US20080232932A1 - Manipulator - Google Patents
Manipulator Download PDFInfo
- Publication number
- US20080232932A1 US20080232932A1 US12/129,788 US12978808A US2008232932A1 US 20080232932 A1 US20080232932 A1 US 20080232932A1 US 12978808 A US12978808 A US 12978808A US 2008232932 A1 US2008232932 A1 US 2008232932A1
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- United States
- Prior art keywords
- unit
- end effector
- joint
- axis
- operation command
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
- B25J3/04—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
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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
-
- 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
- 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
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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
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
- A61B2017/2943—Toothed members, e.g. rack and pinion
Abstract
A manipulator comprises an operation command unit provided with an attitude adjusting unit and an end effector control unit, a connecting unit having one end connected to the operation command unit, a working unit connected to the other end of the connecting unit and provided with an end effector and a support unit supporting the end effector for motions, and a control unit that transmits an operation command provided by the attitude adjusting unit to the support unit to adjust the attitude of the end effector and transmits an operation command provided by the end effector control unit to the end effector to operate the end effector. The support unit includes a first joint capable of turning about a first axis perpendicular to the center axis of the connecting unit, and a second joint capable of turning about a second axis perpendicular to the first axis. The end effector can be turned for rolling about an axis substantially parallel to the second axis of the second joint. The attitude adjusting unit has a third joint having a third axis perpendicular to the center line of the connecting unit. The end effector control unit is formed such that the fingers of an operator gripping operating members included in the end effector control unit extend substantially in parallel to the fourth axis.
Description
- 1. Field of the Invention
- The present invention relates to a manipulator and, more particularly, to a medical manipulator of a simple mechanism excellent in operability.
- 2. Description of the Related Art
- Referring to
FIG. 25 , when practicing laparoscopic surgical operation, such as cholecystectomy, somesmall holes patient 150 andtubes 154 are inserted in theholes endoscope 161 andforcepts tubes 154 in the abdomen. Anoperator 160, i.e., a surgeon, performs a surgical operation observing images taken by theendoscope 161 and displayed by amonitor 162. Such an operative method does not need laparotomy and reduces physical burden on the patient and reduces greatly the number of days necessary for the patient to recover and to leave the hospital after the operation. However, it is a problem in some cases that theoperator 160 is unable to observe a diseased part directly. Furthermore, theforcepts forcepts - Studies have been made to solve such problems by applying remote-controlled robots, such as master/slave manipulators, to the medical field. The remote-controlled robot is a robot system including a master arm to be operated by an operator, and a slave arm to act on a diseased part. The master arm and the slave arm are completely separated. Electric signals representing commands provided by operating the master arm are given to the slave arm. Usually the master arm and the slave arm are articulated arms having at least six degrees of freedom of motion. The master/slave manipulator is provided with controllers for controlling slave arms for operations in six degrees of freedom of motion and is a complicated system including many electric control systems, many parts and many wiring lines. Because of its complexity, the reliability of operations of the master/slave manipulator is not on a satisfactorily high level. The master/slave manipulator is a large-scale system, expensive and needs a high maintenance cost. The operator operates the master/slave manipulator at a position remote from the patient and hence the operator is unable to give medical treatment quickly to the patient in an emergency.
- The inventors of the present invention proposed a medical manipulator shown in
FIG. 26 in Jpn. Pat. App. No. Hei 11-165961. As shown inFIG. 26 , this previously proposed medical manipulator includes anoperation command unit 20 including aattitude adjusting unit 23 and an endeffector control unit 24, a connectingunit 30 having one end connected to theoperation command unit 20, aworking unit 10 connected to the other end of the connectingunit 30 and provided with anend effector 14 andsupport units end effector 14 for operations in at least two degrees of freedom of motion, and a controller, not shown, capable of transmitting an operation command provided by theattitude adjusting unit 23 to thesupport units end effector 14 and of transmitting an operation command provided by the endeffector control unit 24 to theend effector 14 to operate theend effector 14. In the workingunit 10 and theoperation command unit 20, thesupport units end effector 14 is a gripper. - Referring to
FIG. 27 , when the medical manipulator is used for suture, theend effector 14 grips acurved suture needle 180 threaded with athread 181, sticks thesuture needle 180 into a part to be sutured and moves thecurved suture needle 180 along a circular path. Since required operations and the degree of freedom of motion are not properly coordinated in the known medical manipulator shown inFIG. 26 , theoperation command unit 20 is unable to operate smoothly for operations in directions intended by the operator. Thus, the operability of the known medical manipulator is unsatisfactory. When the workingunit 10 and theoperation command unit 20 are in some positions, respectively, the degree of freedom of motion of theend effector 14 is reduced, theend effector 14 is set in a singular attitude and the operability of theend effector 14 in particular directions becomes unsatisfactory. Moreover the gripping force of theend effector 14 is insufficient. - The present invention has been made in view of the aforesaid problems in the conventional medical manipulators and it is therefore an object of the present invention to provide a manipulator having simple construction and high reliability and excellent in operability.
