JP2003265500A - Surgery support device - Google Patents

Abstract

(57) [Summary] In a surgery support device, even if a manipulator and an operation means are arranged at arbitrary locations, the operation means can be easily operated while looking at the manipulator, thereby improving safety, workability, and operability. . An operating means for inputting an operating command is provided.
And manipulators 4 and 5 that operate based on control commands
Observation means 6 for observing the operation of the manipulators 4 and 5
And display means 10 for displaying a manipulator image on a screen
And a position and orientation measurement unit 14 for measuring the position and orientation of the manipulators 3 and 4, and a control device 32 for controlling the operations of the manipulators 3 and 4 and the display on the display unit 10. The control device 32 controls the operation directions of the operation units 8 and 9 and the display unit 10 based on the operation command input by the operation units 8 and 9 and the position and orientation measured by the position and orientation measurement unit 14.
And generates a control command for matching the operation direction of the manipulator image displayed on the screen.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surgery assisting apparatus, and is particularly suitable for a surgery assisting apparatus which operates a manipulator by operating means.

[0002]

2. Description of the Related Art As a conventional surgery support device, Japanese Patent Laid-Open No.
As disclosed in Japanese Patent No. 328016 (especially the description of the eighth embodiment with reference to FIG. 27 and FIG. 28), an operating means operated by an operator, and a manipulator operating based on the operation of the operating means, An observing means for observing the operation of the manipulator, a display means for displaying the manipulator image observed by the observing means, and a control device for controlling the operation of the manipulator, observing the manipulator by the observing means, and a screen of the display means By superimposing the tool coordinate system set at the tip of the manipulator and moving the operation means in correspondence with the coordinate axes of the tool coordinate system, it is displayed on the screen of the display means. There is a tool coordinate system which makes it possible to easily operate the tool coordinate system by various operating means.

[0003]

Generally, the posture of a patient during surgery has individual differences depending on the physique, the treatment site, the affected area and the condition around the affected area. When using a manipulator for treatment, how to position the manipulator with respect to the patient, what kind of posture to approach the affected part, avoid interference with the patient, avoid interference with surrounding organs, Since the posture is determined to be safe and easy to work, the arrangement and posture of the manipulators differ for each patient.

Various instruments are placed in the operating room,
A large number of staff often move around in the operating room to support surgery. For this reason, it is desirable that the operating means for operating the manipulator be arranged in a place where it does not interfere with the work of the patient and other medical instruments and medical staff in the operating room, and that the arrangement place can be changed corresponding to the surgery. Be done.

When operating the manipulator by using the operating means, if the direction in which the operating means is operated and the direction in which the manipulator operates are deviated, the operation of the manipulator accurately reflecting the intention of the operator can be realized. In a situation where it is difficult and the operating direction and the operating direction change for each surgery, the burden on the operator increases, and it is difficult to realize safe and effective treatment.

[0006] State of treatment and operation when operating the manipulator while visually confirming the treatment with a treatment tool equipped in the manipulator, and when displaying image information on the display means using an observation means such as an endoscope. The manipulator may be operated while checking.

In particular, in recent years, in order to reduce the physical burden on the patient, a small incision is made in the patient's body, and a surgical instrument or an endoscope is inserted through the small incision to determine the state of the affected area and the state of the surgical instrument. There are widespread surgical techniques for performing treatment while confirming with an endoscopic image. Similarly, in the treatment using a manipulator, it is preferable to insert the manipulator through a small incision and operate by referring to an endoscopic image to perform treatment in order to reduce the physical burden on the patient.

Under such circumstances, the arrangement of the manipulator with respect to the patient, the relative relationship between the plurality of manipulators, the relative relationship between the endoscope and the manipulator, etc. are different for each patient, and the relative relationship between the manipulator and the operating means for operating it is different. It is desirable that they also be different. Then, in the surgery support device equipped with the manipulator operated by the operation of the operator, while observing the state of the manipulator and the affected area with the image displayed on the display means, the operation of the manipulator accurately reflecting the intention of the operator can be performed. It should be easy to implement.

However, in the above-mentioned conventional technique, it is shown that the operation means can be operated while observing the tool coordinate system set at the tip of the manipulator image displayed on the display means. Since the coordinate system is different from the coordinate system shown in FIG. 28 of the publication, the manipulator image could not be operated in conformity with the operation direction of the operation means. In other words, in the one described in the publication, the observation means, the manipulator,
No consideration was given to making the operating direction of the manipulator image displayed on the display unit coincide with the operating direction of the operating unit when the operating unit, the display unit, etc. are arbitrarily placed.

Therefore, in the related art, the operating means,
There is a problem in operability in an environment where components such as a manipulator and an observation means are arbitrarily arranged.

A first object of the present invention is to provide a surgery assisting device which is capable of easily operating the operating means while observing the display means even if the manipulator is arranged at any place, and which is excellent in safety, workability and operability. To provide.

A second object of the present invention is to operate the operation means easily while watching the display means even if the manipulator and the operation means are arranged at arbitrary places, and the operation is excellent in safety, workability and operability. To provide a support device.

A third object of the present invention is to provide a surgical support excellent in safety, workability and operability because the manipulator and the operating means can be easily operated while observing the manipulator even if the manipulator and the operating means are arranged at arbitrary places. To provide a device.

Other objects and advantages of the present invention will become apparent from the following description.

[0015]

SUMMARY OF THE INVENTION To achieve the first object, a surgical operation support apparatus of the present invention operates based on a control command and an operating device operated by an operator to input an operation command. Manipulator, observation means for observing the operation of the manipulator, display means for displaying an image of the manipulator observed by the observation means on the screen, position and orientation measurement means for measuring the position and orientation of the manipulator, and operation of the manipulator In the surgery support device including a control device for controlling the operation device, the control device is based on the operation command input by the operation device and the position and orientation of the manipulator measured by the position and orientation measurement device. Conversion unit for generating a control command for matching the operation direction of the image with the operation direction of the image of the manipulator displayed on the display means. It has a structure that has.

In the surgery support device of the present invention for achieving the second object, an operating means operated by an operator for inputting an operation command, a manipulator which operates based on a control command, and an operation of the manipulator. Observing means, a display means for displaying the image of the manipulator observed by the observing means on the screen, a position and orientation measuring means for measuring the position and orientation of the operating means and the manipulator, and controlling the operation of the manipulator. In the surgery support apparatus including a control device, the control device is based on the position and orientation of both the operating means and the manipulator measured by the operation command and the position and orientation measuring means input by the operating means, Match the operation direction of the operation means with the operation direction of the image of the manipulator displayed on the display means. In that the arrangement includes a conversion unit for generating a control command.

The surgery support apparatus of the present invention for achieving the third object is an operating means operated by an operator for inputting an operation command, a manipulator which operates based on a control command, and the manipulator. A surgical assistance apparatus comprising: a position / orientation measuring unit for measuring a position / orientation; a position / orientation measuring unit for measuring the position / orientation of the operating unit and the manipulator; and a controller for controlling the operation of the manipulator, wherein Based on the position and orientation of both the operation unit and the manipulator measured by the operation command and the position and orientation measurement unit input by the operation unit, the operation direction of the operation unit and the operation direction of the manipulator. It is configured to have a conversion unit that generates a control command to match.

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

First, the overall configuration of the surgery support apparatus of this embodiment will be described with reference to FIG. FIG. 1 is a perspective view of a surgery support device showing an embodiment of the present invention.

