JP6951811B1 - Puncture robot system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a puncture robot which reduces the frequency of confirming the puncture depth from a CT fluoroscopic image and reduces the exposure dose of a patient to be punctured.
SOLUTION: A puncture robot 100 has a puncture start position setting unit 1010 for setting a position of a linear movement portion when a puncture needle is positioned at a puncture start position as a puncture start position of the puncture needle, and a linear movement portion for linear movement. By doing so, the position of the linear motion portion when the puncture needle advances from the puncture start position to the set puncture depth is set as the puncture depth target position of the puncture needle. It is provided with a display unit 1040 that acquires position information, displays the puncture depth target position of the puncture needle, and identifies and displays the current position of the puncture needle from the current position information of the linear motion unit.
[Selection diagram] FIG. 7A

Description

The present invention relates to a puncture robot system.

To perform puncture using a puncture robot, while checking the puncture depth with a CT fluoroscopic image, from the puncture start position to the puncture depth target position, the puncture depth direction linear motion axis (drive shaft for puncturing / removing the needle). It is necessary to perform a puncture operation that directly moves), that is, an operation by an operation controller.

Patent Document 1 (Japanese Unexamined Patent Publication No. 2009-45081) includes a puncture length detecting means for detecting the puncture length of a puncture needle to be punctured in a living body and a setting means for setting a puncture limit length of the puncture needle. Describes an ultrasonic diagnostic apparatus capable of displaying the relative positional relationship between the position of the puncture needle and the puncture limit length.

In Patent Document 2 (Japanese Unexamined Patent Publication No. 2006-149560), a puncture start point and a puncture target point are set on the displayed slice image, and the puncture start point and the puncture target point are set as relative position information between the surgical tool and the registered site, from the tip of the surgical tool to the registered site. A mode for calculating and displaying the distance to (puncture target point) is described.

In Patent Document 3 (Japanese Unexamined Patent Publication No. 2020-39406), regarding the puncture robot, the puncture position on the body surface of the puncture needle and the puncture target position are set, and the linear region connecting these is set as the puncture route. , A mode for displaying a CT image or a puncture route is described on the display.

JP-A-2009-45081 Japanese Unexamined Patent Publication No. 2006-149560 Japanese Unexamined Patent Publication No. 2020-39406

In order to reduce the exposure of patients who are punctured using a puncture robot, it is necessary to shorten the CT fluoroscopy time as much as possible.

If the puncture operation is performed by relying only on the CT fluoroscopy image, the exposure dose of the patient according to the CT fluoroscopy time becomes a problem.

The invention described in Patent Document 1 (Japanese Unexamined Patent Publication No. 2009-45081) only detects the puncture length with a detector provided on the ultrasonic probe, and the target position of the puncture needle is based on the position of the drive shaft of the robot. Is not set.

The invention described in Patent Document 2 (Japanese Unexamined Patent Publication No. 2006-149560) merely sets the position on the preoperative cross-sectional image as the target point, and sets the target position of the puncture needle based on the position of the drive shaft of the robot. It's not something to do.

The invention described in Patent Document 3 (Japanese Unexamined Patent Publication No. 2020-39406) indicates a puncture path, and is a relative position between the current position of the linear motion axis in the puncture depth direction of the puncture needle and the puncture depth target point. It does not display the relationship.

Setting a soft limit value is a well-known and common practice. However, in the field of puncture robots, a technique of setting a soft limit value as the maximum value of the allowable puncture depth has not been known in the past.

An object of the present invention is to reduce the frequency of confirming the puncture depth from a CT fluoroscopic image, and as a result, reduce the CT fluoroscopic time and reduce the exposure amount of a patient who is punctured by using a puncture robot.

In the first aspect, the puncture needle determines the position of the linear motion portion that linearly moves the puncture needle in the puncture depth direction from the puncture start position and the position of the linear motion portion when the puncture needle is positioned at the puncture start position. When the puncture start position setting unit set as the puncture start position and the puncture needle advances from the puncture start position set by the puncture start position setting unit to the set puncture depth due to the linear movement of the linear movement unit. The puncture depth target position setting unit that sets the position of the linear motion portion as the puncture depth target position of the puncture needle, the acquisition unit that acquires the current position information of the linear motion portion, and the puncture depth target position. A display unit that displays the puncture depth target position of the puncture needle set by the setting unit and identifies and displays the current position of the puncture needle from the current position information of the linear motion unit acquired by the acquisition unit. It is a puncture robot system equipped with.

A second aspect is a puncture robot system in which, in the first aspect, the display unit displays the relative positional relationship between the current position of the puncture needle and the puncture depth target position of the puncture needle. ..

In the third aspect, in the first or second aspect, the display unit displays the current position of the puncture needle and the puncture depth target position of the puncture needle in association with the movable range of the linear motion unit. It is a puncture robot system.

In the fourth aspect, in the first aspect, the display unit displays the relative positional relationship between the current position of the puncture needle, the puncture start position of the puncture needle, and the puncture depth target position of the puncture needle. It is a puncture robot system.

In the fifth aspect, in the first or fourth aspect, the display unit corresponds to the movable range of the puncture depth direction linear motion axis, and is the current position of the puncture needle and the puncture start position of the puncture needle. And a puncture robot system that displays the puncture depth target position of the puncture needle.

In the sixth aspect, in any one of the first to fifth aspects, the position where the linear motion portion advances from the puncture start position to the maximum value of the puncture depth allowed by the puncture needle is set as a soft limit. This is a puncture robot system that includes a soft limit setting value setting unit that is set as a set value, and displays a position corresponding to the soft limit setting value set by the soft limit setting value setting unit on the display unit.

In the seventh aspect, in the sixth aspect, the display unit has a relative positional relationship between the current position of the puncture needle, the puncture depth target position of the puncture needle, and the position corresponding to the soft limit set value. It is a puncture robot system that displays.

In the eighth aspect, in the sixth or seventh aspect, the display unit corresponds to the movable range of the linear motion unit, the current position of the puncture needle, the puncture depth target position of the puncture needle, and the puncture depth target position. It is a puncture robot system that displays the position corresponding to the soft limit set value.