- According to one aspect of the present invention, a manipulator includes an operation command unit provided with a attitude adjusting unit and an end effector control unit, a connecting unit having one end connected to the operation command unit, a working unit connected to the other end of the connecting unit and provided with an end effector and a support unit supporting the end effector for motions in at least two degrees of freedom of motion, and a control unit that transmits an operation command provided by the attitude adjusting unit to the support unit to adjust the attitude of the end effector and transmits an operation command provided by the end effector control unit to the end effector to operate the end effector; wherein the support unit includes a first joint capable of turning about a first axis perpendicular to the center axis of the connecting unit, and a second joint capable of turning about a second axis perpendicular to the first axis, the end effector has a center axis substantially parallel to the second axis, the attitude adjusting unit includes a third joint capable of turning about a third axis perpendicular to the center axis of the connecting unit and a fourth joint capable of turning about a fourth axis perpendicular to the third axis, the end effector control unit is provided to be gripped by fingers extending substantially in parallel to the fourth axis.
- In the manipulator according to the present invention, the end effector has two working joints mounted on the second joint, the two working joints being capable of turning about the second axis, the two working joints are rotated in the same direction to rotate the second joint, and the two working joints are rotated in opposite directions, respectively, to drive the end effector for gripping and releasing actions.
- In the manipulator according to the present invention, two working links are supported on the two working joints, respectively, and capable of turning about axes in directions parallel to and in directions perpendicular to the axis of the two working joints, and the working links are rotatably joined together.
- The manipulator according to the present invention may further include a sensor capable of measuring force acting in a direction perpendicular to the axes of the third and fourth joint and included in the operation command unit; and an actuator combined with the connecting unit and capable of applying a torque to the connecting unit to urge the connecting unit to turn about its axis; wherein the actuator is controlled on the basis of a value measured by the sensor.
- In the manipulator according to the present invention, the sign of the torque produced by the actuator may be controlled on the basis of the relation between the sign of an angle indicating the angular position of the third joint and that of the value measured by the sensor.
- In the manipulator according to the present invention, the torque produced by the actuator may be controlled to vary in proportion to the value measured by the sensor.
- In the manipulator according to the present invention, a working unit provided with an end effector and a support unit supporting the end effector for motions in at least two degrees of freedom of motion; wherein the support unit includes a first joint capable of turning about a first axis, and a second joint capable of turning about a second axis perpendicular to the first axis, wherein the working unit has two working joints mounted on the second joint, the two working joints being capable of turning about the second axis,the two working joints are rotated in the same direction to rotate the second joint, and the two working joints are rotated in opposite directions, respectively, to drive the end effector for gripping and releasing actions.
- In the manipulator according to the present invention, two working links are supported on the two working joints, respectively, and capable of turning about axes in directions parallel to and in directions perpendicular to the axes of the two working joints, and the working links are rotatably joined together.
- According to the present invention, the support unit is capable of supporting the end effector for motions in at least two degrees of freedom of motion, and the operation command unit and the working unit are connected mechanically by the connecting unit. Therefore, satisfactory operability and high reliability, which are the features of the manipulator previously proposed in Jpn. Pat. App. No. Hei 11-165961, are not spoiled. Since the actual actions of the operator, such as operator's actions for moving a curved suture needle for suturing, and the motions of the manipulator are identical, the operation command unit can be smoothly moved in a direction desired by the operator. Thus, the manipulator is excellent in operability. Since operating force exerted by the operator is assisted by power when the end effector is set in a singular attitude or an attitude similar to the particular attitude, the operability of the end effector in particular directions does not becomes quite unsatisfactory and the end effector is able to exert a sufficiently high gripping force.
