Operation support device
An operation support device includes a manipulation input unit and an operating section to which a surgical instrument is attached and which operates the surgical instrument. The surgical instrument includes a treatment section, a flexible insertion section, and a manipulation section which is fixed to the flexible insertion section. The manipulation input unit further includes a detection body which is attached to the manipulation section, and a detecting device which detects the detection body. The detecting device calculates information which is capable of specifying a position and/or an orientation of the detection body. On the basis of the information which is calculated by the detecting device, a control device controls an operation of the surgical instrument by outputting to the operating section an order of moving the surgical instrument as a manipulation order.
1. An operation support device comprising:
a surgical instrument comprising:
an insertion section;
a manipulation section provided at a proximal end side of the insertion section; and
a treatment section provided at a distal end side of the insertion section;
a slave arm configured to support at least the distal end side of the surgical instrument and to allow the treatment section to approach a treatment target;
a camera system configured to detect information related with position or orientation of the manipulation section; and
a controller comprising one or more processors, the one or more processors configured to:
calculate a manipulation instruction based on the information from the camera system; and
control a position or an orientation of the surgical instrument by controlling a movement of the slave arm based on the manipulation instruction.
2. The operation support device according to claim 1 , wherein the controller is configured to use a coordinate system with an origin which is set to have a predetermined positional relation with respect to the manipulation section.
3. The operation support device according to claim 1 , wherein the surgical instrument further comprises a marker provided at the manipulation section, and the camera system is configured to detect the information by detecting a position or an orientation of the marker.
4. The operation support device according to claim 2 , wherein the surgical instrument further comprising an indicator section configured to enable the camera system to identify geometric characteristics of the manipulation section, and
the camera system is configured to identify the indicator section so as to set the origin of the coordinate system.
5. The operation support device according to claim 1 , wherein the slave arm further comprising a hollow section configured to receive both the insertion section and the treatment section, and the treatment section configured to protrude from an opening at a distal end of the hollow section.
6. The operation support device according to claim 1 , wherein the slave arm further comprising a treatment section moving mechanism configured to move the treatment section by holding the distal end side of the insertion section and bending the distal end side of the insertion section.
7. The operation support device according to claim 1 , wherein the surgical instrument further comprising a detected part detachably provided at the manipulation section for detecting the information by the camera system.
8. The operation support device according to claim 1 , wherein the camera system comprising:
an adapter configured to detachably attach to the manipulation section;
an articulated arm configured to connect to the manipulation section via the adapter; and
a sensor configured to detect a moving angle of each joint of the articulated arm.
9. The operation support device according to claim 7 , wherein the detected part is sterilizable.
10. The operation support device according to claim 7 , wherein the detected part is attached to the manipulation section via an intermediate member which is sterilized.
11. A surgical instrument for an operation support device which comprises a slave arm configured to support at least a distal end side of the surgical instrument, and a controller comprising one or more processors, the one or more processors configured to control a movement of the slave arm so as to assist an approach of the slave arm toward a distal end of the surgical instrument, the surgical instrument comprising:
a manipulation section;
an elongated section provided at a distal end side of the manipulation section;
an end effector provided at the distal end side of the elongated section; and
a marker disposed at the manipulation section;
wherein the one or more processors are configured to:
recognize a position or an orientation of the marker from an image of a camera of the operation support device;
generate coordinate information from the position or the orientation of the marker;
calculate a manipulation instruction based on the coordinate information; and
control the slave arm based on the manipulation instruction.
12. The surgical instrument according to claim 11 , further comprising an indicator section configured to identify geometric characteristics of the manipulation section.
13. The surgical instrument according to claim 11 , further comprising a detected part detachably attached to the manipulation section, wherein
the marker is disposed at the detected part.
14. An operation support device comprising:
a surgical instrument comprising:
a manipulation section;
an elongated section provided at a distal end side of the manipulation section;
a end effector provided at a distal end side of the elongated section; and
a marker disposed at the manipulation section;
a slave arm which includes a hollow section configured to receive both the elongated section and the end effector;
a camera configured to photograph the marker; and
a controller comprising one or more processors, the one or more processors configured to:
recognize a position or an orientation of the marker from an image of the camera;
generate a coordinate information from the position or the orientation of the marker;
generate a manipulation instruction based on the coordinate information; and
control the slave arm based on the manipulation instruction.
15. The operation support device according to claim 14 , wherein the coordinate information uses a coordinate system with an origin which is set to have a predetermined positional relation with respect to the manipulation section.
16. The operation support device according to claim 15 , further comprising:
an indicator section disposed at the manipulation section;
wherein the indicator section is configured to identify geometric characteristics of the manipulation section so as to set the origin of the coordinate system.
17. An operation support device comprising:
a surgical instrument comprising:
a manipulation section ;
an elongated section provided at a distal end side of the manipulation section; and
a end effector provided at a distal end side of the elongated section;
a detected part;
a marker disposed at the detected part;
a slave arm which includes a hollow section configured to receive both the elongated section and the end effector;
a camera configured to photograph the marker; and
a controller comprising one or more processors, the one or more processors configured to:
recognize a position or an orientation of the marker from an image of the camera;
generate a coordinate information from the position or the orientation of the marker;
generate a manipulation instruction based on the coordinate information; and
control the slave arm based on the manipulation instruction.
18. The operation support device according to claim 17 , wherein the coordinate information uses a coordinate system with an origin which is set to have a predetermined positional relation with respect to the manipulation section.
19. The operation support device according to claim 18 , further comprising:
an indicator section disposed at the detected part;
wherein the indicator section is configured to identify geometric characteristics of the manipulation section, and to enable to set the origin of the coordinate system.
20. An operation support device comprising:
a surgical instrument comprising:
a manipulation section;
an elongated section provided at a distal end side of the manipulation section; and
an end effector provided at a distal end side of the elongated section;
a slave arm which includes a hollow section configured to receive both the elongated section and the end effector;
an adapter configured to connect to the manipulation section;
an articulated arm configured to connect to the manipulation section via the adapter;
a sensor configured to detect a moving angle of each joint of the articulated arm; and
a controller comprising one or more processors, the one or more processors configured to:
generate a coordinate information of the manipulation section from the moving angle detected the sensor;
calculate a manipulation instruction based on the coordinate information; and
control the slave arm based on the manipulation instruction.
21. The operation support device according to claim 20 , wherein the adapter is sterilizable.
22. The operation support device according to claim 20 , wherein the adapter is attached to the manipulation section via an intermediate member which is sterilized.