The surgery support apparatus observes the operation means 8 and 9 operated by the operator for inputting operation commands, the manipulators 3 to 5 which operate based on the control commands, and the operations of the manipulators 4 and 5. Means 6 and display means 1 for displaying the manipulator image observed by the observation means 6 on the screen
0, the operating means 7 to 9 (see FIG. 2 for the operating means 7) and the position and orientation measuring means 14 for measuring the position and orientation of the manipulators 3 to 5, and the operation of the manipulators 3 to 5 and the display of the display means 10. The control device 32 (see FIG. 2) is provided.

An observing means 6 capable of providing image information like an endoscope is provided at the tip of the manipulator 3 and constitutes a part of the manipulator. Treatment tools 11 and 12 such as surgical tools are provided at the tips of the manipulators 4 and 5. The manipulators 4 and 5 are disposed so as to be able to treat the affected part of the patient 1 lying on the operating table 2.
The manipulator 3 is arranged so that the state of the affected area and the states of the treatment tools 11, 12 can be observed. In this embodiment,
The manipulator 3 is arranged on the patient's head side,
Manipulators 4 and 5 are arranged on both sides of the patient.

Operation means 8 and 9 operated by an operator, display means 10 capable of displaying information obtained by the observation means 6 on a screen,
Is provided on the console 13. The operating means 8 controls the operation of the manipulator 4, and the operating means 9 controls the operation of the manipulator 5. Both of them 8 and 9 are juxtaposed on the console 13. Then, the display means 10 faces the operation means 8 and 9 so as to oppose the operation console 13
It is installed on top. In this embodiment, the operation console 13 is arranged on the side of the patient's feet.

Each manipulator 3-5, operating means 7-9
The position / orientation measuring unit 14 for measuring the position / orientation of the display unit 10 is arranged at a place where the measurement of each device can be performed. In this embodiment, the position / orientation measuring means 1
4 is arranged on the head side of the patient. The identification means 15, which is an auxiliary component for the position / orientation measuring means 14 to measure the position / orientation of the measurement target, is provided in each of the manipulators 3 to 5, the display means 10, and the operation means 7 to 9 which are the measurement objects. There is. Therefore, the identification unit 15 constitutes a part of the position and orientation measurement unit.

The tuning instruction means 21 is for instructing to transmit the operation command from the operation means 7 to 9 to the manipulator, and is arranged at a place where the operator can operate. In this embodiment, the tuning instruction means 21 using a switch is shown as an example.

The relative positional relationship between the manipulators 3 to 5 can be set arbitrarily. Arrangement of the display means 10 and the operation means 8 and 9 on the operation console can also be arbitrarily set, and these can also be arbitrarily set in relation to the arrangement of the manipulator. That is, the arrangement of the manipulators 3 to 5, the display means 10, the operation means 8 and 9 and the operation console 13 can be freely changed.

The positions and orientations of the observation means 6 and the treatment tools 11, 12 are controlled by manipulators 3-5. The operator sees the manipulators 4 and 5 and the treatment tools 11 and 12 at the tips of the manipulators 4 and 5 displayed on the display means 10 and operates the operation means 8 and 9.
Is operated, and the manipulators 4 and 5 operate based on the instructions input to the operation means 8 and 9 to treat the affected area. The manipulator 3 can control the position and orientation of the observation means 6 according to an instruction from another operation means 7.

Next, the control configuration of the surgery support device will be described with reference to FIG. FIG. 2 is a control block diagram of the surgery support device of FIG.

The operation means 7-9, the tuning instruction means 21, and the position / orientation measurement means 14 are connected to the control device 32 so that signals can be transmitted. As a result, the operation information, the tuning information, and the measurement result information are input to the control device 32 from the operating means 7 to 9, the tuning instruction means 21, and the position / orientation measuring means 14. Further, the manipulators 3 to 5 and the display means 1
0 is connected to the control device 32 so that signals can be transmitted.
This allows the control device 32 to operate the manipulators 3-5.
And the control information is output to the display unit 10. The controller 32 is composed of a computer such as a microcomputer.

The control program executed in the control device 32 includes a conversion matrix calculating section 24, an operation tuning control section 34,
The coordinate conversion unit 35 is included. The conversion matrix calculation unit 24 is a unit that calculates a conversion matrix for calculating the motion direction from the operation direction based on the measurement result information 23 from the position and orientation measurement unit 14. The tuning controller 34
It is a means for classifying whether to operate the manipulators 4, 5 according to the instructions of the operating means 8, 9. The coordinate conversion unit 35 is means for calculating the motion direction from the operation direction using the conversion matrix calculated by the conversion matrix calculation unit 24.

The measurement result information 23 obtained from the position / orientation measuring unit 14 is input to the conversion matrix calculation unit 24, and the coordinate conversion matrix output from the conversion matrix calculation unit 24 is input to the coordinate conversion unit 35. Operation information 31 from the operation means 7-9
Is input to the tuning control unit 34 that determines whether to operate the manipulators 3 to 5, and the output from the tuning control unit 34 is input to the coordinate conversion unit 35. The control information 36 about the operation direction, which is the output from the coordinate conversion unit 35, is input to the manipulators 4 and 5. The connections within the control unit 32 will be configured as the passing of electrical signals and variables within the control program.

The positions and orientations of the manipulators 3 to 5, the operating means 8 and 9 and the display means 10 will be described with reference to FIGS. FIG. 3 is an explanatory diagram of a coordinate system of the treatment tool and the observation means.

The attitude of each of the manipulators 3 to 5 is defined by a coordinate system ΣS17 whose origin is the position which is the base point of the operation. The attitude of the observing means 6 defines a space in the visual field observed by the tip of the observing means 6 with a coordinate system ΣE19. The postures of the operating means 7 to 9 are defined by a coordinate system ΣM20 whose origin is a position which is a base point of the operation. The attitude of the display means 10 is defined as a direction of the display surface of the display means 10 in a coordinate system ΣD18 with the display surface as a base point. In addition, manipulator 3 ~
When there are a plurality of 5, observation means 6, operation means 7-9, and display means 10, each posture is defined by each coordinate system.

The axial direction of each coordinate system is assumed as shown in FIGS. 1 and 3 for the description of the embodiment. That is, in the coordinate system ΣS, the longitudinal direction of the manipulator is defined as the ZS direction, the vertically upper direction is defined as the YS direction, and the right side facing the ZS direction is defined as the XS direction. In the coordinate system ΣM, the depth direction of the operating means is the ZM direction, the vertically upward direction is the YM direction, and the right side facing the ZM direction is the XM direction.
Define as direction. In the coordinate system ΣE, the longitudinal direction of the observation means 6, that is, the depth direction of the image to be captured is the ZE direction,
The upper side of the visual field facing the E direction is defined as the YE direction, and the right side of the visual field facing the ZE direction is defined as the XE direction. In the coordinate system ΣD, the back of the screen of the display means 10 is in the ZD direction and the upper part of the screen is in the YD
The direction and the screen right direction are defined as the XD direction. If the rotation matrix between the coordinates is obtained, the result will be the same, so the definition of the axial direction of the coordinate system does not have to be exactly the same as the above.

The coordinate system shown in the screen of the display means 10 in FIG. 1 indicates the orientation of the coordinate system ΣE19 projected in the field of view of the observation means 6. In this embodiment, the directions of the coordinate axes of the coordinate system ΣE19 and the coordinate system ΣD projected in the visual field are the same.

By solving the kinematics of each of the manipulators 3 to 5, it is possible to specify the position and orientation of each of the observation means 6 and the treatment tools 11 and 12 mounted on each tip in each coordinate system ΣS. It is a commonly practiced method to specify the position and orientation of the tip of each manipulator 3 to 5 in the coordinate system ΣS using kinematics.

