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WO2016194325A1 - Système d'aide au traitement médical - Google Patents

Système d'aide au traitement médical Download PDF

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Publication number
WO2016194325A1
WO2016194325A1 PCT/JP2016/002445 JP2016002445W WO2016194325A1 WO 2016194325 A1 WO2016194325 A1 WO 2016194325A1 JP 2016002445 W JP2016002445 W JP 2016002445W WO 2016194325 A1 WO2016194325 A1 WO 2016194325A1
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WO
WIPO (PCT)
Prior art keywords
medical practice
arm
support system
medical
specifying
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/JP2016/002445
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English (en)
Japanese (ja)
Inventor
豪 椋本
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.)
Denso Corp
Original Assignee
Denso 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
Application filed by Denso Corp filed Critical Denso Corp
Publication of WO2016194325A1 publication Critical patent/WO2016194325A1/fr
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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C19/00—Dental auxiliary appliances
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C8/00—Means to be fixed to the jaw-bone for consolidating natural teeth or for fixing dental prostheses thereon; Dental implants; Implanting tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators

Definitions

  • This disclosure relates to a medical practice support system that supports medical practice.
  • Patent Document 1 a medical practice support system that supports medical practice is known (for example, see Patent Document 1).
  • This medical practice support system includes a drill unit having a drill bit used for dentistry, and an articulated robot that moves the tip of the drill bit to a position desired by an operator.
  • the drill unit here includes, for example, a straight geared angle handpiece.
  • the articulated robot and the operator interfere with each other, the articulated arm of the articulated robot passes through a singular point, or the articulated arm is out of the movable range. If it reaches, it becomes difficult for the surgeon to smoothly perform the medical practice.
  • This disclosure is intended to provide a medical practice support system that includes an articulated robot and can arrange the articulated robot at an appropriate position.
  • the medical practice support system includes an articulated robot, a position specifying unit, an action specifying unit, and a reference specifying unit.
  • the multi-joint robot has a multi-joint arm in which a plurality of arms are connected by joints.
  • the position specifying unit specifies a target position representing a position of a part of a patient who receives a medical practice.
  • the action specifying unit specifies the trajectory of the articulated arm when performing the medical action, and the arm operation mode representing the range in which the articulated arm can move in the medical action.
  • the reference specifying unit smoothly moves the articulated arm of the articulated robot in medical practice based on the relative positional relationship between the target position specified by the position specifying unit and the arm operation mode specified by the action specifying unit.
  • An arrangement reference position where a base point that serves as a reference point for the operation of the articulated arm is arranged so as to be smoothly movable.
  • the operation of the articulated robot is performed so that the articulated arm of the articulated robot can be smoothly moved in the medical practice based on the relative positional relationship between the arm movable range and the target position.
  • An arrangement reference position for arranging a reference point (hereinafter referred to as a base point) can be specified.
  • the articulated robot can be arranged at a position where it can move smoothly.
  • an operator who performs a medical practice using the medical practice support system can perform the medical practice more smoothly than conventional techniques.
  • the reference position for smooth movement may be a position where the trajectory of the articulated arm in the medical practice is non-interfering with the surgeon performing the medical practice.
  • the placement reference position that is smoothly movable may be a position where the trajectory of the articulated arm in the medical practice avoids a singular point where the articulated arm becomes uncontrollable.
  • the placement reference position that is smoothly movable may be a position where the multi-joint arm in the medical practice operates within the movable region of the multi-joint arm.
  • the articulated arm can be moved within the movable region of the articulated arm, and the operator who performs the medical action using the medical action support system, The medical practice can be carried out more smoothly.
  • the medical practice support system may include at least a notification unit that notifies the arrangement reference position specified by the reference specification unit.
  • the user of the medical practice support system can recognize the placement reference position more reliably.
  • the notification unit further notifies the arm operation mode specified by the operation specifying unit.
  • the user of the medical practice support system can more reliably recognize the arm movable range of the articulated robot.
  • a medical practice support system 1 shown in FIG. 1 is a system that supports a medical practice.
  • a dental implant is assumed as a medical practice.
  • the dental implant is a dental operation in which an implant body is embedded in a jaw bone of a patient 100 (see FIG. 3), and a prosthesis is attached to the embedded implant body.
  • the position (part) of the jaw bone of the patient 100 in which the implant body is to be implanted is referred to as an implantation position.
  • This embedding position is an example of the target position.
