Medical manipulator and method of controlling the same

Patent metadata

Field	Value
Publication number	US-2016100899-A1
Application number	US-201514964753-A
Country	US
Kind code	A1
Filing date	Dec 10, 2015
Priority date	Jun 13, 2013
Publication date	Apr 14, 2016
Grant date	—

Abstract

A medical manipulator is disclosed, which includes a multiple-degree freedom arm which can be mounted with a medical instrument, an insertion port position which indicates a spatial position of an insertion port for inserting the medical instrument mounted in the multiple-degree freedom arm into a human body is retained. An insertion posture of the medical instrument is determined so as to cause an extended line of a major axis of the medical instrument to pass through the spatial position indicated by the retained insertion port position, outside the human body. The multiple-degree freedom arm is controlled so as to realize the determined insertion posture.

First claim

What is claimed is:

1 . A medical manipulator including a multiple-degree freedom arm, which can be mounted with a medical instrument, the manipulator comprising:
retention means for retaining an insertion port position which indicates a spatial position of an insertion port for inserting the medical instrument mounted in the multiple-degree freedom arm into a human body; determination means for determining an insertion posture of the medical instrument so as to cause an extended line of a major axis of the medical instrument to pass through the spatial position indicated by the insertion port position, outside the human body; and control means for controlling the multiple-degree freedom arm so as to realize the insertion posture determined by the determination means.

2 . The medical manipulator according to claim 1 ,
wherein the medical instrument includes a shaft portion which is inserted into the human body, wherein the determination means determines the insertion posture so as to cause the major axis of the shaft portion of the medical instrument to be coincided on a straight line connecting the spatial position designated by a user and the insertion port position, and wherein the control means drives the multiple-degree freedom arm by performing an all-axis synchronous operation or a linear interpolation operation so as to realize the insertion posture.

3 . The medical manipulator according to claim 1 ,
wherein the retention means also retains an insertion direction which corresponds to the insertion port, wherein the medical instrument includes a shaft portion which is inserted into the human body, wherein the determination means determines the insertion posture so as to cause the insertion direction and a direction of the major axis of the shaft portion of the medical instrument to coincide with each other, and wherein the control means drives the multiple-degree freedom arm by performing an all-axis synchronous operation or a linear interpolation operation so as to realize the insertion posture.

4 . The medical manipulator according to claim 1 ,
wherein the determination means fixes a predetermined number of axes of the multiple-degree freedom arm on a base side and determines the insertion posture which is realized by applying rotation of an unfixed axis, and wherein the control means fixes the predetermined number of the axes and controls movement to realize the insertion posture by rotating the unfixed axis.

5 . The medical manipulator according to claim 4 ,
wherein the control means rotates the unfixed axis by performing an articulation synchronous operation.

6 . The medical manipulator according to claim 4 ,
wherein the control means rotates the unfixed axis by performing a jog operation in accordance with a user's operation.

7 . The medical manipulator according to claim 6 ,
wherein the control means prohibits the unfixed axis from being operated in a direction of being away from the insertion posture during the jog operation.

8 . The medical manipulator according to claim 4 ,
wherein the control means causes the unfixed axis to be semi-fixed so as to allow the unfixed axis to be rotated by an external force applied through a user's manual operation.

9 . The medical manipulator according to claim 8 ,
wherein the control means locks the semi-fixed axis so as to not allow a user to perform an operation in the direction of being away from the insertion posture.

10 . The medical manipulator according to claim 4 ,
wherein the retention means also retains the insertion direction which corresponds to the insertion port position, and wherein the control means issues a warning when a direction toward the insertion port position taken by the insertion posture which is determined by the determination means deviates from a permissible range with respect to the insertion direction.

11 . The medical manipulator according to claim 1 ,
wherein the control means includes a state having operational restriction in which movement of the medical instrument is restricted by the insertion port position, and a state having no operational restriction in driving of the multiple-degree freedom arm.

12 . The medical manipulator according to claim 11 ,
wherein transition between the state having no operational restriction and the state having the operational restriction is executed through an individual shift operation.

13 . The medical manipulator according to claim 12 ,
wherein the shift operation for the transition from the state having no operational restriction to the state having the operational restriction is configured to include a posture alignment operation in which a position and a posture of the medical instrument are aligned with the insertion posture which is determined by the determination means, and an operation in which the medical instrument is moved so as to pass through the insertion port position.

14 . The medical manipulator according to claim 12 ,
wherein the shift operation for the transition from the state having the operational restriction to the state having no operational restriction is configured to include an operation in which the medical instrument is moved and evulsed from the insertion port position.

15 . A method of controlling a medical manipulator including a multiple-degree freedom arm, which can be mounted with a medical instrument, the method comprising:
retaining an insertion port position which indicates a spatial position of an insertion port for inserting the medical instrument mounted in the multiple-degree freedom arm into a human body, in a memory; determining an insertion posture of the medical instrument so as to cause an extended line of a major axis of the medical instrument to pass through the spatial position indicated by the insertion port position, outside the human body; and controlling the multiple-degree freedom arm so as to realize the determined insertion posture.

16 . The method according to claim 15 , wherein the medical instrument includes a shaft portion which is inserted into the human body, and comprising:
determining the insertion posture so as to cause the major axis of the shaft portion of the medical instrument to be coincided on a straight line connecting the spatial position designated by a user and the insertion port position, and driving the multiple-degree freedom arm by performing an all-axis synchronous operation or a linear interpolation operation so as to realize the insertion posture.

17 . The method according to claim 15 , comprising:
retaining an insertion direction which corresponds to the insertion port, wherein the medical instrument includes a shaft portion, and inserting the shaft portion into the human body, determining the insertion posture so as to cause the insertion direction and a direction of the major axis of the shaft portion of the medical instrument to coincide with each other, and driving the multiple-degree freedom arm by performing an all-axis synchronous operation or a linear interpolation operation so as to realize the insertion posture.

18 . The method according to claim 15 , comprising:
fixing a predetermined number of axes of the multiple-degree freedom arm on a base side and determines the insertion posture which is realized by applying rotation of an unfixed axis, and fixing the predetermined number of the axes and controls movement to realize the insertion posture by rotating the unfixed axis.

19 . The method according to claim 18 , comprising:
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Assignees

• Terumo Corp

Inventors

• Jinno Makoto
• Sano Hiroaki

Classifications

• A61B2034/715

  Cable tensioning mechanisms for removing slack · CPC title

• A61B2034/302

  specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities · CPC title

• A61B34/37 Primary

  Leader-follower robots (A61B34/35 takes precedence) · CPC title

• A61B34/30

  Surgical robots · CPC title

• A61B2019/228

  Human Necessities · mapped topic