position of the tip side of the end effector is changed to a corresponding position.
  • the end effector of the connected medical device performs a corresponding operation in accordance with the operation signal output from the control device.
  • the opening and closing operations of the gripping forceps are performed according to operations by the operator.
  • the operating device includes a main body that is held in a manner that is wrapped around the operator's palm, and an operating unit that is operated by the fingers of the hand that holds the main body. is known (for example, see Patent Document 1).
  • This operating device is equipped with a set of grip operating sections.
  • the pair of gripping operation parts are arranged on both sides of the main body so that the main body is sandwiched between them, and move toward or away from the main body.
  • the operator operates this set of gripping operation parts using two fingers of the hand holding the main body part.
  • This set of gripping operation units is used, for example, when performing an operation for opening and closing a gripping forceps connected to a surgical support device.
  • surgical support devices that have a function to detect whether or not the operator's hand is within the range in which the operating device can be operated (for example, patented (See Reference 2).
  • this surgical support device when the operator's hand is located away from a predetermined portion of the operating unit, the patient-side unit is controlled so as not to operate even if an operating signal is input. By performing such control, the patient-side unit is prevented from moving when the position of the operating device is changed unintentionally due to, for example, a collision between the operator's body and the like.
  • the present disclosure discloses an example of an operation device for a surgical support device that can perform desired operations on the surgical support device and can be made smaller in size compared to conventional operation devices.
  • An operating device for a surgical support device that is an aspect of the present disclosure includes a main body portion held by an operator, and a main body portion that is connected to the main body portion according to an operation with a first finger of the operator. a first operation part that is close to or separated from the main body; and a first operating part of the operator that is different from the first finger that is placed at a predetermined location on the main body when the operator holds the main body. and a second operating section operated by a third finger that is different from either the first finger or the second finger.
  • the first operation section is provided that approaches and separates from the main body.
  • the first operating section is configured to be operated with one finger of the hand holding the main body. Therefore, the operation can be performed easily. Furthermore, the size can be reduced compared to the above-mentioned conventional operating device that is operated using two fingers.
  • the operation device of the surgical support device of the present disclosure detects that a finger (second finger) different from the finger (first finger) that operates the first operation section is placed at a predetermined location. Equipped with a detection section.
  • This detection unit detects that the operator is correctly holding the main body of the operating device.
  • a second operation that can be performed with a finger (third finger) different from both the finger operating the first operation section (first finger) and the finger detected by the detection section (second finger) A section is provided. That is, while holding the main body and operating the first operating section with the first finger, the operator can further operate the second operating section with the other finger (third finger).
  • the main body includes a holding part that faces the palm of the operator when held by the operator, and a columnar part that extends in a direction away from the holding part and has a columnar shape
  • the detection section is provided in a second side region of the columnar section opposite to the first side surface region facing the first operation section
  • the second operation section is provided in a second side surface region that is opposite to the first side surface region that faces the first operation section.
  • the third side surface area is provided in a third side area that is different from both the second side area and the third side area that extends away from the holding part.
  • the operator can firmly hold the main body part by wrapping the holding part in the palm of the hand.
  • the second side area where the second finger corresponding to the first finger performing the operation is arranged.
  • a detection section is arranged. Therefore, the detection unit can easily detect the second finger of the operator who holds and operates the main body.
  • the second operation part is provided in the third side area of the columnar part extending in the direction away from the holding part, which is different from both the first side area and the second side area, the second operation part can be operated. easy.
  • the first finger is the index finger of the operator.
  • the operation device of the surgical support device configured in this way, while operating the first operation section with the index finger, it is possible to operate the second operation section with other fingers such as the middle finger and ring finger.
  • the second finger is the thumb of the operator.
  • the detection unit can easily detect the operator's thumb (second finger) placed on the main body for operation.
  • the operation device for a surgical support device it is possible to provide an operation device for a surgical support device that can perform various operations and also be downsized.
  • FIG. 2 is a diagram illustrating a surgery support device using the operation device of the surgery support device according to the present disclosure.
  • FIG. 2 is an external view illustrating the operation device of the surgical support device of the present disclosure.
  • FIG. 2 is an external view illustrating the operation device of the surgical support device of the present disclosure.