  • the medical practice support system 1 includes a surgical tool 2, an installation table 4, a position tracking device 16, a medical practice planning device 18, a display device 26, and an audio output device 28.
  • the input device 30 and the guide robot 32 are provided.
  • the surgical tool 2 is an instrument used for medical practice.
  • the surgical tool 2 is attached to the tip of the guide robot 32.
  • the surgical tool 2 in this embodiment includes a drill unit used for dentistry.
  • This drill unit has various drill bits used for dentistry and a drive mechanism for driving the drill bits.
  • the drill unit mentioned here includes a so-called dental handpiece such as a straight geared angle handpiece (contra handpiece).
  • a dental implant performed by the operator is supported by the surgical tool 2 attached to the tip of the guide robot 32.
  • the support of the dental implant mentioned here includes the movement of the surgical tool 2 to the implantation position, which is the site of the patient 100 in which the implant body is to be implanted.
  • the movement of the surgical tool 2 includes entering the surgical tool 2 into the oral cavity of the patient 100 and moving to a replacement position for exchanging the drill.
  • “dental implant support” mentioned here may include drilling the jawbone with a drill as the surgical tool 2.
  • the installation table 4 is a mechanism on which the guide robot 32 is installed.
  • the installation table 4 includes a top plate 6, a support unit 8, and an installation table drive mechanism 10 (see FIG. 2).
  • the top plate 6 is a plate-like member to which the guide robot 32 is fixed.
  • the support portion 8 is a support column that supports the top plate 6 horizontally.
  • the installation base drive mechanism 10 is a mechanism for driving the top plate 6.
  • the installation table drive mechanism 10 includes a horizontal drive mechanism 12 that drives the top plate 6 along a horizontal plane and a vertical drive mechanism 14 that drives the top plate 6 along a vertical direction.
  • the horizontal plane referred to here is the XY plane shown in FIG. 1, and the vertical direction is a direction along the Z axis.
  • the horizontal drive mechanism 12 has a motor for driving the top plate 6 in the X-axis direction and a motor for driving in the Y-axis direction.
  • the vertical drive mechanism 14 has a motor that drives the top plate 6 in the Z-axis direction.
  • the installation table 4 is configured so that the guide robot 32 installed on the top plate 6 can move in a three-dimensional direction along the horizontal plane and the vertical direction.
  • the position tracking device 16 is a device that tracks the relative positional relationship between the reference point defined in the guide robot 32 and the implantation position.
  • the position tracking device 16 in the present embodiment has an arm extended from an arm reference point as a reference point defined for the guide robot 32.
  • This arm is a well-known tracking arm that uses an arm reference point as an origin and identifies an attachment position provided at the tip of the arm with three-dimensional coordinates in real space.
  • the position tracking device 16 tracks the displacement from the arm reference point with the place where the attachment exists as the place of the embedding position.
  • the medical practice planning device 18 is an apparatus that identifies an implantation position and creates a plan for medical practice at the identified implantation position.
  • the medical practice planning device 18 includes an information acquisition unit 20, a storage unit 22, and a control unit 24.
  • the information acquisition unit 20 acquires information necessary for specifying the embedding position (hereinafter referred to as “position specifying information”).
  • the information acquisition unit 20 in the present embodiment acquires a plurality of images captured by a computed tomography (CT) apparatus as position specifying information.
  • CT computed tomography
  • the storage unit 22 is a known storage device that stores data and processing programs.
  • the control unit 24 is a known control device having a known microcomputer including at least a ROM, a RAM, and a CPU, and executes processing according to a processing program stored in the storage unit 22.
  • the storage unit 22 of the medical practice planning device 18 stores a processing program for the control unit 24 to execute a medical practice plan creation process for creating a “medical practice plan”.
  • a “medical practice plan” is created according to the three-dimensional coordinate information of the jawbone of the patient 100 based on the position specifying information.
  • the location of the implant body to be implanted, the angle of the implant body to be implanted, the depth of the implant body to be implanted are identified in the planning coordinate system. including.
  • the insertion position includes whether the jawbone into which the implant body is to be inserted is the maxilla or the mandible, and the position of the tooth in the jawbone.
  • the planning coordinate system referred to here is a coordinate system (for example, a coordinate system in a CT image) in “medical practice planning” planned by the medical practice planning device 18.
  • plan of medical practice is referred to as medical practice necessary information.
