Surgical robot and method for controlling the same

• US 10,166,678 B2
• Filed: 12/25/2013
• Issued: 01/01/2019
• Est. Priority Date: 12/25/2012
• Status: Active Grant

• Current Assignee: Kawasaki Jukogyo Kabushiki Kaisha
• Original Assignee: Kawasaki Jukogyo Kabushiki Kaisha
• Inventors: Kamon, Masayuki, Noguchi, Kenji
• Primary Examiner(s): Porter, Jr., Allen
• Application Number:
  US14/655,456
• Publication Number:
  US 20150342689A1
• Time in Patent Office: 1,833 Days
• Field of Search: 606130, 700245
• CPC Class Codes: A61B 2017/00123 and automatic shutdown
• CPC Class Codes: A61B 2018/00303 active, e.g. with a motor creating vibrations
• CPC Class Codes: A61B 2090/065 for measuring contact or contact pressure
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: B25J 9/1674 characterised by safety, monitoring, diagnostic
• CPC Class Codes: B25J 9/1689 Teleoperation

Abstract

It is an object to provide a surgical robot which can enhance flexibility of treatment while ensuring sufficient safety of a surgery. The surgical robot has a robot body, an input unit for inputting control information of the robot body, a control unit for controlling the robot body based on the control information input to the input unit, an input side abnormality detection unit for detecting abnormality of an operator, an output side abnormality detection unit for detecting abnormality of a surgery state, an abnormality countermeasure unit for dealing with the abnormality of the surgery state detected by the output side abnormality detection unit, contents of an abnormality countermeasure action being changed based on a detection result of the input side abnormality detection unit.

Claims

1. A surgical robot comprising:

a robot body on which a medical instrument is mounted;

an operation handle configured to input a control information of the robot body;

a control processor configured to control the robot body based on the control information input to the operation handle;

an input side abnormality detecting switch configured to detect an abnormality of an operator;

an output side abnormality detecting sensor configured to detect an abnormality of a surgery state with the medical instrument; and

an alarm configured to perform an abnormality countermeasure action if a detection value from the output side abnormality detecting sensor exceeds a threshold value,

wherein the surgical robot is configured so that the threshold value is set to a first value if the abnormality of the operator is detected by the input side abnormality detecting switch, and is set to a second value, different from the first value, if the input side abnormality detecting switch does not detect the abnormality of the operator.

2. The surgical robot according to claim 1, wherein the input side abnormality detecting switch is coupled with the operation handle.

3. The surgical robot according to claim 2, wherein the operation handle is configured to be operated by the operator and the input side abnormality detecting switch is provided to the handle.

4. The surgical robot according to claim 1, further comprising a plurality of input side abnormality detecting switches, each input side abnormality detecting switch configured to detect the abnormality of the operator at a different magnitude of detection, and wherein the control processor is configured to change the content of the abnormality countermeasure based on a plurality of detection results from the plurality of input side abnormality detecting switches.

5. The surgical robot according to claim 1, wherein the output side abnormality detecting sensor is configured to detect an influence of the medical instrument on a body of a patient.

6. The surgical robot according to claim 5, wherein the output side abnormality detecting sensor is configured to detect a pressure which is applied by the medical instrument on a contact portion with the body of the patient.

7. The surgical robot according to claim 5, wherein the output side abnormality detecting sensor is configured to detect a displacement amount that the medical instrument displaces a contact portion with respect to the body of the patient.

8. The surgical robot according to claim 5, wherein the alarm includes a notification device configured to notify the abnormality of the surgery state.

9. The surgical robot according to claim 1, wherein the alarm is configured to change a control mode of the robot body.

10. The surgical robot according to claim 9, wherein the alarm is configured to change a speed limit of an action of the robot body.

11. The surgical robot according to claim 9, wherein the alarm is configured to switch between a mode which drives the medical instrument according to the control information from the operation handle and a mode which drives the medical instrument in a direction that an external force from a body of a patient acting on the medical instrument is parried.

12. The surgical robot according to claim 9, wherein the alarm is configured to switch an automatic control mode in which the robot body is automatically controlled so as to minimize an influence of the medical instrument on a body of a patient.

13. The surgical robot according to claim 1, wherein the second value of the threshold value is higher than the first value of the threshold value.

14. A control method of a surgical robot which has a robot body on which a medical instrument is mounted, the control method comprising:

inputting, with an operation handle, control information of the robot body;

controlling, with a control processor, the robot body based on the control information input to the operation handle;

detecting, by an input side abnormality detecting switch, an abnormality of an operator based on the input control information inputted by the operation handle;

controlling the robot body and detecting, by an output side abnormality detecting sensor, an abnormality of a surgery state with the medical instrument and setting a detection value based on a magnitude of the detected abnormality of the surgery state; and

performing an abnormality countermeasure action for the surgical robot upon the detection value of the detected abnormality of the surgery state exceeding a threshold value,

wherein the surgical robot is configured so that the threshold value is set to a first value if the abnormality of the operator is detected, and is set to a second value, different from the first value, if the abnormality of the operator is not detected.

15. The control method according to claim 14, wherein the second value of the threshold value is higher than the first value of the threshold value.

16. The control method according to claim 14, wherein the abnormality countermeasure action is at least one of:

locking the robot body and displaying a warning on a display.