Surgical instrument device
A surgical instrument device includes a surgical instrument portion which is used in a surgical operation, a slave arm which holds the surgical instrument, a driving rod which is formed in a shaft shape, of which one end portion in the axial direction is connected to the surgical instrument and the other end portion in the axial direction is supported by the slave arm, and which transmits a force between the surgical instrument and the slave arm, a distance change detecting unit which detects a change in distance between two points in the axial direction of the driving rod based on a distance when no load is applied to the surgical instrument, and a force calculating unit which calculates a force applied from the surgical instrument or the slave arm to the driving rod based on the change in distance detected by the distance change detecting unit.
1. A surgical device comprising:
a surgical instrument;
a device body configured to hold the surgical instrument;
a force transmitting member formed in a shaft shape extending in an axial direction, wherein a first end portion of the force transmitting member in the axial direction is connected to the surgical instrument and a second end portion of the force transmitting member in the axial direction is supported by the device body, wherein the force transmitting member is configured to transmit a force between the surgical instrument and the device body;
a distance change detector configured to detect a change in distance between two points away from each other in the axial direction on the force transmitting member based on a distance when no load is applied to the surgical instrument; and
a processor configured to calculate a force applied from the surgical instrument or the device body to the force transmitting member based on the change in distance detected by the distance change detector,
wherein the distance change detector comprises:
a first displacement detector configured to detect a displacement of a distal end side point of the two points away from each other in the axial direction on the force transmitting member; and
a second displacement detector configured to detect a displacement of a proximal end side point of the two points away from each other in the axial direction on the force transmitting member, and
wherein the processor is configured to:
convert the displacement of the distal end side point detected by the first displacement detector and the displacement of the proximal end side point detected by the second displacement detector into the displacements based on a position where no load is applied to the surgical instrument, and
calculate the change in distance by calculating a difference between the displacement of the distal end side point and the displacement of the proximal end side point after the conversion.
2. The surgical device according to claim 1 ,
wherein the processor is configured to:
control a storage to store a conversion equation for converting the change in distance into the force applied from the surgical instrument or the device body to the force transmitting member; and
perform a calculation for converting the change in distance into the force applied from the surgical instrument or the device body to the force transmitting member using the conversion equation.
3. The surgical device according to claim 1 ,
wherein at least one of the first displacement detector and the second displacement detector is comprised of a linear encoder.
4. The surgical device according to claim 1 ,
wherein the device body comprises a driving mechanism configured to advance and retract the second end portion of the force transmitting member in the axial direction, and
wherein the force transmitting member is supported by the device body through the driving mechanism.
5. The surgical device according to claim 4 ,
wherein the second displacement detector comprises an encoder connected to the driving mechanism, wherein the encoder is configured to detect a driving amount of an advance and retract driving at the second end portion of the force transmitting member by the driving mechanism.
6. The surgical device according to claim 1 ,
wherein the surgical instrument is configured to be attachable to and detachable from the device body, and
wherein the force transmitting member comprises:
a distal end side force transmitting member provided in the surgical instrument, wherein the distal end side force transmitting member comprises a first connection portion provided at a proximal end side thereof; and
a proximal end side force transmitting member provided in the device body,
wherein the proximal end side force transmitting member comprises a second connection portion provided at a distal end side thereof so as to be connected to the first connection portion of the distal end side force transmitting member.
7. The surgical device according to claim 6 ,
wherein the first displacement detector is configured to detect a displacement of a point on the distal end side force transmitting member, and
wherein the second displacement detector is configured to detect a displacement of a point on the proximal end side force transmitting member.