JP2017086594A - Medical support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique which achieves smooth execution of a medical activity.SOLUTION: A medical support device comprises: a multi-joint arm; a position acquisition part S110 for acquiring an operation position; a form identification part S120; and control parts S130-S230. The form identification part identifies a designated form on the basis of the operation position. The designated form is one arm form in which, out of arm forms, a medical appliance to be attached to a tip end of the multi-joint arm can reach the operation position in a regulated posture regulated in advance corresponding to the operation position, the arm form being regulated according to the operation position as one arm form so that an operator can perform a medical activity smoothly. The arm form is each of forms of the multi-joint arm in which postures of plural links are determined by an axis angle of a joint part. The control part executes the arm control in which the multi-joint arm is operated so as to achieve the designated form identified by the form identification part.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a medical support device that supports medical actions by an operator.

  As described in Patent Literature 1, a medical support device that supports dental implants as a medical practice is known. A conventional medical support apparatus includes an articulated arm, a drill unit as a medical instrument, a force sensor, and a control unit.

  This multi-joint arm is connected in series via a joint actuator in which a plurality of links can rotate. The drill unit is attached to the tip portion of the articulated arm. The force sensor detects a force applied to the drill unit. The control unit operates the articulated arm so as to move the tip of the drill unit to the treatment position according to the force detected by the force sensor.

US Patent Application Publication No. 2009/0253095

As one of the support to the surgeon by the medical support device, it is conceivable to move the drill unit held by the surgeon to the treatment position.
In the support of the surgeon by the medical support device, it is preferable that the shape of the multi-joint arm at the time when the tip of the drill unit reaches the treatment position is the form of the multi-joint arm in which the surgeon can easily perform the medical action. The form of the articulated arm referred to here is the posture of the plurality of links determined by the axial angle of each joint actuator.

By the way, in a general articulated arm, the operation of the joint actuator becomes impossible depending on the form of the articulated arm.
However, a lot of experience is required to know the arm form that makes the joint actuator impossible to operate, and the medical practitioner may not know the arm form that makes the joint actuator impossible to operate. High nature.

  For this reason, in the conventional medical support device, when the surgeon grasps the drill unit and moves the articulated arm, the articulated actuator of the articulated arm cannot operate when the surgeon performs the medical action. There was a possibility.

  In other words, in the conventional technology, the form of the articulated arm when the tip of the drill unit reaches the treatment position becomes the form of the articulated arm that makes it difficult to operate the joint actuator during the practice of the medical practice. There was a problem that could not be implemented smoothly.

  Therefore, an object of the present invention is to provide a technique capable of smoothly performing a medical practice.

  One aspect of the present invention made to achieve the above object includes an articulated arm (6), a position acquisition unit (40, S110), a form identification unit (40, S120), and a control unit (40, S130). To S230).

The multi-joint arm is an arm in which a plurality of links (8, 10, 12, 14) are connected in series via a rotatable joint (16, 18, 20, 22, 24, 26).
A position acquisition part acquires the treatment position showing the position of the affected part of the patient who receives medical practice.

  A form specific | specification part specifies a designation | designated form from the arm form based on the treatment position acquired by the information acquisition part. The arm form referred to here is each form of a multi-joint arm in which the postures of a plurality of links are determined by the axial angle of each joint part.

The designated form is an arm form that satisfies the following two conditions.
Condition 1: The medical instrument (32) attached to the distal end portion of the articulated arm is in the form of an arm that can reach the treatment position in a posture defined in advance corresponding to the treatment position.

Condition 2: As an arm form that allows the surgeon to smoothly achieve a medical practice, the arm form is defined in advance corresponding to the treatment position.
Furthermore, a control part performs arm control which is control which operates a multi joint arm so that it may become the designation | designated form specified by the form specific | specification part.

According to such a medical support device, even if the surgeon is not familiar with the structure of the articulated arm, the designated form can be realized.
In particular, since the designated form is an arm form that allows the surgeon to smoothly perform the medical action, according to the medical support device, the joint portion of the articulated arm operates when the surgeon is performing the medical action. It is possible to reduce the impossible.