In the ninth aspect, in the sixth aspect, the display unit has the current position of the puncture needle, the puncture start position of the puncture needle, the puncture depth target position of the puncture needle, and the soft limit set value. It is a puncture robot system that displays the relative positional relationship of the positions corresponding to.

In the tenth aspect, in the sixth or ninth aspect, the display unit corresponds to the movable range of the linear motion unit, and is the current position of the puncture needle, the puncture start position of the puncture needle, and the puncture needle. This is a puncture robot system that displays the target position of the puncture depth and the position corresponding to the soft limit set value.

In the eleventh aspect, in any one of the first to fifth aspects, the puncture start position is set by the puncture start position setting unit and the puncture depth target position is set by the puncture depth target position setting unit. It is a puncture robot system performed on the display screen of the operation interface.

A twelfth aspect is the setting of the puncture start position by the puncture start position setting unit, the setting of the puncture depth target position by the puncture depth target position setting unit, and the setting of the puncture depth target position by the puncture start position setting unit in any of the sixth to tenth aspects. The soft limit setting value setting by the soft limit setting value setting unit is a puncture robot system performed on the display screen of the operation interface.

In the thirteenth aspect, in the eleventh aspect, a navigation display unit for instructing an operation of setting the puncture start position and an operation of setting the puncture depth target position is provided on the display screen of the operation interface. It is a puncture robot system.

In the twelfth aspect, in the twelfth aspect, the operation of setting the puncture start position, the operation of setting the puncture depth target position, and the soft limit setting value are set on the display screen of the operation interface. It is a puncture robot system provided with a navigation display unit for instructing an operation to be performed.

In the fifteenth aspect, the puncture needle is a linear motion portion that linearly moves the puncture needle from the puncture start position in the puncture depth direction, and the position of the linear motion portion when the puncture needle is positioned at the puncture start position. The soft limit setting value is the puncture start position setting unit set as the puncture start position and the position where the linear motion unit moves linearly from the puncture start position to the maximum value of the puncture depth allowed by the puncture needle. The soft limit setting value setting unit to be set, the acquisition unit for acquiring the current position information of the linear motion unit, and the position corresponding to the soft limit setting value set by the soft limit setting value setting unit are displayed, and the above A display unit that identifies and displays the current position of the puncture needle from the current position information of the linear motion unit acquired by the acquisition unit.
It is a puncture robot system equipped with.

A sixteenth aspect is a puncture robot system in which the display unit displays the relative positional relationship between the current position of the puncture needle and the position corresponding to the soft limit set value in the fifteenth aspect. ..

In the fifteenth or sixteenth aspect, the display unit displays the current position of the puncture needle and the position corresponding to the soft limit set value in association with the movable range of the linear motion unit. It is a puncture robot system.

In the eighteenth aspect, in any of the fifteenth to seventeenth aspects, the setting of the puncture start position by the puncture start position setting unit and the setting of the soft limit setting value by the soft limit setting value setting unit are performed by the operation interface. It is a puncture robot system performed on the display screen of.

In the nineteenth aspect, in the eighteenth aspect, a navigation display unit for instructing an operation of setting the puncture start position and an operation of setting the soft limit set value is provided on the display screen of the operation interface. It is a puncture robot system.

According to the first to fourteenth aspects, the current position of the puncture needle and the puncture depth target position of the puncture needle are displayed on the display unit. Therefore, the surgeon performs a puncture operation in which the puncture depth direction linear motion axis is linearly moved by using the puncture depth information displayed on the display unit in addition to the puncture depth information obtained from the CT fluoroscopic image. It can be performed. Since the puncture operation is performed while confirming the puncture depth information displayed on the display unit, the frequency of confirming the CT fluoroscopic image is relatively reduced. As a result, the CT fluoroscopy time can be reduced and the exposure amount of the patient to be punctured by using the puncture robot can be reduced as compared with the case where the puncture operation is performed without carrying out the present invention.

According to the fifteenth to nineteenth aspects, a soft limit set value is displayed on the display unit instead of the puncture depth target position of the puncture needle, and similarly, the puncture operation is performed without carrying out the present invention. In comparison, the CT fluoroscopy time can be reduced, and the exposure amount of the patient to be punctured by using the puncture robot can be reduced.

FIG. 1 is a diagram showing the overall configuration of the puncture robot system. FIG. 2A is a perspective view showing the appearance of the puncture robot. FIG. 2B is a table showing the operating directions and movable ranges of the first to eighth drive shafts of the puncture robot. FIG. 3 is a block diagram of the drive control unit of the puncture robot. FIG. 4 is a diagram showing the appearance of the operation interface. FIG. 5 is a diagram showing the appearance of an operation controller constituting the operation interface. FIG. 6 is a block diagram illustrating a hardware configuration of an operation PC. FIG. 7A is a block diagram showing a functional configuration of the puncture robot system of the embodiment. FIG. 7B is a block diagram showing a functional configuration of the puncture robot system of the embodiment. FIG. 8 is a diagram showing a display screen of a display. FIG. 9 is a diagram showing a display screen of a display. FIG. 10A is a diagram showing a display screen of a display. FIG. 10B is a diagram showing a display screen of a display. FIG. 11A is a diagram showing a display screen of a display. FIG. 11B is a diagram showing a display screen of the display. FIG. 12 is a diagram showing a display screen of a display. FIG. 13 is a diagram showing a display screen of the display. FIG. 14A is a diagram showing a display screen of a display. FIG. 14B is a diagram showing a display screen of the display. FIG. 15 is a diagram showing a display screen of a display. FIG. 16 is a diagram showing a display screen of a display. FIG. 17 is a diagram showing a display screen of a display. FIG. 18 is a diagram showing a display screen of a display. FIG. 19A is a diagram showing a display screen of a display. FIG. 19B is a diagram showing a display screen of a display. FIG. 20A is a diagram showing a display screen of a display. FIG. 20B is a diagram showing a display screen of a display. FIG. 21A is a diagram showing a display screen of a display. FIG. 21B is a diagram showing a display screen of a display. FIG. 22A is a diagram showing a display screen of the display. FIG. 22B is a diagram showing a display screen of the display.

Hereinafter, embodiments of the puncture robot system will be described.

FIG. 1 shows the overall configuration of the puncture robot system.

