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WO2017221323A1 - Système médical - Google Patents

Système médical Download PDF

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Publication number
WO2017221323A1
WO2017221323A1 PCT/JP2016/068376 JP2016068376W WO2017221323A1 WO 2017221323 A1 WO2017221323 A1 WO 2017221323A1 JP 2016068376 W JP2016068376 W JP 2016068376W WO 2017221323 A1 WO2017221323 A1 WO 2017221323A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
joint
operation unit
redundant
medical system
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/JP2016/068376
Other languages
English (en)
Japanese (ja)
Inventor
池田　浩
享平 栗原
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Olympus Corp
Original Assignee
Olympus Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Olympus Corp filed Critical Olympus Corp
Priority to PCT/JP2016/068376 priority Critical patent/WO2017221323A1/fr
Publication of WO2017221323A1 publication Critical patent/WO2017221323A1/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
    • A61B34/37—Leader-follower robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements

Definitions

  • the present invention relates to a medical system.
  • Patent Literature 1 and Patent Literature 2 describe a medical system including a slave arm having a joint group including redundant joints.
  • the medical system described in Patent Document 1 is configured to operate a redundant joint by operating a switch provided on a slave arm.
  • the medical system described in Patent Document 2 is configured so that the slave arm and the operation unit for operating the end effector provided at the distal end of the slave arm include a function of operating the redundant joint. .
  • each slave arm can be arranged so as to avoid a collision between slave arms in advance.
  • the redundant joint operates by operating the operation unit operated by the operator. That is, the operator needs to operate the redundant joint.
  • the surgeon since the surgeon usually concentrates on the procedure using the end effector, if the operator tries to operate the redundant joint in addition to performing the procedure, the operation of the surgeon becomes complicated.
  • an object of the present invention is to provide a medical system in which a person other than an operator can easily operate a redundant joint.
  • a medical system has a first arm having a joint group including at least one redundant joint, and is detachably supported at a distal end of the first arm, and has an end effector.
  • a treatment tool a first operation unit configured to be able to operate the first arm and the treatment tool, and provided separately from the first arm and the first operation unit so that only the redundant joint can be operated.
  • a configured second operating unit configured to be able to operate the first arm and the treatment tool, and provided separately from the first arm and the first operation unit so that only the redundant joint can be operated.
  • the second operation unit may include a touch screen that displays the first arm and the redundant joint.
  • the second operation unit may be configured to be able to operate the redundant joint by touching the redundant joint displayed on the touch screen.
  • the medical system is configured to generate an operation signal for operating the redundant joint based on an operation signal generated and output by the second operation unit. It may further include a control unit that generates and outputs the operation signal to the redundant joint.
  • the control unit may generate the operation signal based on the operation signal under a condition in which a position and a posture of the end effector are fixed with respect to a base unit supporting the proximal end of the first arm. Good.
  • the medical system generates an operation signal for operating the redundant joint based on an operation signal generated and output by the second operation unit, You may further provide the control part which outputs an operation signal to the said redundant joint.
  • the second operation unit may have a shape similar to the shape of the first arm.
  • the control unit may generate the operation signal for operating the redundant joint so that the shape of the first arm is similar to the shape of the second operation unit.
  • the medical system according to the third or fourth aspect may further include a second arm that is disposed in proximity to the first arm and has a joint group. Good.
  • the control unit may determine whether the first arm collides with the second arm when the redundant joint is operated based on the operation signal before the redundant joint is operated.
  • the second operation unit that operates the redundant joint is provided separately from the first arm and the first operation unit, so that a person other than the operator operates the second operation unit.
  • the redundant joint can be easily operated.
  • FIG. 1 is a diagram showing an overall configuration of a medical system 1 according to the present embodiment.
  • FIG. 2 is a functional block diagram of the medical system 1.
  • the medical system 1 includes an arm 31, a treatment instrument 41, a first operation unit 11, and a second operation unit 14.
  • the medical system 1 includes four arms 31 (first arm 31A, second arm 31B, third arm 31C, and fourth arm 31D).
  • the number of arms 31 is not limited to this, and can be set as appropriate according to a desired treatment. Since the second arm 31B, the third arm 31C, and the fourth arm 31D have the same configuration as the first arm 31A, the configuration of the first arm 31A will be described below, and the other arms 31B to 31D will be described. Detailed description is omitted.
  • the first arm 31A has a joint group 32 including at least one redundant joint 34.
  • the joint group 32 includes a joint 33 (joint other than the redundant axis) and a redundant joint 34.
  • the joint 33 is, for example, one drive shaft of roll, pitch, and yaw, and is used preferentially during the operation of the first arm 31A.
  • the number of joints 33 can be appropriately set according to the degree of freedom required for the first arm 31A.
