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JP2001276091A - 医療用マニピュレータ - Google Patents

医療用マニピュレータ

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Publication number
JP2001276091A
JP2001276091A JP2000092161A JP2000092161A JP2001276091A JP 2001276091 A JP2001276091 A JP 2001276091A JP 2000092161 A JP2000092161 A JP 2000092161A JP 2000092161 A JP2000092161 A JP 2000092161A JP 2001276091 A JP2001276091 A JP 2001276091A
Authority
JP
Japan
Prior art keywords
medical manipulator
operation unit
forceps
freedom
unit
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.)
Pending
Application number
JP2000092161A
Other languages
English (en)
Inventor
Nobuhito Matsuhira
信人 松日楽
Atsushi Sadamoto
敦史 貞本
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.)
Toshiba Corp
Original Assignee
Toshiba Corp
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Filing date
Publication date
Application filed by Toshiba Corp filed Critical Toshiba Corp
Priority to JP2000092161A priority Critical patent/JP2001276091A/ja
Publication of JP2001276091A publication Critical patent/JP2001276091A/ja
Pending 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A61B2017/291—Handles the position of the handle being adjustable with respect to the shaft
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks

Landscapes

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

Abstract

(57)【要約】 【課題】 鉗子に多自由度を付加し高機能化することで
操作性を向上させた医療用マニピュレータの提供を目的
とする。 【解決手段】 本発明の医療用マニピュレータは、鉗子
先端１０に２自由度以上の可動部があり、鉗子後端部５
０にその操作部があり、操作部には位置決めを行う第１
の操作部６０と鉗子先端の姿勢決めを行う第２の操作部
７０を備えている。位置決め操作と先端姿勢決め操作と
を別々の操作で行うので、互いの操作による干渉の影響
が少なく、微細操作が容易となり、信頼性、安全性の高
い医療用マニピュレータを提供することができる。