The manipulators 3 to 5 for moving the observing means 6 and the treatment tools 11 and 12 in the specific directions have different degrees of freedom in the movement directions and the movement amounts of the respective manipulators 3 to 5.
It can be calculated by solving the inverse kinematics of 5. In order to make the manipulator tip perform the intended motion, it is possible to use inverse kinematics to calculate the motion direction and motion amount of each degree of freedom.

The three-dimensional position and orientation in the space of each manipulator coordinate system ΣS17 can be measured by using a three-dimensional position measuring device (also called a three-dimensional motion measuring device) which is an example of the position and orientation measuring means 14. . The measurement method is such that a marker set having a plurality of light emitters arranged in a known pattern is used as the identification means 15, and the manipulators 3 to 5 that do not operate even by operating the manipulators 3 to 5 are set to a base point such as a coordinate origin. This is a method of mounting and measuring each light emitting body from a position where the three-dimensional position measuring device 14 is present, and calculating the position and orientation of the identifying means 15 from the arrangement of the plurality of light emitting bodies. Thereby, the identification means 15
Position and orientation of the manipulator coordinate system Σ
It becomes possible to calculate the position and orientation of S. A reflector may be used instead of the light emitter.

An example of mounting the identifying means 15 will be described with reference to FIG. FIG. 4 is an exploded perspective view showing a mounting example of the identification means. Although the measurement target is described as the manipulator 3 in FIG. 4, other measurement targets have the same mounting configuration.

The manipulator 3 has an equipment part 22 for fixing the identification means 15 in a predetermined position and posture. The identification unit 15 includes a plurality of light emitting bodies 169 fixed to an identification member 168. The part sandwiched between the identification means 15 and the equipment part 22 and connected is called an intermediate link part.

The equipment portion 22 forming a part of the manipulator 3 is provided with a plurality of convex portions 155. A plurality of concave portions 156 that fit with the convex portions 155 are provided on the coupling member 151 coupled to these. When the number of protrusions 155 and the number of recesses 156 is one, it is preferable that the top, bottom, left, and right are asymmetrical. When there are a plurality of convex portions 155 and concave portions 155, it is preferable that the convex portions 155 and the concave portions 155 have different shapes to prevent the wrong connection between the front and the back during the connection. Further, when the concavities and convexities of the same shape are provided, three or more concavities and convexities are provided, and the distance between the concavo-convex groups to be combined can be changed to prevent mistakes in joining. As long as the position and orientation when combined are uniquely determined, the uneven shape as shown in FIG. 4 may not be used. Then, after the concave portion 56 is fitted to the convex portion 155, the coupling member 151 is provided with the set screw 15.
It is fixed to the equipment part 22 at 4.

Fixing member 1 for fixing the identification means 15
64 is rotatably connected to the connecting member 151. The fixing member 164 integrally has a gear portion 163. Angle sensor 161 for measuring the rotation of the fixing member 164.
Is fixed to the equipment part 22 or the connecting member 151. The angle sensor 161 has a measurement gear 162 that meshes with the gear portion 163. The fixing member 164 and the identifying member 168 have the same concavo-convex structure as the concavo-convex structure of the equipment part 22 and the coupling member 151. That is, the fixing member 16
4 is provided with a plurality of convex portions 165, and the identification member 168 is provided with a concave portion 166 that matches these. Similar to the above-mentioned uneven structure in which the equipment portion 22 and the coupling member 151 are meshed with each other, it is preferable to change the shape and the distance between the pair of uneven structures so that the position and orientation can be uniquely determined. . The convex portion 16 of the fixing member 164.
After fitting the concave portion 166 of the identification member 168 of the identification means 15 to 5, the set screw 160 is aligned with the screw hole 158 of the identification member 168 and fixed.

As a result, the luminous body 169 of the identification means 15
When it is difficult to measure due to shadows, the orientation of the identification unit 15 can be adjusted to a direction suitable for the position and orientation measurement unit 14, and the rotation angle can be measured by the angle sensor 161, so the position and orientation measurement can be performed. The direction of the coordinate system ΣS of the equipment unit 22, that is, the manipulator 3 can be specified based on the measurement result of the means 14 and the detection result of the angle sensor 161. This is because the position and orientation of the manipulator can always be measured even when the orientation of the identification unit 15 is oriented to a posture suitable for measurement, and thus the degree of freedom in arranging the manipulator 3 is improved.

In the above example, the degree of freedom of the intermediate link portion is described as the rotational degree of freedom, but if the attitude of the identifying means 15 can be adjusted and its adjustment amount can be measured, the rotational degree of freedom can also be translated. The same effect can be expected if the identification means 15 can be adjusted from the shadow of the object to a posture that is easy to measure, even in degrees, or in a configuration in which one or more of these are combined. The configuration of the degree of freedom may be determined depending on the arrangement of the device.

If there is no overlap between the devices,
The identification means 15 may be directly fixed to the manipulator 3. In this case, if the fitting shape provided between the equipment portion 22 and the intermediate link portion and the fitting shape provided between the identifying means 15 and the intermediate link portion are the same, the identifying means 15 is directly attached. It is possible to freely select whether to attach the device to the equipment part 22 or to attach the intermediate link part therebetween. Since the identifying means 15 and the intermediate link portion are detachable, they can be detached when they are no longer needed or when they interfere with treatment. Furthermore, when the measurement is completed,
It is also possible to move the intermediate link part and turn it to a place where the identification means 15 does not interfere with the treatment.

The information from the position / orientation measuring means 14 measured by using the identifying means 15 is transmitted to the control device 32 over time (for example, periodically). The angle sensor 161 is connected to the control device 32 so as to be able to transmit a signal, and the information detected by the angle sensor 161 is also transmitted to the control device 32 over time (eg, periodically) similarly to the position / orientation measuring means 14. By connecting the position / orientation measuring unit 14 and the angle sensor 161 to the control device 32 by using a connector or the like, the control device and the control device 32 can be freely attached to and detached from each other, and the connector can be removed when unnecessary. Become.

With the above-mentioned configuration of the surgical operation support device, the relationship between the relative positions and orientations of the manipulators 3 to 5 arbitrarily arranged and the observation means 6 and the tips of the manipulators 4 and 5 equipped in each manipulator 3 are equipped. Treatment tool 1
It is possible to clarify the relative relationship with each of 1 and 12. That is, it is possible to calculate the orientation of the coordinates of each means, the axial shift between the coordinates, and the rotation matrix that maps the coordinates.

The relative relationship between the operating means 8 and 9 (writing the calculation method of the rotation matrix) and the display means 10 can be measured and clarified by the same method. The position / orientation measuring means 1 for measuring the position and orientation of the manipulators 3 to 5 is used.
The position and orientation measuring means other than 4 are used to operate the operating means 8 and 9.
The relative relationship between the display means 10 and the display means 10 may be measured, and the information may be input or transmitted to the control device 32 in the same manner as the information on the position and orientation of the manipulator.

Here, the rotation matrix that maps from the coordinate system ΣM to the coordinate system ΣD is CMD (not shown), and the orientations of the axes of the coordinate system ΣD and the coordinate system ΣE projected on the screen of the display means 10 are set. If the matching rotation matrix is CDE (not shown) and the rotation matrix that matches the orientations of the axes of the coordinate system ΣE and the coordinate system ΣS is CES (not shown), the operator operates the operating means 8,
The operation direction performed using 9 is the rotation matrix CMD, CD
The coordinates are converted using E and CES, and the operation direction in the coordinate system ΣD and the coordinate system ΣS is calculated. The operation of the display means 10 and the manipulators 4 and 5 is controlled by using the calculated operation directions after the coordinate conversion as control commands. However, in this embodiment, since the directions of the axes of the coordinate system ΣE and the coordinate system ΣD projected on the screen of the display means 10 match, the rotation matrix CDE becomes a unit matrix.