  • FIG. 2 is a diagram of the operation device of the surgical support device of the present disclosure viewed from below.
  • FIG. 3 is a diagram illustrating a usage state of the operating device of the surgical support device of the present disclosure.
  • FIG. 3 is a diagram illustrating a usage state of the operating device of the surgical support device of the present disclosure.
  • FIG. 7 is a diagram illustrating another usage state of the operation device of the surgical support device of the present disclosure. It is a figure which shows the modification of the operating device of the surgical support apparatus of this indication.
  • the operating devices 30A and 30B of the present disclosure are used for operating the master-slave type surgical robot system 1.
  • the operating devices 30A and 30B are held by the left and right hands of the operator performing the surgery, respectively, and predetermined operations are performed.
  • the surgical robot system 1 includes a patient-side unit 2 that is placed near a patient and performs desired treatment on the patient, and an operation unit 3 that is operated by an operator.
  • the surgical robot system 1 is an example of a surgical support device.
  • the patient-side unit 2 includes a patient-side cart 21 and manipulator arms 22A, 22B, and 22C.
  • the patient side cart 21 is equipped with a support base 27, and the manipulator arm 22A is rotatably connected to the support base 27.
  • Manipulator arm 22B is similarly rotatably connected to support base 27.
  • Manipulator arm 22C is similarly rotatably connected to support base 27.
  • the side of the support base 27 of the manipulator arms 22A, 22B, 22C will also be referred to as the original side, and the opposite side will also be referred to as the forward side.
  • a surgical instrument 23a is connected to the front end of the manipulator arm 22A.
  • a surgical instrument 23b is connected to the front end of the manipulator arm 22B.
  • An endoscope holder 28 for connecting an endoscope is provided on the front side of the manipulator arm 22C. In FIG. 1, an endoscope is not shown.
  • the manipulator arm 22B has the same configuration as the manipulator arm 22A.
  • the manipulator arm 22C has the same configuration as the manipulator arm 22A.
  • the manipulator arm 22A will be explained, and the explanation of the manipulator arms 22B and 22C will be omitted.
  • the surgical instrument 23b has the same configuration as the surgical instrument 23a. In the following explanation, the surgical instrument 23a will be explained, and the explanation of the surgical instrument 23b will be omitted.
  • the surgical instrument 23a is a grasping forceps used when performing endoscopic surgery. As shown in FIG. 1, the surgical instrument 23a includes an end effector 24a on the forward side of the shaft 26a, which operates according to an operation signal from the operation unit 3.
  • the end effector 24a includes gripping parts 25x, 25y and a joint 29a.
  • the grips 25x and 25y are configured to move toward or away from each other in accordance with a predetermined operation signal from the operation unit 3.
  • the surgical instrument 23a may be another surgical instrument including a structure for opening and closing the shaft 26, such as a bipolar electric scalpel or surgical scissors.
  • the joint 29a is provided on the shaft 26a side of the end effector 24a.
  • the end effector 24a is configured to change its direction using the joint 29a as a fulcrum in accordance with a predetermined operation signal. That is, the end effector 24a is configured to rotate about the joint 29a as a fulcrum in accordance with a predetermined operation signal, so that the angle at which it is arranged with respect to the shaft 26a is changed to a desired angle.
  • the manipulator arm 22A is a multi-joint arm having multiple joints.
  • the manipulator arm 22A is equipped with a plurality of actuators (not shown). These actuators operate according to operation signals from the operation unit 3, so that the manipulator arm 22A performs a desired operation according to the operation.
  • the manipulator arm 22A performs an operation according to the operation, for example, the position of a predetermined portion of the surgical instrument 23a is changed or the posture of the surgical instrument 23a is changed.
  • the manipulator arm 22A is equipped with an end effector actuator (not shown).
  • this end effector actuator is operated in accordance with the operation signal from the operation unit 3 and the driving force is transmitted to a predetermined part of the surgical instrument 23a via a member such as a wire, the end effector 24a Operates according to the driving force.
  • the operating unit 3 includes at least operating devices 30A and 30B, a control section 31, and a support device 32.
