MEDICAL MANIPULATOR AND INITIALIZATION METHOD FOR MEDICAL MANIPULATOR

摘要

A medical manipulator includes an insertion portion, an arm portion, a light irradiation section irradiating a luminous flux having an optical axis parallel to an arm axial line, an imaging section imaging a locus of an optical image, a rotational movement portion rotating the arm portion around a reference axial line, and an initialization control unit performing initialization control to aligning the arm portion with the reference axial line, in which the initialization control unit includes: a locus acquisition control section controlling the light irradiation section, the rotational movement portion, and the imaging section to acquire a locus of the luminous flux, a convergence determination section computing a diameter of the locus and determines whether or not the diameter of the locus has converged, a driving amount correction section obtaining a driving amount of the first redundant joint and performs driving, and a convergence operation control section.

主权项

1. A medical manipulator comprising:
an insertion portion configured to be inserted into the body; an arm portion in which a plurality of arms are connected to each other via joints including bending joints which change an angle between arms adjacent to each other; a support portion supporting the arm portion at a distal end part of the insertion portion; a light irradiation section irradiating a luminous flux having an optical axis parallel to an axial line of the arm from an irradiation port disposed at an arm which is closer to a distal end than the bending joint in the arm portion; an imaging section provided at the distal end part of the insertion portion or the support portion and images a locus of an optical image based on the luminous flux; a movement portion including at least one of a rotational movement portion which rotates a supported part of the arm portion supported at the support portion around a reference axial line which is along a longitudinal direction of the insertion portion, and an advance/retract movement portion which advances or retracts the supported part along the reference axial line; and an initialization control unit performing initialization control for forming a reference state in which the arm of the arm portion is aligned with the reference axial line, wherein the initialization control unit includes:
a locus acquisition control section controlling the light irradiation section, the movement portion, and the imaging section so as to move the arm portion while irradiating the luminous flux and to acquire the locus;a convergence determination amount calculation portion computing a predetermined physical quantity for determining a convergence state of the locus on the basis of the locus; anda driving amount correction section that corrects a driving amount of the bending joint on the basis of the physical quantity computed by the convergence determination amount calculation portion.