The direction in which the operator operates the operation means 8 and 9 is provided to the display means 10 by the control based on the method of taking the coordinate conversion matrix and the method of calculating the movement direction using the coordinate conversion matrix as described above. The movement direction of the manipulators 4 and 5 is calculated so that the movement direction is converted into the movement direction in the space displayed on the screen and the treatment tools 11 and 12 move in that direction. Therefore, the treatment tool displayed on the display unit 10 is displayed. It is possible to make the operating directions of 11 and 12 coincide with the directions operated by the operating means 8 and 9.

That is, regardless of the relative relationship between the manipulators 4 and 5, the relative relationship between the manipulators 3 to 5 and the operation means 8 and 9, or the relative relationship between the treatment tools 11 and 12 and the observation means 6, the operation means 8 and 9 are used. Is operated to move to the right toward the screen, the treatment tools 11 and 12 on the screen move to the right,
If operated to the back of the screen, the treatment tools 11 and 12 in the screen move to the back of the screen. Exactly, the movement of the hand and the movements of the treatment tools 11 and 12 in the monitor are synchronized in the same direction, so that it is possible to operate by holding the treatment tools 11 and 12 at hand.
The treatment tools 11 and 12 on the screen are controlled.

The tuning control section 34 always controls the manipulators 3 to 5 in accordance with the operation information while receiving the tuning execution signal from the tuning instruction means 21, and the operation means 7 to 5 after the tuning execution signal is interrupted. 9 is configured to stop the transmission of the operation information. Note that the tuning is turned off while the signal is being input, and only while the signal is being interrupted.
Tuning may be performed, or control may be performed to switch whether or not to perform tuning each time a signal is input from the tuning instruction means 21. Tuning control unit 34
May be configured before or after the coordinate conversion unit 35 that calculates the operation direction of the manipulator from the operation direction using each rotation matrix.

Next, a specific control operation will be described with reference to FIG. FIG. 5 is a flowchart showing the control operation of the surgery support device.

First, the position and orientation of the operating means 8 and 9 are periodically detected (step 40). Then, the amount of change in position and orientation since the previous detection is calculated, and the operation command (operation direction and operation amount) input to the operation means 8 and 9 is calculated (step 41). The operation direction in the coordinate system ΣM calculated at this time is called a vector M.

Then, it is checked whether or not the tuning execution is instructed (step 42). If this is not instructed, the process returns to step 40 and the manipulators 3 to 5 are not operated. If the execution of synchronization is instructed, the coordinate conversion matrix is updated if the measurement result information 23 of the position / orientation measuring means 14 is changed (step 43).

Next, the vector M is coordinate-converted using the rotation matrices CMD, CDE, and CES calculated based on the latest measurement result information, and the vector D in the coordinate system ΣD and the vector S in the coordinate system ΣS are calculated ( Step 44). This is to convert the vectors indicating the same direction into values in the respective coordinate systems, and the treatment tools 11, 12 displayed on the display means 10 meaning the same direction as the vector M of the operation direction.
The motion direction vector S of is calculated.

Next, based on the operation amounts input to the operation means 8 and 9, the parameters such as the ratio of the operation amounts between the operation means 8 and 9 and the manipulators 4 and 5 are taken into consideration, and the manipulator 4 and 5 calculates the amount of movement (step 4
5).

Finally, the display means 10 and the manipulators 4 and 5 are controlled in accordance with the movement directions (vectors D and S in the coordinate system ΣD and ΣS) and the movement amounts calculated so far (step 46).

At the time of calculation, the manipulators 3 and 4 displayed on the operating means 8 and 9 and the display means 10 do not use the rotation matrix determined based on the postures between the operating means 8 and 9 and the manipulators 3 and 4. Since the rotation matrix determined based on the posture between the mounted treatment tools 11 and 12 is used, the actual operation direction and the operation direction displayed on the display means 10 are the same direction as seen from the operator.

With the above-described method, the posture between the devices can be calculated before and during the treatment, and the rotation matrix between the coordinates can be calculated, and the manipulator 4 in the display means 10 can be calculated. 5, that is, the movement directions of the treatment tools 11 and 12 displayed on the display means 10 and the movement directions of the operation means 8 and 9 can be matched.

According to this method, even if the manipulators 3 to 5 are arranged and the manipulators 3 to 5 and the display means 10 are arranged arbitrarily, the matrix for coordinate conversion from the coordinate system ΣE to the coordinate system ΣS and the coordinate system ΣD. From the coordinate system ΣE to the coordinate system ΣE using the matrix for coordinate conversion
And the coordinate systems ΣS of the operation directions of the manipulators 4 and 5 displayed on the display means 10 can be matched. Accordingly, the movement direction of the treatment tools 11 and 12 can be indicated by a relative expression such as the coordinate system ΣD of the display means 10 and the up, down, left, right, front side of the display means 10.

Furthermore, the operator operates the manipulators 3-5.
, The relative relationship between the manipulators 3 to 5 and the operation means 8 and 9, the relative relationship between the manipulators 4 and 5 and the observation means 6,
The conversion matrix calculating unit 24 calculates based on the measurement result information 23 from the position / orientation measuring unit 14 without paying attention to the position / orientation between each unit such as the relative relationship between the operating units 8 and 9 and the display unit 10. Using the conversion matrix, the operating directions of the operating means 8 and 9 and the treatment tools 11 and 12 displayed on the display means 10.
The motion directions of the images can be matched. As a result, it is sufficient to operate the operation means 8 and 9 in the direction in which the treatment tools 11 and 12 displayed in the display means 10 are to be moved, as if the treatment is actually performed by one's own hands. It is possible to obtain high operability regardless of the above.

Furthermore, since the treatment tools 11 and 12 operate in the same direction as the operation direction on the screen, fine movements can be realized as intended by the operator. Therefore, the necessary treatment can be performed accurately and quickly without damaging the surrounding normal tissue, and the effect of treatment and the safety of treatment are enhanced.

Also, without worrying about the change in operability,
The manipulators 3 to 5 and the observation means 6 and the operation means 8 and 9 can be arranged according to the position of the patient, the position of the affected part, the situation of the arrangement of surrounding devices, etc. Treatment can be performed by adjusting the approaching posture more appropriately.

Further, since the equipment part 22 of the manipulators 3 to 5 is detachable from the identification means 15 and the intermediate link part, the mechanism for detecting the posture of each means performs medical treatment for medical staff and surrounding medical care. The doctor can concentrate on the treatment without disturbing the device. In addition, by removing these parts, it is possible to prevent the medical staff from contacting these parts and moving the manipulator or the observation means, and thus contacting the body of the patient. Therefore, in the operation using the manipulator, it is possible to provide the medical staff with an environment that is easy to treat.

Since the relative relationship between the observation means 6 and the treatment tools 11, 12 can be calculated at all times, the observation means 6 can be moved during the operation. During treatment, when the affected area is hidden behind other organs or the treatment tools 11, 12 and is difficult to see, the observation means 6
Even when the posture is changed to a posture that is easier to observe, the operation directions of the manipulators 4 and 5 displayed on the display unit 10 and the operation directions of the operation units 8 and 9 can be matched in the same manner as described above. .

Further, even when the information measured in advance is changed by changing the arrangement of each means while using the manipulators 3 to 5, the position / orientation measuring means 14 can be used.
Since the coordinate conversion matrix between each means is updated based on the new measurement result information 23, the operating directions of the images of the operating tools 8 and 9 and the treatment tools 11 and 12 displayed on the display means 10 are always matched. Thus, it is possible to control the manipulators 4, 5.

