WO2013018930A1 - Operation support device - Google Patents

Operation support device Download PDF

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Publication number
WO2013018930A1
WO2013018930A1 PCT/JP2012/070414 JP2012070414W WO2013018930A1 WO 2013018930 A1 WO2013018930 A1 WO 2013018930A1 JP 2012070414 W JP2012070414 W JP 2012070414W WO 2013018930 A1 WO2013018930 A1 WO 2013018930A1
Authority
WO
WIPO (PCT)
Prior art keywords
driving force
control unit
support device
motion
amount
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2012/070414
Other languages
French (fr)
Inventor
Masaru Yanagihara
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Olympus Corp
Original Assignee
Olympus Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to JP2012012104A priority Critical patent/JP6081061B2/en
Application filed by Olympus Corp filed Critical Olympus Corp
Priority to CN201280034144.8A priority patent/CN103648426B/en
Priority to PCT/JP2012/070414 priority patent/WO2013018930A1/en
Priority to EP12820066.4A priority patent/EP2739236A4/en
Publication of WO2013018930A1 publication Critical patent/WO2013018930A1/en
Priority to US14/157,920 priority patent/US9423869B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/32—Surgical cutting instruments
    • A61B17/320016—Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes
    • A61B17/32002—Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes with continuously rotating, oscillating or reciprocating cutting instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1402—Probes for open surgery
    • 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—Leader-follower robots
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/77—Manipulators with motion or force scaling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B46/00—Surgical drapes
    • A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • A61B2017/00482—Coupling with a code
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B46/00—Surgical drapes
    • A61B46/20—Surgical drapes specially adapted for patients
    • A61B46/23—Surgical drapes specially adapted for patients with means to retain or hold surgical implements
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y10S901/06—Communication with another machine
    • Y10S901/08—Robot
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y10S901/09—Closed loop, sensor feedback controls arm movement
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49826—Assembling or joining
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/18—Mechanical movements
    • Y10T74/18056—Rotary to or from reciprocating or oscillating

Definitions

  • the present invention relates to an operation support device, and more specifically, to an operation support device in which a manipulation resistance during an operation input is adjusted by a driving force.
  • Patent Document 1 discloses a remote operation device capable of being used in such an application.
  • a distance between a slave hand and a work object is detected, and an automatic mode in which the slave hand is automatically moved and a manual mode in which the slave hand is moved based on the operation of a master hand is switched using a value of the detected distance.
  • the slave hand approaches the work object in the automatic mode.
  • the mode is switched to the manual mode, and a user can operate the slave hand.
  • Patent Document 1 also discloses that reaction feedback to the master hand is changed depending on the distance between the slave hand and the work object, and a manipulation resistance is changed when the user operates the master hand.
  • reaction feedback to the master hand is changed depending on the distance between the slave hand and the work object, and a manipulation resistance is changed when the user operates the master hand.
  • Patent Document 1 Japanese Unexamined Patent Application, First Publication No. 2006-167867
  • the invention has been made under such circumstances, and an object thereof is to provide an operation support device that can constantly cause an appropriate manipulation resistance for the operation input part.
  • an operation support device includes an operation part that performs an operation input by an operator, and an action part to which a surgical tool is attached and which is driven by the operation input. Moreover, the operation support device further includes a drive source that is provided in the operation part and generates a driving force which adjusts the manipulation resistance at the time of the operation input, and a control unit that sets a magnitude and a direction of the driving force, wherein the control unit sets the magnitude and the direction of the driving force based on the operation input to the operation part.
  • the term "force" of the term "the driving force” includes torque.
  • the operation part has a switch
  • the control unit sets the driving force based on one of a plurality of modes, and when the switch is operated by the operator, the mode used when the control unit sets the driving force is switched.
  • the switch is configured to be operated by a hand or a foot of the operator.
  • the surgical tool in an active state when performing the operation, and the switch combines function to switch the surgical tool to the active state.
  • the operation support device further includes a detection part that detects an amount of motion of the operation part using the operation input, and the control unit sets the driving force so that the driving force is increased as the amount of motion is reduced.
  • control unit sets the driving force to a relatively great level when the amount of motion is equal to or less than a predetermined threshold value.
  • the device further includes a detection part that detects the amount of motion of the operation part using the operation input, and the control unit sets the driving force so that the driving force is increased as the amount of motion is increased and a relationship between an amount of change of the amount of motion and an amount of change of the driving force is changed depending on the value of the amount of motion.
  • the control unit sets the driving force to a relatively great level when the amount of motion is equal to or greater than a predetermined threshold value.
  • the surgical tool is attachably and detachably provided in a plural number in the action part, the respective surgical tool having identification information, and the control unit sets magnitude and direction of the driving force based on the identification information of the surgical tool mounted on the action part.
  • manipulation can be easily and very suitably performed, by constantly generating an appropriate manipulation resistance in the operation input section.
  • FIG. 1 A diagram that shows a master slave manipulator to which a motion mechanism according to a first embodiment of the invention is applied.
  • FIG. 2 A schematic perspective view that shows a structure of a first joint part of the master slave manipulator to which the motion mechanism according to the first embodiment of the invention is applied.
  • FIG. 3 A A graph that shows a relationship between a rotational angular speed of a shaft part of the first joint part and a driving force generated in a drive source, in a control unit of the master slave manipulator to which the motion mechanism according to the first embodiment of the invention is applied.
  • FIG. 3B A graph that shows the relationship between the rotational angular speed of the shaft part of the first joint part and the driving force generated in the drive source, in the control unit of the master slave manipulator to which the motion mechanism according to the first embodiment of the invention is applied.
  • FIG. 4A Another example of the graphs of FIGS. 3 A and 3B.
  • FIG. 4B Another example of the graphs of FIGS. 3A and 3B.
  • FIG. 4C Another example of the graphs of FIGS. 3A and 3B.
  • FIG. 5 A Another example of the graphs of FIGS. 3 A and 3B.
  • FIG. 5B Another example of the graphs of FIGS. 3A and 3B.
  • FIG. 6 A schematic perspective view that shows a structure of a first joint part of a master slave manipulator according to a second embodiment of the invention.
  • FIG. 7 A schematic perspective view that shows a structure of a first joint part of a master slave manipulator according to a third embodiment of the invention.
  • FIG 8 A A diagram that shows a distal end part of a surgical tool.
  • FIG. 8B A diagram that shows the distal end part of the surgical tool.
  • FIG. 9A A graph that shows the relationship between a rotational angular speed of a shaft part of the first joint part and a driving force generated in a drive source, in a control unit of the master slave manipulator to which a motion mechanism according to the third embodiment of the invention is applied.
  • FIG. 9B A graph that shows the relationship between the rotational angular speed of the shaft part of the first joint part and the driving force generated in the drive source, in the control unit of the master slave manipulator to which the motion mechanism according to the third embodiment of the invention is applied.
  • FIG. 9C A graph that shows the relationship between the rotational angular speed of the shaft part of the first joint part and the driving force generated in the drive source, in the control unit of the master slave manipulator to which the motion mechanism according to the third embodiment of the invention is applied.
  • FIG. 10 A diagram that shows an operation support device of a modified example of the embodiments of the invention.
  • FIG. 11 A graph that shows a relationship between an amount of switch manipulation and a driving force in an operation support device according to another modified example of the embodiments of the invention.
  • FIG. 1 is a diagram that shows a schematic configuration of a medical master slave manipulator 1 that is an operation support device of this embodiment.
  • the master slave manipulator 1 includes a master arm (an operation part) 2 operated by an operator Op, and a slave arm (an action part) 3 that is operated in synchronization with the master arm 2.
  • a surgical tool 4 is attached to a distal end of the slave arm 3, and various operations are performed on a patient P using the surgical tool 4.
  • the master arm 2 has three arms including a first master arm 21, a second master arm 22, and a third master arm 23.
  • the first master arm 21 and the second master arm 22 are connected to each other by a first joint part 41 in a relatively rotatable manner.
  • the second master arm 22 and the third master arm 23 are connected to each other by a second joint part 42 in a relatively rotatable manner.
  • the third master arm 23 is connected to a base 24 supporting the master arm 2 by a base joint part 43 in a relatively rotatable manner.
  • the master arm 2 is configured to be able to perform a multiaxial rotational movement as a whole.
  • the slave arm 3 has three arms including a first slave arm 31 , a second slave arm 32 and a third slave arm 33.
  • the first slave arm 31 and the second slave arm 32 are connected to each other by a third joint part 51 in a relatively rotatable manner.
  • the second slave arm 32 and the third slave arm 33 are connected to each other by a fourth joint part 52 in a relatively rotatable manner.
  • the third slave arm 33 is connected to a housing section 34 including a driving force transmission member or the like by a second base joint part 53 in a relatively rotatable manner.
  • the respective joint parts 51, 52, and 53 are configured so that they can perform the rotational drive by a drive source (not shown).
  • the master arm 2 and the slave arm 3 are connected to each other via a control unit 5.
  • the control unit 5 generates a manipulation signal for manipulating the slave arm 3 based on an operation input to the master arm 2 by the operator Op, and sends the manipulation signal to the slave arm 3.
  • a method of processing the operation input for generating the manipulation signal there is a method of changing a scale of the movement of the master arm and the slave arm by setting an angle in which a scale corresponding to a gear ratio is changed by gears provided in each joint part of the master arm as the manipulation signal.
  • control unit 5 adjusts the manipulation resistance received by the operator Op when the operator Op performs the operation input to the master arm 2, based on the operation input to the master arm 2. The details of the adjustment will be described later.
  • the respective joint parts 51, 52, and 53 of the slave arm 3 are operated by the driving of the drive source based on the manipulation signal received from the control unit 5.
  • the master arm 2 and the slave arm 3 each include three arms.
  • the master arm 2 and the slave arm 3 may each have one or more arms.
  • the number of arms included in the master arm 2 and the slave arm 3 may not be identical to each other, and the directions of the rotation axes thereof may differ.
  • FIG. 2 is a schematic perspective view that shows a structure of the first joint part 41 of the maser arm 2.
  • the first joint part 41 includes a shaft part 60 and a drive source 70.
  • the shaft part 60 is fixed to the first arm 21 that is held by the operator Op.
  • the drive source 70 adjusts the manipulation resistance by causing the driving force to act on the shaft part 60.
  • One end section of the shaft part 60 is fixed to the first master arm 21, and the other end section thereof is rotatably supported by the second master arm 22.
  • the detection part 61 detects a rotational angular speed (an amount of motion) of the shaft part 60. In the vicinity of the shaft part 60, the detection part 61 is fixed to the second master arm 22 and is placed so as not to be rotated with the shaft part 60.
  • a known linear encoder or the like may be used as the detection part 61.
  • the drive source 70 is fixed to the second master arm 22 via the detection part 61.
  • a driving part of the drive source 70 is in contact with the shaft part 60 so that the drive source 70 can cause the driving force to act on the shaft part 60.
  • the drive source 70 for example, a motor capable of rotating normally or reversely or the like can be used, and the motor may also include a gear or the like.
  • the detection part 61 and the drive source 70 are connected to the control unit 5.
  • the amount of rotation of the shaft part 60 detected by the detection part 61 is sent to the control unit 5, and the driving signal for driving the drive source 70 is sent from the control unit 5 to the drive source 70.
  • the shaft part 60 fixed to the first master arm 21 , the second joint part 42, and the base joint part 43 are rotated.
  • the rotational angular speed and the direction of the shaft part 60 are detected by the detection part 61 and are transmitted to the control unit 5.
  • the rotational angular speeds and the directions of the respective joint parts 42 and 43 are also transmitted to the control unit 5.
  • the control unit 5 specifies the rotational angular speed and the rotation direction (the motion direction) of the shaft part 60, based on information from the detection part 61. Furthermore, the control unit 5 calculates the magnitude and the direction of the driving force generated from the drive source 70 based on a
  • FIG. 3 A is a graph that shows a driving force setting pattern that is a relationship between a rotational angular speed ⁇ of the shaft part and a magnitude (an absolute value) of the driving force f.
  • a horizontal axis thereof indicates the rotational angular speed ⁇ , wherein a predetermined normal rotation direction, for example, clockwise when the shaft part 60 is viewed from the first master arm 21 side, is positive, and the rotation in the reverse rotation direction opposite the normal rotation direction is negative.
  • a vertical axis thereof indicates the driving force f, wherein a force rotating the shaft part 60 normally is positive, and a force rotating the shaft part 60 in reverse is negative.
  • the magnitude and the direction of the driving force f are set so that a great driving force opposite the rotational angular speed is generated in the drive source 70 as the absolute value of the rotational angular speed ⁇ is reduced. That is, as the absolute value of the rotational angular speed co is reduced, the manipulation resistance when performing the operation is increased.
  • the driving signal generated by the control unit 5 is transmitted to the drive source 70.
  • the drive source 70 is driven based on the driving signal, the driving force f with the magnitude and the direction set by the control unit 5 is generated, and the manipulation resistance of the master arm 2 is adjusted.
  • the setting of the driving force f and the generation and the transmission of the driving signal are repeatedly performed at predetermined intervals, for example, dozens of microseconds.
  • the rotational angular speed ⁇ used in the setting is detected as a difference from the state of the shaft part 60 at the time of the setting of the driving force immediately before.
  • the control unit 5 generates the driving force f of a predetermined direction and magnitude in the drive source 70 based on the rotational angular speed ⁇ of the shaft part 60 of the first joint part 41 using the operation input of the operator Op to the master arm 2, and the control unit 5 gives the master arm 2 the manipulation resistance depending on the rotational angular speed co.
  • the driving force f is set in a state as the graph shown in FIG. 3 A.
  • the manipulation resistance is set to a relatively great level and the manipulation resistance is stabilized.
  • the manipulation resistance is set to a relatively small level, which prevents the rapid operation of the operator from being disturbed. That is, depending on the operation input to the master arm 2, the manipulation resistance is suitably adjusted in conjunction with the contents of the operation. For this reason, an appropriate manipulation resistance is constantly generated in the master arm 2. As a result, stress of the operator is reduced, and thus the operator can easily and suitably perform various operations.