  • the operating device 30A is a device for mainly operating the manipulator arm 22A and operating the surgical instrument 23a.
  • the operating device 30A is held and operated by the operator's right hand.
  • the operating device 30A may be used to operate the manipulator arm 22B, the surgical instrument 23b, or the manipulator arm 22C, with the settings changed by the operator.
  • the operating device 30B is a device for operating the manipulator arm 22B and the surgical instrument 23b.
  • the operating device 30B is held and operated by the operator's left hand.
  • the operating device 30B may be used to operate the manipulator arm 22B, the surgical instrument 23b, or the manipulator arm 22C, with the settings changed by the operator.
  • the support device 32 is a device that movably supports each of the operating devices 30A and 30B.
  • the support device 32 includes a link mechanism, and when an operation to change the position of the operating device 30A is performed, a corresponding part of the link mechanism is activated to change the position of the operating device 30A and to change the position of the operating device 30A.
  • the operating device 30A is supported at this position.
  • the supporting device 32 operates the corresponding part of the link mechanism to change the position of the operating device 30B and supports the operating device 30B at the changed position. do.
  • the support device 32 has a function of outputting signals regarding the respective positions of the operating devices 30A and 30B.
  • the support device 32 has a function of outputting a signal that allows the control unit 31 to calculate information regarding the positions of the operating devices 30A and 30B.
  • the support device 32 is equipped with a plurality of encoders (not shown), and each encoder outputs a signal according to an operation performed on the operating devices 30A, 30B.
  • the control unit 31 outputs operation signals corresponding to operations performed on the operation devices 30A and 30B to the patient-side unit 2, and causes the manipulator arms 22A and 22B and surgical instruments 23a and 23b to perform operations corresponding to the operations. This is the part that makes you do it.
  • the control unit 31 also has a function of calculating position information of the operating devices 30A and 30B based on position signals from the support device 32. For example, it has a function of calculating information regarding the positions of the operating devices 30A, 30B with respect to the reference positions, information regarding the moving speeds of the operating devices 30A, 30B, and the like.
  • the control unit 31 When an operation to change the position of the operating device 30A is performed, the control unit 31 outputs an operation signal based on the changed position information of the operating device 30A.
  • the actuators corresponding to the manipulator arm 22A and the surgical instrument 23a are activated, and a predetermined portion of the manipulator arm 22A and a predetermined portion of the surgical instrument 23a are changed to the changed operating device 30A.
  • control section 31 when a predetermined operation is performed on the first operation section 40 of the operation device 30A, the control section 31 outputs an operation signal corresponding to the operation performed on the first operation section 40.
  • operation signal is output from the control section 31, the corresponding end effector actuator is activated, and the end effector 24a performs an operation corresponding to the operation performed on the first operation section 40.
  • control unit 31 When the operation device 30B is operated, the control unit 31 outputs an operation signal corresponding to the operation performed on the operation device 30B, and the corresponding portions of the manipulator arm 22B and surgical instrument 23b are moved as described above. It works the same way.
  • the control unit 31 determines whether the operation device 30A or 30B is operated. It is equipped with a control function that prevents the output of operation signals even when the Since the control unit 31 has such a function, when the operating devices 30A and 30B move without being operated by the operator, the manipulator arms 22A and 22B and the surgical instruments 23a and 23b are Unintended movements that follow the movements are suppressed. For example, if the operator unintentionally moves the position of the operating device 30A by touching a part of his or her body with the operating device 30A while not holding the operating device 30A, 23a is prevented from moving unintentionally.
  • the control unit 31 also has a function to control the patient-side unit 2 so that a surgical assistant or the like can manually move the manipulator arms 22A, 22B, and 22C to change their settings. There is. When performing such control, the control unit 31 performs control so that no operation signal is output even if the operation devices 30A, 30B are operated.
  • the state in which the manipulator arms 22A, 22B, and 22C are controlled so that they can be moved manually will also be referred to as "clutch mode.”
  • the operating devices 30A and 30B will be explained.
  • the operating device 30B has the same configuration and functions as the operating device 30A, except that it is symmetrical left and right. Therefore, from now on, the explanation will be given using the operating device 30A as an example, and the explanation of the operating device 30B will be omitted.