The puncture robot system is broadly composed of a puncture robot 100 having drive shafts 1 to 8 including a puncture depth direction linear motion shaft 6 for linearly moving the puncture needle 110 in the puncture depth direction, and a sleeper 210. With a CT device 200 that irradiates the above patient with X-rays and performs CT imaging (Computed Tomography) to acquire CT fluoroscopic images (tomographic images of body axis cross section, sagittal cross section, and coronary cross section). , An operation for operating the drive of the external monitor 300 that displays the CT fluoroscopic image acquired by the CT device 200 and the surgical field image showing the surgical field of the patient taken by the surgical field monitor camera 310 on the display screen 320, and the puncture robot 100. It is configured to include the interface 1000.

The operation interface 1000 includes a display 1100 having a display screen 1110 composed of a touch panel, an operation controller 1200, and an operation PC (personal computer) 1300.

Hereinafter, the puncture robot 100 and the operation interface 1000 will be described with reference to FIGS. 2 to 7.

(Puncture robot)

FIG. 2A is a perspective view showing the appearance of the puncture robot 100. In FIG. 2A, the front side in the figure is the direction of the patient's head, and the back side in the figure is the direction of the patient's foot (tail).

FIG. 2B is a table showing the operating directions and movable ranges of the first to eighth drive shafts 1 to 8 of the puncture robot 100.

The puncture robot 100 includes a first drive shaft 1, a second drive shaft 2, a third drive shaft 3, a fourth drive shaft 4, a fifth drive shaft 5, and a sixth drive shaft (puncture depth direction linear motion shaft) 6. It is an 8-axis manipulator having a 7th drive shaft (instantaneous puncture shaft) 7 and an 8th drive shaft 8. The eighth drive shaft 8 is a manual control shaft.

The base 109 is movable on the floor surface by three casters 109A provided at the bottom. Therefore, the base 109 can be arranged on either the left or right side of the sleeper 210 shown in FIG.

The first and second drive shafts 101 are attached to the upper ends of the base 109 and move linearly in the direction in which the puncture needle 110 moves from the floor surface in the height direction and in the direction in which the patient's head and tail move.

The third drive shaft portion 103 is attached to the upper ends of the first and second drive shaft portions 101, and moves linearly in the direction in which the puncture needle 110 moves in the left-right direction of the patient.

The fourth drive shaft portion 104 is attached to the tip of the third drive shaft portion 103, and the puncture needle 110 rotates in a direction in which the puncture needle 110 is inclined in the left-right direction of the patient.

The fifth drive shaft portion 105 is attached to the tip of the fourth drive shaft portion 104, and the puncture shaft 110 rotates in a direction in which the puncture shaft 110 is inclined in the cranio-caudal direction of the patient.

The sixth drive shaft portion (linear motion shaft in the puncture depth direction) 106 is attached to the tip of the fifth drive shaft portion 105, and the puncture needle 110 punctures in the puncture depth direction / in the direction opposite to the puncture depth direction. It moves straight in the direction of removal.

The seventh drive shaft portion (instantaneous puncture shaft) 107 is attached to the tip of the sixth drive shaft portion 106, and the puncture needle 110 moves linearly so as to move at high speed in the puncture depth direction. The seventh drive shaft portion (instantaneous puncture shaft) 107 is a shaft for moving the puncture needle 110 in a short movable range at ultra-high speed. The sixth drive shaft portion (linear movement shaft in the puncture depth direction) 106 and the seventh drive shaft portion (instantaneous puncture shaft) 107 constitute a linear movement portion that linearly moves the puncture needle 110 in the puncture depth direction from the puncture start position. do.

A puncture needle 110 is provided at the tip of the seventh drive shaft portion (instantaneous puncture shaft) 107. The puncture needle 110 is detachably gripped by the tip of the seventh drive shaft portion (instantaneous puncture shaft) 107.
The puncture start position, the current position, the puncture depth target position, and the position corresponding to the soft limit set value of the puncture needle 110 displayed on the display screen 1110 of the display 1100 are the sixth drive shaft portion 106 constituting the linear motion portion and the position corresponding to the soft limit set value. It can be expressed using the position of the seventh drive shaft portion 107. Therefore, the puncture start position, the current position, the puncture depth target position, and the position corresponding to the soft limit set value of the puncture needle 110 displayed on the display screen 1110 of the display 1100 are the puncture depth direction linear motion axis 6 and the seventh drive. It can be expressed using the position of the shaft (instantaneous puncture shaft) 7.
As described above, the puncture needle 110 can be linearly moved in the puncturing direction by the sixth drive shaft portion 106 and the seventh drive shaft portion 107, but can be linearly moved in the puncturing direction by the puncture needle 110. Therefore, the configuration is not limited to the sixth drive shaft portion 106 and the seventh drive shaft portion 107.
The puncture needle 110 may be directly moved by a mechanism other than the sixth drive shaft portion 106 and the seventh drive shaft portion 107. For example, by appropriately using a so-called serial link type robot arm, a parallel link type robot arm, or the like, it may be possible to move linearly in the direction in which the puncture needle 110 is punctured.

The eighth drive shaft portion 108 manually rotates the puncture needle 110 in a direction in which the puncture needle 110 is tilted in the left-right direction of the patient.

FIG. 3 shows a block diagram of the drive control unit 120 of the puncture robot 100.

The puncture robot 100 is provided with a drive control unit 120 for driving and controlling each of the first to seventh drive shafts 1 to 7.

Each of the first to sixth drive shafts 1 to 6 uses a power supply 131 as a drive source and is driven by, for example, electric motors 11 to 16 as actuators. The seventh shaft 7 is driven by a pneumatic source 132 as a drive source and is driven by, for example, an air cylinder 17 as an actuator. The types of drive sources and actuators for the first to seventh drive shafts 1 to 7 are arbitrary. Further, it is not limited to electric and pneumatic pressure, and it is also possible to carry out using hydraulic pressure.

Sensors composed of encoders and the like that detect and acquire the current linear motion position or rotation position of the first to seventh drive shafts 1 to 7 (hereinafter, appropriately referred to as "drive shaft position") are acquired units 121 to 121, respectively. It constitutes 127.

