# US 9,519,341 B2 · Medical manipulator and surgical support apparatus

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- Number: US 9,519,341 B2
- Document ID: US9519341B2
- Status: Granted
- Kind: B2
- Application number: 13/566,047
- Filed: 2012-08-03
- Published: 2013-02-14
- Granted: 2016-12-13
- Earliest claimed: 2011-08-04
- Assignees: Olympus Corporation
- Applicants: Mitsuaki Hasegawa; Kosuke Kishi
- Inventors: Mitsuaki Hasegawa; Kosuke Kishi
- Web page: https://patentgrep.com/patent/US9519341B2

## CPC

- G06F 3/01: Input arrangements or combined input and output arrangements for interaction between user and computer (G06F3/16 takes precedence)
- A61B 17/29: Forceps for use in minimally invasive surgery
- A61B 17/32002: {with continuously rotating, oscillating or reciprocating cutting instruments}
- A61B 18/1402: {Probes for open surgery}
- A61B 34/30: Surgical robots
- A61B 34/37: Leader-follower robots (A61B34/35 takes precedence)
- A61B 34/74: {Manipulators with manual electric input means}
- A61B 34/76: {Manipulators having means for providing feel, e.g. force or tactile feedback}
- A61B 34/77: {Manipulators with motion or force scaling}
- A61B 46/10: specially adapted for instruments{, e.g. microscopes}
- A61B 90/50: Supports for surgical instruments, e.g. articulated arms
- B25J 13/02: Hand grip control means {(handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214)}
- A61B 17/068: Surgical staplers {, e.g. containing multiple staples or clamps}({staplers containing only one staple A61B17/10; magazines or containers for staples A61B17/105;} for performing anastomosis A61B17/115; {staplers in general B25C5/00})
- A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B 34/25: {User interfaces for surgical systems}
- A61B 46/23: with means to retain or hold surgical implements
- A61B 2017/00119: {alarm; indicating an abnormal situation}
- A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)}
- A61B 2017/00482: {with a code}
- A61B 2034/2055: {Optical tracking systems}
- A61B 2034/2065: {Tracking using image or pattern recognition}
- A61B 2090/065: {for measuring contact or contact pressure}
- A61B 2090/067: {for measuring angles}
- A61B 2090/0803: {Counting the number of times an instrument is used}
- A61B 2090/0813: {Accessories designed for easy sterilising, i.e. re-usable}
- A61B 2090/0814: {Preventing re-use}
- A61B 2090/364: {Correlation of different images or relation of image positions in respect to the body}
- A61B 2090/3937: {Visible markers}
- Y10S 901/08: Robot
- Y10S 901/09: Closed loop, sensor feedback controls arm movement
- Y10S 901/30: End effector
- Y10T 29/49826: Assembling or joining
- Y10T 74/18056: Rotary to or from reciprocating or oscillating
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION

## Abstract

A medical manipulator includes: a holding portion whose proximal end portion is fixed to a base; a positioning portion that has a fixing portion that is fixed to a distal end portion of the holding portion, and that is formed such that a treatment portion of a surgical instrument is able to move relative to the fixing portion; a reference orientation detecting portion that detects an orientation of a reference position on the positioning portion; a drive section that is used to move the treatment portion relative to the fixing portion; and a displacement detecting section that detects an amount of movement, including angular displacement, of the treatment portion relative to the reference position, and that calculates as the orientation on the treatment portion an orientation that is different by an amount of angular displacement that it has itself detected from the orientation on the reference position detected by the reference orientation detecting portion.

## Claims

### Claim 1

A surgical support apparatus comprising:
a surgical instrument having a treatment portion;
a holding portion whose proximal end portion is connected to a base;
a positioning portion that has a pair of first side elements rotatably connected to a proximal second side element and rotatably connected to a distal second side element;
a parallel link mechanism in which the pair of first side elements are disposed parallel each other, the distal second side element and the proximal second side element being disposed substantially parallel to each other and non-parallel with respect to the pair of first side elements;
the proximal second side element which is rotatable with respect to a distal end portion of the holding portion, and the distal second side element which has a removable portion to which the surgical instrument is able to be attached;
an input section that generates operating commands based on inputs from a user;
a reference orientation detecting portion that detects an orientation of a reference position on the positioning portion according to the operating commands:
a removable position detecting section provided at the proximal second side element, the removable position detecting section calculating an amount of change in position and orientation per unit time of the removable portion by calculating a position and orientation of the removable portion with respect to the reference position according to a detected orientation of the reference position detected by the removable position detecting section;
a treatment portion position detecting section which calculates a position and orientation of the treatment portion based on a length of the surgical instrument in a longitudinal direction of the surgical instrument and the amount of change calculated by the removable position detecting section; and
a drive section control section which controls a drive section actuating the removable portion and the treatment portion based on calculating results of the removable position detecting section and the treatment portion position detecting section.

### Claim 2 (depends on 1)

The surgical support apparatus according to claim 1, wherein
the holding portion is able to be switched between
an adjustment mode in which a position of the distal end portion relative to the proximal end portion is able to be adjusted, and
a fixed mode in which the position of the distal end portion relative to the proximal end portion is fixed.

### Claim 3 (depends on 1)

The surgical support apparatus according to claim 1, wherein the reference orientation detecting portion transmits the detected orientation of the reference position by wireless communication to the section treatment portion position detecting section.

### Claim 4 (depends on 1)

The surgical support apparatus according to claim 1, further comprising:
an endoscope that is provided with an observation portion that is used to acquire external images along an optical axis; and
a display unit that is used to display the images, wherein
the drive section control section calculates converted operating commands by converting the operating commands issued by the input section using a conversion matrix that converts these operating commands from a first orthogonal coordinate system that faces a distal end side of the treatment portion into a second orthogonal system that faces the distal end side along the optical axis of the observation portion, and then controls the drive section based on the converted operating commands.

### Claim 5 (depends on 1)

The surgical support apparatus according to claim 1, further comprising:
a plurality of holding portions; and
positioning portions that are fixed to each one of the holding portions, wherein
one of the reference orientation detecting sections is able to be removably attached to each one of the positioning portions.

### Claim 6

A surgical support apparatus comprising:
a surgical instrument having a treatment portion;
a holding portion whose proximal end portion is connected to a base;
a positioning portion that has a pair of first side links rotatably connected to a proximal second side link and rotatably connected to a distal second side link;
a parallel link mechanism in which the pair of first side elements are disposed parallel each other, the distal second side element and the proximal second side element being disposed substantially parallel to each other and non-parallel with respect to the pair of first side elements;
the proximal second side link which is rotatable with respect to a distal end portion of the holding portion, and the distal second side link which has a removable portion to which the surgical instrument is able to be attached;
a controller that generates operating commands based on inputs from a user;
a reference orientation detecting sensor that detects an orientation of a reference position on the positioning portion according to the operating commands; and
a removable position detecting sensor provided at the proximal second side link
wherein the controller is further configured to implement:
calculating an amount of change in position and orientation per unit time of the removable portion by calculating a position and orientation of the removable portion with respect to the reference position according to a detected orientation of the reference position detected by the removable position detecting sensor;
calculating a position and orientation of the treatment portion based on a length of the surgical instrument in a longitudinal direction of the surgical instrument and the amount of change calculated by the removable position detecting sensor; and
controlling a drive section actuating the removable portion and the treatment portion based on results of the calculated amount of change in position and orientation per unit time of the removable portion and position and orientation of the treatment portion.