  • the operating device 30A includes a main body section 50, a first operating section 40, a detecting section 53, and a second operating section 57 (see FIGS. 2, 3, and 4).
  • the main body portion 50 is a portion held by the operator when the operator performs an operation.
  • the main body portion 50 includes a columnar portion 52 and a holding portion 55, as shown in FIGS. 2 and 3. As shown in FIG. 2, the columnar portion 52 is fixed to the holding portion 55 at a position closer to the upper surface 58 than near the center of the holding portion 55 in the height direction.
  • the columnar part 52 has a rectangular parallelepiped shape with a long dimension in the direction away from the holding part 55.
  • the columnar portion 52 may have a shape that extends in a direction away from the holding portion 55 and may have a columnar shape other than a rectangular parallelepiped or any other shape as long as it can be provided with the detection portion 53 and the second operation portion 57 on its side surface. It may have.
  • the holding portion 55 is a portion that is held so as to be wrapped around the operator's palm when an operation is performed.
  • a side surface of the holding portion 55 opposite to the side to which the columnar portion 52 is fixed is a palm side surface 56.
  • the palm side surface 56 is a portion that faces toward the operator's palm when the main body portion 50 is held by the operator.
  • the holding portion 55 has a cylindrical shape.
  • the shape of the holding portion 55 is not limited to a cylindrical shape, and may have any other shape as long as it is easy for the operator to hold it in the palm of his or her hand.
  • a support member 45 is provided on the side surface of the holding portion 55 on the upper surface 58 side. The support member 45 is fixed to the holding part 55 in a direction that intersects with the direction in which the columnar part 52 extends.
  • the first operation section 40 includes a rod-shaped member 41, a holding member 42, and a fingertip placement section 43.
  • the rod-shaped member 41 is arranged substantially parallel to the columnar part 52.
  • An end of the rod-shaped member 41 on the holding portion 55 side is rotatably connected to an end of the support member 45 via a joint 44 . That is, the rod-shaped member 41 is rotatably connected to the support member 45 about the axis A of the joint 44 shown in FIG.
  • a holding member 42 is disposed on the rod-shaped member 41 at a predetermined distance away from the joint 44 and is fixed to the rod-shaped member 41.
  • a fingertip placement portion 43 is connected to the holding member 42 via a joint 46 .
  • the fingertip placement portion 43 is a portion where one of the fingers of the operator who operates the first operation portion 40 is placed (see FIG. 3).
  • the fingertip arrangement section 43 is arranged at a position where the operator can place the fingertips of the index finger 72, middle finger 73, etc. while holding the holding section 55 in the palm of the right hand 70R. (See Figure 5.) Specifically, the fingertip arrangement section 43 is arranged at a position a predetermined distance away from the joint 44, where the fingertip of the index finger 72, middle finger 73, or the like of the operator can be arranged.
  • the holding member 42 may be configured such that the fingertip placement portion 43 can be fixed at a desired position by changing the placement position of the fingertip placement portion 43 depending on the size of the operator's hand.
  • the end of the rod-shaped member 41 is rotatably connected to the joint 44 about the axis A, so when a force is applied to the fingertip arrangement portion 43 toward the main body 50, the rod-shaped member 41 It rotates around the axis A in a direction approaching the columnar part 52. That is, when the operator applies a force toward the main body part 50 on the fingertip placement part 43, the first operating part 40 moves in a direction toward the main body part 50.
  • the direction in which the first operating section 40 approaches the main body section 50 is indicated by an arrow marked with an X in FIG.
  • the rod-shaped member 41 rotates in a direction away from the columnar portion 52 around the axis A. That is, when the operator applies force to the fingertip arrangement portion 43 in the direction away from the main body 50, the first operating portion 40 moves in the direction away from the main body 50.
  • the direction away from the main body portion 50 is indicated by an arrow marked with Y in FIG.
  • a detection section 53 is provided on the left side surface 51a of the columnar section 52 on the side opposite to the right side surface 51c, which is the side surface facing the first operation section 40.
  • the detection section 53 is provided on the left side surface 51a of the main body section 50 at a location separated from the holding section 55 by a predetermined distance.
