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WO2018003049A1 - Système médical et procédé de commande associé - Google Patents

Système médical et procédé de commande associé Download PDF

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Publication number
WO2018003049A1
WO2018003049A1 PCT/JP2016/069377 JP2016069377W WO2018003049A1 WO 2018003049 A1 WO2018003049 A1 WO 2018003049A1 JP 2016069377 W JP2016069377 W JP 2016069377W WO 2018003049 A1 WO2018003049 A1 WO 2018003049A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
interference
arms
unit
operation target
Prior art date
Application number
PCT/JP2016/069377
Other languages
English (en)
Japanese (ja)
Inventor
満彰 長谷川
Original Assignee
オリンパス株式会社
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 オリンパス株式会社 filed Critical オリンパス株式会社
Priority to PCT/JP2016/069377 priority Critical patent/WO2018003049A1/fr
Publication of WO2018003049A1 publication Critical patent/WO2018003049A1/fr

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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
    • A61B34/35—Surgical robots for telesurgery

Definitions

  • the present invention relates to a medical system and a control method thereof.
  • a medical system including a plurality of arms having joints with redundant degrees of freedom is known (see, for example, Patent Document 1).
  • This medical system uses the redundancy of the joints that make up each arm to move the joint positions of the arms without changing the posture of the treatment tool, thereby causing interference between arms or interference between arms and obstacles. Trying to avoid.
  • One aspect of the present invention is provided with a joint group having redundant degrees of freedom, a plurality of arms that move an end effector attached to the tip, an operation unit that inputs an operation command for operating the arms, and the operation
  • a control unit that controls the arm based on the operation command input to the control unit, and the control unit controls the arm and the operation target based on the operation command input to the operation unit.
  • An interference prediction unit that predicts interference with another arm that is not the target, and when the interference prediction unit predicts that interference will occur, the other arm that is not the operation target is set as the operation target.
  • the medical system is operated in a direction away from the arm.
  • the control unit controls the arm to be operated based on the input operation command and is attached to the tip of the arm.
  • a treatment target can be treated by the end effector.
  • the control unit stops the joints with redundant degrees of freedom, and obtains the end effector to an appropriate position and posture by obtaining the operation angle of each joint without performing a huge calculation. Can be arranged.
  • the interference prediction unit While operating the operation unit and operating the arm that is the operation target, the interference prediction unit provided in the control unit causes the arm that is the operation target and the other arm that is not the operation target to Interference is expected.
  • the control unit causes the other arm that is not the operation target to be moved away from the operation target arm.
  • an arm that is not an operation target can operate without changing the posture and position of the end effector attached to the tip. Thereby, interference between arms can be avoided without changing the state of the end effector with respect to the treatment target.
  • control unit causes the arm that is not the operation target to perform the interference avoidance operation, not the operation target arm that is operated by the operation unit. It is not necessary to add a calculation for avoiding interference to the calculation process for operating the arm, and the calculation load can be reduced.
  • the interference prediction unit calculates an operation target position of the arm that is an operation target based on the operation command input to the operation unit, and the calculated operation target position and the operation target The interference may be predicted from the current position of the other arm that is not.
  • the said end effector attached to one of the said arms is a treatment tool for treating an affected part
  • the said end effector attached to the other said arm is the said affected part and the said treatment tool. It may be an image pickup apparatus for taking pictures.
  • the operation unit is operated to operate the arm to which the imaging device is attached, the arm is stopped in a state where the affected part is arranged in the visual field range, and then the operation unit is operated to perform treatment.
  • the other arm to which the instrument is attached can be operated to treat the affected area with the treatment instrument.
  • the operation for avoiding interference is performed by the arm to which the imaging device is attached.
  • the arm to which the treatment tool is attached is stopped and the arm to which the imaging device is attached is an operation target, an operation for avoiding interference is performed by the arm to which the treatment tool is attached.
  • the switching unit can switch between the arm that is the operation target and the other arm that is not the operation target, and the avoidance operation can be performed by any of the arms, reducing the calculation load.
  • the interference between the arms can be avoided more reliably.
  • a group of joints having redundant degrees of freedom is provided, and one of a plurality of arms for moving an end effector attached to the tip is operated to operate any one of the arms to be operated.