  • the redundant joint 34 is a joint having a redundant relationship with respect to one joint 33. Therefore, the redundant joint 34 provides the first arm 31A with a redundant degree of freedom in addition to the degree of freedom that one joint 33 provides to the first arm 31A.
  • the number of redundant joints 34 can be set as appropriate according to the degree of redundancy required for the first arm 31A.
  • Each joint (joint 33 or redundant joint 34) constituting the joint group 32 includes an encoder (not shown) that detects the rotation angle of each joint and an actuator (not shown) that drives each joint. have.
  • Each joint is connected to an adjacent joint 33 (or redundant joint 34) by a link.
  • the second arm 31B is disposed close to the first arm 31A.
  • the third arm 31C is disposed on the opposite side of the first arm 31A in proximity to the second arm 31B.
  • the fourth arm 31D is disposed on the opposite side of the second arm 31B in proximity to the third arm 31C.
  • the proximal end of the first arm 31A, the proximal end of the second arm 31B, the proximal end of the third arm 31C, and the proximal end of the fourth arm 31D are supported by the base portion 35, respectively.
  • the base unit 35 is disposed in the vicinity of the operating table 36 on which the patient P is placed, and the position of the base unit 35 is fixed with respect to the operating table 36.
  • the base portion 35 may be configured integrally with the operating table 36.
  • the medical system 1 includes three treatment tools 41 (a first treatment tool 41A, a second treatment tool 41B, and a third treatment tool 41C).
  • the number of treatment tools 41 is not limited to this, and can be set as appropriate according to the number of arms 31. Since the second treatment tool 41B and the third treatment tool 41C have the same configuration as the first treatment tool 41A, the configuration of the first treatment tool 41A will be described below, and the details of the other treatment tools 41B and 41C will be described. The detailed explanation is omitted.
  • the first treatment instrument 41A is detachably supported at the distal end of the first arm 31A.
  • the first treatment tool 41A has an end effector 43.
  • the first treatment instrument 41A is provided with a drive unit (not shown), and the end effector 43 can be operated by this drive unit.
  • the end effector 43 has a known end effector configuration such as a grasping forceps or a knife. The configuration of the end effector 43 may be appropriately selected according to the procedure to be performed.
  • the second treatment instrument 41B is detachably supported at the distal end of the second arm 31B.
  • the third treatment tool 41C is detachably supported at the distal end of the third arm 31C.
  • the observation device 42 is detachably supported at the distal end of the fourth arm 31D.
  • the observation device 42 is a laparoscope, for example, and is configured to be able to observe the inside of the patient P.
  • it replaces with the observation apparatus 42 and the treatment tool 41 may be supported by the distal end of 4th arm 31D.
  • 1st operation part 11 is constituted so that arm 31 and treatment implement 41 can be operated.
  • the first operation unit 11 is operated by, for example, an operator Op.
  • the second operation unit 14 is provided separately from the arm 31 and the first operation unit 11.
  • the second operation unit 14 is configured to be able to operate only the redundant joint 34.
  • the second operation unit 14 is disposed at a position where an assistant As working near the operating table 36 can be operated, and is operated by the assistant As.
  • the medical system 1 further includes a control unit 20 for controlling the entire system.
  • the control unit 20 is a computer configured with, for example, a CPU and a memory.
  • the control unit 20 is connected to each of the first operation unit 11, the second operation unit 14, the first arm 31A, the second arm 31B, the third arm 31C, and the fourth arm 31D so as to be able to transmit and receive signals.
  • the control unit 20 is connected to the first treatment instrument 41A via the first arm 31A so as to be able to transmit and receive signals.
  • the control unit 20 is connected to the second treatment tool 41B via the second arm 31B so as to be able to transmit and receive signals.
  • the control unit 20 is connected to the third treatment instrument 41C via the third arm 31C so as to be able to transmit and receive signals.
  • the control unit 20 is connected to the observation device 42 via the fourth arm 31D so as to be able to transmit and receive signals.
  • the first operation unit 11 When the arm 31 and the treatment instrument 41 are operated by the first operation unit 11, the first operation unit 11 generates a first operation signal based on an operation input by the operator Op, and the control unit 20 generates the first operation signal. Output to. Based on the first operation signal received from the first operation unit 11, the control unit 20 generates a first operation signal for operating the arm 31 or the treatment instrument 41, which is the operation target, Output to the treatment instrument 41.
  • the arm 31 and the treatment tool 41 operate based on the first operation signal received from the control unit 20.
  • the arm 31 and the treatment tool 41 that are the operation targets of the first operation unit 11 are changed by the operator Op.
  • One operation unit 11 is preset. Further, the arm 31 and the treatment tool 41 that are the operation targets of the first operation unit 11 can be appropriately changed according to the procedure performed by the operator Op.
  • the control unit 20 has a first mode and a second mode as control modes for controlling the operation of the arm 31 by the first operation unit 11.
  • the first mode is a mode in which the arm 31 is operated using only the joint 33 in the joint group 32. Therefore, in the first mode, the redundant joint 34 does not operate by the operation of the first operation unit 11.