  • the detection section 53 is provided at a position where the thumb 71 of the right hand 70R is placed when the operator holds the holding section 55 with the right hand 70R.
  • the detection section 53 is arranged in a region of the left side surface 51a that is a predetermined distance away from the holding section 55 where the thumb 71 is placed when the operator holds the main body section 50.
  • the detection unit 53 is a contact detection sensor that detects that the operator's fingers are in contact with its surface.
  • the detection unit 53 includes an infrared sensor device (not shown) inside thereof, measures the distance to the object using infrared rays, and outputs a signal according to the distance.
  • the detection unit 53 outputs a signal notifying that the operator's finger is in contact with the surface of the detection unit 53 when the distance between the infrared sensor device and the operator's finger is a predetermined distance. do.
  • the detection unit 53 outputs a signal indicating that the fingers are not in contact with each other.
  • the detection unit 53 is a contact detection sensor that uses infrared rays, there is no need for the operator to continuously apply pressure. That is, no unnecessary burden is placed on the operator. Furthermore, it is unlikely that a contact made by an operator's finger cannot be detected correctly due to a poor electrical contact.
  • the detection unit 53 other contact detection sensors may be used as long as they can detect that the operator's fingers are correctly placed.
  • the detection unit 53 may include a pressure sensor capable of detecting the pressure exerted by the operator's fingers.
  • a mechanical switch that is activated by being pressed by a finger or a sensor capable of detecting the placement of other fingers may be used.
  • a second operating section 57 is provided on the lower surface 51d of the main body section 50.
  • the lower side surface 51d is a side surface that is adjacent to each of the left side surface 51a and the right side surface 51c of the main body section 50 and extends in a direction away from the holding section 55.
  • the second operating section 57 is provided on a portion of the lower surface 51d that is a predetermined distance away from the holding section 55.
  • the second operating section 57 is located at a predetermined distance from the holding section 55 on the lower side surface 51d, which is a side surface between the left side surface 51a and the right side surface 51c of the main body section and extends in a direction away from the holding section 55. It is located in a remote area.
  • the second operation section 57 is a switch that can be operated by the operator with the fingers of the hand holding the main body section 50.
  • the second operation section 57 can be a slide type switch, a push button type switch, or another type of switch as long as the operator can operate it with the fingers of the hand holding the main body section 50.
  • the right side surface 51c is an example of the first side surface area.
  • the left side surface 51a is an example of the second side surface area.
  • the lower side surface 51d is an example of the third side surface area.
  • the operating device 30B has the same configuration as the operating device 30A, except that it is symmetrical left and right, and its operation is also the same as that of the operating device 30A. Therefore, from now on, the operation of the operating device 30A will be explained, and the explanation of the operating device 30B will be omitted.
  • the operation in which the grips 25x and 25y move in a direction away from each other will also be referred to as an opening operation.
  • the operation in which the gripping portions 25x and 25y move in a direction toward each other is also referred to as a closing operation.
  • the opening and closing operations of the gripping portions 25x and 25y are also collectively referred to as a gripping operation.
  • an operation in which the operator operates the first operating section 40 to bring the first operating section 40 closer to the main body section 50 or move the first operating section 40 away from the main body section 50 is also referred to as a grasping operation. do.
  • the operation unit 3 is configured such that when a gripping operation is performed on the operating device 30A, the control section 31 outputs an operation signal that causes the end effector 24a to perform the gripping operation. Further, the operation unit 3 is configured such that when the second operation section 57 is operated, the control section 31 outputs a signal to switch the patient-side unit 2 to the clutch mode. The operation unit 3 may be configured such that, when the second operation section 57 is operated, a signal different from the signal for switching to the clutch mode is output from the control section 31.
  • the operator holds the operating device 30A with the right hand 70R. Specifically, the palm side surface 56 is placed in contact with the palm of the right hand 70R, and the main body portion 50 is held by wrapping the holding portion 55 with the palm.
  • the operator places the fingertip of the thumb 71 of the right hand 70R in contact with the surface of the detection unit 53. If necessary, the placed thumb 71 is fixed to the main body 50 using a band (not shown) or the like. Further, the fingertip of the index finger 72 of the right hand 70R is placed in the fingertip placement portion 43. If necessary, the placed index finger 72 is fixed to the fingertip placement portion 43 using a band (not shown) or the like.