- The above and other objects, features and advantages of the present invention will become more apparent from the following description taken in connection with the accompanying drawings, in which:
-
FIG. 1 is a schematic perspective view of a medical manipulator in a first embodiment according to the present invention; -
FIG. 2 is a skeleton drawing of the medical manipulator shown inFIG. 1 ; -
FIG. 3 is a skeleton drawing of assistance in explaining the operation of the medical manipulator shown inFIG. 1 ; -
FIG. 4 is a schematic perspective view of a working unit included in the medical manipulator shown inFIG. 1 ; -
FIG. 5 is a schematic perspective view of a working unit included in the medical manipulator shown inFIG. 1 ; -
FIG. 6 is a schematic perspective view of a working unit included in the medical manipulator shown inFIG. 1 ; -
FIG. 7 is a schematic perspective view of an end effector control unit that may be employed in the medical manipulator shown inFIG. 1 ; -
FIG. 8 is a schematic perspective view of an end effector control unit that may be employed in the medical manipulator shown inFIG. 1 ; -
FIG. 9 is a schematic perspective view of an end effector control unit that may be employed in the medical manipulator shown inFIG. 1 ; -
FIG. 10 is a schematic perspective view of an end effector control unit that may be employed in the medical manipulator shown inFIG. 1 ; -
FIGS. 11( a) and 11(b) are a front elevation and a side elevation, respectively, of a working unit that may be employed in the medical manipulator shown inFIG. 1 , in which gripping bars are at releasing positions, respectively; -
FIGS. 12( a) and 12(b) are a front elevation and a side elevation, respectively, of the working unit shown inFIG. 11 in a gripping state; -
FIGS. 13( a) and 13(b) are a front elevation and a side elevation, respectively, of a working unit that may be employed in the medical manipulator shown inFIG. 1 in a releasing state; -
FIGS. 14( a) and 14(b) are a front elevation and a side elevation, respectively, of the working unit shown inFIG. 13 in a gripping state; -
FIGS. 15( a) and 15(b) are a front elevation and a side elevation, respectively, of a working unit that may be employed in the medical manipulator shown inFIG. 1 in a releasing state; -
FIGS. 16( a) and 16(b) are a front elevation and a side elevation, respectively, of the working unit shown inFIG. 15 in a gripping state; -
FIGS. 17( a) and 17(b) are a front elevation and a side elevation, respectively, of the working unit of assistance in explaining a power transmitting method; -
FIG. 18 is a side elevation of the working unit of assistance in explaining a power transmitting method; -
FIG. 19 is a schematic perspective view of a medical manipulator in a second embodiment according to the present invention; -
FIG. 20 is a skeleton drawing of assistance in explaining a method of controlling the medical manipulator in the second embodiment; -
FIG. 21 is a skeleton drawing of assistance in explaining a method of controlling the medical manipulator in the second embodiment; -
FIG. 22 is a table of assistance in explaining a method of controlling the medical manipulator in the second embodiment; -
FIG. 23 is a side elevation of the medical manipulator shown inFIG. 19 ; -
FIG. 24 is a sectional view of a supporting and connecting part shown inFIG. 23 ; -
FIG. 25 is a pictorial view of assistance in explaining a conventional medical manipulator, i.e., forcepts; -
FIG. 26 is a schematic perspective view of a known medical manipulator; -
FIGS. 27( a), 27(b) and 27(c) are diagrammatic views of assistance in explaining a suturing operation; -
FIG. 28 is a perspective view of assistance in explaining the relation between the direction of operator's fingers holding an end effector control unit and the direction of the axis of a fourth joint; and -
FIG. 29 is a schematic perspective view of a manipulator having a first or a third joint serving as a yawing shaft. -
FIG. 1 is a schematic perspective view of amedical manipulator 1 in a first embodiment according to the present invention, andFIGS. 2 and 3 are skeleton drawings of themedical manipulator 1 shown inFIG. 1 of assistance in explaining the degree of freedom of motion and operations of themedical manipulator 1. - Referring to
FIGS. 1 and 2 , themedical manipulator 1 has a workingunit 10, anoperation command unit 20, and a connectingunit 30 having opposite ends connected to the workingunit 10 and theoperation command unit 20. - The working
unit 10 has a support unit and an end effector. The support unit includes a first joint 11 having a first rotation axis perpendicular to thecenter axis 31 of the connectingunit 30 and a second joint 12 having a second rotation axis perpendicular to the first rotation axis of the first joint 11. Agripper 14 included in the end effector and capable of performing gripping/releasingactions 13 has a center axis substantially parallel to the second rotation axis of the second joint 12. The workingunit 10 has a pitching-axis joint 15 and a rolling-axis joint 16 supporting thegripper 14 for motions in two degrees of freedom of motion. - The