In other words, according to the medical support device, it is possible to avoid that the form of the multi-joint arm at the time when the medical instrument reaches the treatment position becomes a form in which the operation of the joint part is difficult during the execution of the medical action.
Therefore, according to the medical support device, the progress of medical practice can be made smooth.

It is a perspective view which shows schematic structure of a medical assistance apparatus. It is a block diagram which shows the control system of a medical assistance apparatus. It is a flowchart which shows the process sequence of an arm drive process. It is explanatory drawing explaining the processing content of an arm drive process. It is explanatory drawing explaining the processing content of an arm drive process.

Embodiments of the present invention will be described below with reference to the drawings.
<1.1 Medical support device>
The medical support device 1 shown in FIGS. 1 and 2 includes a base 4, a multi-joint arm 6, a force sensor 30, a medical instrument 32, a position tracking device 34, and a robot control unit 40.

  In other words, the medical support device 1 is configured around a so-called vertical articulated robot, and supports the implementation of a medical practice by an operator. A medical practice is an action performed based on medicine for the treatment, diagnosis, or prevention of a patient's injury or illness. The medical practice in this embodiment includes a dental implant in which an implant body is embedded in a patient's jawbone and a prosthesis is attached to the implanted implant body. Hereinafter, the position where the implant body is embedded in the jawbone of the patient, that is, the position of the affected part of the patient who receives the medical action is referred to as a treatment position.

The surgeon is a person who performs a medical practice, for example, a medical worker such as a dentist or a doctor.
The base 4 is a base on which the articulated arm 6 is installed.

The articulated arm 6 is a vertical articulated arm that includes a base portion 8, an upper arm portion 10, a forearm portion 12, and a hand attachment portion 14.
The base portion 8 is rotatably fixed to the base 4. The upper arm portion 10 extends from the base portion 8. The forearm portion 12 extends from the tip of the upper arm portion 10. The hand attachment portion 14 is located at the tip of the forearm portion 12 and holds the medical instrument 32. That is, the hand attachment portion 14 corresponds to the distal end portion of the articulated arm 6.

  Further, the multi-joint arm 6 includes joint portions 16, 18, 20, 22, 24, and 26. Each of the joint portions 16, 18, 20, 22, 24, and 26 is a well-known mechanism that rotatably connects the objects.

  The joint portion 16 rotates the base portion 8 around a vertical axis set on the base 4, that is, around the Z axis. The joint portion 18 rotates the upper arm portion 10 in the front-rear direction of the multi-joint arm 6 with respect to the base portion 8. Further, the joint portion 20 rotates the forearm portion 12 in the vertical direction of the multi-joint arm 6 with respect to the upper arm portion 10. The joint portion 22 rotates the hand attachment portion 14 in the vertical direction of the multi-joint arm 6 with respect to the forearm portion 12. Further, the joint portion 24 turns the hand attachment portion 14 with respect to the forearm portion 12. The joint portion 26 is rotated so as to twist the forearm portion 12.

  Each of the joint portions 16, 18, 20, 22, 24, 26 includes a joint actuator 28 and a position detection unit 29. The joint actuator 28 is a device that rotates. As an example of the joint actuator 28, an electric motor can be considered.

  The position detector 29 is a known sensor that detects the shaft angle of each joint actuator 28. As an example of the position detector 29, a rotary encoder can be considered. The axis angle is an angle that the axis of the joint actuator 28 is rotated, and may be a relative angle with a reference angle that is defined in advance or may be an absolute angle.

That is, the articulated arm 6 is a mechanism for moving the medical instrument 32, and is a vertical articulated arm in which a plurality of links are connected in series via a rotatable joint.
In addition, the link said here is a member which comprises the articulated arm 6, and is a member which can be regarded as a rigid body. The links in the present embodiment are the base portion 8, the upper arm portion 10, the forearm portion 12, and the hand attachment portion 14.

  The force sensor 30 is a sensor installed at the distal end portion of the articulated arm 6, that is, the hand attachment portion 14. The force sensor 30 detects the magnitude and direction of forces in a plurality of directions applied to the tip of the articulated arm 6. The force sensor 30 has a strain gauge, for example, and detects a force applied to the strain gauge. Moreover, the force said here includes the force applied to the force sensor 30 when the user of the medical support apparatus 1 moves the medical instrument 32.