  • the prediction step for predicting interference between the arm that is the operation target and the other arm that is not the operation target includes an interference avoiding operation step of operating another arm that is not an operation target in a direction away from the arm that is an operation target.
  • FIG. 1 is an overall configuration diagram showing a medical system according to an embodiment of the present invention. It is a block diagram which shows the medical system of FIG. It is a flowchart explaining the control method of the medical system of FIG.
  • the medical system 1 includes a bed 2 on which a patient O is laid, a surgical robot 3 disposed on the side of the bed 2, and an operation unit 4 operated by an operator. And a control unit 5.
  • the surgical robot 3 includes a plurality of, for example, four arms (first to fourth arms) 6a, 6b, 6c, 6d and a base 7 that supports the arms 6a, 6b, 6c, 6d (
  • the arm 6a is displayed on the front side
  • the arm 6d is displayed on the depth side.
  • the base 7 has a structure that rises from the floor to the side of the bed 2, but is not limited thereto, and may have a structure that is fixed to the ceiling.
  • Each arm 6a, 6b, 6c, 6d includes a joint group 8a, 8b, 8c, 8d having redundant degrees of freedom of 7 axes or more.
  • An endoscope (end effector, imaging device) 9 is attached to the distal end of the first arm 6a, and the distal ends of the other three arms (second arm to fourth arm) 6b, 6c, 6d, respectively.
  • a treatment tool (end effector) 10 is attached.
  • each arm 6a, 6b, 6c, 6d includes a drive unit 11 such as a motor for operating each joint constituting the arms 6a, 6b, 6c, 6d, and the drive unit. 11 and a sensor 12 for detecting the angle of each joint operated by the control unit 11.
  • the operation unit 4 includes an operation input unit 14 that is operated by an operator, and a monitor 13 that displays an internal image of the patient O by an endoscope 9 attached to the arm 6a.
  • the operation input unit 14 includes two handles (right handle and left handle) 15 and 16 that the operator holds with both hands, and a changeover switch (switching unit) 17. Then, one or two of the four arms 6a, 6b, 6c, 6d, for example, the second arm 6b and the third arm 6c are selected by the changeover switch 17 to operate the handles 15, 16
  • the arms 6b and 6c selected by the above can be operated.
  • the arms 6b and 6c selected by the changeover switch 17 become operation targets, and the unselected arms 6a and 6d become non-operation targets.
  • the operator operates the operation input unit 14 while looking at the affected part and the distal end part of the treatment instrument 10 attached to the arms 6b and 6c in the in-vivo image of the patient O displayed on the monitor 13, and the arms 6b and 6c. And the treatment tool 10 is operated so that the affected part can be treated.
  • the control unit 5 calculates position / posture calculation for calculating a target angle (operation target position) of each joint of the arms 6b and 6c to be operated based on an operation command input by a handle operation of the operation input unit 14. Based on the target angle of each joint calculated by the position / posture calculation unit 18, the interference prediction unit 19 that predicts interference with the arms 6 a and 6 d that are not the operation target, and the interference prediction unit 19 is provided with a drive command generation unit 20 that operates the arms 6a and 6d that are not the operation target based on the prediction result by the operation unit 19.
  • the position / posture calculation unit 18 uses the six-axis joint groups 8b and 8c excluding the joints constituting the redundant degrees of freedom of the arms 6b and 6c to be operated in accordance with the operation commands input by the operation input unit 14.
  • the target angle of each joint when achieving the position and posture of the end effector 10 is calculated. Thereby, since the angles of the joints of the arms 6b and 6c corresponding to the operation command are uniquely determined, the target angle can be calculated with a small amount of calculation.
  • the interference prediction unit 19 also calculates the target angles of the joints of the arms 6b and 6c that are the operation targets calculated by the position / posture calculation unit 18 and the current angles of the arms 6a and 6d that are not the operation targets. Based on the angle of the joint, the presence or absence of interference between the mechanical parts of the arms 6a, 6b, 6c, 6d is predicted. Since the dimensions and the like of the mechanism portion are determined in advance, the presence or absence of interference between the mechanism portions of the arms 6a, 6b, 6c, and 6d can be easily predicted by determining the angle of each joint.
  • the interference prediction unit 19 When interference is predicted by the interference prediction unit 19, the joints of the arms 6b and 6c that are the operation targets are moved to the target angle, and the arms 6a and 6d that are not the operation targets are operated. It is supposed to let you. Specifically, when it is predicted that interference will occur, the interference predicting unit 19 sends a signal to that effect to the drive command generating unit 20.
  • the drive command generator 20 For the arms 6b and 6c to be operated, the drive command generator 20 generates a drive command signal for driving each joint based on the target angle of each joint calculated by the position / posture calculator 18. It is generated and sent to the drive unit 11. In addition, when a signal indicating interference is transmitted from the interference prediction unit 19, the drive command generation unit 20 detects the treatment tool 10 or the endoscope 9 attached to the arms 6a and 6d that are not the operation target. An operation command signal for each joint is generated so that the arms 6a and 6d that are not the operation target are moved away from the arms 6b and 6c that are the operation targets while maintaining the position and the posture. It has become.