operation command unit 20 hasattitude adjusting unit 23 including a third joint 21 having a third rotation axis perpendicular to thecenter axis 31 of the connectingunit 30 and a fourth joint 22 having a fourth rotation axis perpendicular to the third rotation axis of the third joint 21, and an endeffector control unit 24. The endeffector control unit 24 is formed such thatdirections FIG. 28 ) in which the fingers of an operator grasping the endeffector control unit 24 extend are substantially parallel to the fourth axis 22 a of the fourth joint 22. The gripping/releasingaction 13 of thegripper 14 is caused by a control action indicated by the arrow 25 (hereinafter referred to as “control action 25”) of the endeffector control unit 24, which will be described in detail later with reference toFIGS. 7 to 10 and 28. - In
FIGS. 1 and 2 , thecenter axis 31 of the connectingunit 30, the first axis of the first joint 11 and the second axis of the second joint 12 intersect each other at a single point, and thecenter axis 31 of the connectingunit 30, the third axis of the third joint 21 and the fourth axis of the fourth joint 22 intersect each other at a single point. Although those axes do not necessarily intersect each other at a single point, thegripper 14 revolves along a circular path of an excessively great radius if the offset of thegripper 14 is excessively great. If the offset of theattitude adjusting unit 23 is great, a torque that cause attitude adjustment acts on theattitude adjusting unit 23 when position adjustment is necessary. - Angle sensors, such as encoders or potentiometers, are incorporated into the
operation command unit 20 to measure angles of turning of the third joint 21 and the fourth joint 22. An action sensor, such as an angle sensor or a switch, is incorporated into the endeffector control unit 24 to measure control actions performed by the operator to operate theend effector 14. The sensors sendssignals representing commands 41 provided by theattitude control unit 20 to acontroller 40. Thecontroller 40 executes predetermined calculations on the basis of the input commands 41 to drive and control the first joint 11, the second joint 12 and thegripper 14. - The
gripper 14 can be directly operated for position adjustment because the connectingunit 30 connects the workingunit 10 and theoperation command unit 20. The connectingunit 30 as a rolling shaft, the first joint 11 as a pitching shaft and the second joint 12 as a rolling shaft enable thegripper 14 to move for motions in three degrees of freedom of motion and hence thegripper 14 can be set in an optional attitude. The connectingunit 30 as a rolling shaft, the third joint 21 as a pitching shaft and the fourth joint 22 as a rolling shaft enable the endeffector control unit 24 to move for motions in three degrees of freedom of motion and hence the endeffector control unit 24 can be set in an optional attitude. The use of the connectingunit 30 as a common rolling shaft reduces the cost of themedical manipulator 1. An ordinary manipulator has a problem relating to calculation and a problem that a specific shaft moves extraordinarily rapidly when thegripper 14 is set in a singular attitude. Since the workingunit 10 and the endeffector control unit 20 of themedical manipulator 1 of the present invention have the same construction, themedical manipulator 1 of the present invention is free from such problems. - A driving
unit 10 m including, for example, motors and reduction gears for driving the first joint 11 and the second joint 12 for turning and driving thegripper 14 for the gripping/releasingactions 13 is disposed at a position on the connectingunit 30 near theoperation command unit 20. The first joint 11 and the second joint 12 of the workingunit 10 are turned and thegripper 14 of the workingunit 10 is driven for the gripping/releasing actions by the driving power of drivingdevices unit 10 m. - An articulated mechanism including the first joint 11 and the second joint 12 of support unit of the working
unit 10 and an articulated mechanism including the third joint 21 and the fourth joint 22 of theattitude adjusting unit 23 are identical. Therefore, the first joint 11 turns through an angle by which the third joint 21 is turned, and the second joint 12 turns through an angle by which the fourth joint 22 is turned. For example, when the operator turns the third joint 21 for attitude adjustment as shown inFIG. 3 , the first joint 11 of the workingunit 10 turns accordingly. - Since the degrees of freedom of motion of the working
