Medical manipulator and method of controlling the same

• US 9,632,573 B2
• Filed: 08/03/2012
• Issued: 04/25/2017
• Est. Priority Date: 08/04/2011
• Status: Active Grant

• Current Assignee: Olympus Corporation
• Original Assignee: Olympus Corporation
• Inventors: Ogawa, Ryohei, Kishi, Kosuke
• Primary Examiner(s): Ismail, Shawki S
• Assistant Examiner(s): Islam, Muhammad S
• Application Number:
  US13/566,012
• Publication Number:
  US 20130035697A1
• Time in Patent Office: 1,726 Days
• Field of Search: 606130, 606205, 606170, 606174
• 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 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2090/065 for measuring contact or contact pressure
• CPC Class Codes: A61B 2090/067 for measuring angles
• CPC Class Codes: A61B 2090/0803 Counting the number of times an instrument is used
• CPC Class Codes: A61B 2090/0813 Accessories designed for easy sterilising, i.e. re-usable
• CPC Class Codes: A61B 2090/0814 Preventing re-use
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/3937 Visible markers
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• 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: 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: A61B 90/50 : Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: A61B 90/90 : Identification means for patients or instruments, e.g. tags
• 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

In a medical manipulator configured to have a manipulation unit including a first input unit and a second input unit that are exchangeable, a signal generation unit configured to process an input with respect to the manipulation unit based on a predetermined process condition and to generate a manipulation signal, an operating unit configured to be operated by the manipulation signal, and a detection unit configured to recognize a type of a used input unit, the process condition corresponded to the first input unit and the process condition corresponded to the second input unit differ, and the signal generation unit generates the manipulation signal based on the process condition corresponded to the input unit recognized by the detection unit.

Claims

1. A medical manipulator comprising:

a plurality of input units selectively used by an operator, wherein one of the plurality of input units is used at a time by the operator;

an operating unit configured to have a plurality of slave arms, each of the plurality of slave arms corresponding to one of the plurality of input units;

an imaging sensor configured to acquire image data of one of the plurality of input units which is currently used by the operator; and

a processor comprising hardware, the processor being configured to recognize the one of the plurality of input units which is currently used by the operator as a currently used input unit based on the image data acquired by the imaging sensor; and

the processor being configured to access a plurality of process conditions, each of the plurality of process conditions corresponding to one of the plurality of input units;

the processor being further configured to generate a manipulation signal by processing an input with respect to the currently used input unit based on one of the process conditions which corresponds to the currently used input unit,

wherein the process conditions are different from each other, and

one of the plurality of slave arms which corresponds to the currently used input unit is selectively operated by the manipulation signal.

2. The medical manipulator according to claim 1, wherein one of the plurality of process conditions which corresponds to the currently used input unit includes a setting aspect of a coordinate system in the currently used input unit.

3. The medical manipulator according to claim 1, wherein one of the plurality of process conditions which corresponds to the currently used input unit includes an origin position of a coordinate system in the currently used input unit.

4. The medical manipulator according to claim 1, wherein one of the plurality of process conditions which corresponds to the currently used input unit includes information for selecting degrees of freedom used for generation of the manipulation signal among degrees of freedom included in the input.

5. The medical manipulator according to claim 1, wherein:

at least one of the plurality of slave arms has an end effector exhibiting a predetermined function, and

at least one of the plurality of input units has the same shape as a tool exhibiting the function.

6. The medical manipulator according to claim 5, wherein one of the plurality of process conditions which corresponds to the currently used input unit includes a scale ratio of an input to the currently used input unit and the manipulation signal.

7. The medical manipulator according to claim 5, wherein one of the plurality of process conditions which corresponds to the currently used input unit includes information for a filter used at the time of generation of the manipulation signal.

8. The medical manipulator according to claim 5, wherein one of the plurality of process conditions which corresponds to the currently used input unit includes an output limit value of the manipulation signal.

9. The medical manipulator according to claim 1, wherein:

when two of the plurality of input units are defined as a first input unit and a second input unit, the first input unit and the second input unit include a common input mechanism, and

two of the plurality of process conditions which correspond to the first input unit and the second input unit include a type of a function exhibited in the operating unit by an input to the common input mechanism.

10. A method of controlling a medical manipulator including a plurality of input units selectively used by an operator and a plurality of slave arms, each of the plurality of slave units corresponding to one of the plurality of input units, of the input units is used at a time by the operator, each of a plurality of process conditions corresponding to one of the plurality of input units being prepared in advance so that the process conditions are different from each other, the method comprising:

capturing image data of one of the plurality of input units which is currently used by the operator;

detecting the one of the plurality of input units which is currently used by the operator as a currently used input unit based on the captured image data;

generating a manipulation signal by processing an input with respect to the currently used input unit based on one of the plurality of process conditions which corresponds to the currently used input unit; and

operating one of the slave arms which corresponds to the currently used input unit by using the manipulation signal.

11. A medical manipulator comprising:

a manipulation unit configured to have a first input unit and a second input unit that are exchangeable and manipulated by an operator;

an image sensor configured to capture an image of at least one of the first input unit and the second input unit;

a processor comprising hardware, the processor being configured to;

discriminate between the first input unit and the second input unit, recognize the first input unit and the second input unit, and acquire coordinates of the first input unit and the second input unit in a visual field of the capturing unit, from an image captured by the image sensor;

output the coordinates as coordinate information; and

perform a process based on a predetermined process condition using the coordinate information to generate a manipulation signal; and

an operating unit mounted on a treatment tool and configured to be operated by the manipulation signal,

wherein the process condition corresponding to the first input unit and the process condition corresponding to the second input unit differ from each other, and

the processor is further configured to generate the manipulation signal based on the process condition corresponding to the recognized one of the first and second input units.

12. The medical manipulator according to claim 11, wherein

the first input unit has a first marker having a visual feature specific to the first input unit,

the second input unit has a second marker specific to the second input unit, the second marker being capable of being visually discriminated from the first marker, and

the processor discriminates between the first marker and the second marker, recognizes the first marker and the second marker, and acquires coordinates of the first marker and the second marker in the visual field of the image sensor, from the image captured by the image sensor.

13. The medical manipulator according to claim 11, wherein the process condition includes a setting aspect of a coordinate system in the input unit.

14. The medical manipulator according to claim 11, wherein the process condition includes an origin position of a coordinate system in the input unit.

15. The medical manipulator according to claim 11, wherein the process condition includes information for selecting degrees of freedom used for generation of the manipulation signal among degrees of freedom included in an input.

16. The medical manipulator according to claim 11, wherein

the operating unit includes an end effector exhibiting a predetermined function, and

at least one of the first input unit and the second input unit has a shape similar to a shape of a known medical device capable of exhibiting the predetermined function.

17. The medical manipulator according to claim 16, wherein the process condition includes a scale ratio of an input to the input unit and the manipulation signal.

18. The medical manipulator according to claim 15, wherein the process condition includes information for a filter used for suppressing generation of the manipulation signal based on a predetermined input of inputs that have been input to the input unit when the manipulation signal is generated.

19. The medical manipulator according to claim 16, wherein the process condition includes an output limit value of the manipulation signal.

20. The medical manipulator according to claim 11, wherein

the first input unit and the second input unit include an input mechanism configured to be operated with a common input operation by a manipulating person, and

the process condition includes a type of a function exhibited in the operating unit by an input to the input mechanism.