  • method of creating the “medical practice plan” is well known, detailed description thereof is omitted here.
  • the “medical practice at the implantation position” in the present embodiment includes a medical practice procedure for implementing a dental implant at the implantation position.
  • the “medical procedure” here includes the trajectory of the articulated arm 34 in the guide robot 32 when performing the medical procedure at the placement position.
  • the “procedure for medical practice” includes the timing at which the surgical tool 2 enters the oral cavity of the patient 100, the angle of entry of the surgical tool 2 into the oral cavity of the patient 100, and perforation to the implantation position. .
  • the display device 26 is a known device (for example, a liquid crystal display) that displays an image.
  • the sound output device 28 is a known device (for example, a speaker) that outputs sound.
  • the input device 30 is a well-known device that accepts input of information.
  • the input device 30 includes various input devices such as a keyboard, a pointing device, and a switch.
  • the pointing device here includes a known mechanism such as a touch pad or a touch panel.
  • the guide robot 32 is a well-known vertical articulated robot including an articulated arm 34 and a robot control unit 50.
  • the multi-joint arm 34 includes a base portion 36, an upper arm portion 38, a forearm portion 40, and a hand attachment portion 42.
  • Each joint section includes a robot drive device 44 and a sensing device 46.
  • the robot drive device 44 freely drives the articulated arm 34, and is a motor that drives each joint portion.
  • the sensing device 46 detects the coordinates of the tip of the multi-joint arm 34 (and consequently the surgical tool 2).
  • a rotary encoder that detects the rotation angle of each robot drive device 44 may be used.
  • the articulated arm 34 is a known arm having a six-axis movable part in a three-dimensional coordinate system (X, Y, Z coordinate system).
  • the surgical tool 2 is attached to the tip of the multi-joint arm 34 (that is, the hand attachment portion 42).
  • the robot control unit 50 drives the robot drive device 44 of the guide robot 32 according to the result of sensing by the sensing device 46.
  • the robot control unit 50 includes a control unit 52 and a storage unit 54.
  • the control unit 52 is a known control device having a known microcomputer having at least a ROM, a RAM, and a CPU.
  • the storage unit 54 is a known device that stores information and data.
  • a user of the medical practice support system 1 When performing a medical practice using the medical practice support system 1, first, a user of the medical practice support system 1 creates medical practice necessary information using the medical practice planning device 18. The user of the medical practice support system 1 specifies an arrangement position where the guide robot 32 is arranged so that the medical practice according to the created medical practice required information can be smoothly performed.
  • the surgeon When the guide robot 32 is placed at the specified placement position, the surgeon performs a medical practice on the patient 100 using the medical practice support system 1.
  • the medical practice support system 1 moves the surgical tool 2 to the implantation position, drills the jaw bone (the implantation position) with a drill as the surgical tool 2, Supporting the movement of the surgical tool 2 to the replacement position.
  • the movement of the surgical tool 2 to the implantation position mentioned here includes the entry of the surgical tool 2 into the oral cavity of the patient 100 and the like.
  • placement reference position 80 an appropriate position
  • FIG. 3 is an explanatory view of the guide robot 32 arranged in the vicinity of the arrangement reference position as viewed from above
  • FIG. 4 is an explanatory view of the guide robot 32 arranged in the vicinity of the arrangement reference position as viewed from the side.
  • an example of the arrangement reference position 80 is a position where the top plate 6 of the installation table 4 covers at least a part of the chest of the patient 100 lying on the bed (operating table) 102.
  • the arrangement reference position 80 is a position where a base point serving as a reference point for the operation of the guide robot 32 is arranged.
  • the storage unit 54 of the robot control unit 50 stores a processing program for the control unit 52 to execute an arrangement position specifying process for specifying the arrangement reference position 80. ⁇ Arrangement position specifying process> Next, the arrangement position specifying process executed by the control unit 52 will be described.
  • the installation table 4 is arranged so that the base point of the guide robot 32 is located in the vicinity of the arrangement reference position 80, and the position tracking device 16 can track the implantation position of the patient 100. It is activated after being in a state.
  • the control unit 52 of the robot control unit 50 acquires medical practice necessary information from the medical practice planning device 18 as shown in FIG. 5 (S110).
  • the medical practice necessary information acquired in S ⁇ b> 110 may include information indicating the peculiarity of the surgeon, and the size of the oral cavity of the patient 100. May be included.
