[go: up one dir, main page]

WO2023187911A1 - Dispositif d'assistance chirurgicale - Google Patents

Dispositif d'assistance chirurgicale Download PDF

Info

Publication number
WO2023187911A1
WO2023187911A1 PCT/JP2022/015040 JP2022015040W WO2023187911A1 WO 2023187911 A1 WO2023187911 A1 WO 2023187911A1 JP 2022015040 W JP2022015040 W JP 2022015040W WO 2023187911 A1 WO2023187911 A1 WO 2023187911A1
Authority
WO
WIPO (PCT)
Prior art keywords
surgical
control unit
control
control program
surgical tool
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/JP2022/015040
Other languages
English (en)
Japanese (ja)
Inventor
貴皓 菅野
円朗 山本
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.)
Riverfield Inc
Original Assignee
Riverfield Inc
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 Riverfield Inc filed Critical Riverfield Inc
Priority to JP2023521126A priority Critical patent/JP7360762B1/ja
Priority to PCT/JP2022/015040 priority patent/WO2023187911A1/fr
Publication of WO2023187911A1 publication Critical patent/WO2023187911A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

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

Definitions

  • the present invention relates to the technical field of a surgical support device equipped with a function to attach a surgical tool.
  • Such a surgical support device is equipped with a surgical tool such as an endoscope or forceps, and includes a plurality of movable bodies for changing the position and posture of the surgical tool.
  • a surgical tool such as an endoscope or forceps
  • Various surgical support devices are disclosed in Patent Documents 1, 2, and 3 listed below.
  • a surgical support device that drives a multi-joint arm while a surgical tool is attached to the attachment part.
  • various surgical instruments such as forceps and a scope as an endoscope are moved by the multi-jointed arm.
  • various surgical tools have different weights and center of gravity positions depending on their type.
  • even surgical instruments of the same type, such as the same endoscope have different weights.
  • the present invention proposes a technique that enables drive control that is adapted to the attached surgical tool.
  • the surgical support device of the present invention includes a mounting part for mounting a surgical tool, a multi-joint arm for changing the position or posture of the surgical tool mounted on the mounting part, and at least one actuator for driving the multi-joint arm.
  • a control section that controls the operation of the actuator based on a control program, and the content of the control program in the control section can be changed depending on the surgical tool attached to the attachment section. That is, the contents of the control program are changed to correspond to differences in load and moment of inertia in the operation of the multi-joint arm due to the surgical tool attached to the attachment section.
  • the contents of the control program can be changed in accordance with the surgical tool attached to the surgical tool. Therefore, it is possible to improve the precision of drive control and provide a highly safe surgical support device that is compatible with various surgical tools.
  • FIG. 1 is an explanatory diagram of a surgical support device according to an embodiment of the present invention.
  • FIG. 2 is an explanatory diagram of a multi-joint arm of the surgical support device according to the embodiment.
  • FIG. 2 is a block diagram of a control configuration of the surgical support device according to the embodiment. It is a flowchart of program setting processing of an embodiment.
  • FIG. 3 is an explanatory diagram of parameter set settings according to the embodiment.
  • FIG. 2 is an explanatory diagram of settings of an embodiment program module. It is a flowchart of manual program setting processing of an embodiment.
  • Embodiments of the surgical support device will be described with reference to the accompanying drawings.
  • the embodiment shown below shows an example in which the surgical support device used in the present invention is applied to a type that is used while being fixed to a surgical table.
  • the scope of application of the surgical support device used in the present invention is not limited to the type that is used while being fixed to the operating table, but also the type that is used while being installed on the floor of the operating room, or the type that is used on the ceiling of the operating room. It can also be applied to a type that is mounted on a wall.
  • FIGS. 1 and 2 a description will be given of a surgical support device 1 having a configuration as a multi-joint arm made up of a plurality of arms and the like.
  • An operating table 100 is installed in the operating room, and a patient 200 is lying on the operating table 100, for example, in a supine state.
  • a fixing rail 100a is provided on the side of the operating table 100.