Further, since the direct relative relationship between the manipulators 4 and 5 and the operating means 8 and 9 is irrelevant, when the operator console 13 including the operating means 8 and 9 is moved or changed during the operation. However, the operation directions of the images of the treatment instruments 11 and 12 displayed on the display means 10 and the operation directions of the operation means 8 and 9 are kept the same, and the operation console 13 can be arbitrarily moved before and during the operation. Therefore, in consideration of other medical devices, the operation console 13 can always be moved to a position where it can be easily arranged, which is highly convenient in operation. Further, since the operation can be continued as it is even if it is moved during the operation, the operation can be quickly restarted without the trouble of resetting the direct relative relationship between the manipulators 4 and 5 and the operation means 8 and 9.

In addition to these, the tuning instruction means 21 can be used to cut off or connect the instruction transmission from the operation means 7-9, so that the positions of the manipulators 3-5 are fixed and the operation means 7-9 are operated. By adjusting the posture so that it can be easily operated, and then performing the tuning, it is possible to start operating the manipulators 3 to 5 from the posture that is easy to operate. Further, since the operation means 7 to 9 and the manipulators 3 to 5 are arranged arbitrarily, it is conceivable that the postures of the treatment tools 11 and 12 displayed on the display means 10 at the start of the operation and the postures of the operation means 8 and 9 are different. Therefore, when the operation is started, the tuning execution is stopped, and the operation tools 8 and 9 and the treatment tools 11 and 12 displayed on the display means 10 are adjusted to the same posture,
By sending a signal to execute synchronization, when the arrangement of each device is arbitrary, the operation can be started by aligning the images of the treatment tools 11 and 12 displayed on the display means 10 with the postures of the operation means 8 and 9. This makes it possible to improve the operation feeling and more accurately and intuitively reflect the operator's intention on the treatment tools 11 and 12, thus improving the operability.

Next, a different mounting example of the identifying means 15 is shown in FIG.
Will be described with reference to. FIG. 6 is a perspective view showing a different mounting example of the identification means, and is a view corresponding to FIG. 4. This mounting example is an example in which a plurality of rotational degrees of freedom are linked by a link and the operating range of the identifying means 15 is widened.

The connecting member 151 has the same shape as the connecting member 151 of FIG. The first extension link 170 is fixed to the coupling member 151, and the first extension link 170 and the second extension link 171 are rotatably combined. The combination portion 172, which is the end portion of the second extension link 171, is a gear, and is combined via the first angle sensor 173 fixed to the first extension link 170 and the first measurement gear 174. There is. The other end of the second extension link 171 is rotatably combined with the fixing member 164. The fixing member 164 has a gear portion 163 as in FIG. The second angle sensor 161 has a second extension link 171.
And is combined with the gear portion 163 via the measurement gear 162. The fixing member 164 has a plurality of light emitters 169.
The identification means 15, which is fixed to the identification member 168, is fixed by fitting irregularities.

The rotation angle of the second extension link 171 can be measured by the first angle sensor 173, and the rotation angle of the identifying means 15 can be measured by the second angle sensor 161. These angle information and the first extension link 1
The length of the 70 and the second extension link 171 and the information on the position and orientation of the identifying means 15 obtained by measuring the identifying means 15 by the position and orientation measuring means 14 are combined, and the identifying means having the intermediate link portion shown in FIG. It is possible to calculate the coordinate orientation of each means equipped with 15. Extension link 17
0, 171, the operating range of the identification means 15 is expanded,
The position and orientation of the identification unit 15 can be adjusted to a posture suitable for measurement in a wider range. By widening the adjustment range of the identification means 15, the degree of freedom in the arrangement of each means is expanded, and it becomes possible to perform surgery in an arrangement more suitable for the patient's body position and treatment.

Next, a different mounting example of the intermediate link portion for mounting the identifying means 15 will be described with reference to FIG. Figure 7
FIG. 6 is an exploded perspective view showing a different example of the intermediate link portion for attaching the identification means. In FIG. 7, only the intermediate link part fitted to the equipment part 22 is shown and the identification means is omitted.
The identification means fixed to the intermediate link part is the same as in FIG.

The concave portion 179 of the equipment portion 22 and the convex portion 178 of the coupling portion 175 can be fitted together. The recess 179 is
The upper and lower sides and the left and right sides are asymmetrical so that the angle of the fitted coupling portion 175 in the rotation direction can be uniquely determined.
A coupling magnet 177 is fixed around the recess 179, and is fixed by magnetic force to the fixing flange 176 of the fitted coupling member 175. Also in the depth direction,
It is uniquely determined at the position where the coupling magnet 177 and the fixed flange 176 contact each other. The coupling member 175 can rotatably couple the fixing member 164 as in other examples, or can couple the extension link 170 and the like (not shown). In addition, as in the previous examples, the angle sensor 161 and the measurement gear 162 are attached to the portion having the degree of freedom.
The rotation angle can be measured by the combination of the gear part 163 and the gear part 163. In the case of a link having a translational degree of freedom in the length direction, a sensor may be configured to measure a distance, and a method of measuring a moving distance is a method of converting a translational motion into rotation and measuring with an angle sensor, It can be easily realized by a method using a sensor in which a measuring wire is pulled out according to a moving distance, a translational potentiometer, an optical sensor, or the like.

In this mounting example, since the coupling member 175 and the equipment portion 22 are coupled by using magnetic force, the attachment / detachment is easier and the labor for attaching / detaching the identification means can be further reduced.

As a means for specifying the three-dimensional position and orientation of the manipulators 3 to 5, an optical measurement method using a marker set has been described as a representative, but the present invention is intended to specify the three-dimensional position and orientation. , Other methods may be used. For example, a device using a magnetic sensor can also be used. When the position / orientation measuring unit 14 uses a magnetic material instead of the light emitting body 169 as the identifying unit 15, the marker set that is the identifying unit 15 is an identifying unit suitable for the three-dimensional position measuring apparatus to be used. If it is a device that measures the position and orientation in the three-dimensional space using the identification means,
Similar techniques are available.

Next, a different example of the position / orientation measuring means 14 will be described with reference to FIG. FIG. 8 is a perspective view for explaining a modified example of the position and orientation measuring means shown in FIG. In FIG. 8, not the position / orientation measuring means 14 using the identifying means 15 described above, but the position / orientation measuring means 14 using a method of measuring the inclination of the coordinates between the devices will be described.

FIG. 8 shows an example in which the manipulators are connected by one or more rotatable joints or links having translational linear motion portions to obtain a rotation matrix of coordinates of the manipulators. The case where the manipulator 3 and the manipulator 4 are connected will be described as an example.

The first extension link 170 is fixed to the connecting member 151 to be connected to the equipment part 22 of the manipulator 3. First extension link 170 and second extension link 171
And are rotatably combined. The second extension link 171 has a gear portion 1 fitted at one end with the first extension link 170.
The gear portion 172 of the angle sensor 173, which has 72 and is fixed to the first extension link 170, is meshed with the measurement gear 174. As a result, the rotation angle of the second extension link 171 with respect to the first extension link 170 is determined by the angle sensor 17.
It becomes possible to measure by 3.

The other end of the second extension link 171 is rotatably connected to the third extension link 183. The third extension link 183 has a gear portion 181 fitted at one end with the end portion 180 of the second extension link 171, and the angle sensor 189 and the gear portion 181 fixed to the end portion 180 of the second extension link 171. Are combined via the measuring gear 182. As a result, the rotation angle of the third extension link 183 with respect to the second extension link 171 is determined by the angle sensor 18.
It becomes possible to measure by 9.

At the other end of the third extension link 183, there is a gear portion 184 which is rotatably coupled to the fourth extension link 187, and the gear of the angle sensor 186 fixed to the fourth extension link 187. The portion 184 is meshed with the measurement gear 185. As a result, the rotation angle of the third extension link 183 with respect to the fourth extension link 187 is determined by the angle sensor 1.
It becomes possible to measure by 86.

