Surgery assistance device
A surgery assistance device includes an operation input section, a motion section which is formed with a channel into which a surgical instrument is insertable and is capable of moving through the channel, a movement amount detection means detecting a treatment section movement amount, a motion section information calculation means calculating motion section information, and a motion control unit controlling motion in the motion section based on a manipulation order.
1. A surgery assistance device comprising:
an operation input section configured to output a manipulation order based on input from a user;
a motion section which is formed with a channel into which a surgical instrument is insertable and is capable of moving in the channel, the surgical instrument provided with a treatment section at a distal end portion of a flexible surgical instrument insertion section;
a movement amount detection means detecting a treatment section movement amount which is a protrusion length by which the treatment section of the surgical instrument inserted into the channel protrudes forward from a distal end opening of the channel and a rotation angle of the surgical instrument about an axis of the channel;
a motion section information calculation means calculating motion section information which is capable of specifying a position and an orientation of the surgical instrument in the distal end opening of the channel; and
a motion control unit controlling motion in the motion section based on the manipulation order,
wherein the operation input section comprises:
a detection target object attached to an operation section which operates the treatment section fixed to a proximal end portion of the surgical instrument insertion section; and
a detection section detecting the detection target object,
wherein the detection section calculates detection target object information capable of specifying a position and orientation of the detection target object,
the operation input section outputs the manipulation order based on the detection target object information calculated by the detection section, and
the motion control unit controls motion in the motion section based on the detection target object information of the manipulation order, the treatment section movement amount, and the motion section information.
2. The surgery assistance device according to claim 1 , further comprising a fixing means configured to fix a position of the surgical instrument insertion section inserted into the channel with respect to the channel.
3. The surgery assistance device according to claim 1 , further comprising a surgical instrument movement section moving the surgical instrument inserted into the channel with respect to the channel.
4. The surgery assistance device according to claim 1 ,
wherein the detection target object comprises:
a body section attached to the operation section; and
a marker provided at the body section, and
the detection section calculates the detection target object information using the marker.
5. The surgery assistance device according to claim 4 ,
wherein the detection section calculates the detection target object information by using a coordinate system defining an original point, which is set to have a predetermined positional relation with respect to the operation section, as a reference.
6. The surgery assistance device according to claim 1 ,
wherein the detection target object comprises an adaptor attached to the operation section, and
the detection section comprises:
an articulated arm connected to the adaptor; and
a position-orientation detection section detecting a position and orientation of the articulated arm to output the position and orientation as the detection target object information.
7. The surgery assistance device according to claim 6 ,
wherein the detection section calculates the detection target object information by using a coordinate system defining an original point, which is set to have a predetermined positional relation with respect to the operation section, as a reference.
8. The surgery assistance device according to claim 1 , wherein the movement amount detection means detects a rotation amount of the surgical instrument insertion section to detect the rotation angle of the surgical instrument.
9. The surgery assistance device according to claim 1 ,
wherein the movement amount detection means comprises:
a rotary roller rotating in accordance with a rotation of the surgical instrument insertion section; and
a rotation detection unit detecting a rotation angle of the rotary roller.