Surgery supporting apparatus for controlling motion of robot arm, control method of the same, and non-transitory computer-readable storage medium
Inventors
Awano, Keita • Ando, Takehiro • Miyamoto, Hiroyuki • Sugiura, Yoshihide • FUKUSHIMA, Yuta
Assignees
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Publication Number
US-11622822-B2
Publication Date
2023-04-11
Expiration Date
Abstract
A surgery supporting apparatus is capable of controlling a posture of a first surgical instrument that is inserted into a body cavity and mechanically drivable, by using a second surgical instrument to be inserted into the body cavity. The apparatus comprises a robot arm configured to control the posture of the first surgical instrument attached to the robot arm. Instructions stored in a memory cause the apparatus to function as a control unit configured to control the motion of the robot arm such that the posture of the first surgical instrument is controlled in accordance with the posture of the second surgical instrument, in a case of a first mode, and controls the motion of the robot arm in accordance with a manipulation including contact to the robot arm, in a case of a second mode.
Core Innovation
The invention relates to a surgery supporting apparatus capable of controlling a posture of a first surgical instrument that is inserted into a body cavity and mechanically drivable, by using a second surgical instrument to be inserted into the body cavity. The apparatus includes a robot arm configured to control the posture of the first surgical instrument attached to the robot arm, and the robot arm has a grip portion to be grasped by an operator and a first switch arranged on a circumference of the grip portion.
The apparatus switches among motion modes for controlling a motion of the robot arm. A first mode controls the posture of the first surgical instrument in accordance with the posture of the second surgical instrument, and a second mode controls the robot arm by a manipulation including contact to the robot arm. In the second mode, the motion of the robot arm is controlled in accordance with a force added to the robot arm only while the first switch on the circumference of the grip portion is pressed.
The invention further controls a mode based on detecting a predetermined manipulation in the first mode to restrict a movement of a distal end position of the first surgical instrument. When detecting that a distal end of the first surgical instrument attached to the robot arm is inserted into a sheath tube inserted into the body cavity while the motion mode is the second mode, the apparatus associates the robot arm with the sheath tube.
Additionally, when detecting insertion into the sheath tube, the apparatus calculates a position of a reference point of an angle and a depth of insertion, and can calculate the position of the reference point based on a plurality of postures of the first surgical instrument obtained when the shaft is inserted at different angles.
Claims Coverage
The claims collectively cover a surgery supporting apparatus, a control method, and a non-transitory computer-readable medium. The core coverage includes seven inventive features centered on motion-mode switching, grip-switch-controlled force-based motion, distal-end movement restriction, sheath-tube association, and insertion reference-point calculation.
Motion mode switching for posture and contact-based control
Switch among motion modes for controlling a motion of the robot arm, including a first mode in which the second surgical instrument is used to control the first surgical instrument and a second mode in which the robot arm is moved by a manipulation including contact to the robot arm.
Force-based motion controlled only while grip circumference switch is pressed
In the second mode, control the motion of the robot arm in accordance with a force added to the robot arm by the manipulation including contact only while the first switch on the circumference of the grip portion is pressed.
Restricting distal end movement based on predetermined manipulation
When detecting a predetermined manipulation in the first mode, control the motion of the robot arm such that a movement of a distal end position of the first surgical instrument is restricted.
Associating the robot arm with a sheath tube during second mode
When detecting that a distal end of the first surgical instrument attached to the robot arm is inserted into a sheath tube inserted into the body cavity while the motion mode is the second mode, associate the robot arm with the sheath tube.
Calculating insertion reference point after sheath tube insertion
When detecting insertion into the sheath tube, calculate a position of a reference point of an angle and a depth of insertion, into the body cavity, of a shaft of the first surgical instrument.
Reference-point position calculation based on a plurality of postures
Calculate the position of the reference point based on a plurality of postures of the first surgical instrument obtained when the shaft is inserted into the body cavity at different angles.
Control method and non-transitory computer-readable medium
A control method comprising switching among motion modes and controlling the motion of the robot arm in accordance with the motion mode, and a non-transitory computer-readable storage medium storing a program for causing a computer to execute the control method.
The claims cover a robot-arm posture control architecture that switches between posture mapping using a second surgical instrument and contact-based manipulation using a grip circumference switch, with additional restrictions and calculation functions tied to sheath-tube insertion.
Stated Advantages
Not explicitly described in patent.
Documented Applications
Not explicitly described in patent.
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