At the other end of the fourth extension link 187, a connecting member 188 for connecting to the equipment portion 22 of the manipulator 4 is fixed.

When the manipulator 3 and the connecting member material 151 are connected and the manipulator 4 and the connecting member material 188 are connected, the first extension link 170 and the second extension link 170 and the second extension link 170 are connected according to the relative posture and relative distance between the manipulators 3 and 4. Between the extension link 171 and the second extension link 17
The angle between the first extension link 183 and the third extension link 183 and the angle between the third extension link 183 and the fourth extension link 187 change. The value of each angle at this time is determined by the angle sensor 17
3, 189, 186 can be measured. This measurement result, the second extension link 171 and the third extension link 183
It is possible to calculate the relative postures of the manipulators 3 and 4 from the length of. These values are taken into the control device 32 of the manipulator, the rotation matrix between the coordinates of the manipulators 3 and 4 is calculated, and this can be used in control.

The position / orientation measuring means 14 using a measurement link connecting the manipulators 3 and 4 can also be removed from the manipulators 3 and 4 upon completion of the measurement.
It is possible not to occupy the space around the patient with the position and orientation measuring means 14. Further, when changing the arrangement of the manipulators 3 and 4 again during the treatment, the position / orientation measuring means 14 using the measurement link may be connected to the equipment section 22 again. Position / orientation measuring means 14 is attached to the manipulators 3 and 4.
If there is no particular hindrance even if they are combined, they may be combined as they are. Even in this case, during treatment,
Whenever it is desired to move the manipulators 3 and 4, the arrangement can be changed, and the latest relative posture information can always be measured.

In the position / orientation measuring means 14 using the measurement link of FIG. 8, the fifth extension link from the end portion 180 for fixing the angle sensor 189 which is one end of the second extension link 171 to the third extension link. It is also possible to rotatably connect so as not to interfere with each other, and to connect to another connecting member from the fifth extension link through the sixth extension link in the vertical direction like other extension links. Is. As a result, the number of manipulators that can be combined at one time is increased from two to three, and the relative postures of each can be measured at one time, and the labor of measurement during surgery can be reduced. By the same method, it is possible to increase the number of parts that are connected to the equipment part 22 of the manipulator to three or more.

A part of the measurement link shown in FIG. 8 which is detachable from the object to be measured is fixed to a ceiling, an operation bed, a frame for fixing a patient, or a holder which can be carried on the floor. Is also possible. This allows the detached measuring link to be removed from the manipulator and moved to an unobtrusive position without making room for storage in a clean area so that it can be used again during the operation. It is easy to keep and quickly rejoin when you want to use it. Therefore, it is possible to quickly operate the device without disturbing the flow of surgery.

In the description relating to FIG. 8, the relative relationship between the postures of the manipulators is shown, but similarly, the relative relationship between the display means and the operating means can be measured.

By knowing the relative distance between the observation means 6 and the treatment tools 11 and 12, it becomes possible to calculate the amount of movement of the manipulator on the screen of the display means 10. It is possible to control the operation amount so as to match the operation amount of the operation means 8 and 9, and it is also possible to control the manipulator to move the operation means 8 and 9 at a predetermined magnification. It is possible to change the magnification of the operation according to the surgeon's preference, the treatment situation, the procedure and the treatment method, and the operability can be further improved.

In the embodiment described above, the device equipped with the observation means 6 is also the manipulator 3 which can be controlled. However, for example, it may be a support means capable of manually adjusting and fixing each joint angle.

Next, an example of the supporting means equipped with the observing means 6 will be described with reference to FIG. FIG. 9 is a perspective view showing an example of supporting means equipped with the observing means shown in FIG.

The first support link 50 and the second support link 51 are translationally connected. Second support link 5
The first and third support links 53, the third support link 53 and the fourth support link 55, and the fourth support link 55 and the fifth support link 57 are rotatable joints 52 and 54, respectively.
Connected at 56. The fifth support link 57 and the sixth support link 59 are twistably connected by a torsion joint 58. The end portion 60 of the sixth support link 59 and the grip portion 6
1 is rotatably connected. The grasping portion 61 can fix the observation means 6 by sandwiching or inserting a part thereof. FIG. 9 shows a state in which the lens portion 62 of the observation means 6 is inserted into the hollow portion of the grip portion 61 and fixed with the fixing screw 63.

The identification means 15 is provided on the first support link 50.
Is fixed, and the position / orientation measuring means 14 can measure the position / orientation of a portion serving as a base point of the supporting means. Each movable part is provided with an angle sensor for measuring a rotation angle and a linear sensor for measuring a translational distance as shown in FIG. 8, and the movable amount can be measured. From the length of each support link 50, 51, 53, 55, 57 and the sensor information, the attitude of the observation means 6 fixed to the grip 61 can be calculated.

The number of degrees of freedom of the support means and the mechanism thereof may be those that are considered to be optimal or minimum according to the case and the posture.

The observation means 6 may be held by an assistant. In this case, the orientation of the coordinate system ΣE of the observation means 6 is
A method of detecting the posture without contact is preferable. For example, as shown in the above-described embodiment, the identification means 1 for detecting the posture
5 is a method for constantly measuring the orientation of the identifying means 15 with a three-dimensional position measuring device. The observing means 6 is provided with an equipment section 22 equipped with the identifying means 15 in a predetermined posture, and the posture of the identifying means 15 is constantly measured. Since the mounting posture of the identifying means 15 is a known posture with respect to the observing means 6, the coordinate system Σ
The direction of E can be calculated. Similarly, the discriminating means 15 for detecting the orientation of the coordinate system ΣS of the manipulators 4 and 5 is always measured in the same manner, and the rotation matrix between the coordinate system ΣE and the coordinate system ΣS is calculated according to the change of the holding posture of the observing means 6. . The control method using the rotation matrix is performed in the same manner as described above. With this, even when a person holds the observing means 6, the manipulators 4 and 5 can be controlled so that the operation directions of the images of the treatment tools 11 and 12 displayed on the display means 10 and the operation directions of the operation means 8 and 9 are matched. Becomes

In the above embodiment, the rotation matrices CMD, C
An example has been shown in which the operating directions of the operating means and the operating directions of the images of the treatment tools 11 and 12 displayed on the display means are made to match by using DE and CES, but the operating directions are set by using only the rotation matrices CDE and CES. The coordinates may be converted. In this case, the operation directions of the operation means 8 and 9 with respect to the display means 10 are arbitrary, and the operation directions of the treatment tools 11 and 12 displayed on the display means 10 are controlled according to the rule set in advance in the operation means. In other words, when operating in the XM direction of the coordinate system ΣM fixed to the operating means 8 and 9, the operating means 1
The treatment tools 11 and 12 displayed on the display means 10 are controlled in the XD direction of the display means 10 irrespective of the relative posture relationship between the display means 10 and 1.

The control operation will be described with reference to FIG. FIG. 10 is a flowchart of a control operation of the surgery support apparatus of FIG. 1 different from that of FIG.

This control operation is different from FIG. 5 in step 44.
Is different, and the process of performing coordinate conversion of the direction of the display means 10, which means the operation direction, is performed. That is, FIG.
As specifically shown in step 70 of 0, a step of performing coordinate conversion of the motion direction indicated by the vector using the rotation matrices CDE and CES, and calculating the motion direction vector D · S of the treatment tool in the coordinate system D · S. It has been changed to.