  • a port 202 is formed in the body cavity 201 of the patient 200, for example, the abdominal wall 201a.
  • a portion (tip portion) of a surgical tool 80 which will be described later, is inserted into the port 202 when a surgical operation is performed.
  • Port 202 is a small hole into which a portion of surgical tool 80 is inserted.
  • the surgical support device 1 has a device main body 2 and a holder 3. Inside the device main body 2, for example, one electric actuator (not shown) and a plurality of pneumatic actuators (not shown) are arranged.
  • the device main body 2 has a fixed base 4 fixed to the operating table 100, a pedestal 5 rotatably supported by the fixed base 4, and an arm body 6 supported by the pedestal 5.
  • the fixed base 4 has a substantially rectangular parallelepiped-shaped base portion 7 in which various predetermined mechanisms are provided, and a clamper 8 protruding from the base portion 7.
  • the clamper 8 has an upper clamp part 8a and a lower clamp part 8b, and at least one of the upper clamp part 8a and the lower clamp part 8b is vertically movable.
  • An air suction pipe projects from the surface of the base portion 7 opposite to the surface on which the clamper 8 is provided.
  • the air suction pipe is connected to the compressor via a suction tube. Therefore, compressed air is supplied to the inside of the fixed base 4 from the compressor.
  • the compressed air supplied to the inside of the fixed base 4 passes through the inside of the fixed base 4 toward the inside of the arm body 6 and is used as a driving force for operating the arm body 6.
  • the surgical support device 1 is fixed to the operating table 100 by the upper clamp part 8a and lower clamp part 8b of the clamper 8 holding the fixing rail 100a from above and below.
  • the surgical support device 1 is, for example, transported by a trolley by attaching the fixed base 4 to a trolley (not shown), transported to a sterilization room, sterilized, transported to an operating room, and used in a surgery. be done.
  • the pedestal 5 is rotatably supported by the fixed base 4 around an axis S1 extending perpendicularly to the fixed base 4, and a portion thereof is located above the upper surface of the fixed base 4.
  • the pedestal 5 is rotated relative to the fixed base 4 by, for example, a driving force of an electric actuator.
  • the arm body 6 has a first connecting arm 9, a second connecting arm 10, and a third connecting arm 11. Note that the number of connecting arms in the arm body 6 is not limited to three, and may be a plurality of connecting arms, and may be two or four or more.
  • the first connecting arm 9 has a first connecting portion 9a connected to the pedestal 5, and is rotatable relative to the pedestal 5 about a horizontally extending axis S2 as a fulcrum.
  • the first connecting arm 9 is rotated relative to the base 5 by, for example, a pneumatic actuator operated by compressed air supplied from a compressor.
  • the second connection arm 10 has one end in the longitudinal direction provided as a first connection part 10a, and the other end in the longitudinal direction provided as a second connection part 10b.
  • the second connecting arm 10 has a first connecting part 10a connected to a second connecting part 9b of the first connecting arm 9, and rotates with respect to the first connecting arm 9 about an axis S3 extending in the horizontal direction. be made movable.
  • the second connecting arm 10 is rotated relative to the first connecting arm 9 by a pneumatic actuator operated by compressed air supplied from a compressor, for example.
  • the third connecting arm 11 in the longitudinal direction is provided as a first connecting part 11a, and the other end in the longitudinal direction is provided as a second connecting part 11b.
  • the second connecting portion 11b is composed of, for example, two arm portions.
  • the first connecting part 11a is connected to the second connecting part 10b of the second connecting arm 10
  • the second connecting arm 10 is connected to the axis S4 extending in a direction orthogonal to the axis S3 as a fulcrum.
  • the third connecting arm 11 is not rotated by an external driving force such as the driving force of an electric actuator or a pneumatic actuator, and is not rotated by its own weight or other forces such as the first connecting arm 9 or the second connecting arm 10. This is a part that rotates freely according to the movement.
  • the holder 3 is rotatably supported (connected) to the second connecting portion 11b of the third connecting arm 11.
  • the holder 3 has a substantially cylindrical outer shape, and is connected to the second connecting portion 11b at an intermediate portion in the longitudinal direction (axial direction).
  • the holder 3 is rotatable relative to the third connecting arm 11 about an axis S5 extending in a direction perpendicular to the axis S4.