Description

【発明の詳細な説明】
【０００１】
【発明の属する技術分野】本発明は医療用マニピュレー
タに係り、特に手術用の鉗子などが具備される医療用マ
ニピュレータに関する。
【０００２】
【従来の技術】従来、胆のう摘出手術など腹腔鏡下手術
においては図８に示すように患者１５０の腹部に小さな
穴１５１、１５２、１５３を数カ所あけ、それらにトラ
カール１５４を取付け、トラカール１５４を介してそれ
らの穴に内視鏡１６１、鉗子１７１、１７２等を挿入
し、術者（通常、外科医）１６０が内視鏡１６１の映像
をモニタ１６２を見ながら手術を行っている。
【０００３】このような手術は開腹しないので患者への
負担が少なく、術後の回復や退院までの日数が大幅に軽
減し、今後、適用分野の拡大が期待されている手術方法
である。
【０００４】
【発明が解決しようとする課題】しかしながら、上述し
たような従来の腹腔鏡下手術は患者１５０への負担が少
なく優れた手術方法ではあるが術者１６０が実際に術部
を見れないこと、また、鉗子１７１、１７２には通常開
閉する把持部しか設けられていないため、把持部の開閉
動作以外である把持部の姿勢（方向）を変えることがで
きず操作性が悪くなる可能性があった。
【０００５】このような要因により、前述の手術方法で
適切な処置を行える術者が限られること、また、熟練す
るまでに時間がかかることが問題となっている。
【０００６】このような課題に対して、マスタスレーブ
マニピュレータなど遠隔操作型ロボット技術の応用がい
くつか研究されている。しかしながら、これらは術者が
操作するマスタアームと手術を行うスレーブアームとが
完全に分離したロボットシステムであり、マスタアーム
の指令値が電気信号としてスレーブアームに伝わるもの
である。
【０００７】したがって、通常、マスタ、スレーブとも
に６自由度以上の関節数を有し構造が複雑であり、それ
ぞれにコントローラが必要なことから電気的にも部品、
配線、制御系などが増えた複雑なシステムとなるため信
頼性が低下する恐れがある。
【０００８】また、装置自体が大掛かりとなり、購入費
用やメンテナンス費用も増大する。
【０００９】さらに、術者は離れたところから操作する
ので万一出血などの緊急自体と成った場合にすぐに患者
を処置することができないといった問題が発生する恐れ
もあった。
【００１０】そこで本発明は上記従来の問題点に鑑みて
なされたもので、作業部を少なくとも２自由度以上の多
自由度を有する構成とし操作部にて作業部の位置と姿勢
とを操作することによって、作業部の操作性を向上させ
た医療用マニピュレータの提供を目的とする。
【００１１】
【課題を解決するための手段】上記目的を達成するため
の本発明の医療用マニピュレータは、少なくとも２自由
度を有しており作業対象物に接触する作業部と、前記作
業部が一端に設けられ他端に前記作業対象物に対する前
記作業部の位置決めを行う第１の操作部と前記作業部の
姿勢決めを行う第２の操作部とを有する操作部とから構
成される。
【００１２】このような本発明によれば、作業部を少な
くとも２自由度を有する構造にすることで操作性を向上
させると共に高機能化が達成でき、またマスタスレーブ
マニピュレータに比べて装置全体の不必要な自由度を大
幅に減少し機構も単純化されることで信頼性が向上し費
用も抑制することができる。また緊急時には術者が患者
近傍に存在しているため迅速に患者に対して処置がで
き、安全性の高い手術を実現することができる。さらに
従来、熟練医しかできなかった手術が簡単に安全に行う
ことができる。
【００１３】
【発明の実施の形態】以下、図面を参照して本発明の医
療用マニピュレータの実施の形態について説明する。
【００１４】図１乃至図４は本発明の実施の形態による
医療用マニピュレータを示す構成概略図である。尚、本
発明の医療用マニピュレータは鉗子を想定している。
【００１５】医療用マニピュレータは、作業部である鉗
子先端部１０には矢印方向に回転可能な第１の回転関節
２０と第１の回転間接２０に対し９０度回転軸がずれた
位相である矢印方向に回転可能な第２の回転関節３０と
作業対象物を把持することが可能で開閉することができ
る把持開閉部４０を有し、鉗子後端部５０には術者が把
持可能な第１の操作部である操作桿６０と２つの回転関
節を操作する第２の操作部であるジョイスティック７０
と開閉を操作するためのレバー８０を有しており、この
ような構成からなる。尚、医療用マニピュレータには、
医療用マニピュレータの動作を制御するための制御部乃
至電源に接続されるコード（図示しない）が設けられて
いる。
【００１６】このような構成からなる第１の実施の形態
の動作について説明する。
【００１７】ジョイスティック７０にはポテンショメー
タなどの角度検出器が備えられており、上下左右の動き
を検出する。その検出角度は図示していない制御装置に
電気的に送られる。同様に開閉部操作用のレバーにも変
位検出器がある。また、鉗子先端の２つの回転関節と開
閉部は後端部側に設置されたモータ９０、９１、９２に
よりワイヤ、プーリ、歯車などを介して前記制御装置か
らの駆動信号により駆動される。
【００１８】操作者は操作桿６０を握り、親指をジョイ
スティックの上（平坦部）にかけ、上下左右に動かすこ
とで、その操作量を角度検出器で読み取り、鉗子先端の
第１の回転関節と第２の回転関節をそれぞれ操作量に応
じて駆動する。同様にレバー８０の位置を検出して鉗子
先端部１０の開閉量を制御する。その他の操作について
は従来の鉗子の操作と同様である。
【００１９】したがって従来よりも、先端に２つの回転
関節がある分、自在に鉗子先端の方向を指先の操作だけ
で変えることができ、より縫合作業などの繊細な手術作
業を容易に行うことができる。さらに、鉗子の位置決め
操作は操作桿６０を握り動かし、先端部の姿勢は親指の
操作で行うため術者の操作が容易となる。
【００２０】また、アクチュエータは電磁力モータの他
に、形状記憶合金や静電アクチュエータなどでも良い。
また操作側にもアクチュエータを設けることで、先端の
力を操作者に返すことも可能である。例えば、把持部に
掛かる力を歪ゲージなどからなる力センサで検出して、
その検出した力に応じた力を操作側のレバーで指に対し
て発生させることにより、操作者は把持している力を感
じることができる。２つの回転関節２０、３０に対して
も同様である。また、鉗子先端部１０の開閉動作はレバ
ーでなくとも、ジョイスティック７０を上から押すこと
で機能するスイッチを設けて動作させることもできる。
例えばジョイスティック７０を一度押すと鉗子先端部１
０が閉じて再度押すと開くような構成とすることもでき
る。
【００２１】さらに、ジョイスティック７０は並進や傾
きなどの変位量ではなく、多軸方向の力を検出できる力
センサにより、術者が動かしたい方向に掛かる力を検出
して、この検出された力の方向へ鉗子先端部１０を動か
すこともできる。
【００２２】操作桿６０は図１に示す様に、長手方向と
直角方向に取付いていても良いし、図３（ａ）に示す様
に長手方向に取付いていても良いし、角度を付けて取り
付けても良い。さらに図３（ｂ）に示す様に鉗子後端部
５０と操作棹６０との間に回転軸１００を設け、術者が
任意の角度に設定することもできる。手術内容や術者の
使用しやすい角度で使用することにより操作性が向上す
る。
【００２３】このほかに、図４（ａ）に示す様にジョイ
スティック７０の代わりにスイッチ２００でも良く、例
えば、左２１０、右２２０、上２３０、下２４０の４つ