  The medical instrument 32 is a tool for performing a medical practice. Tools for performing this medical practice include a drill unit used for dentistry. This drill unit has various drill bits used for dentistry and a drill drive mechanism that drives the drill bits. The drill unit mentioned here includes a so-called dental handpiece. This dental handpiece includes what are called straight geared angle handpieces and contra handpieces.

The medical instrument 32 is fixed to the hand attachment portion 14 via the force sensor 30. That is, the medical instrument 32 is attached to the tip of the articulated arm 6.
The position tracking device 34 is a well-known device that specifies the relative positional relationship between a reference point defined in advance in the medical support device 1 and the affected area of the patient. The affected part of the patient specified by the position tracking device 34 is associated with the treatment position. The position tracking device 34 tracks the position of the affected part of the patient while the surgeon performs the medical practice.
<1.2 Robot control unit>
The robot control unit 40 includes a control unit 42 and a storage unit 50 and drives the joint actuator 28 of the multi-joint arm 6.

  The control unit 42 is a control device having a known microcomputer including at least a ROM 44, a RAM 46, and a CPU 48. The storage unit 50 is a known device that stores information and data.

  In the storage unit 50, the robot control unit 40 executes an arm driving process for controlling the articulated arm 6 so as to support the movement of the medical instrument 32 when the medical instrument 32 held by the operator is moved to the operation position. A processing program is stored. Further, the storage unit 50 stores a position / orientation correspondence map referred to in the arm driving process.

  The position / orientation correspondence map referred to here is a map showing the posture to be taken by the medical instrument 32 and the arm form to be taken by the articulated arm 6 depending on which position in the patient's jaw bone the treatment position is.

  The posture to be taken by the medical instrument 32 (hereinafter referred to as posture information) is information representing in what posture the medical instrument 32 should be brought into contact with the treatment position. This posture information includes, for example, the inclination of the medical instrument 32 in the real space when the surgeon performs a medical action on the treatment position, the approach angle of the medical instrument 32 with respect to the treatment position, and the like.

  The arm form is a form of the multi-joint arm 6 composed of the postures of the plurality of links 8, 10, 12, 14 determined by the axial angles of the joint parts 16, 18, 20, 22, 24, 26. .

  The position / orientation map shows a pre-designated form for each treatment position classification according to the rough classification of treatment positions. The designated form is an arm form that satisfies the following two conditions.

Condition 1: The medical instrument 32 attached to the distal end portion of the multi-joint arm 6 has an arm configuration that can reach the treatment position in a posture defined corresponding to the treatment position.
Condition 2: The arm form defined in advance as one arm form in which the surgeon can smoothly achieve medical practice.

  Further, the “arm form that allows the surgeon to smoothly achieve the medical practice” as used herein means that the articulated arm 6 cannot be operated when the medical support apparatus 1 supports the medical practice by the surgeon. It is the arm form which reduces becoming. As an example of an arm configuration in which the surgeon can smoothly achieve the medical practice, the medical practice by the surgeon is simulated for each treatment position, and the movement of the articulated arm 6 is performed by the simulated medical practice. It is conceivable to predetermine an arm configuration that is not impossible and is easy for an operator to perform medical practice. That is, the designation form may be defined in advance based on the result of the experiment or the result of the simulation.

  In other words, in general, the vertical articulated arm cannot operate the joint actuator depending on the arm configuration. In order to reduce this, in the arm driving process of the present embodiment, when the medical instrument 32 that the operator has obtained is moved to the treatment position according to the position / orientation correspondence map prepared in advance, Arm control for operating the multi-joint arm 6 is performed so that the joint arm 6 has an arm configuration to be taken.

That is, the arm control is control for operating the articulated arm 6 so as to be in a designated form.
<1.3 Arm drive processing>
Next, an arm driving process executed by the robot control unit 40 will be described.