  • the middle finger 73, ring finger 74, and little finger 75 of the operator's right hand 70R are held by the operator, as shown in FIGS. It is placed on the side of the lower surface 51d of the main body 50.
  • the detection unit 53 outputs a signal to the control unit 31 to notify that the operator's finger (thumb 71) is placed on its surface.
  • the control unit 31 receives the above-mentioned signal from the detection unit 53, it determines that the operating device 30A is held by the operator, and enters a state in which it outputs an operation signal according to the operation by the operating device 30A.
  • the position of the operating device 30A changes.
  • the support device 32 outputs a signal regarding the position of the operating device 30A.
  • the control unit 31 calculates the changed position information of the operating device 30A based on the signal from the support device 32, and outputs an operation signal based on the calculated position information.
  • the control unit 31 When the control unit 31 outputs an operation signal, the corresponding actuator of the manipulator arm 22A is activated, the posture of the manipulator arm 22A is changed, and the tip side of the manipulator arm 22A or a predetermined part of the surgical instrument 23a is moved. , is moved to a position corresponding to the operation performed by the operator.
  • the end effector actuator is operated according to the operation signal, and the direction of the end effector 24a is changed. Specifically, the end effector 24a rotates about the joint 29a, and its arrangement angle with respect to the shaft 26a is changed.
  • the control section 31 When the operator uses the index finger 72 to apply force in the direction toward the main body part 50 on the fingertip arrangement part 43, the first operating part 40 moves in a direction closer to the main body part 50.
  • the control section 31 outputs an operation signal that causes the end effector 24a to perform a closing operation.
  • the control unit 31 outputs such an operation signal, the corresponding end effector actuator is activated, and the end effector 24a performs a closing operation.
  • driving force is transmitted from the end effector actuator to the end effector 24a via a wire or the like, and the gripping portion 25x and the gripping portion 25y move in a direction toward each other.
  • the first operating part 40 moves in the direction away from the main body part 50.
  • the control section 31 outputs an operation signal that causes the end effector 24a to perform an opening operation.
  • the control unit 31 outputs the above-mentioned operation signal, the corresponding end effector actuator is actuated to open the end effector 24a. Specifically, driving force is transmitted from the end effector actuator to the end effector 24a via a wire or the like, and the gripping portion 25x and the gripping portion 25y move in a direction away from each other.
  • the operator operates the second operation section 57 to switch the patient-side unit 2 to clutch mode.
  • the operator when it is necessary for an assistant or the like to directly apply force to each part of the manipulator arm 22A to change its arrangement position or posture, the operator must , operate the second operating section 57 to switch the patient-side unit 2 to clutch mode.
  • the second operation section 57 is operated with the middle finger 73.
  • the operator may operate the second operating section 57 with the ring finger 74, as shown in FIG.
  • the control section 31 When the second operation section 57 is operated, the control section 31 outputs a signal to switch the patient-side unit 2 to clutch mode. When the control section 31 outputs a signal to switch to the clutch mode, the patient-side unit 2 switches to the clutch mode, and the manipulator arm 22A becomes in a state where it can be manually moved.
  • the operating devices 30A and 30B will be collectively referred to as the operating device 30.
  • the manipulator arms 22A and 22B are also collectively referred to as the manipulator arm 22.
  • the end effectors 24a and 24b are also collectively referred to as the end effector 24.
  • the first operating section 40 is provided on one side of the main body section 50 held by the operator. Therefore, the size of the operating device can be made smaller than that of a conventional operating device that is provided with grip operating sections that are operated by the operator's fingers on both sides of a portion that is held by the operator. Furthermore, the first operating section 40 can be operated with one finger. For example, the first operating section 40 can be operated with the index finger 72 of the operator. Therefore, the operator can easily perform the gripping operation using the first operation section 40.
  • the operating device 30 also detects that a finger (second hand) different from the hand (first finger) that operates the first operating section 40 is placed at a predetermined location on the main body section 50.