  • the driving force setting pattern is not limited to that shown in FIG. 3A.
  • the value of the driving force f may be fixed to a predetermined value that is relatively larger than the predetermined range Rl .
  • the driving force f when the absolute value of the rotational angular speed ⁇ is equal to or greater than a predetermined value, the driving force f may be zero, that is, the driving force f may be set so that the drive source 70 is not driven.
  • a sudden change of a feeling of resistance is felt by an operator. For this reason, as an example, usage in a situation in which the operator desires to consciously discriminate between a case of performing a light and quick operation and a case of performing a careful and minute operation will be considered.
  • the value of the driving force f may be set to a value that is smaller than the predetermined range Rl but is not zero.
  • the value of the driving force f may be set in the same direction as the rotational angular speed co.
  • the absolute value of the rotational angular speed ⁇ is equal to or greater than a predetermined value
  • the driving force f serves to assist rotation of the shaft part 60 in the same direction as that of the operation input, the manipulation resistance is lightened and can assist the quick operation of the operator.
  • the value of the driving force f may be set so as to be increased as the absolute value of the rotational angular speed ⁇ is increased.
  • the amount of motion is the rotational angular speed
  • a second embodiment of the invention will be described with reference to FIG. 6.
  • a master slave manipulator of the present embodiment is different from the master slave manipulator 1 mentioned above in that further including a switch for switching the setting form of the manipulation resistance.
  • configurations common to those mentioned above will be references by the same reference numerals and description thereof will be omitted.
  • FIG. 6 is a schematic perspective view that shows a configuration of the first joint part 41 of the master slave manipulator of this embodiment.
  • a switch 81 is connected to the control unit 5.
  • the switch 81 constitutes a part of the operation part, and if the switch is in a position where it can be operated by the operator Op, the placement position and the form thereof are not particularly limited.
  • the switch 81 may be, for example, provided in the first master arm 21.
  • the control unit 5 sets the direction and the magnitude of the driving force f depending on the mode set in the respective points of time.
  • the mode two modes including a first mode and a second mode are provided.
  • a driving force ft of a predetermined magnitude in a direction opposite to the rotational angular speed ⁇ is set.
  • a driving force f 2 smaller than the driving force ft in the direction opposite to the rotational angular speed ⁇ is set.
  • the mode set in the control unit 5 is switched by the operation of the switch 81. That is, the operator Op operates the switch 81 with his or her hand, and thus the currently set mode is switched to the other mode.
  • control unit 5 sets the direction and the magnitude of the driving force f based on the rotation direction of the shaft part 60 received from the detection part 61 and the mode set in the control unit 5 at that point in time, generates the driving signal based on the direction and the magnitude, and transmits the driving signal to the drive source 70.
  • an operator Op operates the switch 81 and appropriately sets the mode of the control unit 5.
  • the switch 81 it is possible to constantly give an appropriate manipulation resistance to the master arm 2.
  • the operator can easily and suitably perform various operations.
  • the operation part includes the switch 81.
  • the operator Op can actively switch the mode to a mode suitable for the operation currently being performed or to a mode suitable for an operation to be performed next.
  • suitable manipulation resistance to the master arm 2 more reliably.
  • the number of modes is not limited to two.
  • three or more modes may be provided.
  • the contents of the modes are not limited to those that constantly generate the driving force of the fixed size as mentioned above.
  • the driving force setting pattern in which the magnitude of the driving force is changed according to the direction and the magnitude (the absolute value) of the rotational angular speed ⁇ , may be used as the mode.
  • Such mode may be provided in the control unit 5 so as to be combined with the mode that constantly generates the driving force of the fixed magnitude.
  • the type of switch is not limited to a button type as shown in FIG. 6, but various types of switches can be used.
  • a foot switch, a trigger type switch, a switch of a graphical user interface (GUI) displayed on a display part or the like can be adopted.
  • GUI graphical user interface
  • a third embodiment of the invention will be described with reference to FIGS. 7 to 9C.
  • the master slave manipulator of the present embodiment is different from the master slave manipulators of the respective embodiments mentioned above in some points including the setting form of the driving force.
  • FIG. 7 is a schematic perspective view that shows a structure of a first joint part 141 of the master slave manipulator of the present embodiment. Configurations of a shaft part 142 and a second master arm 143 are substantially the same as those of the shaft part 60 and the second master arm 22. However, in the master slave manipulator of the present embodiment shown in FIG. 7, when the drive source 70 is not operated, the manipulation resistance of the first master arm 21 is greater than that in the first joint part 141. For this reason, when the drive source 70 is not operated, it is possible to stably perform the operation such that the first master arm 21 moves bit by bit at the rotational angular speed of the small absolute value, without causing jiggle hand or the like.
  • the direction of the generated driving force f is set in the same direction as the rotational angular speed co. That is, the driving force f acts on the shaft part 142 so as to reduce the manipulation resistance, and the greater the driving force f is, the smaller the manipulation resistance is.
  • the surgical tool 4 of the present embodiment is a high-frequency incision instrument (an energy device) shown in FIG. 8A.
  • an electric conduction switch 144 provided in the first master arm 21
  • a high-frequency current is supplied to the distal end 4 A of the surgical tool 4, and enters an active state, and as shown in FIG. 8B, the tissue Ts can be cauterized and cut.
  • the electric conduction switch 144 is connected to the control unit 5, and an information of an on-off state of the electric conduction switch 144 is sent to the control unit 5.
  • the mode of the control unit 5 is switched depending on the on-off state of the electric conduction switch 144.
  • the electric conduction switch 144 When the electric conduction switch 144 is turned on, the second mode in which a smaller driving force is generated is set in the control unit 5, stability of the operation manipulation performed in the active state of the surgical tool 4, such as the tissue is cauterized and cut, is secured. Meanwhile, when the electric conduction switch 144 is turned off, the mode of the control unit 5 is set to the first mode, the manipulation resistance is reduced, and it is easy to rapidly move the surgical tool 4.
  • the switching of the electric conduction switch 144 for changing the surgical tool 4 to the active state is linked with the exchange of the mode of the control unit 5. For this reason, the operator Op can perform the operation under a suitable manipulation resistance by merely
  • the driving force setting pattern may be configured so that the greater the absolute value of the rotational angular speed ⁇ is, the greater the driving force f in the same direction as the rotational angular speed ⁇ is set.
  • the driving force setting pattern in which the greater driving force is set may be used.
  • the aspect shown in FIG. 9A is used, for example, in a situation in which the initial motion resistance when the amount of motion is small is appropriate in view of the minute operation or the like.
  • the aspect shown in FIG. 9B is used in a case in which there is a need for a reduction in motion resistance to some extent even when the amount of motion is small, because the initial motion resistance is great.
  • the minute operation can be performed basically using an initial manipulation resistance. Meanwhile, when the amount of motion is great, by actively generating the driving force to lighten the manipulation resistance, the operation can be lightly performed. Furthermore, in the aspect shown in FIG. 9C, since the slope of an increase in driving force is continuously changed, the operator hardly feels a sense of discomfort and can smoothly perform the operation.