The arm driving process is started when a start command for starting the arm driving process is input.
When the arm driving process is activated, as shown in FIG. 3, the robot control unit 40 acquires a medical plan prepared in advance and acquires a treatment position included in the medical plan (S110).

  The medical plan is a plan for a medical practice that indicates what kind of content the medical practice is to be performed with respect to the surgical position, what kind of posture the medical instrument 32 should be brought into contact with the surgical position, etc. It is a plan prepared in advance by this method.

  In this medical plan, the treatment position, the angle at which the implant body is placed at the treatment position, and the implant body are buried at the treatment position, which are specified based on a plurality of tomographic images taken by a computed tomography (ie, CT) apparatus. Including the depth to enter. The treatment position includes whether the jawbone into which the implant body is to be inserted is the maxilla or the mandible, and the position of the tooth in the jawbone.

  Furthermore, the medical plan includes the approach angle of the medical instrument 32 when the surgeon performs the medical action on the treatment position, the inclination of the medical instrument 32 in the real space when the medical action is performed, and the like. Including.

Note that CT is an abbreviation for Computed Tomography.
In the arm driving process, the robot control unit 40 then specifies a designation form corresponding to the treatment position acquired in S110 from the position / orientation correspondence map (S120). Specifically, in S120, the robot control unit 40 sets the arm form corresponding to the treatment position acquired in S110 among the plurality of arm forms defined in the position / orientation correspondence map as the designation form corresponding to the treatment position. Identify and get.

  Further, in the arm driving process, the robot control unit 40 calculates the target angle θ_goal (j) of each joint actuator 28 that realizes the designated form acquired in S120 (S130). The calculation of the target angle θ_goal (j) may be executed based on a known method for converting the arm configuration into an axial angle. Note that the symbol j is an identifier for identifying the joint actuator 28.

  Subsequently, the robot control unit 40 acquires the magnitude of the force detected by the force sensor 30 and the direction of the force (S140). Then, the robot control unit 40 calculates the movement vector dX based on the magnitude and direction of the force acquired in S140 (S150).

  The movement vector dX here is a vector representing the direction and amount of movement of the tip of the articulated arm 6 when the medical instrument 32 is moved for a predetermined unit time. In the calculation of the movement vector dX in S150, when it is assumed that the medical instrument 32 is continuously moved with the magnitude and direction of the force acquired in S140, the movement of the tip of the multi-joint arm 6 moves. And the movement distance (that is, the movement amount) may be obtained as the movement vector dX.

  Subsequently, in the arm driving process, when the robot control unit 40 moves the tip of the articulated arm 6 according to the movement vector dX, the position P (t + 1) where the tip of the articulated arm 6 is located after a unit time. ) Is calculated based on the following equation (1) (S160).

Note that P (t) in the equation (1) is the position of the tip of the articulated arm 6 at time t.
Further, in the arm driving process, the robot control unit 40 calculates the estimated angle θ (j, t + 1) (S170). The estimated angle θ (j, t + 1) here is the axial angle of each joint actuator 28 at the position P (t + 1) of the tip of the multi-joint arm 6.

The calculation of the estimated angle θ (t + 1) may be performed based on a known method for converting the position of the tip of the multi-joint arm 6 into the axis angle of each joint actuator 28.
Then, the robot control unit 40 determines whether or not the estimated angle θ (j, t + 1) approaches the target angle θ_goal (j) (S180). Specifically, in S180, the robot control unit 40 determines, for each corresponding joint actuator 28, whether each estimation result is smaller than each corresponding current value. The estimation result referred to here is the result of subtracting the estimated angle θ (j, t + 1) from the target angle θ_goal (j). The current value is a result of subtracting the shaft angle θ (j, t) at the current time t from the target angle θ_goal (j).

  If the estimation result is equal to or greater than the corresponding current value (S180: NO), the robot controller 40 moves the estimated angle θ (j, t + 1) away from the target angle θ_goal (j) as shown in FIG. As an example, the arm driving process is shifted to S200 described later in detail.

  On the other hand, if the estimation result is smaller than the corresponding current value (S180: YES), the robot control unit 40 performs the arm driving process on the assumption that the estimated angle θ (j, t + 1) approaches the target angle θ_goal (j). The process proceeds to S190.

