Medical manipulator
View Patent ↗A medical manipulator including: an elongated main body that is to be inserted into a body; an arm that is provided so as to be protruded forward from a distal end surface of the main body; and an observation part that is located on the distal end surface of the main body and that has an objective optical system for collecting light coming from a front direction, in which the arm and the observation part are relatively movably provided such that the objective optical system is located at a position equivalent to the position of a distal end of the arm or at a position anterior to the distal end of the arm and is located at a position posterior to the distal end of the arm.
1. A medical manipulator system comprising:
a main body configured to be inserted into a subject, wherein the main body extends along a longitudinal axis;
a first arm configured to be protruded distally from a distal end surface of the main body along the longitudinal axis, wherein the first arm comprises:
a treatment tool; and
a first bending mechanism configured to be controlled to bend to change one or more of a position and an orientation of the treatment tool; and
a second arm configured to be protruded distally from the distal end surface of the main body along the longitudinal axis, wherein the second arm comprises:
an objective optical system configured to collect light for forming an image; and
a second bending mechanism configured to be controlled to bend to change one more of a position and an orientation of the objective optical system,
wherein one or both of the first arm and the second arm are configured to move along the longitudinal axis; and
a controller configured to:
receive an insertion mode instruction to change control of the first arm and the second arm to an insertion mode:
receive a first arm/second arm cooperation operation mode instruction to change control of the first arm and the second arm to a first arm/second arm cooperative operation mode of the insertion mode; and
in response to receiving the first arm/second arm cooperative operation mode instruction:
receive a single bending instruction for controlling the first bending mechanism and the second bending mechanism cooperatively;
based on the single bending instruction for controlling the first bending mechanism and the second bending mechanism cooperatively, control the first bending mechanism and the second bending mechanism to bend in the same direction and with substantially the same curvature; and
while controlling the first bending mechanism and the second bending mechanism to bend in the same direction and with substantially the same curvature:
receive a protrusion instruction; and
based on the protrusion instruction, control one or both of the first arm and the second arm to move along the longitudinal axis to locate a position of the objective optical system to be equivalent to or anterior to a position of a distal end of the treatment tool.
2. The medical manipulator system according to claim 1 ,
wherein the main body comprises a third bending mechanism configured to be controlled to bend to change one or more of a position and an orientation of the distal end surface of the main body.
3. The medical manipulator system according to claim 2 ,
wherein the controller is configured to:
receive a first arm/second arm/main body cooperation operation mode instruction to change control of the first arm, the second arm and the main body to a first arm/second arm/main body cooperative operation mode of the insertion mode; and
in response to receiving the first arm/second arm/ main body cooperative operation mode instruction:
receive a single bending instruction for controlling the first bending mechanism, the second bending mechanism and the third bending mechanism cooperatively; and
based on the single bending instruction for controlling the first bending mechanism, the second bending mechanism and the third bending mechanism cooperatively, control the first bending mechanism, the second bending mechanism and the third bending mechanism to bend in the same direction and with substantially the same curvature.
4. The medical manipulator system according to claim 2 ,
wherein the controller is configured to:
receive a first arm/second arm/main body cooperation operation mode instruction to change control of the first arm, the second arm and the main body to a first arm/second arm/main body cooperative operation mode of the insertion mode; and
in response to receiving the first arm/second arm/ main body cooperative operation mode instruction:
receive a single bending instruction for controlling the first bending mechanism, the second bending mechanism and the third bending mechanism cooperatively; and
based on the single bending instruction for controlling the first bending mechanism, the second bending mechanism and the third bending mechanism cooperatively, control the first bending mechanism and the second bending mechanism to bend in a first direction and with substantially the same curvature, and control the third bending mechanism to bend in a second direction opposite of the first direction.
5. A controller for controlling a medical manipulator comprising:
a main body configured to be inserted into a subject, wherein the main body extends along a longitudinal axis;
a first arm configured to be protruded distally from a distal end surface of the main body along the longitudinal axis, wherein the first arm comprises:
a treatment tool; and
a first bending mechanism configured to be controlled to bend to change one or more of a position and an orientation of the treatment tool; and
a second arm configured to be protruded distally from the distal end surface of the main body along the longitudinal axis, wherein the second arm comprises:
an objective optical system configured to collect light for forming an image; and
a second bending mechanism configured to be controlled to bend to change one more of a position and an orientation of the objective optical system,
wherein one or both of the first arm and the second arm are configured to move along the longitudinal axis; and
wherein the controller comprises:
a processor comprising hardware, wherein the processor is configured to:
receive an insertion mode instruction to change control of the first arm and the second arm to an insertion mode:
receive a first arm/second arm cooperation operation mode instruction to change control of the first arm and the second arm to a first arm/second arm cooperative operation mode of the insertion mode; and
in response to receiving the first arm/second arm cooperative operation mode instruction:
receive a single bending instruction for controlling the first bending mechanism and the second bending mechanism cooperatively;
based on the single bending instruction for controlling the first bending mechanism and the second bending mechanism cooperatively, control the first bending mechanism and the second bending mechanism to bend in the same direction and with substantially the same curvature; and
while controlling the first bending mechanism and the second bending mechanism to bend in the same direction and with substantially the same curvature:
receive a protrusion instruction; and
based on the protrusion instruction, control one or both of the first arm and the second arm to move along the longitudinal axis to locate a position of the objective optical system to be equivalent to or anterior to a position of a distal end of the treatment tool.
