Surgical manipulator system

Claim 2

A surgical manipulator system comprising: a slave manipulator which is movable to be positioned in a surgery region; a medical device having a distal end, said medical device being held by the slave manipulator and being movable into a body cavity; operation means for operating the slave manipulator and the medical device, said operation means being positioned within a movement region in which a surgeon can freely operate; and control means for calculating conditions in which said slave manipulator needs to be moved in response to a movement of said operation means, said control means being operable in at least a first control mode in which at least one of said slave manipulator and said medical device is moved in the conditions calculated and in association with the movement of the operation means such that a longitudinal axis of said medical device always passes one fixed point in space even before the medical device is inserted into a body cavity, said fixed point being set before a surgical operation by reading coordinates of the fixed point in space.

Claim 3

The system according to claim 1, wherein said control means determines a position of the distal end of said medical device.

Claim 4

The system according to claim 2, wherein said fixed point in space is located at a hole cut in a body wall through which said medical device is to be inserted into the body cavity.

Claim 5

The system according to claim 3, wherein said control means operates said slave manipulator in the first control mode after a distal portion of said medical device has been inserted through the hole into the body cavity.

Claim 6

The system according to claim 3, wherein said control means continuously operates said slave manipulator in the first control mode throughout the use of the system.

Claim 7

The system according to claim 3, wherein said control means is operable in a second control mode in which at least one of said slave manipulator and said medical device is moved in the conditions calculated, such that the longitudinal axis of said medical device is kept inclined at a same angle as immediately before a distal portion of said medical device is inserted into the body cavity.

Claim 8

The system according to claim 6, wherein said control means operates said slave manipulator in said second control mode from a time the distal portion of said medical device is located near the hole to a time the distal portion of said medical device reaches a given position in the body cavity.

Claim 9

The system according to claim 2, wherein said control means is operable in a third control mode in which at least one of said slave manipulator and said medical device is moved in the conditions calculated, such that the longitudinal axis of the medical device passes through said fixed point in space while enabling the distal end of said medical device to move in a straight line.

Claim 10

The system according to claim 1, wherein said fixed point in space is located in the body cavity.

Claim 11

The system according to claim 9, wherein said control means operates in said first mode throughout the use of the system.

Claim 12

The system according to claim 1, wherein said medical device comprises an endoscope.

Claim 13

The system according to claim 1, wherein said medical device comprises a medical instrument.

Claim 14

The system according to claim 12, wherein said medical instrument includes an observation unit.

Claim 15

The system according to claim 1, wherein said operation means comprises a master manipulator.

Claim 16

The system according to claim 1, wherein said operation means comprises a force sensor mounted on said slave manipulator.

Claim 17

The system according to claim 1, further comprising a sensor which detects at least one of a position and an orientation of said slave manipulator to be used for calculation by said control means.

Claim 18

The system according to claim 1, further comprising: a scope insertable into the body cavity for enabling observation inside the body cavity; a scope slave manipulator coupled to said scope for controlling movement of said scope; and a master scope manipulator for controlling said scope slave manipulator to move said scope independently of the movement of said medical device.

Claim 19

The system according to claim 17, wherein said master scope manipulator comprises a head mount display for enabling observation inside the body cavity.

Claim 20

The system according to claim 18, wherein said master scope manipulator includes means for controlling said scope slave manipulator to move said scope responsive to a movement of a head of the surgeon.

Claim 21

A surgical manipulator system comprising: a slave manipulator movable to be positioned in a surgery region; a medical device having a distal end, said medical device being held by the slave manipulator and being movable into a body cavity; operation means for operating the slave manipulator and the medical device, said operation means being positioned within a movement region in which a surgeon can freely operate; control means for reading coordinates of a fixed point in space, and setting the fixed point by calculation before a surgical operation, and for calculating conditions in which said slave manipulator needs to be moved in response to a movement of said operation means; and mode-switching means for switching an operating mode of said control means; wherein said control means is operable in: (i) a first control mode in which at least one of said slave manipulator and said medical device is moved in the conditions calculated and in association with the movement of the operation means such that a longitudinal axis of said medical device always passes one fixed point in space even before the medical device is inserted into a body cavity, said fixed point being set before a surgical operation by reading coordinates of the fixed point in space, (ii) a second control mode in which at least one of said slave manipulator and said medical device is moved in the conditions calculated, such that the longitudinal axis of said medical device is kept inclined at a same angle as immediately before said distal end of said medical device is inserted into the body cavity, when said fixed point in space is located at a hole cut in a body wall through which said medical device is to be inserted into the body cavity, and (iii) a third control mode in which at least one of said slave manipulator and said medical device is moved in the conditions calculated, such that the longitudinal axis of said medical device passes through said fixed point in space while enabling the distal end of said medical device to move in a straight line.