The drive control unit 120 is electrically connected to the operation controller 1200 via the controller connection cable 191. The operation signal corresponding to the operation performed by the operation controller 1200 is input to the drive control unit 120 via the controller connection cable 191. The drive control unit 120 drives and controls the first to seventh drive shafts 1 to 7 according to the input operation signal.

For example, the control device 129 feeds back the positions of the drive shafts 1 to 7 acquired by the acquisition units 121 to 127 so as to be in the desired positions corresponding to the input operation signals (operation amount and operation direction). The positions of the first to seventh drive shafts 1 to 7 are adjusted.

The drive control unit 120 is connected to the operation PC 1300 via the LAN cable 190 so that data can be transmitted and received.

The data indicating the current positions of the first to seventh drive shafts 1 to 7 acquired by the acquisition units 121 to 127 is transmitted to the operation PC 1300 via the LAN cable 190. Further, from the operation PC 1300, a soft limit command signal, which will be described later, is transmitted to the drive control unit 120 via the LAN cable 190.

(Operation interface)

FIG. 4 shows the appearance of the operation interface 1000. FIG. 5 shows the appearance of the operation controller 1200 constituting the operation interface 1000.

The operation controller 1200 is configured as an operation unit that operates the drive of the first to seventh drive shafts 1 to 7 of the puncture robot 100. The eighth drive shaft 8 is manually controlled.

The operation controller 1200 sets the drive speeds of the drive operating tools 1201 to 1207 for operating the drives of the first to seventh drive shafts 1 to 7 of the puncture robot 100 and the drive speeds 1 to 7 of the puncture robot 100 to a low speed. It is provided with a speed setting operation tool 1210 for setting a speed setting, and a speed setting operation tool 1211 for setting the drive speed of the drive shafts 1 to 7 of the puncture robot 100 at a high speed.

The operation PC 1300 is composed of a personal computer.

FIG. 6 is a block diagram illustrating a hardware configuration of the operating PC 1300.
As shown in FIG. 6, in the operation PC 1300, the CPU (Central Processing Unit) 1311, the ROM (Read Only Memory) 1312, the RAM (Random Access Memory) 1313, the storage 1314, the input device 1316, and the display via the system bus 1315. (Display device) 1100 and communication I / F 1318 are connected to each other so as to be able to communicate with each other.
The CPU 1311 is a central arithmetic processing unit that executes various programs and controls each device connected to the system bus 1315. That is, the CPU 1311 reads the program from the ROM 1312 or the storage 1314, and executes the program using the RAM 1313 as a work area. The CPU 1311 controls each device connected to the system bus 1315 and performs various arithmetic processes according to the program recorded in the ROM 1312 or the storage 1314. The ROM 1312 or the storage 1314 is a control program executed by the CPU 1311 such as a BIOS (Basic Input / Output System), an OS (Operating System), or a computer-readable and executable "piercing robot" for realizing the embodiment. It holds the "system" program and various necessary data.

The ROM 1312 stores various control programs and various data. The RAM 1313 functions as a main memory, a work area, or the like of the CPU 11, and temporarily stores a program or data as a work area. The storage 1314 is composed of an HDD (Hard Disk Drive) or an SSD (Solid State Drive), and stores various programs including a BIOS and an OS and various data.

The input device 1316 includes a pointing device such as a mouse and a keyboard, and is used to perform various inputs.

The display 1100 is, for example, a liquid crystal display, and various information is displayed on the display screen 1110. The display 1100 adopts a touch panel system in the embodiment, and functions as an input device 1316.

The display contents of the display screen 1110 of the display 1100 will be described later.

The communication interface 1318 is an interface for communicating with other devices including the drive control unit 120 of the puncture robot 100 and the operation controller 1200. For example, Ethernet (registered trademark), FDDI, Wi-Fi (registered trademark), etc. Standard is used. The communication interface 1318 connects to a network such as a LAN to control data transmission / reception.

The communication interface 1318 is connected to the drive control unit 120 of the puncture robot 100 via the LAN cable 190, and transmits / receives data between the puncture robot 100 and the operation interface 1000.

(Functional configuration of puncture robot system)

7A and 7B are block diagrams showing the functional configuration of the puncture robot system of the embodiment.

The functional configuration shown in FIGS. 7A and 7B is a program of the "puncture robot system" stored in the operation interface 1000 as hardware including the hardware configuration of the operation PC 1300 shown in FIG. 6, the puncture robot 100 and the ROM 1312 or the storage 1314. Realized by software including.

As shown in FIG. 7A, the operation interface 1000 and the puncture robot 100 include a puncture start position setting unit 1010, a puncture depth target position setting unit 1020, a soft limit setting value setting unit 1030, a display unit 1040, and an acquisition unit. It includes 121 to 127.

The puncture start position, puncture depth target position, and position corresponding to the soft limit set value of the puncture needle 110 displayed on the display screen 1110 of the display 1100 shall be set using the position of the puncture depth direction linear motion axis 6. Can be done. Further, the current position of the puncture needle 110 can be specified by using the information of the current position of the linear motion shaft 6 in the puncture depth direction and displayed on the display screen 1110 of the display 1100.
The puncture start position setting unit 1010 sets the position of the puncture depth direction linear motion axis 6 when the puncture needle 110 is positioned at the puncture start position as the puncture start position of the puncture needle 110.

The puncture depth target position setting unit 1020 sets the puncture depth target of the puncture needle 110 at a position where the puncture depth direction linear motion axis 6 advances from the puncture start position set by the puncture start position setting unit 1010 to the set puncture depth. Set as position.

The soft limit setting value setting unit 1030 sets a position where the puncture depth direction linear motion shaft 6 advances from the puncture start position to the maximum value of the puncture depth allowed by the puncture needle 110 as a soft limit setting value.

The display unit 1040 displays the current position of the puncture depth direction linear motion shaft 6 acquired by the acquisition unit 126 as the current position of the puncture needle 110, and the puncture start position of the puncture needle 110 set by the puncture start position setting unit 1010. Is displayed, the puncture depth target position of the puncture needle 110 set by the set puncture depth target position setting unit 1020 is displayed, and the soft limit setting value set by the soft limit setting value setting unit 1030 is displayed.

