Operation support device and control method thereof

• US 9,632,577 B2
• Filed: 01/31/2014
• 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): Szpira, Julie A
• Application Number:
  US14/169,742
• Publication Number:
  US 20140148820A1
• Time in Patent Office: 1,180 Days
• 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 2090/067 for measuring angles
• 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: 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: B25J 9/1689 : Teleoperation
• 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 a manipulation input unit that outputs a manipulation command in accordance with an input from an operator, and a motion unit that causes a surgical instrument to move in accordance with the manipulation command. The manipulation input unit includes an object-to-be-detected that is gripped by the operator and a detection device that detects the object-to-be-detected. The object-to-be-detected includes a body part that has a first marker, which is detected by the detection device, disposed thereon, a manipulation part that is disposed in the body part and that is manipulated by the operator, and a second marker that is disposed in at least one of the body part and the manipulation part.

Claims

1. An operation support device comprising:

a manipulation input unit configured to output a manipulation command based on an input from an operator; and

a motion unit configured to cause a surgical instrument to move based on the manipulation command,

wherein the manipulation input unit includes

an object-to-be-detected configured to be gripped by the operator, and

a detection device that detects the object-to-be-detected,

wherein the object-to-be-detected includes

a body part that has a first marker which is detected by the detection device,

a manipulation part disposed in the body part and configured to be manipulated by the operator, and

a second marker disposed in at least one of the body part and the manipulation part, wherein a state of the second marker changes in response to a manipulation on the manipulation part,

wherein the detection device calculates a first information which is capable of specifying a position and an orientation of the object-to-be-detected using at least the first marker and calculates a second information which is capable of specifying a manipulation input state to the manipulation part using at least the second marker, and

wherein the manipulation input unit outputs a command as the manipulation command to the motion unit based on a result calculated by the detection device, for causing the surgical instrument to move, so as to control a movement of the surgical instrument in accordance with the position of the object-to-be-detected, the orientation of the object-to-be-detected, and the manipulation input state.

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

the manipulation part is movably connected to the body part,

the second marker is disposed in the manipulation part, and

the detection device calculates a position and an orientation of the body part using at least the first marker and calculates the manipulation input state to the manipulation part based on a position of the second marker.

3. The operation support device according to claim 2, wherein the manipulation part is capable of being opened and closed with respect to the body part.

4. The operation support device according to claim 3, wherein the detection device calculates the position and the orientation of the body part, and the manipulation input state using both the first marker and second marker.

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

a first position at which the first marker is located and a second position at which the second marker is located are different from each other,

the first marker is different from the second marker in at least one item other than the first position and the second position, and

the detection device distinguishes between the first marker and the second marker based on the item.

6. The operation support device according to claim 5, wherein an amount of state of the second marker changes depending on an amount of manipulation of the manipulation part.

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

a first position at which the first marker is located and a second position at which the second marker is located are only different from each other, and

the detection device distinguishes between the first marker and the second marker based on only a relative positional relationship of the first position of the first marker and the second position of the second marker on the manipulation input unit.

8. An operation support device comprising:

a master manipulator configured to output a manipulation command based on an input from an operator; and

a slave manipulator configured to cause a surgical instrument to move based on the manipulation command,

wherein the master manipulator includes

an object-to-be-detected configured to be gripped by the operator, and

a controller that detects the object-to-be-detected,

wherein the object-to-be-detected includes

a body part that has a first marker which is detected by the detection device,

a manipulation part disposed in the body part and configured to be manipulated by the operator, and

a second marker disposed in at least one of the body part and the manipulation part, wherein a state of the second marker changes in response to a manipulation on the manipulation part,

wherein the controller is configured to;

calculate a first information which is capable of specifying a position and an orientation of the object-to-be-detected using at least the first marker;

calculate a second information which is capable of specifying a manipulation input state to the manipulation part using at least the second marker, and

output a command as the manipulation command to the slave manipulator based on a result of the calculations of the first and second information, for causing the surgical instrument to move, so as to control a movement of the surgical instrument in accordance with the position of the object-to-be-detected, the orientation of the object-to-be-detected, and the manipulation input state.

9. The operation support device according to claim 8, wherein

the manipulation part is movably connected to the body part,

the second marker is disposed in the manipulation part, and

the controller is further configured to calculate a position and an orientation of the body part using at least the first marker and calculate the manipulation input state to the manipulation part based on a position of the second marker.

10. The operation support device according to claim 9, wherein the manipulation part is capable of being opened and closed with respect to the body part.

11. The operation support device according to claim 10, wherein the controller is further configured to calculate the position and the orientation of the body part, and the manipulation input state using both the first marker and second marker.

12. The operation support device according to claim 8, wherein

a first position at which the first marker is located and a second position at which the second marker is located are different from each other,

the first marker is different from the second marker in at least one item other than the first position and the second position, and

the controller is further configured to distinguish between the first marker and the second marker based on the item.

13. The operation support device according to claim 12, wherein an amount of state of the second marker changes depending on an amount of manipulation of the manipulation part.

14. The operation support device according to claim 8, wherein

a first position at which the first marker is located and a second position at which the second marker is located are only different from each other, and

the controller is further configured to distinguish between the first marker and the second marker based on only a relative positional relationship of the first position of the first marker and the second position of the second marker on the master manipulator.