  • the control unit 52 acquires the three-dimensional space coordinates of the attachment of the arm tip in the position tracking device 16 from the position tracking device 16 (S120). Subsequently, in the arrangement position specifying process, the control unit 52 specifies the three-dimensional coordinates of the implantation position of the patient 100 (S130).
  • the identification of the three-dimensional coordinates of the embedding position in S130 may be executed according to a well-known registration. Registration is a process of converting the implantation position in the planning coordinate system specified by the medical practice planning device 18 into the implantation position in the real space. As a result of this registration, the embedding position is expressed by three-dimensional coordinates in the real space tracked by the position tracking device 16, and the tip position of the guide robot 32 is associated with the embedding position.
  • Robot T Drilltip in the expression (1) is the coordinate of the tip of the surgical tool 2 (that is, the tip of the drill bit) in the three-dimensional coordinate system of the guide robot 32.
  • Robot T IMP is the coordinates of the embedding position in the three-dimensional coordinate system in the guide robot 32.
  • the expression (1) is derived by converting the following expression (2).
  • Robot T tip in the equation (2) is the tip position of the articulated arm 34 in the three-dimensional coordinate system of the guide robot 32, and the symbol “ tip T Drilltip ” is calculated from the tip position of the articulated arm 34. This is the length to the tip of the surgical tool 2.
  • Robot T TRAK is a function for converting the three-dimensional coordinates in the position tracking device 16 into the three-dimensional coordinates in the guide robot 32.
  • the codes “ TRAK T TRAKtip , TRAKtip T A ′ , A ′ T A , CT T ⁇ 1 A ” convert the planning coordinate system into a real space three-dimensional coordinate system tracked by the position tracking device 16. It is an expression to do.
  • CT A IMP is a coordinate representing an embedding position in the planning coordinate system.
  • control unit 52 derives an arm operation mode representing an operation mode of the articulated arm 34 based on the medical practice necessary information acquired in S110 (S140).
  • the arm operation mode referred to here is the trajectory of the articulated arm 34 of the guide robot 32 in the medical action (hereinafter referred to as “arm trajectory”) and the range in which the articulated arm 34 is movable in the medical action (hereinafter “movable”). Area ”).
  • the guide robot 32 (multi-joint) that moves the surgical tool 2 during the medical practice at the implantation position
  • the trajectory of the arm 34 is derived as an arm trajectory.
  • This arm trajectory is normally determined so that a singular point that makes the articulated arm 34 uncontrollable does not occur. Since the derivation of the arm trajectory is performed using a well-known method in the vertical articulated robot, detailed description thereof is omitted here.
  • the control unit 52 derives a region where the articulated arm 34 operates according to the arm trajectory as a movable region. Since the derivation of the movable region may be calculated using a well-known method in the vertical articulated robot, detailed description thereof is omitted here. Note that the movable region in the present embodiment is an example of an operation range.
  • the tip of the articulated arm 34 may move out of the movable region.
  • the arm trajectory is derived so as to operate within the movable region of the articulated arm 34. Since it is well known to derive the arm trajectory so as to operate in the movable region in this manner, detailed description thereof is omitted here.
  • the arm trajectory and the movable region may reflect “the surgeon's habit” and “the size of the oral cavity of the patient 100” included in the medical practice necessary information. Specifically, for example, as a habit of an operator, a path for moving the surgical tool 2 to the implantation position (whether the articulated arm 34 is moved clockwise or counterclockwise with respect to the implantation position) Etc.) may be reflected in the arm trajectory and the movable region. Further, for example, as a habit of the surgeon, the coordinates for changing the direction of the surgical tool 2 in order to allow the surgical tool 2 to enter the implantation position, the angle itself for entering the surgical tool 2 to the implantation position, etc. It may be reflected in the movable area.
  • coordinates for changing the direction of the surgical tool 2 in order to enter the surgical tool 2 into the implantation position, and an angle at which the surgical tool 2 enters the implantation position may be changed.
  • the control unit 52 of the robot control unit 50 derives the three-dimensional coordinates of the arrangement reference position 80 (S150).
  • S150 based on the relative positional relationship between the embedding position and the arm operation mode, the control unit 52 sets the placement reference position 3 so that the articulated arm 34 can move smoothly in medical practice.
  • the smooth movement here means that the arm trajectory is non-interfering with the surgeon performing the medical practice, that the arm trajectory can avoid a singular point, and that the arm trajectory operates within the movable area of the articulated arm. Including.
