Operation device for surgical manipulator and robotically-assisted surgical system
An operation device for a surgical manipulator includes an input device that operates the surgical manipulator. The input device includes a plurality of joints and a plurality of motors that drives the plurality of joints, and reduction ratios in power transmission paths from the plurality of motors to the plurality of joints, respectively, are 0.5 or more and 30 or less.
1. A remote operation device for a surgical manipulator, the remote operation device comprising an input device as a master input device that is configured to operate the surgical manipulator as a slave robot, wherein:
the input device includes:
an arm unit including a plurality of first joints and a plurality of first motors that are respectively configured to drive the plurality of first joints,
a wrist unit connected to a distal end of the arm unit and including a plurality of second joints and a plurality of second motors that are respectively configured to drive the plurality of second joints; and
an operation unit that is provided at a distal end of the wrist unit and is configured to be operated by an operator,
the arm unit includes a plurality of first speed reducers respectively arranged in first power transmission paths from the respective first motors to the respective first joints,
the wrist unit includes a plurality of second speed reducers respectively arranged in second power transmission paths from the respective second motors to the respective second joints,
first reduction ratios of the respective first speed reducers and second reduction ratios of the respective second speed reducers, respectively, are 0.5 or more and 30 or less, and
the first reduction ratios of the respective first speed reducers are smaller than the second reduction ratios of the respective second speed reducers.
2. The remote operation device according to claim 1 , wherein the first reduction ratios of the respective first speed reducers are 1 or more and 2 or less.
3. The remote operation device according to claim 1 , wherein the second reduction ratios of the respective second speed reducers are 20 or more and 30 or less.
4. The remote operation device according to claim 1 , wherein the second reduction ratios of the respective second speed reducers are equal to or more than 10 times the first reduction ratios of the respective first speed reducers.
5. The remote operation device according to claim 1 , wherein the arm unit includes three of the first joints, and the wrist unit includes three of the second joints.
6. The remote operation device according to claim 1 , wherein the arm unit includes only three or four of the first joints, and the wrist unit includes only three of the second joints.
7. The remote operation device according to claim 6 , wherein three joint axes of the three second joints of the wrist unit intersect at one point.
8. The remote operation device according to claim 1 , further comprising a controller for controlling an operation of the first motors and the second motors, wherein:
the input device further includes:
a plurality of first rotation angle sensors for respectively detecting the rotation angles of the first motors or the rotation angles of the first joints, and
a plurality of second rotation angle sensors for respectively detecting the rotation angles of the second motors or the rotation angles of the second joints, and
the controller is configured to, based on the rotation angles detected by the first rotation angle sensors and the second rotation angle sensors,
i) calculate a position of the operation unit,
ii) output the calculated position of the operation unit to the surgical manipulator, and
iii) control the operations of the first motors and the second motors such that postures of the arm unit and the wrist unit do not change due to gravity.
9. The remote operation device according to claim 1 , further comprising a controller for controlling an operation of the first motors and the second motors, wherein:
the input device further includes:
a plurality of first rotation angle sensors for respectively detecting the rotation angles of the first motors or the rotation angles of the first joints,
a plurality of second rotation angle sensors for respectively detecting the rotation angles of the second motors or the rotation angles of the second joints, and
an auxiliary spring that is provided in a predetermined joint of the first joints of the arm unit or the second joints of the wrist unit, and that is configured to generate a torque that cancels a part of a torque generated in the predetermined joint by a weight of the arm unit or the wrist unit, and
the controller is configured to control an operation of the first motors and the second motors based on the rotation angles detected by the first rotation angle sensors and the second rotation angle sensors and the torque generated by the auxiliary spring such that postures of the arm unit and the wrist unit do not change due to gravity.
10. A robotically-assisted surgical system comprising:
a surgical manipulator having a distal end to which a surgical tool is detachably attached,
a remote operation device including an input device as a master input device that is configured to operate the surgical manipulator as a slave robot, wherein:
the input device includes:
an arm unit including a plurality of first joints and a plurality of first motors that are respectively configured to drive the plurality of first joints,
a wrist unit connected to a distal end of the arm unit and including a plurality of second joints and a plurality of second motors that are respectively configured to drive the plurality of second joints; and
an operation unit that is provided at a distal end of the wrist unit and is configured to be operated by an operator,
the arm unit includes a plurality of first speed reducers respectively arranged in first power transmission paths from the respective first motors to the respective first joints,
the wrist unit includes a plurality of second speed reducers respectively arranged in second power transmission paths from the respective second motors to the respective second joints,
first reduction ratios of the respective first speed reducers and second reduction ratios of the respective second speed reducers, respectively, are 0.5 or more and 30 or less, and
the first reduction ratios of the respective first speed reducers are smaller than the second reduction ratios of the respective second speed reducers.