  In S190, the robot control unit 40 performs control in which the path of the articulated arm 6 is continuous according to the movement vector dX calculated in S150, and executes CP control which is one of arm control. The CP control referred to here is the well-known Continios path control. In the CP control in the present embodiment, the operation of the articulated arm 6 is controlled so that the path of the tip of the articulated arm 6 is continuous and follows the movement path of the medical instrument 32 held by the operator. .

The robot controller 40 then shifts the arm driving process to S230, which will be described in detail later.
In S200, where the estimated angle θ (j, t + 1) moves away from the target angle θ_goal (j) (S180: YES), the robot control unit 40 determines the absolute amount of movement of the tip of the articulated arm 6. A control amount dθ (j, t + 1) of the shaft angle of each joint actuator 28 having a maximum value (hereinafter referred to as an absolute value of movement amount) dP is calculated.

  The movement amount absolute value dP is expressed by the following equation (2).

The symbol “JtoP” in the equation (2) means a known function for converting the shaft angle into the amount of change of the tip of the articulated arm 6.
Specifically, in S200, the control amount dθ (j, t + 1) of the shaft angle of each joint actuator 28 that satisfies the following two conditions is calculated.

First condition: The movement amount absolute value dP is maximized.
Second condition: As shown in FIG. 5, the movement amount absolute value dP is larger than the case where the tip of the articulated arm 6 is moved according to the movement vector dX.

  The control amount dθ (j, t + 1) is expressed by the following equation (3).

Since the calculation method of the control amount dθ of the shaft angle of each joint actuator 28 may be a well-known method for PTP control, detailed description thereof is omitted here.
Further, in the arm driving process, the robot control unit 40 moves the tip of the articulated arm 6 according to the control amount dθ of the axis angle of each joint actuator 28 calculated in S200. (J, t + 1) is calculated based on the following equation (4) (S210).

  In the arm driving process, the articulated arm 6 is driven so as to be the shaft angle θ (j, t + 1) calculated in S210 (S220). That is, in S220, PTP control is executed as one of the arm controls. Note that PTP control is control in which the path of the tip of the articulated arm 6 is discontinuous, and is an abbreviation for well-known Point to Point control. In the PTP control in the present embodiment, the movement of the medical instrument 32 is performed so that the path of the distal end portion of the articulated arm 6 is not according to the movement path of the medical instrument 32 held by the operator but a specified form is realized. The operation of the articulated arm 6 in which the path becomes discontinuous is realized.

Thereafter, the robot control unit 40 shifts the arm driving process to S230.
In S230, the robot control unit 40 determines whether or not the target value is smaller than a predetermined allowable value dε. The target value referred to here is the result of subtracting the axis angle θ (j, t) at the current time t of each corresponding joint actuator 28 from the target angle θ_goal (j) of each joint actuator 28.

As a result of the determination in S230, if the target value is greater than or equal to the allowable value dε (S230: NO), the robot control unit 40 returns the arm driving process to S140.
On the other hand, if the result of determination in S230 is that the target value is smaller than the allowable value dε (S230: YES), the robot controller 40 determines that the axis angle of each joint actuator 28 matches the target angle θ_goal (j). Determination is made, and this arm driving process is terminated.

Thereafter, the robot control unit 40 executes a medical support process for supporting a medical action by the operator.
[2. Effects of the embodiment]
(2.1) As described above, according to the medical support device 1, even if the surgeon is not familiar with the structure of the articulated arm 6, the designated form can be realized.

  (2.2) In particular, the designated form is an arm form that allows the surgeon to smoothly achieve the medical action. Therefore, according to the medical support apparatus 1, when the surgeon is performing the medical action, the joint is articulated. The inability to operate the joint portions 16, 18, 20, 22, 24, 26 of the arm 6 can be reduced.

  (2.3) In other words, according to the medical support device 1, the form of the multi-joint arm 6 at the time when the medical instrument 32 reaches the treatment position is the joint portion 16, 18, 20, It can be avoided that the operations of 22, 24, and 26 are difficult.