  • the drive source, the detection part or the like are provided only in the first joint part of the master arm.
  • a mechanism may be provided in two or more joint parts, and may be provided in all of the joint parts.
  • the plurality of joints are included, a case in which the operator operates the distal end of the arm with his or her hand and arm is assumed.
  • the driving force suitable for each joint based on the arm length between each of the joints and the initial manipulation resistance, unevenness is not generated depending on the direction, and a feeling of operation using the hand and the arm is improved.
  • the driving force can be set so as to enhance the manipulation resistance of the joint.
  • the master slave manipulator in which the operation part is the master arm has been described.
  • the operation support device of the invention is not limited thereto, and the operation part may be constituted by a joystick or the like. In this case, the manipulation resistance of the joystick or the like is controlled.
  • the operation part may be wirelessly connected to the control unit.
  • the operation support device is constituted such that a plurality of surgical tools, which is attachable and detachable to the action part, is exchangeable, identification information is preserved on each surgical tool and the surgical tool mounted on the action part is identified by the control unit based on the identification information. And then, the corresponding surgical tool is selected from the driving force setting patterns prepared for each kind of surgical tool in advance or the combination of the modes, and the driving signal may be generated based thereon. In this manner, the operation in which the operator performs adjustment of the manipulation resistance is reduced, and thus the operation can be simply and easily performed.
  • FIG. 10 shows a case of the first slave arm 31.
  • means for detecting a force acting on the slave arm and the amount of minute motion when the operator tries to move the slave arm is provided in the slave arm, the amount of detection thereof is subjected to the motion command, and the respective joints 51, 52, and 53 of the slave arm can be configured so as to be operated by the driving force of the drive source.
  • the detection means may be provided near a location where it is held by a hand or may be provided in the motion mechanism of each joint.
  • FIG. 11 is a graph that shows a relationship between a pressing amount ⁇ of the switch and the driving force f in a modified example of the embodiments mentioned above.
  • the control unit sets the driving force f so that when the pressing amount ⁇ is increased, the absolute value of the driving force f is increased. In this case, the operator can adjust the manipulation resistance more carefully.
  • the pressing amount ⁇ can be detected by providing a sensor or the like in the switch. Furthermore, instead of the pressing amount, it is also possible to associate a time ⁇ during the switch being pressed with the driving force f.
  • the driving force setting pattern and the mode in the invention may be prepared from various viewpoints. For example, they may be prepared for every operator, every operation, and every task pattern.
  • the operator may input the manipulator ID, the operation, and the task pattern to the operation support device via an interface such as a GUI, and the control unit may be configured so as to select the driving force pattern and the mode depending on the input contents.
  • operation can be easily and suitably performed by constantly generating an appropriate manipulation resistance in the operation input part.

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Abstract

An operation support device includes an operation part (2) in which the operation input is performed by an operator, an action part (3) to which a surgical tool is attached and which is driven by the operation input, a drive source (70) that is provided in the operation part (2), and generates a driving force which adjusts the manipulation resistance at the time of the operation input, and a control unit (5) that sets the magnitude and direction of the driving force, wherein the control unit (5) sets the magnitude and direction of the driving force based on the operation input to the operation part (2).

Description

DESCRIPTION
[Title of the Invention]
OPERATION SUPPORT DEVICE
[Technical Field]
[0001]
The present invention relates to an operation support device, and more specifically, to an operation support device in which a manipulation resistance during an operation input is adjusted by a driving force.
Priority is claimed on Provisional Application No. 61/515203 filed in US on Aug. 4, 2011, and Japanese Patent Application No. 2012-012104 filed on Jan. 24, 2012, the contents of which are incorporated herein by reference.
[Background Art]
[0002]
In the past, a master slave manipulator which operates a slave manipulator by a remote operation using a master manipulator has been known, and application to an operation support device or the like has been suggested. Patent Document 1 discloses a remote operation device capable of being used in such an application.
[0003]
In the remote operation device of Patent Document 1, a distance between a slave hand and a work object is detected, and an automatic mode in which the slave hand is automatically moved and a manual mode in which the slave hand is moved based on the operation of a master hand is switched using a value of the detected distance. When the distance between the work object and the slave hand is far, the slave hand approaches the work object in the automatic mode. When the distance between the slave hand and the work object is equal to or less than a predetermined value, the mode is switched to the manual mode, and a user can operate the slave hand. As a consequence, when the slave hand is considerably far from the work object, the user need not operate the master hand, and the burden on the user is reduced.
[0004]
Furthermore, Patent Document 1 also discloses that reaction feedback to the master hand is changed depending on the distance between the slave hand and the work object, and a manipulation resistance is changed when the user operates the master hand. Thus, when the slave hand approaches the work object, the user can easily perform a delicate operation.
[Prior Art Document]
[Patent Document]
[0005]
[Patent Document 1] Japanese Unexamined Patent Application, First Publication No. 2006-167867
[Disclosure of the Invention]
[Problem to be solved by the Invention]
[0006]
However, there are various operations for a target tissue in the operation. For example, there are an operation that requires a minute and accurate operation, like a motion of applying a needle when sewing the tissue, and for example, a treatment to stop bleeding of a bleeding that occurred during the operation, an operation that requires the rapid performance of a series of motions from the identification of a bleeding part to the completion of hemostasis.
[0007] In the former case, it is known that, by applying suitable resistance (hereinafter referred to as a "manipulation resistance") to the operation of the master manipulator, jiggling hand of a user and feeling of instability of the hand are reduced, and thus the operation can be easily performed. Meanwhile, in the latter case, in some cases, the same manipulation resistance disturbs the rapid operation and is not preferable. In this manner, the magnitude of the optimal manipulation resistance is mainly defined by the contents of the operation, and is not integrally defined by the distance between the slave manipulator and the working object. For this reason, the control state as in the remote operation device described in Patent Document 1 is not suitable to be applied to the operation support device.
[0008]
The invention has been made under such circumstances, and an object thereof is to provide an operation support device that can constantly cause an appropriate manipulation resistance for the operation input part.
[Means for Solving the Problems]
[0009]
According to a first aspect of the invention, an operation support device includes an operation part that performs an operation input by an operator, and an action part to which a surgical tool is attached and which is driven by the operation input. Moreover, the operation support device further includes a drive source that is provided in the operation part and generates a driving force which adjusts the manipulation resistance at the time of the operation input, and a control unit that sets a magnitude and a direction of the driving force, wherein the control unit sets the magnitude and the direction of the driving force based on the operation input to the operation part. In addition, the term "force" of the term "the driving force" includes torque. [0010]
According to a second aspect of the invention, in the operation support device according to the first aspect, the operation part has a switch, the control unit sets the driving force based on one of a plurality of modes, and when the switch is operated by the operator, the mode used when the control unit sets the driving force is switched.
[0011]
According to a third aspect of the invention, in the operation support device according to the second aspect, the switch is configured to be operated by a hand or a foot of the operator.
