Medical manipulator system
View Patent ↗A medical manipulator system includes a medical manipulator, an operating unit for inputting operation commands, motors for driving a working unit, a controller for driving the motors based on operation commands supplied from the operating unit, and an LED that displays an operational state. The controller carries out controls for distinguishing between an operational mode in which the operation command is validated and the motors are driven, and a stopped mode in which the motors are halted regardless of whether the operation command is present or not. An illumination state of the LED is switched dependent on whether the system is in the operational mode or the stopped mode. The LED is disposed in the center of an upper surface of a bridge, which interconnects a grip handle and an actuator block.
1. A medical manipulator system having a medical manipulator, a controller, and at least one indicator for indicating an operational state of the medical manipulator, the medical manipulator system comprising:
an operating unit equipped with the at least one indicator, an actuator, a grip handle that is gripped manually, and an input unit for inputting operation commands; and
a working unit being detachable with respect to the actuator and being equipped with a distal end working unit, the distal end working unit being operatively coupled to the actuator at an end of a shaft, and being rotated about a pivot axis that is non-parallel with an axis of the shaft,
wherein the controller controls the actuator based on an operation command supplied from the input unit, and a first control is carried out for distinguishing at least between an operational mode in which the operation command is validated and the actuator is driven, and a stopped mode in which the actuator is halted regardless of whether the operation command is present or not, an illuminated state of the at least one indicator being switched by the operational mode and the stopped mode, and
wherein in the controller, a second control is carried out for distinguishing an automated mode in which the actuator is driven regardless of whether the operation command is present or not, the at least one indicator flashing by the automated mode.
2. The medical manipulator system according to claim 1 , wherein the operating unit comprises:
an actuator unit in which the actuator is disposed; and
a bridge interconnecting the grip handle and the actuator unit,
wherein the at least one indicator is disposed on an upper surface or a side surface of the bridge.
3. The medical manipulator system according to claim 1 , wherein another indicator is provided on the controller, and an illuminated state of the other indicator is switched simultaneously with that of the one indicator.
4. The medical manipulator system according to claim 1 , the operating unit further comprising a switch for switching an operational state of the medical manipulator, and
the controller reads in a state of the switch, and places the medical manipulator in the operational mode when the switch is in a first state, places the medical manipulator in the automated mode when the switch is switched from the first state to a second state, and returns the actuator to a predetermined origin point and then places the medical manipulator in the stopped mode after the actuator has been returned to the origin point.