  • the second mode is a mode in which the arm 31 is operated using both the joint 33 and the redundant joint 34.
  • the surgeon Op can set the first mode or the second mode as the control mode related to the first operation unit 11 according to the procedure he / she performs. Usually, the control mode related to the first operation unit 11 is set to the first mode. Switching between these control modes can be performed by, for example, a switch (not shown) provided in the first operation unit 11.
  • the second operation unit 14 When the redundant joint 34 of the arm 31 is operated by the second operation unit 14, the second operation unit 14 generates a second operation signal based on the operation input by the assistant As, and sends the second operation signal to the control unit 20. Output. Based on the second operation signal received from the second operation unit 14, the control unit 20 generates a second operation signal for operating the redundant joint 34 that is the operation target, and outputs the second operation signal to the redundant joint 34. .
  • the redundant joint 34 operates based on the second operation signal received from the control unit 20.
  • the arm 31 to be operated by the assistant As is set in the second operation unit 14 before the operation of the second operation unit 14. Is done. Moreover, when changing the arm 31 used as operation object, this setting is changed suitably.
  • the control unit 20 has a third mode and a fourth mode as control modes for controlling the operation of the redundant joint 34 by the second operation unit 14.
  • the third mode is a mode that permits the redundant joint 34 to be operated by the operation of the second operation unit 14. Therefore, in the third mode, the assistant As can operate the redundant joint 34 by operating the second operation unit 14.
  • the fourth mode is a mode for prohibiting the redundant joint 34 from being operated by the operation of the second operation unit 14. Therefore, in the fourth mode, even if the assistant As operates the second operation unit 14, the redundant joint 34 does not operate.
  • the control mode related to the second operation unit 14 is set to the fourth mode. When the assistant As needs to operate the redundant joint 34, the control mode is switched from the fourth mode to the third mode.
  • These control modes can be switched by, for example, a selector switch (not shown) provided in the second operation unit 14.
  • the medical system 1 further includes a monitor 12.
  • the monitor 12 is a liquid crystal display, for example, and is electrically connected to the control unit 20.
  • the monitor 12 displays the image inside the patient P acquired by the observation device 42.
  • the monitor 12 is disposed near the first operation unit 11 so that the operator Op can check an image displayed on the monitor 12.
  • the second operation unit 14 has a shape similar to the shape of the arm 31. Therefore, first, the configuration of the arm 31 will be described.
  • FIG. 3 is a schematic diagram showing the configuration of the arm 31. Note that the configuration of the arm 31 shown in FIG. 3 is an example, and the configuration of the arm 31 may be changed as appropriate according to the technique to be performed, the work environment, or the like.
  • the arm 31 includes a first joint 51, a yaw joint 52, a first pitch joint 53, a second pitch joint 54, a third pitch joint 55, a second joint 56, and a straight joint. And a moving joint 57.
  • the yaw joint 52, the first pitch joint 53, the second pitch joint 54, and the third pitch joint 55 are set as joints 33.
  • the first joint 51 and the second joint 56 are set as redundant joints 34.
  • the treatment tool 41 is supported by the linear motion joint 57.
  • the linear motion joint 57 is configured to support the treatment tool 41 along the insertion axis Ai of the treatment tool 41 and to move the treatment tool 41 along the insertion axis Ai.
  • a remote center RC of operation is set on the shaft portion of the treatment instrument 41.
  • the arm 31 is controlled by the control unit 20 so that the remote center RC is fixed to the base unit 35 when the treatment instrument 41 is operated. Since the base part 35 is provided so as not to move with respect to the patient P placed on the operating table 36, the remote center RC is fixed with respect to the patient P.
  • the first joint 51 is configured to be rotatable around a first axis A1 intersecting the remote center RC.
  • the first joint 51 rotatably connects the distal end portion of the first link 61 and the proximal end portion of the second link 62 supported by the base portion 35 at the proximal end portion.
  • the yaw joint 52 is configured to be rotatable around the yaw axis Ay intersecting the remote center RC.
  • the yaw joint 52 rotatably connects the distal end portion of the second link 62 and the proximal end portion of the third link 63 to each other.
  • the second link 62 is configured to position and orient the yaw joint 52 such that the yaw axis Ay intersects the remote center RC regardless of the rotation angle of the first joint 51.
  • the first pitch joint 53 is configured to be rotatable around a second axis A2 parallel to the pitch axis intersecting with the remote center RC.
  • the first pitch joint 53 rotatably connects the distal end portion of the third link 63 and the proximal end portion of the fourth link 64 to each other.
  • the second pitch joint 54 is configured to be rotatable around a third axis A3 parallel to the pitch axis and the second axis A2.
  • the second pitch joint 54 rotatably connects the distal end portion of the fourth link 64 and the proximal end portion of the fifth link 65 to each other.
  • the third pitch joint 55 is configured to be rotatable around a fourth axis A4 parallel to the pitch axis, the second axis A2, and the third axis A3.
  • the third pitch joint 55 rotatably connects the distal end portion of the fifth link 65 and the proximal end portion of the sixth link 66 to each other.
  • the second joint 56 is configured to be rotatable around a fifth axis A5 that intersects the remote center RC.