The display unit 1040 displays the relative positional relationship between the current position of the puncture needle 110, the puncture start position of the puncture needle 110, the puncture depth target position of the puncture needle 110, and the soft limit set value. Further, the display unit 1040 corresponds to the movable range of the puncture depth direction linear motion shaft 6, the current position of the puncture needle 110, the puncture start position of the puncture needle 110, the puncture depth target position of the puncture needle, and the soft limit set value. Display the position corresponding to.

The puncture start position setting unit 1010 sets the puncture start position, the puncture depth target position setting unit 1020 sets the puncture depth target position, and the soft limit setting value setting unit 1030 sets the soft limit setting value. It is performed on the display screen 1110 of.

Further, as shown in FIG. 7B, the operation interface 1000 and the puncture robot 100 include an operation unit 1200 configured as an operation controller, a selection unit 1060, and a control unit 1070.

The operation unit 1200 operates the driving of the first to seventh drive shafts 1 to 7.

The selection unit 1060 selects the puncture needle positioning mode or the puncture mode.

The control unit 1070 allows the drive shafts 1 to 5 excluding the puncture drive shafts 6 and 7 to be driven by the operation of the operation unit 1200, provided that the puncture needle positioning mode is selected by the selection unit 1060. do. The control unit 1070 allows the puncture drive shafts 6 and 7 to be driven by the operation of the operation unit 1200, provided that the puncture mode is selected by the selection unit 1060.

The control unit 1070 allows the corresponding drive shafts 1 to 7 of the puncture robot 100 to be driven on condition that the drive operating tools 1201 to 1207 and the speed setting operating tools 1210 and 1211 are operated at the same time. do. However, in the embodiment, when the puncture needle positioning mode is selected, the drive shafts 1 to 5 are allowed to be driven on condition that the low-speed speed setting operation tool 1210 is operated.

The selection of the puncture needle positioning mode or the puncture mode by the selection unit 1060 is performed on the display screen 1110 of the display 1100.

FIG. 8 shows the display contents of the display screen 1110 of the display 1100.

As shown in FIG. 8, the display screen 1110 of the display 1100 displays the current position of the navigation display unit 1120 for instructing the operation to be performed by the operator and the current positions of the first to fifth drive shafts 1 to 5. Part 1130, Servo on / off button 1140A / B for turning on / off selection of puncture needle positioning mode, needle targeting completion button 1145, puncture start position setting button 1150 for setting puncture start position of puncture needle 110, puncture needle 110 Puncture depth setting button 1160 for setting the puncture depth, soft limit setting unit 1170 for setting the soft limit setting value of the puncture needle 110, puncture mode on / off button for turning on / off the selection of the puncture mode. 1180A / B, the current position of the puncture depth direction linear motion shaft 6, the puncture start position, the puncture depth target position, and the soft limit set value, as well as these relative positional relationships, the puncture depth direction linear motion shaft 6 is movable. A puncture depth position display unit 1190 that displays the puncture depth position corresponding to the range is arranged.

In the navigation display unit 1120, each display unit for instructing each operation to be performed by the operator is arranged. The navigation display unit 1120 includes a "robot servo on" display unit 1121, a "needle targeting completed" display unit 1122, a "puncture start position setting" display unit 1123, a "puncture depth setting" display unit 1124, and a "soft limit". It includes an "enable" display unit 1125 and a "puncture mode on" display unit 1126. The display units 1121 to 1126 are sequentially arranged from the top to the bottom of the display screen according to the order of operations. The order of the "puncture start position setting" display unit 1123 and the "puncture depth setting" display unit 1124 may be changed.

Of the display units 1121 to 1126, the display unit corresponding to the executed operation is identified and displayed in a color that can be distinguished from the ground color (for example, white) of the display screen 1110, for example, green (indicated by white in the figure), and is still displayed. The display unit corresponding to the operation that has not been executed is identified and displayed in a color that can be distinguished from the identification color of the display unit corresponding to the operation that has been executed, for example, pink (indicated by hatching in the figure).

Servo on / off button 1140A / B, needle targeting completion button 1145, puncture start position setting button 1150, puncture depth setting button 1160, soft limit setting unit 1170, puncture mode on / off button 1180A / B. / Off display unit 1140D, needle targeting completed / incomplete display unit 1145D, puncture start position setting / unset display unit 1150D, puncture depth setting / unset display unit 1160D, soft limit enabled / disabled display unit 1170D, puncture mode on / Off display unit 1180D is attached.

Servo on / off display unit 1140D, needle targeting completed / incomplete display unit 1145D, puncture start position setting / unset display unit 1150D, puncture depth corresponding to the identification display of each display unit 1121 to 1126 of the navigation display unit 1120. Of the set / unset display unit 1160D, soft limit enabled / disabled display unit 1170D, and puncture mode on / off display unit 1180D, the display unit corresponding to the executed operation is the same green (shown in white in the figure). The display unit that is identified and displayed and corresponds to the operation that has not yet been executed is identified and displayed in the same pink (indicated by the puncture in the figure).

In the current position display unit 1130, the current positions of the first to fifth drive shafts 1 to 5 (indicated by the shafts 1 to 5 in FIG. 8) acquired by the acquisition units 121 to 125 are in their respective movable ranges. It is displayed in association with.

The current position 1131 of the first drive shaft 1 is displayed in association with the movable range 1131A of the first drive shaft 1. A predetermined range (for example, 10 mm) from both positive and negative end positions of the movable range 1131A of the first drive shaft 1 is an alert zone. The alert zones 1131ED1 and 1131ED2 are identified and displayed in a color that can be distinguished from the movable range excluding the alert zones 1131ED1 and 1131ED2, for example, orange (indicated by cross-hatching in the figure).

Similarly, the current position 1132 of the second drive shaft 2 is displayed in association with the movable range 1132A of the second drive shaft 2 including the alert zones 1132ED1 and 1132ED2.

Similarly, the current position 1133 of the third drive shaft 3 is displayed in association with the movable range 1133A of the third drive shaft 3 including the alert zones 1133ED1 and 1133ED2.

Further, the current position 1134 of the fourth drive shaft 4 is displayed in association with the movable range 1134A of the fourth drive shaft 4.