  • the control unit 52 outputs the arrangement reference position 80 derived in S150 and the arm operation mode derived in S140 to the display device 26 (S160).
  • the display device 26 displays the three-dimensional coordinates of the arrangement reference position 80 and, as shown in FIGS. 6 (A) and 6 (B), the arm operation mode received from the control unit 52 of the robot control unit 50. indicate.
  • the control unit 52 determines whether or not an instruction to change the arm operation mode has been received via the input device 30 (S170). If the result of determination in S170 is that an instruction to change the arm operation mode has been received (S170: YES), the control unit 52 changes the arm operation mode in accordance with the received change instruction (S180). Thereafter, the control unit 52 returns the arrangement position specifying process to S150.
  • the arm operation mode change instruction may be received by correcting the arm operation mode (movable region or the like) displayed on the display device 26.
  • the control unit 52 specifies the current coordinates that are the current position of the base point of the guide robot 32 (S190).
  • a method of specifying the current coordinates for example, a method of specifying the coordinates of the arm tip position by the position tracking device 16 as the origin and specifying according to the relative positional relationship between the coordinates of the arm tip and the coordinates of the arm reference point can be considered. .
  • control unit 52 calculates a position difference that is a difference between the arrangement reference position and the current coordinates (S200). This position difference is calculated along each of the X-axis direction, the Y-axis direction, and the Z-axis direction.
  • the position difference calculated in S200 is output to the display device 26 (S210).
  • the display device 26 displays the position difference received from the control unit 52 of the robot control unit 50, as shown in FIG.
  • the position difference shown in FIG. 7 is a movement amount for moving the base position from the current position to the arrangement reference position.
  • control unit 52 outputs a control signal to the installation base drive mechanism 10 so that the base position moves from the current coordinates to the arrangement reference position (S220).
  • the installation base drive mechanism 10 that has received the control signal moves the base position of the guide robot 32 from the current coordinates to the arrangement reference position.
  • the control unit 52 determines whether or not a position adjustment completion input indicating that the adjustment of the base position of the guide robot 32 has been completed is received via the input device 30 (S230). . If the position adjustment completion input is not received as a result of the determination in S230 (S230: NO), the control unit 52 determines whether an instruction to change the arm operation mode is received via the input device 30 ( S240).
  • the control unit 52 ends the arrangement position specifying process.
  • the guide robot 32 is configured so that the articulated arm 34 does not interfere with the operator based on the relative positional relationship between the arm operation mode and the implantation position.
  • the arrangement reference position 80 where the base point is arranged can be specified.
  • the guide robot 32 can be arranged at a position that does not interfere with the operator, that is, an appropriate position.
  • the arrangement reference position 80 can be set to a position where the articulated arm 34 does not pass the singular point during the medical practice.
  • the guide robot 32 can be arranged at a position where the articulated arm 34 of the guide robot 32 does not pass the singular point during the medical practice.
  • the position at which the articulated arm 34 can be moved within the movable area of the articulated arm 34 during the medical practice can be set as the arrangement reference position 80.
  • the guide robot 32 can be arranged at a position where the articulated arm 34 can be moved within the movable area of the articulated arm 34 during the medical practice.
  • the surgeon who performs the medical practice using the medical practice support system 1 can perform the medical practice more smoothly than the conventional technique.
  • the arrangement reference position 80 is notified. According to such a medical practice support system 1, the user of the medical practice support system 1 can recognize which position the arrangement reference position 80 is.
  • the arm operation mode of the articulated arm 34 is notified.
  • the user of the medical practice support system 1 can recognize the arm operation mode of the guide robot 32.
  • the modification of the arm operation mode is received, and the arm operation mode and the arrangement reference position 80 are corrected according to the received content.
  • the operation of the guide robot 32 can be adjusted so that the surgeon can perform a smoother medical practice.
  • the arrangement reference position 80 can be adjusted so that the surgeon can smoothly perform the medical action according to the arm operation mode adjusted in this way. For this reason, according to the medical practice support system 1, the medical practice by the operator can be performed more smoothly.
  • the arrangement reference position 80 can be set to an appropriate position according to the surgeon's own habit. As a result, the surgeon can perform the medical action more smoothly.
  • a control signal is output to the installation table drive mechanism 10 so that the base position moves from the current coordinates to the arrangement reference position. That is, according to the medical practice support system 1, since the base position is automatically controlled so as to coincide with the arrangement reference position, the convenience can be further improved.