  • the second joint 56 rotatably connects the distal end portion of the sixth link 66 and the proximal end portion of the seventh link 67 to each other.
  • the distal end portion of the seventh link 67 supports the linear motion joint 57.
  • the seventh link 67 is configured to move the linear motion joint 57 and the treatment tool 41 along the surface of a cone having the remote center RC at the apex.
  • the first pitch joint 53, the fourth link 64, the second pitch joint 54, the fifth link 65, and the third pitch joint 55 constitute a parallel link mechanism.
  • the parallel link mechanism the first pitch joint 53, the second pitch joint 54, and the third pitch are used so that the fifth link 65 is always parallel to the third link 63 using a known mechanism or control method.
  • the joint 55 moves.
  • the arm 31 is configured such that the first axis A1 and the fifth axis A5 do not coincide with any of the yaw axis Ay, the pitch axis, and the insertion axis Ai.
  • FIG. 4 is a schematic diagram illustrating the configuration of the second operation unit 14.
  • the second operation unit 14 has a shape similar to the shape of the arm 31.
  • the assistant As can use the second operation unit 14 to sensuously operate the redundant joint 34 of the arm 31.
  • the second operation unit 14 includes a first operation joint 71 corresponding to the first joint 51, a second operation joint 72 corresponding to the yaw joint 52, a third operation joint 73 corresponding to the first pitch joint 53, Corresponding to the fourth operating joint 74 corresponding to the second pitch joint 54, the fifth operating joint 75 corresponding to the third pitch joint 55, the sixth operating joint 76 corresponding to the second joint 56, and the linear motion joint 57. And a seventh operating joint 77.
  • the second operation unit 14 includes a first operation link 81 corresponding to the first link 61, a second operation link 82 corresponding to the second link 62, and a third operation link 83 corresponding to the third link 63.
  • the first operation link 81 is supported on the base 80 of the second operation unit 14.
  • the seventh operation joint 77 supports an operation unit treatment tool 88 corresponding to the treatment tool 41.
  • an operation unit remote center RC1 is set corresponding to the remote center RC.
  • the operation joints 71 to 77 are configured to be operable in the same manner as the corresponding joints 51 to 57 of the arm 31.
  • the operation joints 71 to 77 have an encoder (not shown) for detecting the rotation angle of the joint and an actuator (not shown) for driving the joint.
  • FIG. 5 is a flowchart showing the operation of the medical system 1.
  • the assistant As operates the selector switch of the second operation unit 14 to switch the control mode related to the second operation unit 14 from the fourth mode to the third mode (step S1).
  • the control part 20 operates the 2nd operation part 14 so that the shape of the 2nd operation part 14 may correspond with the shape of the present arm 31 relatively (similarity) (step S2). That is, the operation joints 71 to 77 of the second operation unit 14 are operated by the built-in actuator so as to coincide with the current rotation angle of the corresponding joints 51 to 57 of the arm 31.
  • the control unit 20 fixes the position and posture of the operation unit treatment tool 88 of the second operation unit 14 with respect to the base 80 (step S3). Thereby, the position of the remote center RC1 for the operation unit set in the operation unit treatment tool 88 is also fixed with respect to the base 80.
  • the control unit 20 displays on the notification display unit (not shown) provided in the second operation unit 14 that the second operation unit 14 has become operable (step S4).
  • the notification display unit is, for example, a liquid crystal display disposed at a position where the assistant As can be visually recognized in the second operation unit 14. After confirming the notification displayed on the notification display unit, the assistant As operates the second operation unit 14 (step S5), and changes the second operation unit 14 into a desired shape.
  • step S ⁇ b> 5 the assistant As can operate only the first operation joint 71 and the sixth operation joint 76 corresponding to the first joint 51 and the second joint 56 that are the redundant joints 34 of the arm 31 in the second operation unit 14. .
  • the control unit 20 calculates the joint operation of the second operation unit 14 for maintaining the position and posture of the operation unit treatment tool 88 (step). S6).
  • the control unit 20 operates the second operation unit 14 based on the calculation result of the joint operation of the second operation unit 14 (step S7). For example, when the assistant As operates the first operation joint 71, the control unit 20 calculates the operations of the remaining operation joints 72 to 77 necessary for maintaining the position and posture of the operation unit treatment tool 88. To do. Then, the control unit 20 operates the operation joints 72 to 77 based on the calculation result.
  • the control unit 20 determines whether or not the arm 31 collides with another arm 31 when the arm 31 is changed to a shape that relatively matches the shape of the second operation unit 14 in step S7 (step S8). ). For example, when the operation target of the second operation unit 14 is the first arm 31A, the control unit 20 determines whether or not the first arm 31A collides with the second arm 31B disposed close to the first arm 31A. Determine whether.
  • control unit 20 determines that the collision between the arms 31 occurs, the control unit 20 displays on the notification display unit of the second operation unit 14 that the collision between the arms 31 occurs (step S9), and the assistant As is urged to operate the second operation unit 14 again.
  • the control unit 20 determines that the collision between the arms 31 does not occur, the control unit 20 puts an operation completion button (not shown) provided in the second operation unit 14 into a state where input is possible.