  • the holder 3 is not rotated by an external driving force such as the driving force of an electric actuator or a pneumatic actuator, but is rotated by its own weight, the first connecting arm 9, the second connecting arm 10, the third connecting arm 11, etc. It is a part that performs a free rotational movement that rotates in response to other movements.
  • the holder 3 has a base cylinder part 12 which is partially rotatable and is not rotated, a rotating part 13 rotatably supported by the base cylinder part 12, and a connecting cylinder part 14 attached to the base cylinder part 12. There is.
  • a lock release button 14b is arranged on the connecting cylinder portion 14.
  • the rotating part 13 is rotatable by, for example, a pneumatic actuator operated by compressed air supplied from a compressor, and can also be rotated manually.
  • a switching button 16a is arranged on the operation section 16.
  • the switching button 16a has a function of switching the driving force for rotating the rotating section 13.
  • the rotating section 13 is rotated with respect to the base tube section 12 and the connecting tube section 14.
  • a separator 30 is removably attached to the holder 3.
  • An adapter 36 is detachably attached to the separator 30.
  • the adapter 36 has the function of holding a surgical tool 80.
  • the adapter 36 is made up of, for example, an upper case 37 and a lower case 38 connected at the top and bottom, and one end is engaged with the separator 30 and attached.
  • the surgical tool 80 is provided, for example, as a scope unit having an endoscope, and includes a shaft portion 81 in which a plurality of lenses are arranged, a camera head 82 coupled to one end of the shaft portion 81, and an intermediate portion between the shaft portion 81. It has a light guide 83 coupled to the section. An image sensor (not shown) is arranged inside the camera head 82.
  • a cable (not shown) that is a signal line or a power line is connected to the camera head 82, and a ride guide cable (not shown) for guiding light is connected to the light guide 83.
  • the distal end of the shaft portion 81 of the surgical instrument 80 is inserted into the body cavity 201 through a port 202 formed in the patient 200.
  • illumination light is emitted from the distal end of the shaft portion 81, and the state inside the body cavity 201 is photographed by the imaging device.
  • the surgical tool 80 is held by the adapter 36 by the camera head 82 being held between the upper case 37 and the lower case 38 from above and below.
  • the adapter 36 holding the surgical tool 80 is attached to the separator 30 by having the attached portion 36a engaged with the engaging portion 33. Therefore, the surgical tool 80 is held in the holder 3 via the adapter 36 and the separator 30.
  • the surgical support device 1 is configured to have a multi-joint arm in which each part can rotate or rotate about six axes from axis S1 to axis S6, so that the surgical support device 1 can be
  • the degree of freedom in the direction and position of the tool 80 is high, and surgery can be performed quickly and with high precision.
  • a free rotational movement is performed on the axes S4 and S5 and the axes S4 and S5 are perpendicular to each other, when the direction or position of the surgical instrument 80 inserted into the port 202 is changed or when the patient's 200 is in a respiratory state, etc. Accordingly, when the direction or position of the port 202 is changed, the load on tissues near the body surface of the patient 200 can be reduced.
  • the arm body 6 is rotated around the axis S1 at the farthest position from the surgical tool 80 by the driving force of the electric actuator, and rotated around the axis S2 at a position closer to the surgical tool 80 than the axis S1. Rotation or pivoting about the axes S3 and S6 is performed by the driving force of the pneumatic actuator.
  • the arm body 6 is rotated or rotated at a position close to the surgical instrument 80 by the driving force of the pneumatic actuator, which has a smaller load on the patient 200 than the driving force of the electric actuator, a load is placed on the tissue near the body surface of the patient 200. can be further reduced.
  • the fact that the arm body 6 is rotated or pivoted at more locations due to the driving force of the pneumatic actuator than the locations at which the arm body 6 is rotated due to the driving force of the electric actuator also allows the tissue near the body surface of the patient 200 to be It is possible to reduce the load.
  • an ultrasonic motor such as a piezoelectric motor capable of highly accurate positioning may be used instead of the electric actuator or pneumatic actuator. Further, by using an ultrasonic motor, it is possible to save power and downsize the surgical support device 1.
  • FIG. 3 shows a control configuration of the multi-joint arm in the surgical support device 1 as described above.