Similarly, the current position 1135 of the fifth drive shaft 5 is displayed in association with the movable range 1135A of the fifth drive shaft 5.

In the puncture depth position display unit 1190, the current positions 1191A and 1191B (+ 0.0 mm) of the puncture depth direction linear motion shaft 6 are movable of the sixth drive shaft (puncture direction linear motion shaft) 6 including the alert zone 1195ED. It is displayed in association with the range 1195A (0 to + 173 mm).

Hereinafter, the operation procedure will be described with reference to FIGS. 8 to 18.

The display screen 1110 of the display 1100 sequentially transitions to each screen in FIGS. 8 to 18 as each operation is executed.

While instructed by the navigation display unit 1120, it is possible to perform an operation of setting the puncture start position, an operation of setting the puncture depth target position, and an operation of setting the soft limit set value. Further, the operation of selecting the puncture needle positioning mode and the operation of selecting the puncture mode can be performed while being instructed by the navigation display unit 1120.

(Selection of puncture needle positioning mode)

When the operation PC 1300 is started and the program of the "puncture robot system" stored in the ROM 1312 or the storage 1314 is executed, the display screen 1110 of the display 1100 transitions to the display shown in FIG.

On the display screen 1110 shown in FIG. 8, the "robot servo-on" display unit 1121 is identified and displayed in an identification color indicating an unexecuted operation, and the servo-on / off display unit 1140D similarly performs an unexecuted operation. It is identified and displayed in the indicated identification color.

According to this identification display, the operator presses the servo-on button 1140A on the display screen 1110 to select the puncture needle positioning mode.

(Positioning of puncture needle)

When the puncture needle positioning mode is selected, the display screen 1110 of the display 1100 transitions to the display shown in FIG. When the operation of pressing the servo on button 1140A is performed, the display of the servo on / off display unit 1140D becomes "servo on; puncture positioning mode selection".

On the display screen 1110 shown in FIG. 9, the "needle targeting completed" display unit 1122 is identified and displayed in an identification color indicating an unexecuted operation, and the needle targeting completed / incomplete display unit 1145D is similarly displayed. It is identified and displayed in an identification color that indicates an unexecuted operation.

The operator performs an operation of positioning the puncture needle 110 at the puncture start position according to the identification display.

Since the puncture needle positioning mode is selected, the operator can operate the drive shafts 1 to 5 other than the puncture drive shafts 6 and 7 at the same time on the condition that the low-speed speed setting operating tool 1210 is operated at the same time. It can be driven by operating the drive operating tools 1201 to 1205 of the operation controller 1200.

The surgeon moves the drive shafts 1 to 5 by simultaneously operating the drive controls 1201 to 1205 while pushing the low-speed speed setting control tool 1210, and moves the puncture needle 110 on the patient's body surface. Position at the puncture start position. If the operation of pressing the low-speed speed setting operation tool 1210 is not performed at the same time, the operation signal is invalidated as if the drive operation tools 1201 to 1205 were operated, and the corresponding first to fifth drive shafts 1 ~ 5 is controlled so as not to be driven. Also, when the drive operating tools 1206 and 1207 corresponding to the puncture drive shafts 6 and 7 are operated, the operation signal is similarly invalidated so that the corresponding 6th and 7th drive shafts 6 and 7 are not driven. Be controlled.

Therefore, at the stage of performing the puncture needle positioning operation for positioning the puncture needle 110 on the patient's body surface, the puncture drive shafts 6 and 7 of the puncture robot 100 may operate due to careless operation of the operation controller 1200. Is prevented.

When the puncture needle 110 is positioned at the puncture start position on the body surface of the patient, the operator presses the needle targeting completion button 1145 on the display screen 1110.

(Setting of puncture start position)

When the operation of pressing the needle targeting completion button 1145 is performed, the display screen 1110 of the display 1100 transitions to the display shown in FIG. 10A.

On the display screen 1110 shown in FIG. 10A, the "puncture start position setting" display unit 1123 is identified and displayed in an identification color indicating an unexecuted operation, and the puncture start position setting / unset display unit 1150D is displayed. Similarly, it is identified and displayed in an identification color indicating an unexecuted operation.

The operator executes an operation of pressing the puncture start position setting button 1150 according to this identification display.

When the operation of pressing the puncture start position setting button 1150 is performed, "the position of the current puncture depth direction linear motion axis 6 is set to the puncture start position of the puncture needle 110" on the display screen 1110 as shown in FIG. 10B. The window screen 1110W1 is displayed with a display prompting the approval of the puncture start position to the effect of "doing". When the operation of pressing the puncture start position approval button 1110AC on the window screen 1110W1 is performed, the current position (for example, +30.0 mm) of the puncture depth direction linear motion shaft 6 acquired by the acquisition unit 126 is punctured by the puncture needle 110. Set as the starting position.

(Puncture depth setting)

When the operation of pressing the puncture start position approval button 1110AC is performed, the display screen 1110 of the display 1100 transitions to the display shown in FIG. 11A.

On the display screen 1110 shown in FIG. 11A, the "puncture depth setting" display unit 1124 is identified and displayed in an identification color indicating an unexecuted operation, and the puncture depth setting / unset display unit 1160D is displayed. Similarly, it is identified and displayed in an identification color indicating an unexecuted operation.

The operator executes an operation of pressing the puncture depth setting button 1160 according to this identification display. When the operation of pressing the puncture depth setting button 1160 is performed, the window screen 1110W2 for "puncture depth setting" is displayed on the display screen 1110 as shown in FIG. 11B. For the window screen 1110W2, select the distances "-10 mm", "-5 mm", "-1 mm", "+ 1 mm", "+ 5 mm", and "+ 10 mm" in the puncture depth direction from the puncture start position on the patient's body surface. A distance selection button 1161 to 1166 in the puncture depth direction and a setting confirmation button 1167 are arranged. When the operation of pressing the puncture depth direction distance selection button 1161 to 1166 is performed and the puncture depth setting confirmation button 1167 is pressed, the puncture depth direction distance corresponding to the pressed puncture depth direction distance selection button and the corresponding puncture The puncture depth according to the number of times the distance selection button in the depth direction is pressed is set as the puncture depth (for example, 60.0 mm) of the puncture needle 110.