Therefore, according to the medical support device 1, the progress of the medical practice can be made smooth.
(2.4) In the arm driving process, if the articulated arm 6 is driven according to the magnitude and direction of the force detected by the force sensor 30 and the driving of the articulated arm 6 is smooth, CP control is executed. can do.

  In addition, in the arm driving process, an estimated angle θ (j, t + 1) is calculated every time the movement vector dX is calculated as a specific condition for executing the CP control, and the calculated estimated angle θ (j, t + 1) is calculated. It is assumed that the target angle is approached.

  Therefore, according to the medical support device, whether or not the CP control can be performed can be determined every time the movement vector dX is calculated, and the articulated arm 6 can be driven as intended by the operator over a long period of time. it can.

  (2.5) In the arm driving process, when the tip of the multi-joint arm 6 is moved according to the movement vector dX, the axial angles of the joint portions 16, 18, 20, 22, 24, 26 move away from the target angle. Performs PTP control.

  That is, according to the medical support device 1, when the articulated arm 6 is not driven smoothly according to the magnitude and direction of the force detected by the force sensor 30, when the articulated arm 6 is not smoothly driven, The operation of the joint arm 6 can be realized.

According to the medical support device 1, the tip of the articulated arm 6, and consequently the medical instrument 32, can be moved more reliably to the treatment position.
[3. Other Embodiments]
As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment, In the range which does not deviate from the summary of this invention, it is possible to implement in various aspects.

  (3.1) In the arm driving process of the above embodiment, when the surgeon holding the medical instrument 32 moves the medical instrument 32, the arm form to be taken by the articulated arm 6 according to the treatment position The articulated arm 6 was operated so as to be. However, in the arm driving process, when the articulated arm 6 is operated so that the articulated arm 6 has an arm configuration to be taken according to the treatment position, the operator does not have to move the medical instrument 32.

  That is, in the arm driving process, when the treatment position is acquired, the articulated arm 6 may be automatically operated so that the articulated arm 6 has an arm configuration to be taken according to the treatment position.

  In the arm driving process in this case, it is preferable to operate the articulated arm 6 so that the position of the medical instrument 32 is arranged at a position separated from the treatment position by a predetermined distance or more.

  (3.2) In the said embodiment, although the dental implant was assumed as a medical action which the medical assistance apparatus 1 supports, the medical action which the medical assistance apparatus 1 supports is not restricted to a dental implant. For example, the medical action supported by the medical support device 1 may be surgery, internal medicine, dental care other than dental implants, or other medical actions. May be.

  The treatment position is not limited to the position (part) of the patient's jawbone in which the implant body is to be implanted. For example, the affected area of a patient requiring surgery, the affected area of a patient requiring medical care, and dental care It may be an affected part of a patient who is necessary.

  (3.3) The medical instrument 32 is not limited to a drill unit used for dentistry, and may be a tool used for various medical practices. In this case, the tool used for various medical activities may be, for example, a surgical instrument such as a scalpel or forceps, or other medical instrument.

  (3.4) In the above embodiment, the medical support device 1 includes the vertical multi-joint arm as the multi-joint arm 6, but the arm provided in the medical support device 1 is not limited to this. For example, the medical support device 1 may include a horizontal articulated arm as the articulated arm 6.

(3.5) Part or all of the functions executed by the robot control unit 40 in the above embodiment may be configured by hardware using one or a plurality of ICs.
(3.6) In the above embodiment, the program is stored in the storage unit 50. However, the storage medium for storing the program is not limited to this, and a non-transitional tangible storage medium such as a semiconductor memory is used. It may be stored.

  (3.7) The control unit 42 may execute a program stored in a non-transitional tangible recording medium. By executing this program, a method corresponding to the program is realized.

  (3.8) It should be noted that the reference numerals in parentheses described in the columns of “Claims” and “Means for Solving the Problems” are the specific means described in the embodiments described later as one aspect. The correspondence relationship is shown and does not limit the technical scope of the present invention.