のボタンスイッチがあり、ボタンを押している間のみ鉗
子先端が動くような動作をさせることも可能である。あ
るいは図４（ｂ）に示す様にダイヤル２５０、２６０で
も良いし、図４（ｃ）に示す様にパソコンのマウスに使
われているようなトラックボール２７０を取付け操作し
ても良い。
【００２４】以上述べたような第１の実施の形態では、
作業部を少なくとも２自由度以上の多自由度を有する構
成とし操作部にて作業部の位置と姿勢とを操作すること
によって、作業部の操作性を向上させることができる。
【００２５】また、作業部を操作する際にはジョイステ
ィック７０、レバー８０を用いるため、術者が鉗子を手
放すことなく位置または姿勢を変更することができ、ま
た術者の手首を回転させたり折り曲げたりせずに位置ま
たは姿勢を変更することが可能であるため、作業部と作
業部が作業を行う患部との相対的な位置ずれの発生を抑
制することができる。
【００２６】次に本発明の第２の実施の形態の医療用マ
ニピュレータについて図５を用いて説明する。図５は第
２の実施の形態の操作部の説明図である。
【００２７】操作部は第１の操作部である操作桿３００
と第２の操作部であるつまみ部３１０からなる。操作桿
３００を把持すると指がつまみ部３１０にかかり、つま
み部３１０は直交する２つの回転軸３２０、３３０で支
持されている。つまみ部３１０で鉗子先端のロール軸３
２０、ヨー軸３３０の操作が可能であり、先端の姿勢操
作は、操作桿３００を動かして行う位置決め操作とは異
なった操作部で行うので微細な操作が実現できる。ここ
でつまみ部を支持する関節の順序は問わない。
【００２８】図６（ａ）は図５の関節配置を示し、ヨー
軸３３０ａ、ロール軸３２０ａの順でつまみ部３１０に
接続されている。図６（ｂ）は逆の順の関節配置を示
し、ロール軸３２０ｂ、ヨー軸３３０ｂの順でつまみ部
３１０に接続されている。ともにつまみ部の中心３４０
は、マニピュレータ長手方向３５０、ロール軸３２０、
ヨー軸３３０が交わった点となっている。
【００２９】つまみ部３１０によりロール軸を操作する
とその角度を検出して、制御部を介してモータが駆動さ
れ、それに対応する角度に先端部が動作する。同様にヨ
ー軸を操作すると、先端のヨー軸が対応する角度だけ動
作する。先端の関節は必ずしも操作部と同じ関節に対応
している必要はなく、座標変換を介して操作性が良くな
る様に自由に対応させることができる。
【００３０】また、つまみ部３１０には押しスイッチ３
６０があり、押し込めば鉗子把持部が閉じ再度押せば把
持部が開く。あるいは指を挿入することが可能な部材が
設けられ、この部分に指を挿入して指を開閉させること
により開閉量を検出しこの開閉量に対応するように把持
部を開閉させることもできる。
【００３１】以上述べたような第２の実施の形態では、
作業部を少なくとも２自由度以上の多自由度を有する構
成とし操作部にて作業部の位置と姿勢とを操作すること
によって、作業部の操作性を向上させることができる。
【００３２】また関節にはモータなどアクチュエータを
取り付けることで、第１の実施の形態と同様に操作時の
反力を操作者に返すことができ、より操作性を向上させ
ることができる。
【００３３】また、作業部の位置と姿勢の操作を別々の
操作部で行うことができるため、従来では位置操作部と
姿勢操作部とが同じであったために姿勢操作を行った場
合に作業部の位置が多少なりともその影響を受けて動い
てしまい先端部の微細な作業が困難であったが本形態に
よれば簡単に実施することができる。
【００３４】次に本発明の第３の実施の形態の医療用マ
ニピュレータについて図７を用いて説明する。図７は第
３の実施の形態の操作部の説明図である。
【００３５】操作者の手首（もしくは腕）は第１の操作
部として鉗子後端部４００にベルトなどの固定部４１０
で固定され、指先で同じく後端部４００に固定された第
２の操作部であるジョイスティック４２０を操作する。
手首を動かすことでマニピュレータ全体を動かし、指先
でジョイスティック４１０を操作することで鉗子先端の
姿勢を変えることができる。また、このような方式では
長手方向に長くなり操作性が低下する可能性があり、折
り曲がる関節部４３０を設けて任意の位置で固定するこ
とで長手方向は短くなり操作が容易となる。この場合、
固定機構４４０は電磁ブレーキでも良いし、ねじやロッ
ク機構などで機械的に固定しても良い。４００ａは関節
部４３０を回転した形態を示す。
【００３６】以上述べたような第３の実施の形態では、
作業部を少なくとも２自由度以上の多自由度を有する構
成とし操作部にて作業部の位置と姿勢とを操作すること
によって、作業部の操作性を向上させることができる。
【００３７】また、術者は位置操作を操作桿を握る動作
を意識せずに、腕を動かすことで自然と位置操作が可能
になるため、より先端部の姿勢操作に集中でき微細作業
が容易になる。
【００３８】尚、本発明は上記各実施の形態には限定さ
れず種々変形して実施できることは言うまでもない。例
えば、鉗子先端部の自由度は２自由度の場合を説明した
が、必要に応じて３自由度以上の自由度を有しても良
い。
【００３９】また、医療分野だけでなく、精密作業を行
う装置にも適用することができる。
【００４０】また、鉗子は術者によって支持されている
が必要に応じて鉗子を支持する支持手段を設けることも
可能である。
【００４１】
【発明の効果】以上述べたような本発明では、位置決め
操作と姿勢決め操作との操作部を分離することで、互い
の操作による干渉の影響が少なく、微細操作が容易とな
り、信頼性、安全性の高い医療用マニピュレータを提供
することができる。
【図面の簡単な説明】
【図１】 本発明の医療用マニピュレータの第１の実施
の形態の概略斜視図。
【図２】 本発明の医療用マニピュレータの第１の実施
の形態の操作部を示す概略図。
【図３】 本発明の医療用マニピュレータの第１の実施
の形態の別の操作部を示す概略図。
【図４】 本発明の医療用マニピュレータの第１の実施
の形態の姿勢操作方法を示す概略図。
【図５】 本発明の医療用マニピュレータの第２の実施
の形態の操作部を示す概略斜視図。
【図６】 本発明の医療用マニピュレータの第２の実施
の形態の操作部を示す模式図。
【図７】 本発明の医療用マニピュレータの第３の実施
の形態の操作部を示す概略斜視図。
【図８】 従来の医療用マニピュレータの概略構成図。
【符号の説明】
１０ 鉗子先端部 ２０ 第１の回転軸 ３０ 第２の回転軸 ４０ 開閉部 ５０ 鉗子後端部 ６０ 操作桿 ７０ ジョイスティック ８０ レバー ９０ モータ １００ 回転軸 ２００ スイッチ ２１０、２２０、２３０、２４０ 押しボタンスイッチ ２５０、２６０ ダイヤル ２７０ トラックボール ３００ 操作桿 ３１０ つまみ部 ３２０、３２０ａ、３２０ｂ ロール軸 ３３０、３３０ａ、３３０ｂ ヨー軸 ３４０ つまみ部中心 ３５０ マニピュレータ長手方向 ３６０ 押しスイッチ ４００ 後端部 ４１０ 固定部 ４２０ ジョイスティック ４３０ 回転軸 ４４０ 固定機構 ４００ａ 回転後の後端部
───────────────────────────────────────────────────── フロントページの続き Ｆターム(参考） 3F059 AA10 BA02 BA10 CA02 CA06 DA02 DA05 DA08 DB06 EA05 FA03 FA05 FA10 FB01 FB12 FB29 FC02 FC03 FC04 FC14 4C060 GG21 GG40 MM24