  • a detection section 53 is provided. Therefore, for example, if the detection unit 53 does not detect that the operator's finger is placed at a predetermined location, the control unit 31 can perform control such as not outputting an operation signal. . That is, the operator may change the position of the operating device 30 by colliding with a part of the operator's body while not holding the operating device 30, or the position of the operating device 30 may change due to its own weight. This can prevent the manipulator arm 22 and the surgical instrument 23 from moving unintentionally in such a case. In other words, uncontrolled and unintended movements of the manipulator arm 22 and the surgical instrument 23 can be prevented.
  • the operating device 30 includes a finger (third finger) that is different from either the finger that operates the first operating section 40 (first finger) or the finger that is placed on the detection section 53 (second finger).
  • a second operating section 57 that can be operated by is provided. Specifically, for example, in the operation device 30A, when the thumb 71 is placed on the detection section 53 and the index finger 72 is placed on the fingertip placement section 43, the operation can be performed with other fingers such as the middle finger 73 and ring finger 74.
  • a second operation section 57 is provided at a location. Therefore, while holding the main body portion 50 and performing a gripping operation using the first operation unit 40, it is possible to perform a further operation different from the gripping operation.
  • the main body portion 50 is composed of a holding portion 55 and a columnar portion 52.
  • the operator can bring the palm side surface 56 into contact with his/her own palm and hold the holding part 55 by wrapping the palm of the hand, and can also hold the main body part 50 by placing each finger on the columnar part 52. . That is, the operator can firmly hold the main body part 50 using his or her palm and fingers. This prevents the operator from accidentally releasing the operating device 30 during the operation.
  • a detection section 53 is provided on the right side surface 51c of the columnar section 52. Specifically, the detection section 53 is provided on the right side surface 51c of the columnar section 52 opposite to the left side surface 51a facing the first operation section 40.
  • the second finger corresponding to the first finger will naturally be placed on the right side. It is arranged on the surface 51c. For example, when operating the operating device 30A with the right hand 70R, if the index finger 72 and middle finger 73 are placed on the fingertip placement section 43, the thumb 71 is naturally placed on the right side surface 51c where the detection section 53 is placed. .
  • a detection unit 53 is provided in the area. Therefore, the detection section 53 can easily detect the fingers placed when holding the main body section 50.
  • the detection section 53 on the right side surface 51c, it is also possible to prompt the operator to hold the main body section 50 in an appropriate manner.
  • the first operation section 40 can be stably operated.
  • a force in the opposite direction to the force applied to the fingertip placement section 43 is applied to the columnar section 52 using the second finger. can be made to act. Therefore, when operating the first operating section 40, the force is balanced, and the operator can hold the main body section 50 in a stable state.
  • the force applied to the fingertip placement section 43 by the index finger 72 is applied in the opposite direction to the thumb 71.
  • the force can be applied to the columnar portion 52 to achieve a balanced state of force.
  • the operator can place each hand and finger at an appropriate position. This makes it possible to encourage the user to hold the main body part 50 by holding the main body part 50.
  • the operator can perform a stable gripping operation.
  • the first operation unit 40 will be operated with the fingers of the other hand. That is, since the gripping operation is performed using the thumb and the finger opposite the thumb, such as the index finger or middle finger, the main body portion 50 can be held stably, and the gripping operation of the first operation portion 40 can be easily performed.
  • the configuration of the operating device 30 is not limited to the above, and may have a configuration in which a second operating section 57 is provided on the upper side surface 51b, as shown in FIG. 8, for example. That is, when the operator holds the main body part 50 with the right hand 70R, the second operating part 57 is arranged at a position where it can be operated with the index finger 72 while performing a gripping operation with the thumb 71 and middle finger 73. It may also be a configuration. In this way, more delicate operations can be performed on the second operating section 57 using the index finger 72.
  • the operating device 30 of the present disclosure may be used to operate a surgical robot system of a type different from a master-slave type. Alternatively, it may be used to operate surgical instruments other than grasping forceps and bipolar electric scalpels.
  • the present disclosure is not limited to the above embodiments as long as it matches the spirit of the disclosure described in the above embodiments. Therefore, in a configuration in which at least two of the above-mentioned embodiments are combined, or in the above-mentioned embodiment, any of the illustrated structural features or the structural features described with reference numerals are abolished. It may be a configuration in which
  • the present disclosure also provides, for example, the following items.
