METHOD OF CONTROLLING A MEDICAL MASTER/SLAVE SYSTEM

• US 20160135910A1
• Filed: 01/22/2016
• Published: 05/19/2016
• Est. Priority Date: 07/24/2013
• Status: Active Grant

• Current Assignee: Olympus Corporation
• Original Assignee: Olympus Corporation
• Inventors: HATTA, Izumi
• Granted Patent: US 10,226,308 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• 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

Abstract

A method of controlling the medical master/slave system comprising a bendable master apparatus operated by an operator and a slave apparatus inserted through the body. The control method includes an ordinary actuation mode (Step S101) in which, based on a bending state of the master apparatus, the slave apparatus is actuated in such a way as to become similar in operation to the master apparatus, a reversal actuation mode (Step S105) in which, based on a bending state of the master apparatus, the slave apparatus is actuated in such a way as to be reversed relative to the operation of the master apparatus, and a transition mode (Step S103, S104, S107, S108) for transition between the ordinary actuation mode and the reversal actuation mode.

Claims

1. A method of controlling a medical master/slave system comprising a bendable master apparatus operated by an operator and a bendable slave apparatus inserted through the body, which includes:

an ordinary actuation mode in which, based on a bending state of the master apparatus, the slave apparatus is actuated such that the slave apparatus becomes similar in actuation to the master apparatus,

a reversal actuation mode in which, based on a bending state of the master apparatus, the slave apparatus is actuated in such a way as to be reversed the slave apparatus relative to operation of the master apparatus, and

a transition mode for transition between the ordinary actuation mode and the reversal actuation mode, and vice versa.

2. A method of controlling the master/slave system as recited in claim 1, wherein, in the reversal actuation mode, whether or not a reversing portion of the slave apparatus interferes with the rest is determined, and if there is interference, the operation of the master apparatus is restricted.

3. A method of controlling the master/slave system as recited in claim 1, wherein in the transition mode from the ordinary actuation mode to the reversal actuation mode, the master apparatus is actuated to an initial position.

4. A method of controlling the master/slave system as recited in claim 1, wherein in the transition mode from the reversal actuation mode to the ordinary actuation mode, the master apparatus is actuated in such a way as to become similar to the slave apparatus.

5. A method of controlling the master/slave system as recited in claim 1, wherein the ordinary actuation mode makes a transition to the transition mode upon detection of a specific posture taken by the slave apparatus.

6. A method of controlling the master/slave system as recited in claim 1, wherein the ordinary actuation mode presents whether or not a transition to the transition mode is made to an operator who operates the master apparatus upon detection of a specific posture taken by the slave apparatus.