  • this indication is not limited to the above-mentioned embodiment, and can be carried out in various modes in the range which does not deviate from the gist of this indication.
  • the position difference between the arrangement reference position 80 and the current coordinates of the guide robot 32 is derived, and the derived position difference is within the allowable range.
  • the base position of was moved.
  • a position difference between the arrangement reference position 80 and the current coordinates of the guide robot 32 may be derived, and the derived position difference may be notified.
  • the movement amount for moving to the arrangement reference position 80 can be notified, and the user of the medical practice support system 1 can recognize the necessary operation amount up to the arrangement reference position 80. Then, the user (that is, the operator) of the medical practice support system 1 moves the guide robot 32 according to the recognized position difference, thereby moving the guide robot 32 to an appropriate position (that is, the arrangement reference position 80). Can be placed.
  • the position tracking device 16 is constituted by a known tracking arm, but the position tracking device 16 is not limited to this. That is, the position tracking device 16 may be, for example, a device that irradiates an exploration wave such as an infrared ray with improved directivity to track changes in the implantation position, and can specify the coordinates of other implantation positions. It may be a simple device. In other words, the position tracking device 16 may be any device as long as it can identify the relative positional relationship between the reference point defined in the guide robot 32 and the implantation position.
  • the information acquisition unit 20 of the medical practice planning apparatus 18 in the above embodiment has acquired the position specifying information from the computed tomography apparatus
  • the information acquisition unit 20 of the medical practice planning apparatus 18 has the position from other apparatuses. Specific information may be acquired.
  • a dental implant is assumed as the medical practice supported by the medical practice support system 1, but in this disclosure, the medical practice supported by the medical practice support system is not limited to a dental implant.
  • the medical practice supported by the medical practice support system of the present disclosure may be surgery, internal medicine, dental care other than dental implants, or other medical care It may be an action.
  • the target part in the present disclosure is not limited to the position (part) of the jaw bone of the patient into which the implant body is to be embedded.
  • the surgical tool 2 attached to the tip of the guide robot 32 is not limited to a drill unit used for dentistry, and may be a tool used for various medical practices.
  • the tool used for various medical activities may be, for example, a surgical instrument such as a scalpel or forceps, or other medical instrument.
  • the medical practice support system 1 may include a stop switch that stops the medical practice support by the guide robot 32 and a switch that accepts whether the medical assistance by the guide robot 32 is supported.
  • each section is expressed as S100, for example.
  • each section can be divided into a plurality of subsections, while a plurality of sections can be combined into one section.
  • each section configured in this manner can be referred to as a device, module, or means.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Dentistry (AREA)
  • Surgery (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Epidemiology (AREA)
  • Robotics (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Mechanical Engineering (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Manipulator (AREA)
  • Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)

Abstract

L'invention concerne un système d'aide au traitement médical comprenant : un robot à articulations multiples (32) muni d'un bras à articulations multiples dans lequel des bras multiples sont raccordés par l'intermédiaire d'articulations ; et une unité de commande de robot (50). L'unité de commande de robot spécifie une position d'intérêt qui indique la position d'une zone d'un patient où un traitement médical est à effectuer (S130), et spécifie en outre un état de mouvement de bras qui représente la trajectoire du bras à articulations multiples dans le traitement médical et la plage mobile du bras à articulations multiples dans le traitement médical (S140). Ensuite, l'unité de commande de robot spécifie une position d'agencement de référence selon laquelle un point de base, qui est un point de référence pour le mouvement du bras à articulations multiples, est réglé sur la base de la relation de position relative entre la zone d'intérêt spécifiée et l'état de mouvement du bras de sorte qu'un état de mouvement régulier, dans lequel le bras à articulations multiples du robot à articulations multiples peut se déplacer de façon régulière, soit garanti dans le traitement médical (S150).
PCT/JP2016/002445 2015-06-03 2016-05-19 Système d'aide au traitement médical Ceased WO2016194325A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015113302A JP2016221166A (ja) 2015-06-03 2015-06-03 医療行為支援システム
JP2015-113302 2015-06-03

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WO2016194325A1 true WO2016194325A1 (fr) 2016-12-08

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Cited By (1)

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CN114601580A (zh) * 2022-03-21 2022-06-10 西安交通大学口腔医院 基于人工智能的口腔科用高效精准牙齿种植机械臂

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