THERAPEUTIC DEVICE SYSTEM AND MANIPULATOR SYSTEM
First Claim
Patent Images
1. A therapeutic device system comprising:
- an input section for generating a manipulation signal from a manipulation-designated amount designated by manipulation section;
any one of a therapeutic device and a manipulator which includes articulation sections, a therapeutic device insertion section of which is inserted into a therapeutic device hole formed through to any one of an endoscope insertion section and an overtube attached to the outside of an endoscope, and in which the articulation sections can perform an articular operation in accordance with a manipulation instruction of the input section;
a detection section for detecting a curved state of the endoscope insertion section at all times;
a therapeutic device drive section for driving the therapeutic device and the manipulator in accordance with the manipulation signal; and
a control section provided with a control parameter set in advance, for controlling the articular operation of the articulation sections by changing the control parameter at all times on the basis of a detection result from the detection section, and causing the therapeutic device drive section to make the manipulation signal reflect the changed control parameter.
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Abstract
A therapeutic device system is provided with a control parameter section for calculating a control parameter for adjusting a drive amount of a manipulator with respect to a manipulation signal on the basis of curved state information on an endoscope insertion section, and changing the old control parameter, and when a state of a curve of the endoscope insertion section has changed, a control parameter conforming to the change is calculated to change the old one, whereby the same manipulation operation of the operator enables the same operation of the manipulator to be performed at all times.
69 Citations
18 Claims
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1. A therapeutic device system comprising:
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an input section for generating a manipulation signal from a manipulation-designated amount designated by manipulation section; any one of a therapeutic device and a manipulator which includes articulation sections, a therapeutic device insertion section of which is inserted into a therapeutic device hole formed through to any one of an endoscope insertion section and an overtube attached to the outside of an endoscope, and in which the articulation sections can perform an articular operation in accordance with a manipulation instruction of the input section; a detection section for detecting a curved state of the endoscope insertion section at all times; a therapeutic device drive section for driving the therapeutic device and the manipulator in accordance with the manipulation signal; and a control section provided with a control parameter set in advance, for controlling the articular operation of the articulation sections by changing the control parameter at all times on the basis of a detection result from the detection section, and causing the therapeutic device drive section to make the manipulation signal reflect the changed control parameter. - View Dependent Claims (2, 3, 4, 5)
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6. A manipulator system comprising:
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a distal end section formed into an external shape which can be inserted into an insertion path with a predetermined diameter; a first movable section formed into an external shape which can be inserted into the insertion path, and connected to the distal end section; a first articulation section provided at a connection section of the distal end section and the first movable section, for connecting the distal end section and the first movable section to each other so that the section and the section can move relatively to each other; a second movable section formed into an external shape which can be inserted into the insertion path, and connected to the first movable section; a second articulation section provided at a connection section of the first movable section and the second movable section, for connecting the first movable section and the second movable section to each other so that the section and the section can move relatively to each other; a manipulation section capable of arbitrarily manipulating a manipulator constituted of the distal end section, the first articulation section, the first movable section, the second articulation section, and the second movable section; a detection section which can detect external force exerted on the manipulator from the insertion path; and a control section for controlling a drive state of the manipulator on the basis of a detection result from the detection section.
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7. A therapeutic device system comprising:
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a manipulator a therapeutic device insertion section of which is inserted, from the proximal end side thereof, into a therapeutic device hole inside to any one of an endoscope insertion section of an endoscope apparatus that can be freely curved and a therapeutic device hole of an overtube attached to the outside of an endoscope insertion section, then is extended outwardly from the therapeutic device hole, and is provided with a therapeutic device at a distal end thereof, and in which a plurality of curving pieces are universal-joint-connected to each other by means of articulation sections so that a plurality of degrees of freedom can be provided, and wires are fixed to each of the curving pieces; actuator for pulling the wires to cause the curving pieces to perform an articular operation around the articulation sections, and to drive the therapeutic device; a manipulation section for performing designation input for driving the therapeutic device, and performing designation input so that the manipulator can assume a desired target positional posture; sensor section for detecting curved states of the endoscope insertion section and the therapeutic device insertion section; a curved state information generation section for generating curved state information on the endoscope insertion section and the therapeutic device insertion section as required from detection signals detected by the sensor section; a control parameter section for generating and providing a control parameter for adjusting a manipulation amount of the manipulation section to a manipulation amount of the actuator from the curved state information generated by the curved state information generation section; and a therapeutic device control section which when the curved state information generated by the curved state information generation section is changed, changes the control parameter to a control parameter generated by the control parameter section after the change is made to thereby drive the manipulator and the therapeutic device. - View Dependent Claims (8, 9)
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10. A therapeutic device system comprising:
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a therapeutic device of an endoscope, or an active therapeutic device to be attached after being passed through a therapeutic device hole of an overtube attached to the outside of the endoscope; an endoscope curved state acquisition section for acquiring a curved state of the endoscope; an active therapeutic device drive section for driving the active therapeutic device; an active therapeutic device control section for performing control while reflecting a control parameter set in advance in a drive control signal for controlling the active therapeutic device drive section, and changed by curved state information from the endoscope curved state acquisition section; and an input section by which an operator inputs an instruction to the active therapeutic device control section for manipulating the therapeutic device or the active therapeutic device. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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Specification