When it is not possible to secure a sufficient space for arranging the operation means 8 and 9 and the display means 10 in consideration of other devices, the display means 10 must be installed in an oblique direction as seen from the operator. However, in such a case, the operating directions of the operating means 8 and 9 are directly set to the treatment tools 11 and 12.
Operation means 8 and 9 rather than matching the movement direction of the image of
In some cases, the operability may be improved by controlling which of the treatment tools 11 and 12 is operated in the display means 10 according to a preset rule.

Coordinate conversion is performed with the relative attitude between the operating means 8 and 9 and the display means 10, and between the operating means 8 and 9 and the images of the treatment tools 11 and 12 displayed on the display means 10,
Either the operation direction and the operation direction are made coincident with each other, or the operation direction of the images of the treatment tools 11, 12 displayed on the display means 10 is controlled according to the rule set between the operation means 8, 9 and the display means 10. By making it possible to switch with a switch or the like, it becomes possible to select more accurately according to the preference of the surgeon who uses the surgery support device or according to the situation such as the size of the operation console 13 surroundings, It is possible to realize a more accurate and highly operable treatment.

Next, a modification of the arrangement of the display means and the operating means will be described with reference to FIG. FIG. 11 is a perspective view of an example in which the display means and the operation means are integrally arranged.
In FIG. 11, two operation means 8 and 9 are arranged on the left and right of the display means 10, and the operation means 8 and 9 is preset with which of the treatment tools whose operation direction is to be displayed on the display means 10 should be operated. ing.

On the left and right sides of the display device 10, operating means 8 and 9 are formed integrally with the display device 10. The operation means 8 and 9 are composed of a plurality of direction support buttons. When the upper button 73 is pressed, the treatment tool 12 moves toward the direction support mark 80 indicating the upper side of the display means, and when the right button 74 is pressed, the treatment tool 12 moves toward the direction support mark 81 indicating the right side of the display means. Then, when the lower button 75 is pressed, the treatment tool 12 moves toward the direction support mark 82 indicating the lower side of the display means, and the left button 7
When 6 is pressed, the treatment tool 12 moves in the direction of the direction support mark 83 indicating the left side of the display means. When the back button 77 is pressed, the treatment tool 12 moves toward the back of the display means, and the front button 78 is pressed.
When is pressed, the treatment tool 12 operates in the front direction of the display means. When the grip button 79 is pressed, the grip portion at the distal end of the treatment tool 12 is closed. In this way, by using the operation means 8 and 9 that cannot perform the same operation as the treatment tools 11 and 12, the operation means 8 and 9 are used.
Operation and the indicated treatment tools 11, 1
The treatment tools 11 and 12 displayed on the display means 10 are made to correspond to each other by the relative postures of the observation means 6 and the manipulators 4 and 5 which are arbitrarily arranged by associating the movements of No. 2 and the movements of 2 with a predetermined rule. Instead, the same operability can be always realized.

According to the embodiment described above, the position and orientation of the observing means 6, the treatment tools 11, 12 required for the treatment, the display means 10 for presenting information from the observing means 6, and the treatment tools 11, 12 are operated. The respective arrangements of the operation means 8 and 9 can be arranged at arbitrary positions according to the wishes of the operator, and the display means 10 can be arranged despite the arbitrary arrangement state.
It is possible to control the operation directions of the treatment tools 11 and 12 displayed on the display so as to match the operation directions of the operation means 8 and 9, and always obtain the same operability. Since the inner operation directions are the same, more comfortable operability as if the operator directly grasps and operates the treatment tools 11, 12 can be obtained. In addition, each independent means,
The degree of freedom in arranging the patient in an optimal posture for treatment is high, it does not interfere with medical staff during treatment, and it is possible to provide an environment in which it is easier to work even in treatment using a plurality of manipulators.

Further, the treatment tool 1 displayed on the display means 10
The movement directions of 1 and 12 are indicated by display means 10 and operation means 8 and 9.
Since it is possible to give an instruction based on a predetermined correspondence regardless of the relative posture relationship of, the treatment can be performed by arranging the operation means 8 and 9 and the display means 10 in an arrangement that is easier for the operator to operate. it can. Therefore, depending on the operator's circumstances, the treatment tools 11 and 12 can be operated with the same operability regardless of whether the operation is performed while looking at the screen sideways and obliquely, or when the operation means 8 and 9 are operated in front. Therefore, the operation tools 8 and 9 are operated and the treatment tools 11 and 12 for the display means 10 are operated.
The behavior of is always kept the same. As a result, the operator can easily get used to the operation, and it becomes possible to perform the treatment in which the intention for the treatment operation is accurately reflected more accurately.

As described above, since it is possible to provide an environment in which the will can be reflected more accurately, it is expected that the accuracy and precision of the treatment will be improved, and that the treatment effect will be improved and the treatment will be less invasive.

As a summary, the following matters will be disclosed regarding the configuration according to the present invention.

The operation means is operated in an environment in which the observation means such as an endoscope and the like, the manipulator having the treatment tool, the display means such as a monitor and the operation means for operating the manipulator are arbitrarily arranged. The direction and the direction of movement of the treatment tool displayed on the display means are controlled so as to coincide with each other.

Further, the operation direction of the operation means and the movement direction of the treatment tool displayed on the display means are made to coincide with each other in a preset correspondence relationship.

Further, for each of the observing means held by the holding means and the manipulator observed by the observing means independent of the holding means for holding the observing means, an identifying means capable of measuring the postures of the observing means and the manipulator is provided. It is removably equipped and calculates the rotation matrix that matches the posture between the observation means and the manipulator obtained by measuring the postures of the observation means and the manipulator via this identification means, and calculates the operation direction input to the operation means. The configuration has a control system that operates the manipulator in the direction converted using the rotation matrix.

Further, one or more degrees of freedom and a displacement amount measuring means for measuring a displacement amount of the degrees of freedom are provided between the identifying means and the observing means or manipulator, and the identifying means is obtained. From the position and orientation and the measurement amount of the displacement amount measuring means,
A rotation matrix that matches the postures between the observation means and the manipulator is calculated, and a control system that operates the manipulator in a direction converted using the rotation matrix to the operation direction input to the operation means is provided.

Furthermore, the rotation matrix is recalculated when the arrangement of the holding means for holding the manipulator or the observation means, the display means, or the operating means is changed periodically, and the recalculated rotation matrix is used. , And a control device for calculating the operation direction of the manipulator.

Furthermore, a coordinate transformation matrix that associates the coordinate system of the manipulator with the coordinate system of the tip of the observing means, a coordinate transformation matrix that associates the coordinate system of the observing means with the coordinate system fixed to the displaying means, and display. A coordinate conversion matrix that associates the coordinate system fixed to the means with the coordinate system fixed to the operating means, and performs control to sequentially convert the operation input operation input to obtain the operation direction and operation amount of the manipulator. And

Further, the coordinate system of the treatment instrument at the tip of the manipulator, the coordinate transformation matrix relating the coordinate system of the observing means for observing the manipulator, the coordinate system of the tip of the observing means and the coordinate system fixed to the display means are set. The coordinate transformation matrix to be related, the coordinate system fixed to the display means and the coordinate system fixed to the grip portion of the operation means have a preset correspondence relationship, and the operation instruction input by operation is displayed between the display means and the observation means. The coordinate conversion matrix and the coordinate conversion matrix between the observation means and the treatment tool are sequentially subjected to coordinate conversion so as to obtain the operation direction and the operation amount of the manipulator tip.