  • the arms 6a and 6d that are not the operation target are proximal to the distal end shaft while maintaining the position and posture of the distal end shaft by the joint groups 8a and 8d including joints that form redundant degrees of freedom.
  • One or more joints arranged in the above are operated to generate a drive command signal that moves in a direction away from a position where it does not interfere with the operation target arms 6 b and 6 c, and sends the drive command signal to the drive unit 11. It has become.
  • the angles of the joints constituting each arm 6a, 6b, 6c, 6d are detected by the sensor 12 and fed back to the position / posture calculation unit 18.
  • any one or two arms 6 b and 6 c are set as operation targets by the changeover switch 17 of the operation input unit 14 (steps).
  • step S1 it is determined whether or not an operation command is input by the right handle 16 or the left handle 15 of the operation input unit 14 (step S2).
  • the target angle of each joint constituting the arms 6b and 6c set as the operation target corresponding to the input handles 15 and 16 is calculated (step S3).
  • the targets of the minimum number of joints that can achieve the position and posture of the end effector 10 corresponding to the operation command input from the handles 15 and 16 are achieved. An angle is calculated.
  • a prediction calculation of the presence or absence of interference with the arms 6a and 6d that are not the operation targets is performed (prediction step S4).
  • the prediction result in the prediction step S4 is determined (step S5) and it is predicted that interference will occur
  • the arm 6a, 6d that is not the operation target generates a drive command signal for each joint that can avoid interference.
  • the drive command generation unit 20 generates a drive command signal for achieving the calculated target angle of the arms 6b and 6c to be operated (interference avoiding operation step S6). It is generated (step S7). Then, the drive unit 11 is driven based on the generated drive command signal (step S8).
  • the drive command signals for the arms 6a and 6d that are not operated are superimposed so that only the positions of one or more joints on the proximal end side are moved while maintaining the positions and postures of the end effectors 9 and 10 at the distal ends.
  • the joint groups 8a and 8d having degrees of freedom are generated to be operated.
  • the arm 6b which is set as an operation target and is operated in real time according to the operation of the right handle 16 and the left handle 15 of the operation input unit 14,
  • the minimum necessary number of joint groups 8b and 8c not including joints constituting redundant degrees of freedom are operated, so the calculation load is extremely small and stable without using a high-performance computer.
  • the operation can be performed.
  • the joint groups 8a and 8d having redundant degrees of freedom of the arms 6a and 6d that are not the operation target instead of the arms 6b and 6c that are the operation target. Is used to perform the interference avoidance operation, so that the arms 6a and 6d that are not operated are not increased without increasing the calculation load for operating the arms 6b and 6c that are the operation targets operated in real time. There is an advantage that interference can be avoided by a minimum calculation for operation.
  • each joint of the first arm 6a is based on the operation command input from the operation input unit 14.
  • the target angle is calculated, and the presence or absence of interference between the arms 6a, 6b, 6c and 6d is predicted together with the angles of the current joints of the other three arms 6b, 6c and 6d.
  • the interference avoiding operation by the arms 6b, 6c, 6d other than the first arm 6a is performed, and the first arm 6a does not perform the interference avoiding operation, and only the minimum necessary joints are used.
  • the endoscope 9 To move the endoscope 9 to a desired position. Thereby, the visual field by the endoscope 9 can be smoothly changed to reach the affected area.
  • the left handle 15 and The second arm 6b and the third arm 6c are operated in accordance with an operation command input by operating the right handle 16.
  • This operation also uses a minimum number of joints without using redundant joints, so that the calculation load is low and the operation is stable and smooth.
  • the first arm 6a is operated by using the joint group 8a having redundant degrees of freedom, so that the position and posture of the endoscope 9 are maintained, that is, the inner arm displayed on the monitor 13 is maintained. It is not necessary to change the angle of view of the endoscopic image.
  • the fourth arm 6d is operated, and the distal treatment instrument 10
  • the operation can be stably performed without increasing the calculation load in the operation of the fourth arm 6d.
  • the treatment can be performed by smoothly moving.
  • each arm 6a, 6b, 6c, 6d may be arbitrary as long as it is 7 axes or more.
  • the interference avoidance operation is performed only by the arms 6a and 6d that are not the operation target.
  • interference cannot be avoided only by the arms 6a and 6d that are not the operation target.
  • the operations of the arms 6b and 6c that are the operation targets may be limited or stopped.
  • the arms 6b and 6c to be operated may be subjected to an interference avoidance operation by the joint groups 8b and 8c including the joints constituting redundant degrees of freedom.