unit 10 and theoperation command unit 20 of the medical manipulator are designed such that thegripper 14 moves in the same direction as that in which the operator moves theoperation command unit 20 for manipulating, for example, a curved needle for suture as shown inFIG. 27 . For example, when themedical manipulator 1 is used for suture, the operator operates theoperation command unit 20 to move theend effector 14 griping a curved suture needle so that the curved needle is stuck into a part to be sutured and the curved suture needle moves along a circular path. The circular movement of the curved needle coincides substantially with the turning motion of the fourth joint 22, and the third joint 21 and the connectingunit 30 do not need to be turned through large angles. Thus, the curved needle can be easily manipulated. The conventional manipulator carries out the same operations for manipulating the curved needle by combined motions of the motions in two degrees of freedom of motion of the end effector and the turning motion of the connecting unit. Thus, it is very difficult to manipulate the curved needle by the conventional manipulator for movement along the circular path intended by the operator. - Any support structure is unnecessary if the
medical manipulator 1 is very lightweight. If themedical manipulator 1 is so heavy that the operator has difficulty in supporting themedical manipulator 1 for a long time or if themedical manipulator 1 needs a holding brake mechanism and a weight compensating mechanism for compensating its own weight, themedical manipulator 1 may be supported on asupport mechanism 100 as indicated by broken lines inFIG. 1 . Themedical manipulator 1 is supported for turning motions about two axes on a virtual rotation center 110 (fixed point) and for uniaxial linear motions (motions in a polar coordinate system). For example, thesupport mechanism 100 includes a base, aposition adjusting mechanism 101 capable of vertically moving relative to the base, arotary unit 102 supported on a lower part of theposition adjusting mechanism 101 so as to be turnable in a horizontal plane about a vertical axis, and acircular arm 103 having one end connected to the outer circumference of therotary unit 102. The turning axis of therotary unit 102 intersects thevirtual rotation center 110 on thecenter axis 31 of the connectingunit 30. A connectingmember 104 connects the other end of thecircular arm 103 to the connectingunit 30. The connectingmember 104 is able to move along a circular path on thecircular arm 103. The connectingunit 30 is extended through the connectingmember 104 so as to be linearly movable along thecenter axis 31. -
FIGS. 4 to 6 show grippers 14 that can be applied to the end effector of the workingunit 10 of themedical manipulator 1 in the first embodiment.FIG. 4 shows agripper 14 having griping members capable of being moved like scissors blades for gripping/releasingactions 13,FIG. 5 shows agripper 14 having gripping members capable of being moved toward and away from each other for gripping/releasing andFIG. 6 shows agripper 14 dislocated with respect to the axis of the second joint 12. Thegripper 14 may be set in any suitable disposition other than those shown inFIGS. 4 to 6 , provided that the center axis thereof is substantially parallel to the axis of the second joint 12. -
FIGS. 7 to 10 show the mechanisms ofoperation command units 20, particularly, endeffector control units 24 which may be employed in themedical manipulator 1 in the first embodiment. - The end
effector control unit 24 shown inFIG. 7 provides commands for operating thegripper 14 for gripping/releasing actions when a finger-operatedcontrol unit 26 is operated for gripping/releasingactions 25. The finger-operatedcontrol unit 26 is provided with twofinger holders finger holder 26 a or thefinger holder 26 b is supported pivotally on asupport member 27 so that the distance between thefinger holders finger holders gripper 14 changes accordingly. The angle between thefinger holders gripper 14 may be adjusted according to the angle between thefinger holders finger holders gripper 14 may be set at gripping positions or releasing positions. - The end
effector control unit 24 shown inFIG. 8 is provided with asupport member 27 having ahandle part 27 b. The operator grips thehandle part 27 b with the middle or the little finger to operate the end effector control unit stably. The endeffector control unit 24 may be provided with the finger-operatedcontrol unit 26, a resilient means capable of exerting a resilient releasing force or a locking mechanism for locking the endeffector control unit 24 in a gripping state. - The end
effector control unit 24 shown inFIG. 9 is provided with ahandle 29 and aswitch 28 disposed near thehandle 29. The operator grips thehandle 29 and operates theswitch 28 to provide commands to drive thegripper 14 for the gripping/releasingactions 13. If thegripper 14 needs to be driven only for gripping and releasing, the simple endeffector control unit 24 shown inFIG. 9 can be employed The endeffector control unit 24 shown inFIG. 10 is provided withparallel finger holders -