Claims (6)

    【特許請求の範囲】
  1. 【請求項１】少なくとも２自由度を有しており作業対象
    物に接触する作業部と、前記作業部が一端に設けられ他
    端に前記作業対象物に対する前記作業部の位置決めを行
    う第１の操作部と前記作業部の姿勢決めを行う第２の操
    作部とを有する操作部とを具備したことを特徴とする医
    療用マニピュレータ。
  2. 【請求項２】前記第１の操作部は前記医療用マニピュレ
    ータを操作する操作者の腕に固定され、 前記第２の操作部は前記操作者の指先で操作されること
    を特徴とする請求項１に記載の医療用マニピュレータ。
  3. 【請求項３】前記第１の操作部は前記医療用マニピュレ
    ータを操作する操作者が把持可能な操作桿であり、前記
    第２の操作部は前記作業部を操作するために必要な自由
    度で支持されたつまみ部であることを特徴とする請求項
    １に記載の医療用マニピュレータ。
  4. 【請求項４】前記第２の操作部は少なくとも２自由度を
    操作可能なジョイスティックであることを特徴とする請
    求項１に記載の医療用マニピュレータ。
  5. 【請求項５】前記つまみ部は直交する２軸回りに支持さ
    れていることを特徴とする請求項３に記載の医療用マニ
    ピュレータ。
  6. 【請求項６】前記作業部は前記作業対象物を把持可能な
    端部を有しており前記つまみ部を把持し操作することに
    よって前記把持部を開閉自在に操作可能とすることを特
    徴とする請求項３に記載の医療用マニピュレータ。
JP2000092161A 2000-03-29 2000-03-29 医療用マニピュレータ Pending JP2001276091A (ja)

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