  • FIG. 3 shows a first pneumatic actuator 41 that drives the first connecting arm 9, a second pneumatic actuator 42 that drives the second connecting arm 10, and a third pneumatic actuator that drives the rotating part 13 of the holder 3.
  • This configuration controls the drive of the pneumatic actuator 43 and the electric actuator 44 that drives the pedestal 5.
  • the surgical support device 1 includes a control section 50, an operation section 51, a detection section 52, a storage section 53, a drive section 54, and a drive section 55 as configurations that perform drive control.
  • the drive unit 54 drives and controls the first, second, and third pneumatic actuators 41, 42, and 43. That is, the drive unit 54 outputs a drive signal that causes each of the first, second, and third pneumatic actuators 41 , 42 , and 43 to execute the required drive amount in response to a drive instruction from the control unit 50 .
  • the first connecting arm 9, the second connecting arm 10, and the rotating section 13 are caused to perform necessary rotations according to the operations of the user (for example, a doctor/operator) of the surgical support device 1.
  • the drive unit 55 drives and controls the electric actuator 44. That is, the drive unit 54 outputs a drive signal that causes the electric actuator 44 to execute a drive of a required drive amount in response to a drive instruction from the control unit 50. This causes the pedestal 5 to perform the necessary rotation according to the user's operation.
  • the control unit 50 is composed of a microcomputer that includes a CPU (Central Processing Unit), a memory unit such as a ROM (Read Only Memory), a RAM (Random Access Memory), and a flash memory, an interface unit, and the like.
  • the control unit 50 outputs necessary drive instructions to the drive units 54 and 55 according to user operations and programs.
  • the storage unit 53 performs recording and reproduction on a recording medium such as a nonvolatile memory.
  • a recording medium such as a nonvolatile memory.
  • the storage section 53 is realized as an HDD (Hard Disk Drive), an SSD (Solid State Drive), or the like.
  • the storage unit 53 may be configured as a solid-state memory chip, or may be configured as a flash memory and its write/read circuit.
  • the storage section 53 stores various program modules and parameter sets used by the CPU of the control section 50.
  • the operation unit 51 collectively represents input devices through which the surgeon performs various operation inputs. For example, there is a controller for controlling the posture and position of the distal end of the surgical instrument 80 attached to a multi-joint arm, a photographing button on an endoscope, and the like.
  • the operation unit 51 also includes a touch panel and a touch pad provided on a monitor display panel (not shown) for various setting operations and the like. Further, the operation section 51 may be a remote control unit.
  • the control unit 50 determines the amount of operation (rotation amount) of each actuator and instructs the drive units 54 and 55 to perform an operation according to the operation information.
  • the detection unit 52 comprehensively shows various sensors mounted on the multi-joint arm.
  • a speed sensor for example, a speed sensor, an acceleration sensor, a weight sensor, etc. are assumed.
  • an IMU Inertial Measurement Unit
  • the angular velocity may be detected by, for example, a three-axis angular velocity (gyro) sensor of pitch, yaw, and roll.
  • the weight of the surgical tool 80 may be directly detected by a weight sensor, or, for example, the multi-joint arm may be made to perform a predetermined movement with the surgical tool 80 attached to obtain sensing information on the moment of inertia or acceleration. By generating this and measuring the load on each joint, the weight of the surgical tool 80, etc. can be calculated.
  • the multi-joint arm is placed in a predetermined posture without the surgical tool 80 attached, and information on the air pressure at that time is stored as a reference value.
  • the multi-joint arm is also placed in a predetermined posture and air pressure information is acquired.
  • the difference between the air pressure and the reference pressure value at this time is caused by the weight of the surgical instrument 80. Therefore, the weight of the surgical tool 80 can be calculated from this difference. From this, it is possible to calculate the weight of the currently attached surgical instrument 80 by obtaining information on the air pressures of some or all of the first, second, and third pneumatic actuators 41, 42, and 43. Become.
  • the control unit 50 calculates the drive amount and drive speed of each movable body according to the operator's operation based on a program, and controls the drive units 54 and 55.
  • the accuracy of controlling the posture and position of the surgical instruments 80 by the multi-jointed arm may decrease.
  • the control position may tend to be lower than the original control position.
