JP2010082309A - 医療用マニピュレータ - Google Patents
医療用マニピュレータ Download PDFInfo
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- 210000001015 abdomen Anatomy 0.000 description 2
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- 238000002674 endoscopic surgery Methods 0.000 description 2
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- 206010052143 Ocular discomfort Diseases 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0256—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults injecting test signals and analyzing monitored process response, e.g. injecting the test signal while interrupting the normal operation of the monitored system; superimposing the test signal onto a control signal during normal operation of the monitored system
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
- A61B2034/742—Joysticks
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/067—Measuring instruments not otherwise provided for for measuring angles
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- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
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- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
【解決手段】医療用マニピュレータ10は、モータ40bを備えたアクチュエータブロック30と、アクチュエータブロック30に着脱自在でモータ40bの回転軸に接続されるプーリ50bを備える接続部15と、接続部15から延在する連結シャフト48の先端に設けられ、ワイヤ54bを介してプーリ50bに連動する先端動作部12と、モータ40bの回転角度Fを検出するエンコーダ44bと、エンコーダ44bの信号を読み込み、動作指令値Cと比較してモータ40bをフィードバック駆動するコントローラ27とを有する。コントローラ27は、先端動作部12が動かない範囲で、エンコーダ44bの分解能以上で、且つモータ40bの動作下限以上に相当する信号をモータ40bに出力して、回転角度Fを監視し、フィードバックループ508の異常判断をする。
【選択図】図6
Description
14…操作部 15…接続部
16…作業部 27…コントローラ(制御部)
30、812…アクチュエータブロック(アクチュエータ部)
32…トリガーレバー 34…複合入力部
40a〜40c…モータ 42a〜42c…減速機
44a〜44c…エンコーダ(角度センサ) 48…連結シャフト
50a〜50c、57a〜57c…プーリ(回転体)
54a〜54c…ワイヤ(動力伝達部材) 500…動作指令値設定部
502…減算点 504…補償部
506…異常判断部 508…フィードバックループ
603…カウンタ C…動作指令値
F…回転角度
Claims (6)
- モータを備えたアクチュエータ部と、
前記アクチュエータ部に着脱自在で前記モータの回転軸に接続される回転体を備える接続部と、
前記接続部から延在する連結シャフトの先端に設けられ、動力伝達部材を介して前記回転体に連動する先端動作部と、
前記モータの回転角度を検出する角度センサと、
前記角度センサの信号を読み込み、動作指令値と比較して前記モータをフィードバック駆動する制御部と、
を有し、
前記制御部は、前記角度センサによるフィードバックを一時的に停止してオープンループとし、電流信号を前記モータに出力して、前記先端動作部が動かない範囲内で、前記角度センサの信号を監視し、前記モータ及び前記角度センサを含む系の異常の有無を判断することを特徴とする医療用マニピュレータ。 - 請求項1記載の医療用マニピュレータにおいて、
前記アクチュエータ部は、前記モータの回転を減速して前記回転体に伝達する減速機を備え、
前記制御部は、前記系の異常の有無を判断する際に、前記減速機の出力軸が動かない範囲で異常の有無を判断することを特徴とする医療用マニピュレータ。 - 請求項1又は2記載の医療用マニピュレータにおいて、
前記制御部は、正逆の両回転方向の信号を前記モータに出力することを特徴とする医療用マニピュレータ。 - 請求項1〜3のいずれか1項に記載の医療用マニピュレータにおいて、
前記制御部は、システム起動後で、前記先端動作部を動作させる以前のイニシャル時に、前記系の異常の有無を判断することを特徴とする医療用マニピュレータ。 - モータを備えたアクチュエータ部と、
前記アクチュエータ部に着脱自在で前記モータの回転軸に接続される回転体を備える接続部と、
前記接続部から延在する連結シャフトの先端に設けられ、動力伝達部材を介して前記回転体に連動する先端動作部と、
前記モータの回転角度を検出する角度センサと、
前記角度センサの信号を読み込み、動作指令値と比較して前記モータをフィードバック駆動する制御部と、
を有し、
前記制御部は、先端動作部が動かない範囲で、前記角度センサの分解能以上で、且つ前記モータの動作下限以上に相当する信号をモータに出力して、前記角度センサの信号を監視し、前記モータ及び前記角度センサを含むフィードバック系の異常の有無を判断することを特徴とする医療用マニピュレータ。 - モータを備えたアクチュエータ部と、
前記アクチュエータ部に着脱自在で前記モータの回転軸に接続される回転体を備える接続部と、
前記接続部から延在する連結シャフトの先端に設けられ、動力伝達部材を介して前記回転体に連動する先端動作部と、
前記モータの回転角度を検出する角度センサと、
前記角度センサの信号を読み込み、動作指令値と比較して前記モータをフィードバック駆動する制御部と、
前記モータへ通電する電流値を検出して前記制御部へ供給する電流センサと、
を有し、
前記制御部は、前記角度センサの信号に変化がない場合で、前記電流値がその時点の動作に応じた閾値以上流れているときに、前記モータ及び前記角度センサを含む系の異常検査を行うことを特徴とする医療用マニピュレータ。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008256171A JP5475262B2 (ja) | 2008-10-01 | 2008-10-01 | 医療用マニピュレータ |
US12/570,403 US8154239B2 (en) | 2008-10-01 | 2009-09-30 | Medical manipulator |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008256171A JP5475262B2 (ja) | 2008-10-01 | 2008-10-01 | 医療用マニピュレータ |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2010082309A true JP2010082309A (ja) | 2010-04-15 |
JP5475262B2 JP5475262B2 (ja) | 2014-04-16 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008256171A Active JP5475262B2 (ja) | 2008-10-01 | 2008-10-01 | 医療用マニピュレータ |
Country Status (2)
Country | Link |
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US (1) | US8154239B2 (ja) |
JP (1) | JP5475262B2 (ja) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
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CN108814718A (zh) * | 2018-03-23 | 2018-11-16 | 深圳市精锋医疗科技有限公司 | 操作臂、从操作设备及手术机器人 |
KR102025010B1 (ko) * | 2018-04-24 | 2019-09-24 | 주식회사 카피모션 | 상보성 기어감속을 이용한 엑추에이터 |
US10881475B2 (en) | 2015-07-09 | 2021-01-05 | Kawasaki Jukogyo Kabushiki Kaisha | Surgical robot |
US11000338B2 (en) | 2016-03-30 | 2021-05-11 | Sony Corporation | Arm control method and arm control device |
KR20210099512A (ko) * | 2020-02-04 | 2021-08-12 | 니혼 덴산 산쿄 가부시키가이샤 | 모터 제어 방법, 모터 구동 장치, 산업용 로봇의 제어 방법 및 산업용 로봇 |
JP2021126233A (ja) * | 2020-02-12 | 2021-09-02 | リバーフィールド株式会社 | 手術用ロボット |
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US20100079099A1 (en) | 2010-04-01 |
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