(Display of puncture start position and puncture depth target position)

When the operation of pressing the puncture depth setting confirmation button 1167 is performed, the display shown in FIG. 12 is displayed on the puncture depth position display unit 1190 on the display screen 1110 of the display 1100.

As shown in FIG. 12, in the puncture depth position display unit 1190, the current positions 1191A and 1191B (+ 30.0 mm) of the puncture depth direction linear motion shaft 6 are displayed at the puncture start position 1192 (+ 30.0 mm) and the puncture depth. Along with the target position 1193 (+ 90.0 mm), these relative positional relationships are displayed in association with the movable range 1195 A (0 to + 173 mm) of the puncture depth direction linear motion shaft 6.

The value obtained by adding the puncture start position 1192 (+30.0 mm) to the puncture depth (60.0 mm) is the puncture depth target position 1193 (+90 mm).

(Setting the soft limit setting value (enabling the soft limit))

When the operation of pressing the puncture depth setting confirmation button 1167 is performed, the display screen 1110 of the display 1100 transitions to the display shown in FIG.

On the display screen 1110 shown in FIG. 13, the "enabled soft limit" display unit 1125 is identified and displayed in an identification color indicating an unexecuted operation, and the soft limit enabled / disabled display unit 1170D is similarly displayed. It is identified and displayed in an identification color that indicates an unexecuted operation.

According to this identification display, the operator executes an operation of setting the soft limit set value and selecting valid / invalid of the soft limit in the soft limit setting unit 1170.

The soft limit setting unit 1170 has a soft limit enable button 1171, a soft limit invalid button 1172, and distance selection buttons 1173 to 1176 for selecting distances "-5 mm", "-1 mm", "+ 1 mm", and "+ 5 mm". Have been placed. When the operation of pressing the distance selection buttons 1173 to 1176 is performed, the distance corresponding to the pressed distance selection button and the distance corresponding to the number of times the corresponding distance selection button is pressed (for example, -22.0 mm) are driven by the sixth drive. A value added to the end position (+1173 mm) of the shaft (linear motion shaft in the puncture depth direction) 6 is set as a soft limit set value (for example, 151.0 mm).

The soft limit set value is a position where the linear motion axis 6 in the puncture depth direction advances from the puncture start position to the maximum value of the puncture depth allowed by the puncture needle 110, and is measured in advance from a CT fluoroscopic image or the like. You can ask for it.

For example, a CT image of a patient's puncture target area is taken, and a cross-sectional image of the puncture target area including the puncture target area is displayed on the display screen 320 of the external monitor 300. The puncture path of the puncture needle 110 is set on the cross-sectional image of the puncture target area, and the puncture path angle is measured. When the puncture needle 110 moves along the set puncture path at an attitude angle corresponding to the measured puncture path angle, the maximum value of the permissible puncture depth of the puncture needle 110 is measured on the puncture cross-sectional image. To do.

When the soft limit enable button 1171 is pressed, the display of the soft limit enable / disable display unit 1170D becomes "soft limit enable".

When the soft limit enable button 1171 is pressed, if the position of the sixth drive shaft (puncture depth direction linear motion shaft) 6 reaches the soft limit set value (for example, +151.0 mm), the software The movement of the sixth drive shaft (linear motion shaft in the puncture depth direction) 6 is locked. That is, when the soft limit enable button 1171 is pressed, a soft limit command signal for locking the movement of the sixth drive shaft (puncture depth direction linear motion shaft) 6 at the soft limit set value (for example, +151.0 mm) is output. It is transmitted to the drive control unit 120 of the puncture robot 100. When the position of the sixth drive shaft (puncture depth direction linear motion shaft) 6 reaches the soft limit set value (for example, +151.0 mm) in accordance with the soft limit command signal, the drive control unit 120 reaches the sixth drive shaft (puncture depth). The sixth drive shaft (puncture depth direction linear motion shaft) 6 is controlled so that the directional linear motion shaft) 6 does not reach the soft limit set value (for example, +151.0 mm) or more.

When the soft limit invalid button 1172 is pressed, the display of the soft limit valid / invalid display unit 1170D becomes "soft limit invalid". When the soft limit invalid button 1172 is pressed, the transmission of the soft limit command signal is turned off.

(Display of puncture start position, puncture depth target position, and soft limit set value)

When the operation of pressing the soft limit enable button 1171 is performed, the display shown in FIG. 14A is displayed on the puncture depth position display unit 1190 on the display screen 1110 of the display 1100.

As shown in FIG. 14A, the puncture depth position display unit 1190 has the current positions 1191A and 1191B (+ 30.0 mm) of the puncture depth direction linear motion shaft 6 as well as the puncture start position 1192 (+ 30.0 mm) and the puncture depth. Along with the target position 1193 (+90.0 mm) and the soft limit set value 1194 (+151.0 mm), these relative positional relationships correspond to the movable range 1195 A (0 to + 173 mm) of the puncture depth direction linear motion shaft 6. Is displayed. The soft limit effective area 1194A in the range from the soft limit set value 1194 (+151.0 mm) to the end position (+173 mm) in the movable range 1195A of the linear motion shaft 6 in the puncture depth direction is a color that can be distinguished from other movable ranges, for example. It is identified and displayed in dark blue (indicated by cross-hatching in the figure).

When the operation of pressing the invalid button 1172 of the soft limit is performed, the display shown in FIG. 14B is displayed on the puncture depth position display unit 1190 on the display screen 1110 of the display 1100. As shown in FIG. 14B, a display is made in which the soft limit set value 1194 and the soft limit effective area 1194A are removed from the display shown in FIG. 14A.

(Selection of puncture mode)

When the operation of pressing the soft limit enable button 1171 (or the soft limit invalid button 1172) is performed, the display screen 1110 of the display 1100 transitions to the display shown in FIG.

On the display screen 1110 shown in FIG. 15, the "puncture mode on" display unit 1126 is identified and displayed in an identification color indicating an unexecuted operation, and the puncture mode on / off display unit 1180D is similarly unexecuted. It is identified and displayed in the identification color indicating the operation of.

According to this identification display, the operator presses the puncture mode on button 1180A on the display screen 1110 to select the puncture mode.