  • the operation may be delayed and the endoscope may not be operated as intended by the operator.
  • the weight of the surgical tool 80 has been reduced, and the difference in weight between the old and new surgical tools 80 has become large, so adaptive control according to the surgical tool 80 to be attached is required.
  • the contents of the control program in the control unit 50 can be changed depending on the surgical instrument 80.
  • the content of the control program refers to the control content determined by the program module and parameter set.
  • the fact that the contents of the control program can be changed means, for example, that program modules and parameter sets can be changed. In other words, it refers to the switching of the program itself or reference values by the program.
  • control content for example, the drive amount, drive speed, drive direction, drive target, drive range, etc. are changed by changing the content of the control program.
  • the amount of drive and drive speed per unit operation are changed depending on the weight and center of gravity (hereinafter also referred to as "weight etc.") of the surgical tool 80.
  • weight etc. the parameter set referred to by the control program started by the control unit 50 is selected depending on the weight of the surgical tool 80 and the like.
  • the program module itself as the control program started by the control unit 50 may be selected depending on the weight of the surgical tool 80, etc.
  • FIG. 4 shows an example of processing by the control unit 50.
  • the control unit 50 executes the process shown in FIG. 4 as an initial process after the surgical instrument 80 is attached.
  • step S101 the control unit 50 performs posture control of the multi-joint arm. Then, the control unit 50 acquires the detection information in step S102. For example, in steps S101 and S102, the control unit 50 measures the moment of inertia and load that drive each actuator to perform a predetermined operation. Alternatively, the control unit 50 sets the multi-joint arm in a predetermined posture and acquires information on the pneumatic pressures of all or part of the first, second, and third pneumatic actuators 41, 42, and 43.
  • step S103 the control unit 50 uses the acquired detection information to determine the weight and center of gravity of the currently attached surgical tool 80.
  • the control unit 50 determines a corresponding parameter set based on the weight and center of gravity determination results.
  • the storage unit 53 stores a plurality of parameter sets according to weight, etc., such as parameter sets PRM1, PRM2, . . . PRMn shown in FIG.
  • the parameter sets PRM1, PRM2, . . . are sets of parameters optimized in association with different weight ranges.
  • the parameters here include, for example, the amount of rotation, rotational speed, rotational acceleration, torque, upper speed limit, and limit value of the movable range according to the unit operation amount of the operator.
  • control unit 50 determines a parameter set to be referred to in the processing of the control program PG in step S104, it selects the parameter set in step S105.
  • FIG. 5 schematically shows how the control unit 50 selects the parameter set PRM2 and loads it for reference.
  • the control unit 50 executes the process shown in FIG. 4 each time the attached surgical instrument 80 is replaced, so that a parameter set suitable for the weight and center of gravity of the surgical instrument 80 is referenced, and the surgical instrument 80 is Adapted motion control of an articulated arm is realized.
  • FIG. 6 schematically shows an example in which the program module itself is selected instead of the parameter set.
  • a plurality of program modules PG1, PG2, . . . PGm are stored in the storage unit 53 as control programs for the multi-joint arm. These are program modules adapted to different weight ranges of the surgical instrument 80, respectively.
  • control unit 50 selects a program module adapted to the weight of the surgical instrument 80, etc. in step S104 of FIG. 4, and develops it as a control program to be activated in step S105. In this way, the control unit 50 may switch the control program itself to be started depending on the weight of the surgical tool 80, etc.
  • the above example is an example in which the parameter set and program module are automatically selected in accordance with the weight, etc., but the user may be able to manually select the parameter set and program module.
  • FIG. 7 shows the processing of the control unit 50 in response to manual operation.
  • the control unit 50 acquires operation information.
  • the user can select the weight type according to the surgical instrument 80 by operating a touch panel on an interface screen or the like. For example, select a weight type such as 3 stages or 5 stages.
  • the control unit 50 acquires the designation information of the weight type.