[0012]
According to a fourth aspect of the invention, in the operation support device according to the second or third aspect, the surgical tool is in an active state when performing the operation, and the switch combines function to switch the surgical tool to the active state.
[0013]
According to a fifth aspect of the invention, in the operation support device according to any one of the first to fourth aspects, the operation support device further includes a detection part that detects an amount of motion of the operation part using the operation input, and the control unit sets the driving force so that the driving force is increased as the amount of motion is reduced.
[0014]
According to a sixth aspect of the invention, in the operation support device according to the fifth aspect, the control unit sets the driving force to a relatively great level when the amount of motion is equal to or less than a predetermined threshold value.
[0015] According to a seventh aspect of the invention, in the operation support device according to any one of the first to fourth aspects, the device further includes a detection part that detects the amount of motion of the operation part using the operation input, and the control unit sets the driving force so that the driving force is increased as the amount of motion is increased and a relationship between an amount of change of the amount of motion and an amount of change of the driving force is changed depending on the value of the amount of motion.
[0016]
According to an eighth aspect of the invention, in the operation support device according to the seventh aspect, the control unit sets the driving force to a relatively great level when the amount of motion is equal to or greater than a predetermined threshold value.
[0017]
According to a ninth aspect of the invention, in the operation support device according to any one of the first to eighth aspects, the surgical tool is attachably and detachably provided in a plural number in the action part, the respective surgical tool having identification information, and the control unit sets magnitude and direction of the driving force based on the identification information of the surgical tool mounted on the action part.
[Effects of the Invention]
[0018]
According to the operation support device mentioned above, manipulation can be easily and very suitably performed, by constantly generating an appropriate manipulation resistance in the operation input section.
[Brief Description of the Drawings] [0019]
[FIG. 1] A diagram that shows a master slave manipulator to which a motion mechanism according to a first embodiment of the invention is applied.
[FIG. 2] A schematic perspective view that shows a structure of a first joint part of the master slave manipulator to which the motion mechanism according to the first embodiment of the invention is applied.
[FIG. 3 A] A graph that shows a relationship between a rotational angular speed of a shaft part of the first joint part and a driving force generated in a drive source, in a control unit of the master slave manipulator to which the motion mechanism according to the first embodiment of the invention is applied.
[FIG. 3B] A graph that shows the relationship between the rotational angular speed of the shaft part of the first joint part and the driving force generated in the drive source, in the control unit of the master slave manipulator to which the motion mechanism according to the first embodiment of the invention is applied.
[FIG. 4A] Another example of the graphs of FIGS. 3 A and 3B.
[FIG. 4B] Another example of the graphs of FIGS. 3A and 3B.
[FIG. 4C] Another example of the graphs of FIGS. 3A and 3B.
[FIG. 5 A] Another example of the graphs of FIGS. 3 A and 3B.
[FIG. 5B] Another example of the graphs of FIGS. 3A and 3B.
[FIG. 6] A schematic perspective view that shows a structure of a first joint part of a master slave manipulator according to a second embodiment of the invention.
[FIG. 7] A schematic perspective view that shows a structure of a first joint part of a master slave manipulator according to a third embodiment of the invention.
[FIG 8 A] A diagram that shows a distal end part of a surgical tool.
[FIG. 8B] A diagram that shows the distal end part of the surgical tool. [FIG. 9A] A graph that shows the relationship between a rotational angular speed of a shaft part of the first joint part and a driving force generated in a drive source, in a control unit of the master slave manipulator to which a motion mechanism according to the third embodiment of the invention is applied.
[FIG. 9B] A graph that shows the relationship between the rotational angular speed of the shaft part of the first joint part and the driving force generated in the drive source, in the control unit of the master slave manipulator to which the motion mechanism according to the third embodiment of the invention is applied.
[FIG. 9C] A graph that shows the relationship between the rotational angular speed of the shaft part of the first joint part and the driving force generated in the drive source, in the control unit of the master slave manipulator to which the motion mechanism according to the third embodiment of the invention is applied.
[FIG. 10] A diagram that shows an operation support device of a modified example of the embodiments of the invention.
[FIG. 11] A graph that shows a relationship between an amount of switch manipulation and a driving force in an operation support device according to another modified example of the embodiments of the invention.
Best Mode for Carrying Out the Invention
[0020]
Hereinafter, a first embodiment of the invention will be described. FIG. 1 is a diagram that shows a schematic configuration of a medical master slave manipulator 1 that is an operation support device of this embodiment. The master slave manipulator 1 includes a master arm (an operation part) 2 operated by an operator Op, and a slave arm (an action part) 3 that is operated in synchronization with the master arm 2. A surgical tool 4 is attached to a distal end of the slave arm 3, and various operations are performed on a patient P using the surgical tool 4.
[0021]
The master arm 2 has three arms including a first master arm 21, a second master arm 22, and a third master arm 23. The first master arm 21 and the second master arm 22 are connected to each other by a first joint part 41 in a relatively rotatable manner. The second master arm 22 and the third master arm 23 are connected to each other by a second joint part 42 in a relatively rotatable manner. Furthermore, the third master arm 23 is connected to a base 24 supporting the master arm 2 by a base joint part 43 in a relatively rotatable manner. The master arm 2 is configured to be able to perform a multiaxial rotational movement as a whole.
[0022]
The slave arm 3 has three arms including a first slave arm 31 , a second slave arm 32 and a third slave arm 33. The first slave arm 31 and the second slave arm 32 are connected to each other by a third joint part 51 in a relatively rotatable manner. The second slave arm 32 and the third slave arm 33 are connected to each other by a fourth joint part 52 in a relatively rotatable manner. The third slave arm 33 is connected to a housing section 34 including a driving force transmission member or the like by a second base joint part 53 in a relatively rotatable manner. The respective joint parts 51, 52, and 53 are configured so that they can perform the rotational drive by a drive source (not shown).
[0023]
The master arm 2 and the slave arm 3 are connected to each other via a control unit 5. The control unit 5 generates a manipulation signal for manipulating the slave arm 3 based on an operation input to the master arm 2 by the operator Op, and sends the manipulation signal to the slave arm 3. As an example of a method of processing the operation input for generating the manipulation signal, there is a method of changing a scale of the movement of the master arm and the slave arm by setting an angle in which a scale corresponding to a gear ratio is changed by gears provided in each joint part of the master arm as the manipulation signal.
Furthermore, the control unit 5 adjusts the manipulation resistance received by the operator Op when the operator Op performs the operation input to the master arm 2, based on the operation input to the master arm 2. The details of the adjustment will be described later.
[0024]
When the operator Op operates the master arm 2, and performs various operations using the slave arm 3, the respective joint parts 51, 52, and 53 of the slave arm 3 are operated by the driving of the drive source based on the manipulation signal received from the control unit 5.
In this embodiment, the master arm 2 and the slave arm 3 each include three arms. However, in practice, the master arm 2 and the slave arm 3 may each have one or more arms. The number of arms included in the master arm 2 and the slave arm 3 may not be identical to each other, and the directions of the rotation axes thereof may differ.
