Operation support device

• US 9,423,869 B2
• Filed: 01/17/2014
• Issued: 08/23/2016
• Est. Priority Date: 08/04/2011
• Status: Active Grant

• Current Assignee: Olympus Corporation
• Original Assignee: Olympus Corporation
• Inventors: Yanagihara, Masaru
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US14/157,920
• Publication Number:
  US 20140135795A1
• Time in Patent Office: 949 Days
• US Class Current: 1/1
• CPC Class Codes: A61B 17/068 Surgical staplers , e.g. containing multiple staples or clampsstaplers containing only one staple A61B17/10; magazines or containers for staples A61B17/105; for performing anastomosis A61B17/115; staplers in general B25C5/00
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/32002 with continuously rotating, oscillating or reciprocating cutting instruments
• CPC Class Codes: A61B 18/1402 Probes for open surgery
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00482 with a code
• 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 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 34/77 Manipulators with motion or force scaling
• CPC Class Codes: A61B 46/10 specially adapted for instruments, e.g. microscopes
• CPC Class Codes: A61B 46/23 with means to retain or hold surgical implements
• CPC Class Codes: B25J 13/02 Hand grip control means handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214
• CPC Class Codes: G06F 3/01 Input arrangements or combined input and output arrangements for interaction between user and computer G06F3/16 takes precedence
• CPC Class Codes: Y10S 901/08 Robot
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/30 End effector
• CPC Class Codes: Y10T 29/49826 Assembling or joining
• CPC Class Codes: Y10T 74/18056 Rotary to or from reciprocating or oscillating

Abstract

An operation support device includes an operation part in which the operation input is performed by an operator, an action part to which a surgical tool is attached and which is driven by the operation input, a drive source that is provided in the operation part, and generates a driving force which adjusts the manipulation resistance at the time of the operation input, and a control unit that sets the magnitude and direction of the driving force, wherein the control unit sets the magnitude and direction of the driving force based on the operation input to the operation part.

Claims

1. An operation support device which includes an operation part into which an operation is input by a manipulator, and an action part to which a surgical tool is attached and which is driven by the operation input, the operation support device comprising:

a drive source which is provided in the operation part and generates a driving force which applies the driving force to the operation part;

a detection part which is provided in the operation part and detects an amount of motion of the operation part in accordance with the operation input; and

a control unit which sets a magnitude and a direction of the driving force based on the operation input to the operation part when the operation is input, the control unit setting the driving force to generate a manipulation resistance to the operation part, the manipulation resistance being adjusted based on a relationship between an amount of change of the amount of motion and an amount of change of the driving force, the control unit being configured to send an operation signal to the action part, the operation signal corresponding to the driving force which is adjusted depending on the operation resistance.

2. The operation support device according to claim 1, wherein

the operation part comprises a switch,

the control unit sets the driving force based on one of a plurality of modes, and

when the switch is operated by an operator, the mode used when the control unit sets the driving force is switched.

3. The operation support device according to claim 2, wherein the switch is configured to be operated by a hand or a foot of the operator.

4. The operation support device according to claim 2, wherein the surgical tool is in an active state when performing an operation, and

the switch combines function to switch the surgical tool to the active state.

5. The operation support device according to claim 1,

wherein the control unit sets the driving force so that the driving force is increased as the amount of motion is reduced.

6. The operation support device according to claim 5, wherein the control unit sets the driving force so as to relatively increase when the amount of motion is equal to or less than a predetermined threshold value.

7. The operation support device according to claim 1,

wherein the control unit sets the driving force so that the driving force is increased as the amount of motion is increased, and the relationship between the amount of change of the amount of motion and the amount of change of the driving force is changed depending on a value of the amount of motion.

8. The operation support device according to claim 7,

wherein the control unit sets the driving force so as to be relatively increase when the amount of motion is equal to or greater than a predetermined threshold value.

9. The operation support device according to claim 1, wherein

the surgical tool is provided in a plural number in the action part in an attachable and detachable manner, and the respective surgical tools have identification information, and

the control unit sets the magnitude and the direction of the driving force based on the identification information of the surgical tool mounted on the action part.

10. The operation support device according to claim 1,

wherein the amount of motion is a rotational angular speed of an arm of the operation part when rotating the arm around an axis by the operation input, and

the control unit is configured to adjust the operation resistance of the operation part based on a relationship between the rotational angular speed and the driving force.