FIG. 28 is a perspective view of assistance in explaining the operation of the endeffector control unit 24 shown inFIG. 1 by the operator'shand 200. The operator'sthumb 201 is inserted in afinger holder 26 a, and the operator'sforefinger 202 and/ormiddle finger 203 are inserted in afinger holder 26 b. When thethumb 201, theforefinger 202 and/or themiddle finger 203 are thus inserted in thefinger holders effector control unit 24, thelongitudinal axis 201 a of thethumb 201, thelongitudinal axis 202 a of theforefinger 202 and the longitudinal axis 203 a of themiddle finger 203 are substantially parallel to the axis 22 a of the fourth joint 22 as shown inFIG. 28 . The same is true of the endeffector control units 24 shown inFIGS. 7 to 10 . -
FIGS. 11 to 16 show working units 10 that may be employed in themedical manipulator 1 in the first embodiment.Grippers 14 are in a releasing state inFIGS. 11 , 13 and 15, and grippers are in a gripping state inFIGS. 12 , 14 and 16. - The working
unit 10 shown inFIGS. 11 and 12 will be described. A rotatingmember 50 is supported for rotation relative to the connectingunit 30 on the first joint 11. Apulley 11 p is mounted on the rotatingmember 50. The driving force of the drivingdevice 11 m (FIG. 1 ) is transmitted to thepulley 11 p by awire 11 w to rotate thepulley 11 p together with the first joint 11.Pulleys member 50 for rotation relative to the rotatingmember 50. Bevel gears (or face gears) 51 a and 52 a are fixedly combined with thepulleys bevel gears devices FIG. 1 ) are transmitted to thepulleys wires member 50. Twoshafts shaft 12. Grippingbars members bars devices shafts gripper 14 can be turned for rolling. When theshafts gripper 14 can be driven for gripping/releasing operations. The driving actions of the drivingdevices device - The working
unit 10 shown inFIGS. 13 and 14 will be described. Middle parts of a pair ofgripping bars pivot 57. Lower end parts of thegripping bars shafts axes shafts axes axes devices shafts gripper 14. Theshafts gripper 14 for gripping/releasing actions. The movement of the lower ends of thegripping bars gripping bars pivot 57. - The working
unit 10 shown inFIGS. 15 and 16 will be described. Turning directions of front parts of grippingbars gripper 14, extending forward from middle parts of the same pivotally joined together of the workingunit 10 shown inFIGS. 15 and 16 relative to those of back parts of thegripping bars gripping bars unit 10 shown inFIGS. 13 and 14 . Thegripper 14 opens when connectingmembers members bars gripper 14 is able to exert a very large gripping force when the difference in angular position between the connectingmembers gripper 14 is opened is nearly perpendicular to a direction in which the lower ends of thegripping bars gripper 14 is born by a structure instead of by a driving direction. This workingunit 10 is suitable for firmly gripping a fine suture needle. - The working
units 10 shown inFIGS. 11 to 16 uses the wires, the pulleys and the bevel gears (or face gears) to rotate theshafts shaft 12.FIGS. 17 and 18 show other methods. - A method illustrated in
FIG. 17 uses only wires and pulleys. The first joint 11, and theshafts wires Pulleys wires FIG. 18 usestorque tubes shafts torque tubes - The shapes of the structural members, the shafts and the connecting members shown in
FIGS. 11 to 18 and methods of supporting those components are not limited to those shown inFIGS. 11 to 18 and may be any shapes or any methods provided that the shapes and the methods do not affect adversely to the function of the medical manipulator. For example, the shafts may be fixed and frame may be turned, or the shafts may be turned and the frame may be fixed. -
FIG. 19 is a schematic perspective view of a medical manipulator in a second embodiment according to the present invention andFIG. 20 is a skeleton drawing of assistance in explaining the operation of the medical manipulator in the second embodiment. - In the
medical manipulator 1 in the first embodiment, it is difficult to change the attitude of thegripper 14 in a direction parallel to an axis perpendicular to the axes of the third joint 21 and the fourth joint 22 when theattitude adjusting unit 23 is in a state for setting thegripper 14 in an attitude nearly equal to a singular attitude wherecenter axis 31 of the connectingunit 30 is aligned with or parallel to the axis of the fourth joint 22 like a state shown inFIG. 19 . The medical manipulator in the second embodiment is designed to improve the operability of the same when the gripper is set in an attitude nearly equal to a singular attitude. - The basic configuration of the medical manipulator in the second embodiment is the same as that of the medical manipulator in the first embodiment. In the second embodiment, an
operation command unit 20 is provided with asensor 60, such as a strain gage, capable of sensing a force acting in a direction perpendicular to the axes of a third joint 21 and a fourth joint 22. Thesensor 60 is attached to a part of the inner surface of a frame as shown inFIG. 19 to measure bending stress acting in a direction perpendicular to the axes of the third joint 21 and the fourth joint 22. - A driving device (actuator) 61 is mounted on a connecting