Claim 22

A surgical manipulator system comprising: a slave manipulator movable to be positioned in a surgery region; a medical device having a distal end, said medical device being held by the slave manipulator and being movable into a body cavity; operation means for operating the slave manipulator and the medical device, said operation means being positioned within a movement region in which a surgeon can freely operate; control means for reading coordinates of a fixed point in space, and setting the fixed point by calculation before a surgical operation, and for calculating conditions in which said slave manipulator needs to be moved in response to a movement of said operation means; and mode-switching means for switching an operating mode of said control means; wherein said control means is operable in: (i) a first control mode in which at least one of said slave manipulator and said medical device is moved in the conditions calculated and in association with the movement of the operation means such that a longitudinal axis of said medical device always passes one fixed point in space even before the medical device is inserted into a body cavity, said fixed point being set before a surgical operation by reading coordinates of the fixed point in space, (ii) a second control mode in which at least one of said slave manipulator and said medical device is moved in the conditions calculated, such that the longitudinal axis of said medical device is kept inclined at a same angle as immediately before said distal end of said medical device is inserted into the body cavity, when said fixed point in space is located at a hole cut in a body wall through which said medical device is to be inserted into the body cavity, and (iii) a third control mode in which at least one of said slave manipulator and said medical device is moved in the conditions calculated, such that the longitudinal axis of said medical device passes through said fixed point in space while enabling the distal end of said medical device to move in a straight line.

Claim 23

A surgical manipulator system comprising: a slave manipulator which is movable to be positioned in a surgery region; a medical device which is held by the slave manipulator and which is movable into a body cavity; operation means for operating the slave manipulator and the medical device, said operation means being positioned within a movement region in which a surgeon can freely operate; control means for calculating conditions in which said slave manipulator needs to be moved in response to a movement of said operation means, said control means being operable in at least a first control mode in which at least one of said slave manipulator and said medical device is moved in the conditions calculated and in association with the movement of the operation means such that a longitudinal axis of said medical device always passes one fixed point in space even before the medical device is inserted into a body cavity, said fixed point being set before a surgical operation by reading coordinates of the fixed point in space; and parameter changing means for changing a control parameter required for controlling at least one of said slave manipulator and said medical device.

Claim 24

A surgical manipulator system comprising: a slave manipulator which is movable to be positioned in a surgery region; a medical device which is held by the slave manipulator and which is movable into a body cavity; operation means for operating the slave manipulator and the medical device, said operation means being positioned within a movement region in which a surgeon can freely operate; control means for calculating conditions in which said slave manipulator needs to be moved in response to a movement of said operation means, said control means being operable in at least a first control mode in which at least one of said slave manipulator and said medical device is moved in the conditions calculated and in association with the movement of the operation means such that a longitudinal axis of said medical device always passes one fixed point in space even before the medical device is inserted into a body cavity, said fixed point being set before a surgical operation by reading coordinates of the fixed point in space; and parameter changing means for changing a control parameter required for controlling at least one of said slave manipulator and said medical device.

Claim 25

The system according to claim 21, wherein said control parameter is a ratio of a distance said slave manipulator is moved to a distance said operation means is moved.

Claim 26

The system according to claim 21, wherein said control parameter is a distance less than a shortest distance by which said slave manipulator is moved when said operation means is operated.

Claim 27

The system according to claim 21, wherein said control means restricts motion of said slave manipulator when said operation means is moved for a distance longer than a predetermined value.

Claim 28

The system according to claim 24, further comprising an alarm unit which generates an alarm when said operation means is moved a distance longer than a predetermined value.

Claim 29

The system according to claim 21, wherein said control means is operable in a second control mode in which at least one of said slave manipulator and said medical device is moved in the conditions calculated, such that the longitudinal axis of said medical device is kept inclined at a same angle as immediately before a distal portion of said medical device is inserted into the body cavity, when said fixed point in space is located at a hole cut in a body wall through which said medical device is to be inserted into the body cavity.

Claim 30

The system according to claim 26, wherein said parameter changing means comprises mode switching means for switching the operation mode of said control means.

Claim 31

The system according to claim 21, wherein said parameter changing means comprises switching means for changing the control parameter.

Claim 32

The system according to claim 28, wherein said switching means comprises a foot switch.

Claim 33

The system according to claim 28, wherein said switching means comprises a switch located near said operation means.

Claim 34

The system according to claim 21, wherein said medical device comprises an endoscope.

Claim 35

The system according to claim 21, wherein said medical device comprises a medical instrument.

Claim 36

The system according to claim 32, wherein said medical instrument includes an observation unit.

Claim 37

The system according to claim 21, wherein said operation means comprises a master manipulator.

Claim 38

The system according to claim 21, wherein said operation means comprises a force sensor mounted on said slave manipulator.

Claim 39

The system according to claim 21, further comprising a sensor which detects at least one of a position and an orientation of said slave manipulator to be used for calculation by said control means.