  • the control unit 50 determines the parameter set (or program module) to be selected.
  • step S201 when the user performs an operation of inputting the type, model number, etc. of the surgical tool 80, or performing an operation of selecting the attached surgical tool 80 on the screen, information indicating the surgical tool 80 is displayed in step S201. may be acquired by the control unit 50.
  • the control unit 50 determines the weight etc. of the surgical instrument 80 based on the type etc.
  • a database that associates the type and model number of the surgical tool 80 with its weight and center of gravity is stored in advance in the storage unit 53, etc., and the control unit 50 can determine the weight, etc. of the surgical tool 80 by referring to it. .
  • the control unit 50 determines the applicable parameter set (or program module) based on the determination of the weight and the like.
  • step S203 the control unit 50 selects a specific parameter set and loads it for reference. Or select and start a specific program module.
  • the above processing realizes program switching according to the operation of a user such as a surgeon. Note that it is preferable that the above processes shown in FIGS. 3 and 7 be performed for each multi-joint arm. For example, in the case of the surgical support device 1 having three multi-joint arms, the content of the control program is changed for each multi-joint arm according to the weight of the surgical instrument 80 attached.
  • the surgical support device 1 of the embodiment includes a mounting part (holder 3 or adapter 36) on which a surgical tool 80 is mounted, a multi-joint arm that changes the position or posture of the surgical tool 80 mounted on the mounting part, and a multi-joint arm. It includes at least one actuator that drives the arm, and a control section 50 that controls the operation of the actuator based on a control program PG. The contents of the control program in the control section 50 can be changed depending on the surgical tool 80 attached to the attachment section.
  • control program PG is the program module itself used as the control program PG, and also refers to a parameter set referenced by the control program PG.
  • control unit 50 determines the weight or center of gravity with the surgical tool 80 attached to the attachment unit, and automatically changes the content of the control program PG based on the determination result.
  • the control program PG By changing the contents of the control program PG to adapt to the weight and center of gravity of a surgical tool 80 such as forceps or a scope, it is possible to perform arm movement control that is compatible with the surgical tool 80, thereby improving operational safety and Accuracy can be increased.
  • Determination of weight or center of gravity can be realized by providing a sensing device such as an acceleration sensor, an angular velocity sensor, an IMU, or a weight sensor.
  • pneumatic actuators (41, 42, 43) are provided as actuators, and the control unit 50 receives pressure information of the pneumatic actuators (41, 42, 43) when the surgical tool 80 is attached to the attachment part.
  • An example has been described in which the weight is determined from , and the content of the control program PG is automatically changed based on the determination result (see FIG. 4).
  • the weight of the surgical tool 80 can be calculated from information on the pressure generated by the weight of the surgical tool 80 in a predetermined posture. Thereby, the contents of the control program PG can be changed so as to be in a state suitable for the weight of the surgical tool 80. Further, in this case, since a separate sensor for detecting the weight of the surgical tool 80 is not required, the configuration of the entire apparatus can be simplified.
  • control unit 50 changes the contents of the control program PG based on the operation information (see FIG. 7).
  • the user can select multiple weight types through operation. This allows the user to specify the weight type according to the type of surgical instrument 80 that is attached, and thereby perform arm operation control that is suitable for the surgical instrument 80.
  • a storage unit 53 that stores a plurality of parameter sets is provided, and the content of the control program in the control unit 50 is changed by switching the parameter set referred to by the control program PG started by the control unit 50.
  • the control program PG By selecting the parameter set to which the control program PG refers, the contents of the control program PG can be substantially changed.
  • the storage unit 53 stores a plurality of control programs PG (program modules), and the content of the control program in the control unit 50 is changed by switching the control program PG started by the control unit 50. listed. By selecting the control program PG to be started, the contents of the control program PG can be changed.
  • control programs PG program modules