member 104. The drivingdevice 61 is able to drive a connectingunit 30 through a belt-and-pulley transmission mechanism including abelt 63 andpulleys controller 40 controls the drivingdevice 61 on the basis of measured data provided by thesensor 60. - When the medical manipulator is in a state shown in
FIG. 20 and an operator operates the end effector control unit to turn the axis of the third joint 21 in apositive direction 120, the drivingdevice 61 is controlled so as to apply a positive torque to the connectingunit 30 to urge the connectingunit 30 to turn in apositive direction 121. If the end effector control unit is operated to turn the axis of the third joint 21 in a negative direction opposite thepositive direction 120, thesensor 60 detects a negative bending stress. In this state, the drivingdevice 61 is controlled to apply a negative torque to the connectingunit 30 to urge the connectingunit 30 to turn in a negative direction opposite thepositive direction 121. - When the medical manipulator is in a state shown in
FIG. 21 with the axis of the third joint 21 extended in a negative direction and an operator operates the end effector control unit to turn the axis of the third joint 21 in apositive direction 122, thesensor 60 detects a positive bending stress and the drivingdevice 61 is controlled so as to apply a negative torque to the connectingunit 30 to urge the connectingunit 30 to turn in anegative direction 123. If the end effector control unit is operated to turn the axis of the third joint 21 in a negative direction opposite thepositive direction 122, thesensor 60 detects a negative bending stress. In this state, the drivingdevice 61 is controlled to apply a positive torque to the connectingunit 30 to urge the connectingunit 30 to turn in a positive direction opposite thenegative direction 123. - As shown in
FIG. 22 , a direction in which thedriving device 61 turns the connectingunit 30 is determined on the basis of the direction of the bending stress and the direction of the axis of the third joint 21 of theattitude adjusting unit 23. If the third joint 21 is in a neutral attitude (singular attitude), the connectingunit 30 maybe turned in either of the opposite directions. In such a case, the connectingunit 30 is tuned in a predetermined direction or may be turned in a direction in which the connectingunit 30 has been recently turned to turn the connectingunit 30 continuously. - The nearer the attitude of the third joint 21 to the singular attitude, the greater is the bending stress. Since the rotating speed must be high, the torque may be varied in proportion to the bending stress. The relation between the bending stress and the torque may be determined properly so that the operability of the medical manipulator is satisfactory. When the attitude of the third joint 21 is far different from the singular attitude, the bending stress is small and, consequently, the torque decreases automatically, which is desirable in respect of safety. The torque may be exerted on the connecting
unit 30 only when the direction of the axis of the third joint 21 is in a predetermined angular range around a neutral direction, such as in an angular range of ±10° with respect to the neutral direction. - If a torque is applied to the connecting
unit 30 when the direction of the axis of the third joint 21 is in the angular range of ±10°, the workingunit 20 does not move suddenly because the workingunit 10 and theoperation command unit 20 are the same in structural configuration and the degree of freedom of motion, and the attitude of the workingunit 10 is analogous with an attitude of theoperation command unit 20 set by the operator. - The driving
device 61 may be used as an actuator for compensating a torque about thecenter axis 31 of the connectingunit 30 produced by the weight of the medical manipulator. The torque about thecenter axis 31 produced by the weight of the medical manipulator can be easily calculated with reference to the attitudes of the shafts of the medical manipulator and the torque can be easily compensated. -
FIG. 23 is a view of assistance in explaining a method of applying a torque about thecenter axis 31 of the connectingunit 30 to the connectingunit 30. Themedical manipulator 1 is supported on the connectingmember 104 so as to be turnable about thecenter axis 31 of the connectingunit 30 and to be linearly movable in parallel to thecenter axis 31 of the connectingunit 30. As shown inFIG. 23 , the connectingunit 30 is supported in a linear-motion bearing 65 and arotary bearing 66. The connectingunit 30 has a D-shaped cross section. The drivingdevice 61 turns thesleeve 67 of the linear-motion bearing 65 through the belt-and-pulley transmission mechanism including thebelt 63 and thepulleys unit 30 is supported on the connectingmember 104 for linear movement and rotation, and torque can be applied to the connectingunit 30. - In the first and the second embodiment, the first joint 11 or the third joint 21 is a pitching shaft. However, the first joint 11 or the third joint 21 does not need necessarily to be a pitching shaft and may be a yawing shaft as shown in
