Medical observation apparatus, driving control method, medical observation system, and support arm apparatus

Patent metadata

Field	Value
Publication number	US-2019015175-A1
Application number	US-201716080226-A
Country	US
Kind code	A1
Filing date	Mar 10, 2017
Priority date	Mar 28, 2016
Publication date	Jan 17, 2019
Grant date	—

Abstract

A medical observation apparatus ( 10 ) includes an imaging section ( 140 ), an arm section ( 110 ), and a control section ( 210 ). The imaging section ( 140 ) captures an observation target. The arm section ( 110 ) includes multiple links and joint sections ( 130 ) that join the links to each other, and supports the imaging section ( 140 ). The control section ( 210 ) controls a torque that drives the joint sections ( 130 ). When a surgeon imparts an external force to the arm section ( 110 ) or the imaging section ( 140 ), a torque (external torque) due to the external force acts on the joint sections ( 130 ). When a torque detection section ( 134 ) of the joint sections ( 130 ) detects the external torque, the control section ( 210 ) outputs a torque command value (τ) such that a joint driving section ( 131 ) produces a torque in the same direction as the external torque. The torque command value (τ) includes a component that cancels out a torque that a cable ( 495 ) twisted inside the joint sections ( 130 ) produces due to a restoring force. As a result, the surgeon is able to rotate the joint sections ( 130 ) as intended by imparting just a small external torque to the joint sections ( 130 ).

First claim

1 . A medical observation apparatus comprising:
an imaging section that captures an observation target to perform magnified observation of the observation target; an arm section that supports the imaging section and includes multiple links joined to each other by joint sections; and a driving control section that, by controlling a generated torque in at least one joint section to be controlled from among the multiple joint sections, controls a driving of the at least one joint section, wherein the driving control section controls the driving of the at least one joint section such that an external torque acting on the at least one joint section according to an operation on the arm section is contained in a fixed range.

2 . The medical observation apparatus according to claim 1 , wherein
the driving control section controls the driving of the at least one joint section such that the external torque is contained in a fixed range by compensating an influence of a disturbance caused by a rigidity of a cable extending inside the at least one joint section to control the generated torque in the joint sections.

3 . The medical observation apparatus according to claim 2 , wherein
the disturbance caused by the rigidity of the cable is a torque imparted to the at least one joint section by a restoring force that occurs because the cable is twisted in association with a rotation of the at least one joint section.

4 . The medical observation apparatus according to claim 1 , wherein
the driving control section controls the driving of the at least one joint section such that the external torque is contained in a fixed range by compensating a torque acting as a resistance to the external torque to control the generated torque in the joint sections.

5 . The medical observation apparatus according to claim 4 , wherein
the torque acting as a resistance to the external torque is a torque of fixed magnitude whose direction depends on a rotation speed of the at least one joint section.

6 . The medical observation apparatus according to claim 4 , wherein
a magnitude of the torque acting as a resistance to the external torque increases as a rotational angle of the at least one joint section approaches a limit of a movable range.

7 . The medical observation apparatus according to claim 4 , wherein
a magnitude of the torque acting as a resistance to the external torque changes according to a zoom magnification when the imaging section captures the observation target.

8 . A driving control method comprising:
controlling, by a processor, a driving of at least one joint section to be controlled by controlling a generated torque in the at least one joint section from among multiple joint sections in an arm section that supports an imaging section that captures an observation target to perform magnified observation of the observation target, the arm section including multiple links joined to each other by the joint sections, wherein the driving of the at least one joint section is controlled such that an external torque acting on the at least one joint section according to an operation on the arm section is contained in a fixed range.

9 . A medical observation system comprising:
a medical observation apparatus that captures an observation target; and a display apparatus that displays an image of the observation target captured by the medical observation apparatus, wherein the medical observation apparatus includes
an imaging section that captures an observation target to perform magnified observation of the observation target,
an arm section that supports the imaging section and includes multiple links joined to each other by joint sections, and
a driving control section that, by controlling a generated torque in at least one joint section to be controlled from among the multiple joint sections, controls a driving of the at least one joint section, and
the driving control section controls the driving of the at least one joint section such that an external torque acting on the at least one joint section according to an operation on the arm section is contained in a fixed range.

10 . A support arm apparatus comprising:
an am section including multiple links joined to each other by joint sections; and a driving control section that, by controlling a generated torque in at least one joint section to be controlled from among the multiple joint sections, controls a driving of the at least one joint section, wherein the driving control section controls the driving of the at least one joint section such that an external torque acting on the at least one joint section according to an operation on the arm section is contained in a fixed range.

Assignees

• Sony Olympus Medical Solutions Inc
• Sony Corp

Inventors

• Tamura Shigeru
• Matsuda Yasuhiro

Classifications

• A61B2090/064

  for measuring force, pressure or mechanical tension · CPC title

• B25J9/1651

  acceleration, rate control · CPC title

• A61B2090/371

  with simultaneous use of two cameras · CPC title

• A61B2090/061

  for measuring dimensions, e.g. length · CPC title

• A61B90/50 Primary

  Supports for surgical instruments, e.g. articulated arms · CPC title