6. The controller according to claim 5 ,
wherein the main body comprises a third bending mechanism configured to be controlled to bend to change one or more of a position and an orientation of the distal end surface of the main body, and
wherein the processor is configured to control the third bending mechanism.
7. The controller according to claim 6 ,
wherein the processor is configured to:
receive a first arm/second arm/main body cooperation operation mode instruction to change control of the first arm, the second arm and the main body to a first arm/second arm/main body cooperative operation mode of the insertion mode; and
in response to receiving the first arm/second arm/ main body cooperative operation mode instruction:
receive a single bending instruction for controlling the first bending mechanism, the second bending mechanism and the third bending mechanism cooperatively; and
based on the single bending instruction for controlling the first bending mechanism, the second bending mechanism and the third bending mechanism cooperatively, control the first bending mechanism, the second bending mechanism and the third bending mechanism to bend in the same direction and with substantially the same curvature.
8. The controller according to claim 6 ,
wherein the processor is configured to:
receive a first arm/second arm/main body cooperation operation mode instruction to change control of the first arm, the second arm and the main body to a first arm/second arm/main body cooperative operation mode of the insertion mode; and
in response to receiving the first arm/second arm/ main body cooperative operation mode instruction:
receive a single bending instruction for controlling the first bending mechanism, the second bending mechanism and the third bending mechanism cooperatively; and
based on the single bending instruction for controlling the first bending mechanism, the second bending mechanism and the third bending mechanism cooperatively, control the first bending mechanism and the second bending mechanism to bend in a first direction and with substantially the same curvature, and control the third bending mechanism to bend in a second direction opposite of the first direction.
9. A non-transitory computer-readable storage medium storing instructions that cause a computer to control a medical manipulator comprising:
a main body configured to be inserted into a subject, wherein the main body extends along a longitudinal axis;
a first arm configured to be protruded distally from a distal end surface of the main body along the longitudinal axis, wherein the first arm comprises:
a treatment tool; and
a first bending mechanism configured to be controlled to bend to change one or more of a position and an orientation of the treatment tool; and
a second arm configured to be protruded distally from the distal end surface of the main body along the longitudinal axis, wherein the second arm comprises:
an objective optical system configured to collect light for forming an image; and
a second bending mechanism configured to be controlled to bend to change one more of a position and an orientation of the objective optical system,
wherein one or both of the first arm and the second arm are configured to move along the longitudinal axis; and
wherein the instructions cause the computer to at least perform:
receiving an insertion mode instruction to change control of the first arm and the second arm to an insertion mode:
receiving a first arm/second arm cooperation operation mode instruction to change control of the first arm and the second arm to a first arm/second arm cooperative operation mode of the insertion mode; and
in response to receiving the first arm/second arm cooperative operation mode instruction:
receiving a single bending instruction for controlling the first bending mechanism and the second bending mechanism cooperatively;
based on the single bending instruction for controlling the first bending mechanism and the second bending mechanism cooperatively, controlling the first bending mechanism and the second bending mechanism to bend in the same direction and with substantially the same curvature; and
while controlling the first bending mechanism and the second bending mechanism to bend in the same direction and with substantially the same curvature:
receiving a protrusion instruction; and
based on the protrusion instruction, controlling one or both of the first arm and the second arm to move along the longitudinal axis to locate a position of the objective optical system to be equivalent to or anterior to a position of a distal end of the treatment tool.
10. The non-transitory computer-readable storage medium according to claim 9 ,
wherein the main body comprises a third bending mechanism configured to be controlled to bend to change one or more of a position and an orientation of the distal end surface of the main body, and
wherein the instructions cause the computer to control the third bending mechanism.
11. The non-transitory computer-readable storage medium according to claim 10 ,
wherein the instructions cause the computer to at least perform:
receiving a first arm/second arm/main body cooperation operation mode instruction to change control of the first arm, the second arm and the main body to a first arm/second arm/main body cooperative operation mode of the insertion mode; and
in response to receiving the first arm/second arm/ main body cooperative operation mode instruction:
receiving a single bending instruction for controlling the first bending mechanism, the second bending mechanism and the third bending mechanism cooperatively; and
based on the single bending instruction for controlling the first bending mechanism, the second bending mechanism and the third bending mechanism cooperatively, control the first bending mechanism, the second bending mechanism and the third bending mechanism to bend in the same direction and with substantially the same curvature.
12. The non-transitory computer-readable storage medium according to claim 10 ,
wherein the instructions cause the computer to at least perform:
receiving a first arm/second arm/main body cooperation operation mode instruction to change control of the first arm, the second arm and the main body to a first arm/second arm/main body cooperative operation mode of the insertion mode; and
in response to receiving the first arm/second arm/ main body cooperative operation mode instruction:
receiving a single bending instruction for controlling the first bending mechanism, the second bending mechanism and the third bending mechanism cooperatively; and
based on the single bending instruction for controlling the first bending mechanism, the second bending mechanism and the third bending mechanism cooperatively, control the first bending mechanism and the second bending mechanism to bend in a first direction and with substantially the same curvature, and control the third bending mechanism to bend in a second direction opposite of the first direction.