Medical manipulator and method of controlling the same
First Claim
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, andone of the plurality of slave arms which corresponds to the currently used input unit is selectively operated by the manipulation signal.
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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.
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Citations
20 Claims
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1. A medical manipulator comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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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:
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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.
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11. A medical manipulator comprising:
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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. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification