Surgical-manipulator operating device and surgical-manipulator system
A device for operating a surgical manipulator including, at a distal end of an elongate shaft: a rotational joint that is rotatable about a longitudinal axis of the shaft; and a flexing joint that is on a distal-end side of the rotational joint and that can be flexed about an axis that intersects the longitudinal axis. A surgical-manipulator operating device including: a gripping portion that is gripped by an operator; a rotation input portion that is provided with a rotating member attached to the gripping portion in a rotatable manner and with which rotation instructions for the rotational joint are input in accordance with rotational angles of the rotating member; and flexion input portions with which flexion instructions for the flexing joint are input in directions corresponding to fixed circumferential-direction operating positions on the rotating member.
1. A surgical-manipulator operating device for operating a surgical manipulator including, at a distal end of a shaft elongated along a longitudinal axis, a first joint rotatable about the longitudinal axis of the shaft, and a second joint disposed distally relative to the first joint, the second joint being rotated about the longitudinal axis along with rotation of the rotational joint and rotatable about a first axis orthogonal to the longitudinal axis, the surgical-manipulator operating device comprising:
a grip configured to be gripped by an operator;
a dial rotatably attached to the grip about a second axis, the dial comprising one or more switches provided radially offset from the second axis of the dial, the one or more switches being rotated together with the dial;
wherein a rotation operation of the dial inputs first rotation instructions for the first joint; and
a pressing operation of the one or more switches inputs second rotation instructions for the second joint.
2. A surgical-manipulator operating device according to claim 1 ,
wherein the surgical manipulator is provided with two or more second joints,
the one or more switches comprise two or more switches each configured to input the second rotation instructions for respective second joints of the two or more second joints; and
the two or more second switches are disposed at different positions on the dial.
3. A surgical-manipulator operating device according to claim 1 , further comprising:
a plurality of sensors secured to the grip, the plurality of sensors being arranged radially offset from the second axis of the dial, the plurality of sensors being configured to detect rotational angles of the dial relative to the grip; and
a signal generating portion that generates the first rotation instructions based on the detected rotational angles.
4. A surgical-manipulator operating device according to claim 3 ,
wherein the dial is provided so as to be attachable to and detachable from the grip,
the surgical-manipulator operating device further comprising:
a drape provided with a through-hole that supports the dial in a rotatable manner and that covers portions of the grip other than the dial.
5. A surgical-manipulator operating device according to claim 1 , wherein the dial is provided with an indicator disposed at a surface of the dial, a circumferential-direction position of the dial can be identified via a tactile sensation of the indicator.
6. A surgical-manipulator operating device according to claim 1 , wherein the grip is configured to be attached to the shaft so that the dial faces a proximal-end side of the shaft.
7. A surgical-manipulator operating device according to claim 1 , wherein the grip is configured to be attached to the shaft so that the dial faces a distal-end side of the shaft.
8. A surgical-manipulator system comprising:
the surgical manipulator; and
the surgical-manipulator operating device according to claim 1 .