[0025]
FIG. 2 is a schematic perspective view that shows a structure of the first joint part 41 of the maser arm 2. The first joint part 41 includes a shaft part 60 and a drive source 70. The shaft part 60 is fixed to the first arm 21 that is held by the operator Op. The drive source 70 adjusts the manipulation resistance by causing the driving force to act on the shaft part 60.
[0026] One end section of the shaft part 60 is fixed to the first master arm 21, and the other end section thereof is rotatably supported by the second master arm 22. The detection part 61 detects a rotational angular speed (an amount of motion) of the shaft part 60. In the vicinity of the shaft part 60, the detection part 61 is fixed to the second master arm 22 and is placed so as not to be rotated with the shaft part 60. As the detection part 61, a known linear encoder or the like may be used.
[0027]
The drive source 70 is fixed to the second master arm 22 via the detection part 61. A driving part of the drive source 70 is in contact with the shaft part 60 so that the drive source 70 can cause the driving force to act on the shaft part 60. As the drive source 70, for example, a motor capable of rotating normally or reversely or the like can be used, and the motor may also include a gear or the like.
[0028]
The detection part 61 and the drive source 70 are connected to the control unit 5. The amount of rotation of the shaft part 60 detected by the detection part 61 is sent to the control unit 5, and the driving signal for driving the drive source 70 is sent from the control unit 5 to the drive source 70.
[0029]
The motion of the master slave manipulator 1 configured as above will be described.
When the operator Op holds the first master arm 21 and performs the operation input to the master arm 2, the shaft part 60 fixed to the first master arm 21 , the second joint part 42, and the base joint part 43 are rotated. The rotational angular speed and the direction of the shaft part 60 are detected by the detection part 61 and are transmitted to the control unit 5. The rotational angular speeds and the directions of the respective joint parts 42 and 43 are also transmitted to the control unit 5.
[0030]
The control unit 5 specifies the rotational angular speed and the rotation direction (the motion direction) of the shaft part 60, based on information from the detection part 61. Furthermore, the control unit 5 calculates the magnitude and the direction of the driving force generated from the drive source 70 based on a
predetermined calculation, and generates the driving signal for generating the driving force in the drive source 70.
[0031]
FIG. 3 A is a graph that shows a driving force setting pattern that is a relationship between a rotational angular speed ω of the shaft part and a magnitude (an absolute value) of the driving force f. A horizontal axis thereof indicates the rotational angular speed ω, wherein a predetermined normal rotation direction, for example, clockwise when the shaft part 60 is viewed from the first master arm 21 side, is positive, and the rotation in the reverse rotation direction opposite the normal rotation direction is negative. A vertical axis thereof indicates the driving force f, wherein a force rotating the shaft part 60 normally is positive, and a force rotating the shaft part 60 in reverse is negative.
As will be understood with reference to FIG. 3 A, in the control unit 5, the magnitude and the direction of the driving force f are set so that a great driving force opposite the rotational angular speed is generated in the drive source 70 as the absolute value of the rotational angular speed ω is reduced. That is, as the absolute value of the rotational angular speed co is reduced, the manipulation resistance when performing the operation is increased.
[0032] The driving signal generated by the control unit 5 is transmitted to the drive source 70. When the drive source 70 is driven based on the driving signal, the driving force f with the magnitude and the direction set by the control unit 5 is generated, and the manipulation resistance of the master arm 2 is adjusted.
The setting of the driving force f and the generation and the transmission of the driving signal are repeatedly performed at predetermined intervals, for example, dozens of microseconds. The rotational angular speed ω used in the setting is detected as a difference from the state of the shaft part 60 at the time of the setting of the driving force immediately before.
[0033]
As described above, according to the master slave manipulator 1 of this embodiment, the control unit 5 generates the driving force f of a predetermined direction and magnitude in the drive source 70 based on the rotational angular speed ω of the shaft part 60 of the first joint part 41 using the operation input of the operator Op to the master arm 2, and the control unit 5 gives the master arm 2 the manipulation resistance depending on the rotational angular speed co.
[0034]
The driving force f is set in a state as the graph shown in FIG. 3 A. For this reason, for example, like the motion of applying the needle, in a case in which the first master arm 21 is gradually moved at the rotational angular speed having a small absolute value, the manipulation resistance is set to a relatively great level and the manipulation resistance is stabilized. Meanwhile, like a treatment that stops bleeding, when the first master arm 21 is moved at the rotational angular speed of a large absolute value, the manipulation resistance is set to a relatively small level, which prevents the rapid operation of the operator from being disturbed. That is, depending on the operation input to the master arm 2, the manipulation resistance is suitably adjusted in conjunction with the contents of the operation. For this reason, an appropriate manipulation resistance is constantly generated in the master arm 2. As a result, stress of the operator is reduced, and thus the operator can easily and suitably perform various operations.
[0035]
In this embodiment, the driving force setting pattern is not limited to that shown in FIG. 3A. Thus, as shown on FIG. 3B, when the absolute value of the rotational angular speed ω is within a predetermined range Rl, that is, the amount of motion of the master arm is equal to or less than a predetermined threshold value, the value of the driving force f may be fixed to a predetermined value that is relatively larger than the predetermined range Rl .
[0036]
As shown in FIGS. 4A to 4C, when the absolute value of the rotational angular speed ω is equal to or greater than a predetermined value, the driving force f may be zero, that is, the driving force f may be set so that the drive source 70 is not driven. In the case of the aspect shown in FIG. 4 A, a sudden change of a feeling of resistance is felt by an operator. For this reason, as an example, usage in a situation in which the operator desires to consciously discriminate between a case of performing a light and quick operation and a case of performing a careful and minute operation will be considered. In the case of the aspect shown in FIG. 4B, the smaller the absolute value of the amount of motion is, the greater the feeling of resistance is. Therefore, as an example, usage in a situation in which minute operation is included in the case in which more minute operation is required will be considered. In the case of the aspect shown in FIG. 4C, the change of feeling of resistance to the amount of motion is continuous, and it is difficult for the operator to feel the change. For that reason, as an example, usage in a situation in which the operator unconsciously performs rapid operation and careful operation will be considered.
Furthermore, as shown in FIG. 5 A, when the absolute value of the rotational angular speed ω is beyond a predetermined range Rl, the value of the driving force f may be set to a value that is smaller than the predetermined range Rl but is not zero.
In addition, although it is not shown, when the absolute value of the rotational angular speed ω is equal to or greater than a predetermined value, the value of the driving force f may be set in the same direction as the rotational angular speed co. In this case, when the absolute value of the rotational angular speed ω is equal to or greater than a predetermined value, since the driving force f serves to assist rotation of the shaft part 60 in the same direction as that of the operation input, the manipulation resistance is lightened and can assist the quick operation of the operator.
[0037]
Furthermore, as shown in FIG. 5B, the value of the driving force f may be set so as to be increased as the absolute value of the rotational angular speed ω is increased. In this case, the smaller the amount of motion is, the more the ratio of the change of the driving force f to the change of the amount of motion is increased. For this reason, for example, when the amount of motion is the rotational angular speed, the smaller the manipulating speed is, the heavier the feeling of resistance to the acceleration and the deceleration is, and thus stable motion can be performed.