  • step S10 When the assistant As inputs the operation completion button (step S10), the control unit 20 operates the arm 31 so that the shape of the arm 31 is relatively matched (similar) to the current shape of the second operation unit 14. (Step S11). Until the assistant As inputs the operation completion button, the assistant As can change the shape of the second operation unit 14 again.
  • the assistant As operates the selector switch of the second operation unit 14 to switch the control mode related to the second operation unit 14 from the third mode to the fourth mode (step S12). Thereby, a series of operations of the second operation unit 14 is completed.
  • FIG. 6 and FIG. 6 and 7 are diagrams illustrating an example of the compensation operation in the medical system 1.
  • the assistant As operates the first operation joint 71 corresponding to the first joint 51 to rotate the second operation link 82 corresponding to the second link 62 in one direction with respect to the first operation link 81.
  • the control unit 20 first operates the second operation joint 72 coupled to the second operation link 82 in order to maintain the position and posture of the operation unit treatment tool 88 fixed to the base 80.
  • the third operation link 83 is rotated in the opposite direction of the one direction with respect to the second operation link 82.
  • FIG. 6 shows a state where the first operating joint 71 is rotated 180 degrees in one direction and the second operating joint 72 is rotated 180 degrees in the opposite direction from the state shown in FIG.
  • the operation tool for the operation unit is obtained only by rotating the second operation joint 72 in the reverse direction.
  • the position and posture of 88 are not maintained. That is, when the rotation shaft of the second operation joint 72 is moved, the operation unit treatment tool 88 swings about the operation unit remote center RC1.
  • control unit 20 further operates the third operation joint 73, the fourth operation joint 74, and the fifth operation joint 75 to change the second operation unit 14 into the shape shown in FIG. In the state shown in FIG. 7, the position and posture of the operation unit treatment tool 88 are maintained. With such an operation, it is possible to move the second operation link 82 while maintaining the position and posture of the operation unit treatment tool 88.
  • the compensation operation is implemented in the 2nd operation part 14.
  • the control unit 20 operates the arm 31 under the condition that the position and posture of the end effector 43 of the treatment instrument 41 are fixed with respect to the base unit 35.
  • the medical system 1 includes an arm 31 having a joint group 32 including at least one redundant joint 34, a treatment tool 41 that is detachably supported at the distal end of the arm 31 and has an end effector 43,
  • the first operation unit 11 configured to be able to operate the arm 31 and the treatment instrument 41
  • the second operation unit provided separately from the arm 31 and the first operation unit 11 and configured to be able to operate only the redundant joint 34 14.
  • the assistant As operates the second operation unit 14.
  • the redundant joint 34 can be easily operated.
  • the assistant As operates the 2nd operation part 14 the operator Op does not need to operate the redundant joint 34, but can concentrate on a procedure.
  • the second operation unit 14 has a shape similar to the shape of the arm 31, but this configuration is an example. As long as the 2nd operation part 14 is comprised so that operation of the redundant joint 34 is possible, the structure is not specifically limited.
  • FIG. 8 is a diagram illustrating the second operation unit 15 of the medical system 2 according to the present embodiment.
  • the medical system 2 is different from the medical system 1 according to the first embodiment in that the second operation unit 15 includes a touch screen 90.
  • symbol is attached
  • the touch screen 90 is configured to display the arm 31 and the redundant joint 34.
  • the second operation unit 15 is configured to be able to operate the redundant joint 34 by touching the redundant joint 34 displayed on the touch screen 90.
  • the 3D model 91 of the arm 31 is displayed on the touch screen 90 with the current posture of the arm 31.
  • joint models 92A, 92B, and 92C corresponding to the joint 33 and redundant joint models 93A, 93B, and 93C corresponding to the redundant joint 34 are displayed on the touch screen 90.
  • the assistant When operating the redundant joint 34 by the second operation unit 15, the assistant As first operates the selector switch to switch the control mode related to the second operation unit 15 from the fourth mode to the third mode. As a result, the control unit 20 displays the 3D model 91 corresponding to the current shape of the arm 31 on the touch screen 90. In this state, the assistant As can change the shape of the 3D model 91 by touching the redundant joint models 93A to 93C on the touch screen 90.
  • the control unit 20 changes the arm 31 to the other arm 31. Determine if there is a collision.
  • the control unit 20 determines that a collision between the arms 31 occurs, the control unit 20 displays on the touch screen 90 that a collision between the arms 31 occurs.
  • the control unit 20 makes the start button 95 displayed on the touch screen 90 ready for input.
  • the control unit 20 operates the arm 31 so that the shape of the arm 31 relatively matches the shape of the current 3D model 91.
  • a cancel button 96 is displayed on the touch screen 90.
  • the shape of the 3D model 91 returns to the current shape of the arm 31 (the shape before the touch operation).
  • the second operation unit 15 includes a touch screen 90 that displays the arm 31 and the redundant joint 34.
  • the second operation unit 15 is configured to be able to operate the redundant joint 34 by touching the redundant joint 34 displayed on the touch screen 90.
  • the assistant As can operate the redundant joint 34 while confirming the shape of the arm 31 displayed on the touch screen 90, so that it is easier to avoid a collision between the arms 31 and the like. It can be carried out.