(3.9) The aspect which abbreviate | omitted a part of structure of the said embodiment is also embodiment of this invention. Further, an aspect configured by appropriately combining the above embodiment and the modification is also an embodiment of the present invention. Moreover, all the aspects which can be considered in the limit which does not deviate from the essence of the invention specified by the wording described in the claims are the embodiments of the present invention.
[4. Example of correspondence]
The function obtained by executing S110 in the arm driving process corresponds to the position acquisition unit. The function obtained by executing S120 corresponds to the form specifying unit.

  The function obtained by executing S130 to S230 corresponds to the control unit. The function obtained by executing S130 corresponds to the target calculation unit. The function obtained by executing S150 corresponds to the movement calculation unit. The function obtained by executing S180 to S230 corresponds to the execution unit. The function obtained by executing S160 and S170 corresponds to the estimation calculation unit.

  DESCRIPTION OF SYMBOLS 1 ... Medical assistance apparatus 4 ... Base 6 ... Articulated arm 8 ... Base part 10 ... Upper arm part 12 ... Forearm part 14 ... Hand attaching part 16, 18, 20, 22, 24, 26 ... Joint part 28 ... Joint actuator 29 ... Position detecting unit 30 ... Force sensor 32 ... Medical instrument 34 ... Position tracking device 40 ... Robot control unit 42 ... Control unit 44 ... ROM 46 ... RAM 48 ... CPU 50 ... Storage unit

Claims (5)

A multi-joint arm (6) in which a plurality of links (8, 10, 12, 14) are connected in series via rotatable joints (16, 18, 20, 22, 24, 26);
A position acquisition unit (40, S110) for acquiring a treatment position representing the position of the affected part of a patient undergoing medical practice;
Each form of the multi-joint arm in which postures of the plurality of links are determined by an axial angle of the joint part is an arm form,
Among the arm forms, the medical instrument (32) attached to the tip of the articulated arm is one arm form that can reach the treatment position in a posture defined in advance corresponding to the treatment position. Based on the treatment position acquired by the position acquisition unit, the designated form that is the arm form that is prescribed in advance according to the treatment position as one arm form that allows the surgeon to smoothly achieve the medical action A form identifying unit (40, S120) to identify;
A control unit (40, S130 to S230) that executes arm control, which is control for operating the articulated arm so as to be in the designated form specified by the form specifying unit;
A medical support device (1) comprising: A force sensor (30) installed at the tip of the articulated arm and detecting the magnitude and direction of the force applied to the medical instrument;
The controller is
A target calculation unit (40, S130) that calculates a target angle that is an axial angle of each of the joints that realizes the specified form specified by the form specifying unit;
A movement calculation unit (40, S150) for calculating a movement vector representing the direction and amount of movement for moving the tip of the articulated arm according to the magnitude and direction of the force detected by the force sensor;
When the tip of the articulated arm is moved according to the movement vector calculated by the movement calculating unit, when each axis angle of the joint approaches the target angle, the tip of the articulated arm is moved according to the movement vector. An execution unit (40, S180 to S230) that executes CP control as a control of continuous paths as the arm control;
The medical support apparatus according to claim 1, further comprising: The movement calculation unit calculates the movement vector every time the magnitude and direction of the force detected by the force sensor are acquired,
The controller is
Each time the movement vector is calculated by the movement calculation unit, an estimation calculation unit (40, 40) that calculates an estimated angle that is an axis angle of each joint unit that has moved the tip of the multi-joint arm by the movement vector. S160, S170)
The execution unit is
The medical support device according to claim 2, wherein the CP control is executed as the arm control when the estimated angle calculated by the estimation calculation unit approaches the target angle. The execution unit is
When the tip of the articulated arm is moved according to the movement vector calculated by the movement calculating unit, the path of the tip of the articulated arm becomes discontinuous when each axis angle of the joint is moved away from the target angle. The medical support apparatus according to claim 2 or 3, wherein PTP control as control is executed as the arm control. The execution unit is
The amount of movement of the tip of the articulated arm is larger than the amount of movement of the tip of the articulated arm by the movement vector calculated by the movement calculating unit, and the movement of the tip of the articulated arm is large. The medical support apparatus according to claim 4, wherein the PTP control is executed to operate the multi-joint arm so that the axial angle of each joint unit satisfies a maximum amount.