[0038]
A second embodiment of the invention will be described with reference to FIG. 6. A master slave manipulator of the present embodiment is different from the master slave manipulator 1 mentioned above in that further including a switch for switching the setting form of the manipulation resistance. In the description mentioned below, configurations common to those mentioned above will be references by the same reference numerals and description thereof will be omitted.
[0039]
FIG. 6 is a schematic perspective view that shows a configuration of the first joint part 41 of the master slave manipulator of this embodiment. A switch 81 is connected to the control unit 5. The switch 81 constitutes a part of the operation part, and if the switch is in a position where it can be operated by the operator Op, the placement position and the form thereof are not particularly limited. The switch 81 may be, for example, provided in the first master arm 21.
[0040]
In the present embodiment, unlike the first embodiment, the control unit 5 sets the direction and the magnitude of the driving force f depending on the mode set in the respective points of time. As the mode, two modes including a first mode and a second mode are provided. In the first mode, a driving force ft of a predetermined magnitude in a direction opposite to the rotational angular speed ω is set. In the second mode, a driving force f2 smaller than the driving force ft in the direction opposite to the rotational angular speed ω is set.
The mode set in the control unit 5 is switched by the operation of the switch 81. That is, the operator Op operates the switch 81 with his or her hand, and thus the currently set mode is switched to the other mode.
[0041]
In the master slave manipulator of the present embodiment, the control unit 5 sets the direction and the magnitude of the driving force f based on the rotation direction of the shaft part 60 received from the detection part 61 and the mode set in the control unit 5 at that point in time, generates the driving signal based on the direction and the magnitude, and transmits the driving signal to the drive source 70.
[0042]
Even in the master slave manipulator of the present embodiment, an operator Op operates the switch 81 and appropriately sets the mode of the control unit 5. Thus, as in the first embodiment, it is possible to constantly give an appropriate manipulation resistance to the master arm 2. Thus, the operator can easily and suitably perform various operations.
[0043]
Furthermore, in the master slave manipulator of the present embodiment, the operation part includes the switch 81. For this reason, the operator Op can actively switch the mode to a mode suitable for the operation currently being performed or to a mode suitable for an operation to be performed next. Thus, it is possible to apply suitable manipulation resistance to the master arm 2 more reliably.
[0044]
In the present embodiment, the number of modes is not limited to two.
Accordingly, in order to enable adjustment of the more careful manipulation resistance, three or more modes may be provided.
Furthermore, the contents of the modes are not limited to those that constantly generate the driving force of the fixed size as mentioned above. For example, as in the first embodiment, the driving force setting pattern, in which the magnitude of the driving force is changed according to the direction and the magnitude (the absolute value) of the rotational angular speed ω, may be used as the mode. Such mode may be provided in the control unit 5 so as to be combined with the mode that constantly generates the driving force of the fixed magnitude. [0045]
Furthermore, the type of switch is not limited to a button type as shown in FIG. 6, but various types of switches can be used. For example, a foot switch, a trigger type switch, a switch of a graphical user interface (GUI) displayed on a display part or the like can be adopted. Furthermore, it is possible to adopt a switch not requiring a physical switch mechanism such as a sound switch that identifies the voice of the operator and switches the mode, and a "body switch" that detects a position and an orientation of specific body parts such as a head or a finger of the operator and switches the mode.
[0046]
A third embodiment of the invention will be described with reference to FIGS. 7 to 9C. The master slave manipulator of the present embodiment is different from the master slave manipulators of the respective embodiments mentioned above in some points including the setting form of the driving force.
[0047]
FIG. 7 is a schematic perspective view that shows a structure of a first joint part 141 of the master slave manipulator of the present embodiment. Configurations of a shaft part 142 and a second master arm 143 are substantially the same as those of the shaft part 60 and the second master arm 22. However, in the master slave manipulator of the present embodiment shown in FIG. 7, when the drive source 70 is not operated, the manipulation resistance of the first master arm 21 is greater than that in the first joint part 141. For this reason, when the drive source 70 is not operated, it is possible to stably perform the operation such that the first master arm 21 moves bit by bit at the rotational angular speed of the small absolute value, without causing jiggle hand or the like.
[0048]
In the control unit 5, same as the second embodiment, two modes are provided. However, as mentioned above, since the manipulation resistance of the first joint part 141 is great, in the first mode and the second mode of the present embodiment, the direction of the generated driving force f is set in the same direction as the rotational angular speed co. That is, the driving force f acts on the shaft part 142 so as to reduce the manipulation resistance, and the greater the driving force f is, the smaller the manipulation resistance is.
[0049]
The surgical tool 4 of the present embodiment is a high-frequency incision instrument (an energy device) shown in FIG. 8A. When the operator Op presses an electric conduction switch 144 provided in the first master arm 21, a high-frequency current is supplied to the distal end 4 A of the surgical tool 4, and enters an active state, and as shown in FIG. 8B, the tissue Ts can be cauterized and cut.
The electric conduction switch 144 is connected to the control unit 5, and an information of an on-off state of the electric conduction switch 144 is sent to the control unit 5.
[0050]
In the master slave manipulator of the present embodiment, the mode of the control unit 5 is switched depending on the on-off state of the electric conduction switch 144. When the electric conduction switch 144 is turned on, the second mode in which a smaller driving force is generated is set in the control unit 5, stability of the operation manipulation performed in the active state of the surgical tool 4, such as the tissue is cauterized and cut, is secured. Meanwhile, when the electric conduction switch 144 is turned off, the mode of the control unit 5 is set to the first mode, the manipulation resistance is reduced, and it is easy to rapidly move the surgical tool 4.
[0051] In the master slave manipulator of the present embodiment, the switching of the electric conduction switch 144 for changing the surgical tool 4 to the active state is linked with the exchange of the mode of the control unit 5. For this reason, the operator Op can perform the operation under a suitable manipulation resistance by merely
manipulating the electric conduction switch 144 along with the operation. That is, there is no need to separately perform the operation for suitably adjusting the manipulation resistance, and it is possible to perform the operation in the state in which the
manipulation resistance is adjusted to a suitable state by the same operation as that of the related art.
[0052]
In addition, like the first joint part 141 of the present embodiment, when the master arm having the joint structure of the high initial manipulation resistance is controlled only by the driving force setting pattern as in the first embodiment, as shown in FIGS. 9 A and 9C, the driving force setting pattern may be configured so that the greater the absolute value of the rotational angular speed ω is, the greater the driving force f in the same direction as the rotational angular speed ω is set. In addition, as shown in FIGS. 9 A and 9B, when the absolute value of the rotational angular speed ω is beyond a predetermined range Rl, that is, the amount of motion of the master arm is equal to or greater than a predetermined threshold value, the driving force setting pattern in which the greater driving force is set may be used.