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

Abstract

Le système médical de la présente invention est équipé d'un premier bras possédant un groupe d'articulations comprenant au moins une articulation redondante, d'un instrument de traitement supporté de manière amovible à l'extrémité distale du premier bras et comportant un effecteur terminal, d'une première partie d'actionnement conçue pour pouvoir faire fonctionner le premier bras et l'instrument de traitement, et d'une seconde partie d'actionnement disposée séparément du premier bras et de la première partie d'actionnement et conçue pour pouvoir faire fonctionner uniquement l'articulation redondante.
PCT/JP2016/068376 2016-06-21 2016-06-21 Système médical Ceased WO2017221323A1 (fr)

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Application Number Priority Date Filing Date Title
PCT/JP2016/068376 WO2017221323A1 (fr) 2016-06-21 2016-06-21 Système médical

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Application Number Priority Date Filing Date Title
PCT/JP2016/068376 WO2017221323A1 (fr) 2016-06-21 2016-06-21 Système médical

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WO2017221323A1 true WO2017221323A1 (fr) 2017-12-28

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114098953A (zh) * 2021-11-11 2022-03-01 深圳市精锋医疗科技股份有限公司 机械臂、从操作设备以及手术机器人
JP2022530606A (ja) * 2020-03-31 2022-06-30 シーエムアール・サージカル・リミテッド 手術用ロボットシステムの構成

Citations (6)

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Publication number Priority date Publication date Assignee Title
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