  • An operating device for a surgical support device a main body held by an operator; a first operating section that approaches or moves away from the main body according to an operation with a first finger of the operator; a detection unit that detects a second finger of the operator, which is different from the first finger, and is placed at a predetermined location on the main body when the operator holds the main body; a second operating section operated by a third finger different from either the first finger or the second finger; An operation device for a surgical support device equipped with.
  • the main body portion is a holding part that faces the palm of the operator when held by the operator; comprising a columnar part having a columnar shape extending in a direction away from the holding part,
  • the detection unit includes: provided in a second side area of the columnar part opposite to a first side area facing the first operation part;
  • the second operation section is A side area different from both the first side area and the second side area, and provided in a third side area extending away from the holding part.
  • the first finger is the index finger of the operator;

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

Abstract

La divulgation concerne un dispositif d'actionnement qui est destiné à un dispositif d'assistance chirurgicale, qui est capable d'effectuer diverses opérations, et qui peut être réduit en taille. Le dispositif d'actionnement selon la présente divulgation comprend : une partie corps ; une première partie d'actionnement qui est déplacée vers ou à l'opposé de la partie corps selon une opération effectuée par un premier doigt d'un opérateur ; une partie de détection qui détecte un second doigt placé au niveau d'une partie prédéterminée de la partie corps lorsque l'opérateur tient la partie corps ; et une seconde partie d'actionnement qui est actionnée par un troisième doigt qui est différent du premier doigt ou du second doigt.
PCT/JP2022/031923 2022-08-24 2022-08-24 Dispositif d'actionnement pour dispositif d'assistance chirurgicale WO2024042651A1 (fr)

Priority Applications (1)

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PCT/JP2022/031923 WO2024042651A1 (fr) 2022-08-24 2022-08-24 Dispositif d'actionnement pour dispositif d'assistance chirurgicale

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150290814A1 (en) * 2012-11-14 2015-10-15 Esa - European Space Agency Hand Controller Device
JP2020501257A (ja) * 2016-11-29 2020-01-16 バーチャル インシジョン コーポレイションＶｉｒｔｕａｌ Ｉｎｃｉｓｉｏｎ Ｃｏｒｐｏｒａｔｉｏｎ ユーザの存在検出機能を備えたユーザコントローラ、関連システムおよび方法
JP2020521562A (ja) * 2017-05-26 2020-07-27 コヴィディエン リミテッド パートナーシップ ロボット手術システム用ハンドルアセンブリ
US20200275985A1 (en) * 2017-11-15 2020-09-03 Intuitive Surgical Operations, Inc. Master control device with multi-finger grip and methods therefor
US20210369376A1 (en) * 2015-06-16 2021-12-02 Titan Medical Inc. Hand grip apparatus for receiving operator input in a robotic surgery system
WO2022009355A1 (fr) * 2020-07-08 2022-01-13 リバーフィールド株式会社 Appareil d'opération médicale

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150290814A1 (en) * 2012-11-14 2015-10-15 Esa - European Space Agency Hand Controller Device
US20210369376A1 (en) * 2015-06-16 2021-12-02 Titan Medical Inc. Hand grip apparatus for receiving operator input in a robotic surgery system
JP2020501257A (ja) * 2016-11-29 2020-01-16 バーチャル インシジョン コーポレイションＶｉｒｔｕａｌ Ｉｎｃｉｓｉｏｎ Ｃｏｒｐｏｒａｔｉｏｎ ユーザの存在検出機能を備えたユーザコントローラ、関連システムおよび方法
JP2020521562A (ja) * 2017-05-26 2020-07-27 コヴィディエン リミテッド パートナーシップ ロボット手術システム用ハンドルアセンブリ
US20200275985A1 (en) * 2017-11-15 2020-09-03 Intuitive Surgical Operations, Inc. Master control device with multi-finger grip and methods therefor
WO2022009355A1 (fr) * 2020-07-08 2022-01-13 リバーフィールド株式会社 Appareil d'opération médicale

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