The aspect shown in FIG. 9A is used, for example, in a situation in which the initial motion resistance when the amount of motion is small is appropriate in view of the minute operation or the like. The aspect shown in FIG. 9B is used in a case in which there is a need for a reduction in motion resistance to some extent even when the amount of motion is small, because the initial motion resistance is great. In the aspect shown in FIG. 9B or 9C, the minute operation can be performed basically using an initial manipulation resistance. Meanwhile, when the amount of motion is great, by actively generating the driving force to lighten the manipulation resistance, the operation can be lightly performed. Furthermore, in the aspect shown in FIG. 9C, since the slope of an increase in driving force is continuously changed, the operator hardly feels a sense of discomfort and can smoothly perform the operation.
[0053]
As mentioned above, although the respective embodiments of the invention have been described, the technical scope of the invention is not limited to the embodiments mentioned above, and it is possible to add various modifications to each component, delete them, or combine the configurations of the respective embodiments without departing from the scope of the invention.
[0054]
For example, in the respective embodiments mentioned above, an example in which the drive source, the detection part or the like are provided only in the first joint part of the master arm has been described. However, such a mechanism may be provided in two or more joint parts, and may be provided in all of the joint parts. When the plurality of joints are included, a case in which the operator operates the distal end of the arm with his or her hand and arm is assumed. However, by setting the driving force suitable for each joint based on the arm length between each of the joints and the initial manipulation resistance, unevenness is not generated depending on the direction, and a feeling of operation using the hand and the arm is improved. Furthermore, for example, when there is an object which is desired not to make contact in a certain direction, in order to reduce the motion of only a specific joint, the driving force can be set so as to enhance the manipulation resistance of the joint. [0055]
Furthermore, in the respective embodiments mentioned above, the master slave manipulator in which the operation part is the master arm has been described. However, the operation support device of the invention is not limited thereto, and the operation part may be constituted by a joystick or the like. In this case, the manipulation resistance of the joystick or the like is controlled. Furthermore, the operation part may be wirelessly connected to the control unit.
[0056]
Furthermore, in a case that the operation support device is constituted such that a plurality of surgical tools, which is attachable and detachable to the action part, is exchangeable, identification information is preserved on each surgical tool and the surgical tool mounted on the action part is identified by the control unit based on the identification information. And then, the corresponding surgical tool is selected from the driving force setting patterns prepared for each kind of surgical tool in advance or the combination of the modes, and the driving signal may be generated based thereon. In this manner, the operation in which the operator performs adjustment of the manipulation resistance is reduced, and thus the operation can be simply and easily performed.
[0057]
Furthermore, as in a modified example shown in FIG. 10, a part of the slave arm 3 constitutes the operation part and the remainder thereof constitutes the action part, and thus the operation support device may be configured by the slave arm 3 and the surgical tool 4. FIG. 10 shows a case of the first slave arm 31. In this case, means for detecting a force acting on the slave arm and the amount of minute motion when the operator tries to move the slave arm is provided in the slave arm, the amount of detection thereof is subjected to the motion command, and the respective joints 51, 52, and 53 of the slave arm can be configured so as to be operated by the driving force of the drive source. By appropriately setting the driving force, it is possible to adjust the initial manipulation resistance. The detection means may be provided near a location where it is held by a hand or may be provided in the motion mechanism of each joint.
[0058]
Instead of the amount of motion of the operation part, it is also possible to use the driving force setting pattern which relates the operation aspect of the switch to the setting of the driving force. FIG. 11 is a graph that shows a relationship between a pressing amount Δχ of the switch and the driving force f in a modified example of the embodiments mentioned above. In this modified example, the control unit sets the driving force f so that when the pressing amount Δχ is increased, the absolute value of the driving force f is increased. In this case, the operator can adjust the manipulation resistance more carefully. In addition, in the modified example, the pressing amount Δχ can be detected by providing a sensor or the like in the switch. Furthermore, instead of the pressing amount, it is also possible to associate a time Δί during the switch being pressed with the driving force f.
In the same method, it is also possible to associate an operation aspect of the switch with the switching of the mode.
[0059]
In addition, the driving force setting pattern and the mode in the invention may be prepared from various viewpoints. For example, they may be prepared for every operator, every operation, and every task pattern. In this case, the operator may input the manipulator ID, the operation, and the task pattern to the operation support device via an interface such as a GUI, and the control unit may be configured so as to select the driving force pattern and the mode depending on the input contents.
[Industrial Availability]
[0060]
According to the operation support device mentioned above, operation can be easily and suitably performed by constantly generating an appropriate manipulation resistance in the operation input part.
Reference Signs List
[0061]
1 master slave manipulator (operation support device)
2 master arm (operation part)
3 slave arm (action part)
4 surgical tool
5 control unit
61 detection part
70 drive source
81, 144 switch

Claims

1. An operation support device which includes an operation part that performs an operation input by a manipulator, and an action part to which a surgical tool is attached and which is driven by the operation input, the operation support device comprising: a drive source that is provided in the operation part and generates a driving force which adjusts a manipulation resistance at the time of the operation input; and
a control unit that sets a magnitude and a direction of the driving force, wherein the control unit sets the magnitude and the direction of the driving force based on the operation input to the operation part.
2. The operation support device according to Claim 1, wherein
the operation part comprises a switch,
the control unit sets the driving force based on one of a plurality of modes, and when the switch is operated by the operator, the mode used when the control unit sets the driving force is switched.
3. The operation support device according to Claim 2, wherein
the switch is configured to be operated by a hand or a foot of the operator.
4. The operation support device according to Claim 2 or 3, wherein
the surgical tool is in an active state when performing an operation, and the switch combines function to switch the surgical tool to the active state.
5. The operation support device according to any one of Claims 1 to 4, further comprising:
a detection part that detects an amount of motion of the operation part using the operation input,
wherein the control unit sets the driving force so that the driving force is increased as the amount of motion is reduced.
6. The operation support device according to Claims 5, wherein
the control unit sets the driving force to a relatively great level when the amount of motion is equal to or less than a predetermined threshold value.
7. The operation support device according to any one of Claim 1 to 4, further comprising:
a detection part that detects an amount of motion of the operation part using the operation input,
wherein the control unit sets the driving force so that the driving force is increased as the amount of motion is increased, and a relationship between an amount of change of the amount of motion and an amount of change of the driving force is changed depending on the value of the amount of motion.
8. The operation support device according to Claim 7,
wherein the control unit sets the driving force to a relatively high level when the amount of motion is equal to or greater than a predetermined threshold value.
9. The operation support device according to any one of Claims 1 to 8, wherein
the surgical tool is provided in a plural number in the action part in an attachable and detachable manner, and the respective surgical tools have identification information, and
the control unit sets the magnitude and the direction of the driving force based on the identification information of the surgical tool mounted on the action part.
PCT/JP2012/070414 2011-08-04 2012-08-03 Operation support device Ceased WO2013018930A1 (en)

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JP2012012104A JP6081061B2 (en) 2011-08-04 2012-01-24 Surgery support device
CN201280034144.8A CN103648426B (en) 2011-08-04 2012-08-03 Operation support device
PCT/JP2012/070414 WO2013018930A1 (en) 2011-08-04 2012-08-03 Operation support device
EP12820066.4A EP2739236A4 (en) 2011-08-04 2012-08-03 Operation support device
US14/157,920 US9423869B2 (en) 2011-08-04 2014-01-17 Operation support device

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