FIG. 29 . - As apparent from the foregoing description, according to the present invention, since the support unit is able to change the attitude of the end effector in two or more degrees of freedom of motion, the operation command unit and the working unit are connected mechanically by the connecting unit, and the operator's actions, such as actions for manipulating a curved suture needle for suturing, and the actions of the manipulator are identical, the operation command unit can be smoothly moved in a direction desired by the operator. Thus, the manipulator is excellent in operability. Since operating force exerted by the operator is assisted by power when the end effector is set in a singular attitude or an attitude similar to the particular attitude, the operability of the end effector in particular directions does not becomes quite unsatisfactory and the end effector is able to exert a sufficiently high gripping force.
- Although the invention has been described in its preferred embodiments with a certain degree of particularity, obviously many changes and variations may be made therein. It is therefore to be understood that the present invention may be practiced otherwise than as specifically described herein without departing from the scope and spirit thereof.
Claims (9)
1. A method for suturing with a manipulator:
griping a curved suture needle;
sticking the curved suture needle into a part to be sutured; and
tuning a support unit including a first joint and a second joint,
wherein the manipulator includes,
an operation command unit including an attitude adjusting and an end effector control unit;
a connecting unit having one end connected to the operation command unit; and
a working unit provided with an end effector having griping members capable of being moved for gripping/releasing actions and the support unit supporting the end effector, the support unit being connected to the other end of the connecting unit;
wherein the first joint configured to turn about a first axis; and
the second joint configured to turn about a second axis which is substantially parallel to a center axis of the end effector.
2. The method for suturing according to claim 1 , wherein the first axis perpendicular to a center axis of the connecting unit.
3. The method for suturing according to claim 1 , wherein the turning the support unit includes turning the second joint.
4. The method for suturing according to claim 3 , wherein the attitude adjusting unit includes a sensor for transmitting an operation command to turn the second joint.
5. The method for suturing according to claim 1 , wherein the manipulator further includes,
a control unit that transmits an operation command provided by the attitude adjusting unit to the support unit to adjust the attitude of the end effector and transmits an operation command provided by the end effector control unit to the end effector to operate the end effector.
6. A medical manipulator for suturing comprising:
a support unit including a first joint and a second joint,
an operation command unit including an attitude adjusting unit and an end effector control unit;
a connecting unit having one end connected to the operation command unit; and
a working unit provided with an end effector having griping members capable of being moved for griping/releasing actions and the support unit supporting the end effector, the support unit being connected to the other end of the connecting unit;
wherein the first joint configured to turn about a first axis; and
the second joint configured to turn about a second axis which is substantially parallel to a center axis of the end effector.
7. The medical manipulator according to claim 6 , wherein the first axis perpendicular to a center axis of the connecting unit.
8. The medical manipulator according to claim 7 , wherein the attitude adjusting unit includes a sensor for transmitting an operation command to turn the second joint.
9. The medical manipulator according to claim 7 , further comprising:
a control unit that transmits an operation command provided by the attitude adjusting unit to the support unit to adjust the attitude of the end effector and transmits an operation command provided by the end effector control unit to the end effector to operate the end effector.
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Publication number | Publication date |
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JP4014792B2 (en) | 2007-11-28 |
US20040267406A1 (en) | 2004-12-30 |
US6889116B2 (en) | 2005-05-03 |
US7043338B2 (en) | 2006-05-09 |
US7454268B2 (en) | 2008-11-18 |
US20020040217A1 (en) | 2002-04-04 |
JP2002102248A (en) | 2002-04-09 |
US20060167589A1 (en) | 2006-07-27 |
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