Furthermore, the manipulator equipped with a treatment tool has position and orientation measuring means for measuring the posture of the treatment instrument at the tip of the manipulator, the posture of the observation means for observing the tip of the manipulator, the posture of the display means, and the posture of the operating means. Relative posture deviation between the posture and the posture of the manipulator equipped with the observing means, and the axis perpendicular to the lens of the observing means in the posture of the observing means and the posture of the displaying means, and the display surface of the displaying means. Of the two axes in the plane horizontal to the lens and the plane in the plane horizontal to the screen of the display means and the deviation of the attitude of the display means and the attitude of the grip portion of the operating means when the two axes are aligned. It has a coordinate conversion matrix calculated from, according to the value converted by the coordinate conversion matrix the operation direction made to the operation means,
It is configured to use a surgery support device in which a manipulator operates.

Furthermore, when the postures of the manipulator, the display means, and the operating means are measured by using the position and posture measuring means, the identifying means attached to the measurement target can be detachably fixed to the predetermined position and posture of the measurement target. In addition, the equipment to be measured has an asymmetrical unevenness and the identification means having the unevenness that can uniquely determine the position and the posture by fitting the equipment part. An extension link having one or more degrees of freedom is provided between the equipment section and the identification means.

Furthermore, it has a plurality of joints that are detachable,
The measurement means has a coupling means made of concavities and convexities that can uniquely determine the position and orientation with respect to the measurement object, and each measurement object is detachably coupled with a measurement link having a sensor for measuring the movement amount of each joint. .

[0115]

As is apparent from the above description of the embodiments, according to the present invention, even if the manipulator is arranged at any place, the manipulator can be easily operated while looking at the display means, and the safety and work can be improved. It is possible to obtain a surgical assistance device having excellent operability and operability.

Further, according to the present invention, the manipulator and the operating means can be easily operated while observing the display means even if the manipulator and the operating means are arranged at any place, and the surgical operation is excellent in safety, workability and operability. The device can be obtained.

Further, according to the present invention, even if the manipulator and the operating means are arranged at arbitrary places, the operating means can be easily operated while looking at the manipulator, and the surgical operation supporting apparatus is excellent in safety, workability and operability. Can be obtained.

[Brief description of drawings]

FIG. 1 is a perspective view of a surgery support device showing an embodiment of the present invention.

FIG. 2 is a control block diagram of the surgery support device in FIG.

3 is an explanatory diagram of a coordinate system of a treatment tool and an observation means of the surgery support apparatus of FIG.

FIG. 4 is an exploded perspective view showing an example of attachment of identification means of the surgery support apparatus of FIG.

5 is a flowchart showing a control operation of the surgery support device of FIG.

FIG. 6 is a perspective view showing a different mounting example of the identification means of the surgery support device of FIG. 1.

7 is an exploded perspective view showing a different example of the intermediate link portion for attaching the identification means of the surgical operation support apparatus of FIG. 1. FIG.

8 is a perspective view for explaining a modified example of the position / orientation measuring means shown in FIG.

9 is a perspective view showing an example of supporting means equipped with the observing means shown in FIG. 1. FIG.

10 is a flowchart of a control operation of the surgery support apparatus of FIG. 1 different from that of FIG.

11 is a perspective view of a modified example of the display means and the operation means shown in FIG.

[Explanation of symbols]

1 ... patient, 2 ... surgical bed, 3-5 ... manipulator,
6 ... Observing means, 8 ... Operating means, 9 ... Operating means, 10 ... Displaying means, 11, 12 ... Treatment tool, 13 ... Operating console, 14 ... Position / orientation measuring means, 15 ... Identification means (marker set),
Reference numeral 17 ... Coordinate system of manipulator, 18 ... Coordinate system of display means, 19 ... Coordinate system of observation means, 20 ... Coordinate system of operating means, 21 ... Tuning instruction means, 22 ... Equipment section, 25 ... Manipulator projected on treatment instrument Coordinate system, 26 ... Coordinate system of observation means projected on the treatment instrument, 32 ... Control device.

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Hiroaki Kishi             502 Kintatemachi, Tsuchiura City, Ibaraki Japan             Tate Seisakusho Mechanical Research Center F-term (reference) 3C007 AS35 BS15 JT07 JU03 JU12                       LV00 LV19

Claims (8)

[Claims] 1. An operating unit operated by an operator to input an operation command, a manipulator operating based on a control command, an observing unit observing the operation of the manipulator, and a manipulator observed by the observing unit. In a surgery assistance apparatus comprising: a display unit that displays an image on a screen; a position and orientation measurement unit that measures the position and orientation of the manipulator; and a control device that controls the operation of the manipulator, wherein the control device is the operation unit. Control for matching the operating direction of the operating means with the operating direction of the image of the manipulator displayed on the display means, based on the operation command input by the input device and the position and orientation of the manipulator measured by the position and orientation measuring means. An operation support apparatus having a conversion unit that generates a command. 2. An operating means operated by an operator for inputting an operation command, a manipulator operating based on a control command, an observing means observing the operation of the manipulator, and a manipulator observed by the observing means. In a surgery assistance apparatus comprising display means for displaying an image on a screen, position and orientation measuring means for measuring the position and orientation of the operating means and the manipulator, and a control device for controlling the operation of the manipulator, wherein the control device is , Based on the position and orientation of both the operation unit and the manipulator measured by the operation command and the position and orientation measuring unit input by the operating unit,
A surgery assistance apparatus comprising: a conversion unit that generates a control command that matches an operation direction of the operation unit and an operation direction of an image of a manipulator displayed on the display unit. 3. The control device according to claim 1, wherein the control device has a coordinate transformation matrix that matches the posture of the observing means for observing the manipulator with the posture of the manipulator observed by the observing means. An operation assisting apparatus, comprising: a calculation unit that calculates a movement direction of a manipulator observed by the observation means from an operation direction input to the operation unit and the coordinate conversion matrix. 4. The operation of the manipulator is observed by the observing means, the image of the manipulator observed by the observing means is displayed on the screen of the display means, and the position and orientation of the manipulator is measured by the position and orientation measuring means. In a method of controlling a surgery support apparatus for controlling an operation by a control device, based on a position / orientation of the manipulator measured by the operation command and the position / orientation measuring means input by the operation means, an operation direction of the operation means and Control of the operation support device characterized in that the control device generates a control command for matching the operation direction of the image of the manipulator displayed on the display means to control the operation of the manipulator and the display of the display means. Method. 5. A control device of a surgery assisting device for controlling the operation of a manipulator, wherein the operating direction of the operating means is based on an operation command input by the operating means and the position and orientation of the manipulator measured by the position and orientation measuring means. And a control command for causing the operation direction of the image of the manipulator displayed on the display means to coincide with each other to control the operation of the manipulator and the display of the display means. 6. A computer for controlling the operation of a manipulator of a surgical operation support apparatus is operated based on an operation command input by the operation means and the position and orientation of the manipulator measured by the position and orientation measuring means. A control program of a surgical operation support apparatus, which functions as a means for generating a control command for matching a direction and an operation direction of an image of a manipulator displayed on the display means. 7. An operating means operated by an operator for inputting an operation command, a manipulator which operates based on a control command, a position and orientation measuring means for measuring a position and orientation of the operating means and the manipulator, In a surgery support apparatus comprising: a control device for controlling the operation of a manipulator, the control device includes both an operation command input by the operation device and the operation device and the manipulator measured by the position / orientation measurement device. Based on position and orientation,
A surgery assistance apparatus comprising: a conversion unit that generates a control command that matches an operation direction of the operation unit and an operation direction of the manipulator. 8. A computer for controlling the operation of a manipulator of a surgery support apparatus, comprising: a position and orientation of both the operation unit and the manipulator measured by the operation command input by the operation unit and the position and orientation measurement unit. A control program for a surgical operation supporting device that functions as a means for generating a control command for matching the operation direction of the operation means with the operation direction of the image of the manipulator displayed on the display means.