11. The robotically-assisted surgical system according to claim 10 , further comprising a controller for controlling an operation of the surgical manipulator, wherein:
the input device includes:
a plurality of first rotation angle sensors for respectively detecting rotation angles of the first motors or rotation angles of the first joints, and
a plurality of second rotation angle sensors for respectively detecting rotation angles of the second motors or rotation angles of the second joints, and
the controller is configured to control the operation of the surgical manipulator based on the rotation angles detected by the first rotation angle sensors and the second rotation angle sensors.
12. The robotically-assisted surgical system according to claim 11 ,
wherein
the controller is configured to, based on the rotation angles detected by the first rotation angle sensors and the second rotation angle sensors,
i) calculate a position of the operation unit,
ii) output the calculated position of the operation unit to the surgical manipulator, and
iii) control the operations of the first motors and the second motors such that postures of the arm unit and the wrist unit do not change due to gravity.
13. The robotically-assisted surgical system according to claim 10 , wherein the input device includes an auxiliary spring that is provided in a predetermined joint of the first joints of the arm unit or the second joints of the wrist unit, and that is configured to generate a torque that cancels a part of a torque generated in the predetermined joint by a weight of the arm unit or the wrist unit.
14. The robotically-assisted surgical system according to claim 13 , wherein:
the remote operation device includes a controller for controlling operations of the first motors and the second motors,
the input device includes:
a plurality of first rotation angle sensors for respectively detecting the rotation angles of the first motors or the rotation angles of the first joints, and
a plurality of second rotation angle sensors for respectively detecting the rotation angles of the second motors or the rotation angles of the second joints, and
the controller is configured to control the operations of the first motors and the second motors based on the rotation angles detected by the first rotation angle sensors and the second rotation angle sensors and the torque generated by the auxiliary spring such that postures of the arm unit and the wrist unit do not change due to gravity.
15. The robotically-assisted surgical system according to claim 10 , wherein the first reduction ratios of the first speed reducers are 1 or more and 2 or less.
16. The robotically-assisted surgical system according to claim 10 , wherein the second reduction ratios of the second speed reducers are 20 or more and 30 or less.
17. The robotically-assisted surgical system according to claim 10 , wherein the second reduction ratios of the second speed reducers are equal to or more than 10 times the first reduction ratios of the first speed reducers.
18. The robotically-assisted surgical system according to claim 10 , further comprising a second surgical manipulator having a distal end to which a second surgical tool is detachably attached, wherein:
the remote operation device includes a second input device that is configured to operate the second surgical manipulator,
the second input device includes:
a second arm unit including a plurality of third joints and a plurality of third motors that are respectively configured to drive the plurality of third joints,
a second wrist unit connected to a distal end of the second arm unit and including a plurality of fourth joints and a plurality of fourth motors that are respectively configured to drive the plurality of fourth joints; and
a second operation unit provided at a distal end of the second wrist unit and configured to be operated by the operator,
the second arm unit includes a plurality of third speed reducers respectively arranged in third power transmission paths from the respective third motors to the respective third joints,
the second wrist unit includes a plurality of fourth speed reducers respectively arranged in fourth power transmission paths from the respective fourth motors to the respective fourth joints,
third reduction ratios of the respective third speed reducers and fourth reduction ratios of the respective fourth speed reducers, respectively, are 0.5 or more and 30 or less, and
the third reduction ratios of the respective third speed reducers are smaller than the fourth reduction ratios of the respective fourth speed reducers.
19. The robotically-assisted surgical system according to claim 18 , wherein the third reduction ratios of the respective third speed reducers are 1 or more and 2 or less.
20. The robotically-assisted surgical system according to claim 18 , wherein the fourth reduction ratios of the respective fourth speed reducers are 20 or more and 30 or less.