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  • 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

Afin d'éviter l'interférence des bras tout en réduisant la charge de calcul avec plus de fiabilité, un système médical (1) selon l'invention, est équipé d'un groupe d'articulations (8a, 8b, 8c, 8d) ayant des degrés de liberté redondants et est équipé d'une pluralité de bras (6a, 6b, 6c, 6d) pour déplacer un effecteur terminal (9, 10) fixé à une pointe, une unité d'opération (4) pour entrer des instructions d'opération pour actionner les bras, et une unité de commande (5) pour commander les bras sur la base des instructions d'opération entrées dans l'unité d'opération. L'unité de commande est équipée d'une unité de prédiction d'interférence pour prédire l'interférence d'un bras servant de cible d'opération sur la base des instructions d'opération entrées dans l'unité d'opération et d'autres bras qui ne servent pas de cibles d'opération. Lorsque l'unité de prédiction d'interférence prédit qu'une interférence se produira, d'autres bras qui ne servent pas de cibles d'opération sont déplacés dans une direction s'éloignant du bras servant de cible d'opération.
PCT/JP2016/069377 2016-06-30 2016-06-30 Système médical et procédé de commande associé WO2018003049A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2016/069377 WO2018003049A1 (fr) 2016-06-30 2016-06-30 Système médical et procédé de commande associé

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2016/069377 WO2018003049A1 (fr) 2016-06-30 2016-06-30 Système médical et procédé de commande associé

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WO2018003049A1 true WO2018003049A1 (fr) 2018-01-04

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010516398A (ja) * 2007-01-26 2010-05-20 インテュイティブ サージカル インコーポレイテッド ロボット外科手術システムのための小型のカウンタバランス
JP2011206312A (ja) * 2010-03-30 2011-10-20 Terumo Corp 医療用ロボットシステム

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010516398A (ja) * 2007-01-26 2010-05-20 インテュイティブ サージカル インコーポレイテッド ロボット外科手術システムのための小型のカウンタバランス
JP2011206312A (ja) * 2010-03-30 2011-10-20 Terumo Corp 医療用ロボットシステム

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