Landscapes

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

Abstract

Le but de la présente invention est de réaliser une commande de fonctionnement adaptée à l'instrument chirurgical fixé. Afin d'atteindre ce qui précède, un dispositif d'assistance chirurgicale comprenant une partie de fixation destinée à fixer un instrument chirurgical, un bras articulé destiné à modifier la position ou l'orientation de l'instrument chirurgical fixé à la partie de fixation, au moins un actionneur destiné à entraîner le bras articulé et une unité de commande destinée à commander le fonctionnement de l'actionneur sur la base d'un programme de commande, est conçu de telle sorte que le contenu du programme de commande dans l'unité de commande peut être modifié en fonction de l'instrument chirurgical fixé à la partie de fixation
PCT/JP2022/015040 2022-03-28 2022-03-28 Dispositif d'assistance chirurgicale Ceased WO2023187911A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2023521126A JP7360762B1 (ja) 2022-03-28 2022-03-28 手術支援装置
PCT/JP2022/015040 WO2023187911A1 (fr) 2022-03-28 2022-03-28 Dispositif d'assistance chirurgicale

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/015040 WO2023187911A1 (fr) 2022-03-28 2022-03-28 Dispositif d'assistance chirurgicale

Publications (1)

Publication Number Publication Date
WO2023187911A1 true WO2023187911A1 (fr) 2023-10-05

Family

ID=88199675

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2022/015040 Ceased WO2023187911A1 (fr) 2022-03-28 2022-03-28 Dispositif d'assistance chirurgicale

Country Status (2)

Country Link
JP (1) JP7360762B1 (fr)
WO (1) WO2023187911A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6331181B1 (en) * 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
JP2012213426A (ja) * 2011-03-31 2012-11-08 Olympus Corp 手術用システムの制御装置及び制御方法
JP2020039434A (ja) * 2018-09-06 2020-03-19 リバーフィールド株式会社 アーム装置、制御方法およびプログラム
JP2021003531A (ja) * 2019-06-27 2021-01-14 ソニー株式会社 手術支援システム、制御装置及び制御方法
JP2021153858A (ja) * 2020-03-27 2021-10-07 株式会社メディカロイド 手術器具

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6331181B1 (en) * 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
JP2012213426A (ja) * 2011-03-31 2012-11-08 Olympus Corp 手術用システムの制御装置及び制御方法
JP2020039434A (ja) * 2018-09-06 2020-03-19 リバーフィールド株式会社 アーム装置、制御方法およびプログラム
JP2021003531A (ja) * 2019-06-27 2021-01-14 ソニー株式会社 手術支援システム、制御装置及び制御方法
JP2021153858A (ja) * 2020-03-27 2021-10-07 株式会社メディカロイド 手術器具

Also Published As

Publication number Publication date
JPWO2023187911A1 (fr) 2023-10-05
JP7360762B1 (ja) 2023-10-13

Similar Documents

Publication Publication Date Title
US11622822B2 (en) Surgery supporting apparatus for controlling motion of robot arm, control method of the same, and non-transitory computer-readable storage medium
JP6666249B2 (ja) 医療用観察装置
JP6120715B2 (ja) 医療システム
JP4472361B2 (ja) 医療器具保持装置及び医療器具保持システム。
JP2018501868A (ja) レプリカ制御ツール及びロボティック作動システム
WO2018159336A1 (fr) Système de bras de support médical et dispositif de commande
JP2015024026A (ja) 医療システム及び医療用器具制御方法
JP2020065910A (ja) 手術支援装置
JP6546361B1 (ja) 手術支援装置
JP6801901B1 (ja) 手術ロボットシステム、外力推定装置、および、プログラム
JP6816721B2 (ja) 医療用支持アーム装置及び医療用システム
JP7369789B2 (ja) 手術ロボット、手術システム及び制御方法
JP2003325436A (ja) 内視鏡手術装置
JP7360762B1 (ja) 手術支援装置
KR20200075535A (ko) 사용자 인터페이스 장치, 수술 로봇 장치의 마스터 콘솔 및 그 조작방법
JP7153335B2 (ja) 手術支援装置
JP4546065B2 (ja) 内視鏡保持装置及び内視鏡保持システム
JP4436623B2 (ja) 手術用顕微鏡システム
JP2001046400A (ja) 手術用顕微鏡
US12496148B2 (en) Surgery supporting apparatus for controlling motion of robot arm
JP6892707B1 (ja) 手術支援装置
WO2024232097A1 (fr) Système de robot médical et procédé de commande, et programme
CN113507897A (zh) 使用惯性测量单元的器械驱动单元扭矩补偿

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 2023521126

Country of ref document: JP

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22935065

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 22935065

Country of ref document: EP

Kind code of ref document: A1