(puncture)

When the puncture mode is selected, the display screen 1110 of the display 1100 transitions to the display shown in FIG. When the operation of pressing the puncture mode on button 1180A is performed, the display of the puncture mode on / off display unit 1180D becomes "puncture mode on; puncture mode selection".

Since the puncture mode is selected, the operator can operate the puncture drive shafts 6 and 7 with the drive controller 1207 of the operation controller 1200 on condition that the speed setting controller 1210 or 1211 is operated at the same time. It can be driven by the operation of 1208.

The surgeon directly moves the puncture drive shaft 6 and moves the puncture needle 110 to the patient's body by operating the drive operation tool 1206 at the same time as pressing the low-speed or high-speed speed setting operation tools 1210 and 1211. Puncture in the surface. The puncture drive shaft 7 may not be driven and only the puncture drive shaft 6 may be directly moved for puncture, or the puncture drive shafts 6 and 7 may be operated in combination for puncture.

If the speed setting operation tools 1210 and 1211 are not pressed at the same time, the operation signal is invalidated as if the drive operation tools 1206 and 1207 were operated, and the corresponding puncture drive shafts 6 and 7 are driven. It is controlled so that it is not done.

When the puncture mode is selected, the operator operates the operation controller 1200 on the condition that the first to fifth drive shafts 1 to 5 are operated at the same time by the speed setting operation tool 1210. It can be driven by the operation of the driving operation tools 1201 to 1205.

Therefore, when the puncture needle 110 is bent, in order to correct the movement path of the puncture needle 110, the first to fifth drive shafts 1 to 5 are appropriately operated to correct the posture of the puncture needle 110. You may.

Further, the puncture drive shafts 6 and 7 and the first drive shaft 1 may be operated in combination to directly move the puncture needle 110. When the first drive shaft 1 is operated in combination, the displacement of the first drive shaft 1 is added, and the current positions 1191A and 1191B of the puncture drive shaft 6 are displayed.

During puncture, the display shown in FIG. 17 is displayed on the puncture depth position display unit 1190 on the display screen 1110 of the display 1100.

Therefore, the surgeon looks at the puncture depth position display unit 1190 during puncture, and determines which part of the movable range 1195A of the puncture depth direction linear motion shaft 6 is the current position 1191B of the puncture needle 110. It is possible to confirm how much the current position 1191A of the puncture needle 110 has a margin up to the puncture depth target position 1193 and the soft limit set value 1194.

Based on the information obtained from the puncture depth position display unit 1190, the operator operates the puncture depth direction linear motion axis 6 with the operation controller 1200 to accurately reach the puncture depth target position 1193 along the puncture path. Can be moved.

The surgeon can proceed with the puncture operation while checking the puncture depth position display unit 1190 so that the puncture needle 110 does not exceed the maximum allowable puncture depth (soft limit set value) 1194. Even if the current position 1191A of the puncture needle 110 exceeds the puncture depth target position 1193, it is restricted by software so as not to advance beyond the soft limit set value 1194. Therefore, the puncture needle 110 can be safely and reliably moved from outside the patient's body to the puncture target inside the body.

The surgeon can proceed with the puncture work based on the information obtained from the puncture depth position display unit 1190, and relatively confirms the puncture depth on the CT fluoroscopic image on the display screen 320 of the external monitor 300. Time and frequency are reduced. As a result, as compared with the case where the puncture robot system of the embodiment is not used, CT fluoroscopy is performed intermittently, the CT fluoroscopy time is reduced, and the exposure amount of the patient can be reduced.

(End of puncture)

When the puncture is completed, as shown in FIG. 18, the operation of pressing the puncture mode off button 1180B is performed on the display screen 1110 to turn off the selection of the puncture mode. The display of the puncture mode on / off display unit 1180D is "puncture mode off".

The above-described embodiment is an example, and can be modified in various ways.

Hereinafter, other display examples of the puncture depth position display unit 1190 on the display screen 1110 will be described. Display elements can be appropriately omitted from the display shown in FIG. 14A.

(Display example 1)

As shown in FIG. 19A, the display of the puncture start position 1192 and the soft limit set value 1194 (soft limit effective area 1194A) is omitted, and the current position of the puncture depth direction linear motion axis 6 is displayed on the puncture depth position display unit 1190. It is also possible to display only 1191A and 1191B and the puncture depth target position 1193.

(Display example 2)

As shown in FIG. 19B, the display of the soft limit set value 1194 (soft limit effective area 1194A) is omitted, and the current positions 1191A and 1191B of the puncture depth direction linear motion axis 6 are displayed on the puncture depth position display unit 1190. It is also possible to display only the puncture start position 1192 and the puncture depth target position 1193.

(Display example 3)

As shown in FIG. 20A, the display of the puncture start position 1192 is omitted, and the puncture depth position display unit 1190 shows the current positions 1191A and 1191B of the puncture depth direction linear motion axis 6, the puncture depth target position 1193, and the soft. It is also possible to display only the limit set value 1194 (soft limit effective area 1194A).

In the display example of FIG. 14A, the above display example 1, the display example 2, and the display example 3, the display may be performed by removing the movable range 1195A of the linear motion shaft 6 in the puncture depth direction.

(Display example 4)

For example, as shown in FIG. 20B, a display in which the movable range 1195A of the puncture depth direction linear motion shaft 6 is removed from the display example shown in FIG. 14A may be displayed.

Further, the puncture depth target position 1193 may be omitted, and the soft limit set value 1194 may be displayed instead.

(Display example 5)

As shown in FIG. 21A, it is also possible to display the current positions 1191A and 1191B of the puncture depth direction linear motion shaft 6 and the soft limit set value 1194 (soft limit effective area 1194A) on the puncture depth position display unit 1190. Is.

(Display example 6)

As shown in FIG. 21B, the puncture depth position display unit 1190 shows the current positions 1191A and 1191B of the puncture depth direction linear motion shaft 6, the puncture start position 1192, and the soft limit set value 1194 (soft limit effective area 1194A). It is also possible to display.

In the display examples 5 and 6, the display may be performed by removing the movable range 1195A of the linear motion shaft 6 in the puncture depth direction.

(Display examples 7 and 8)

As shown in FIGS. 22A and 22B, the display may be performed by removing the movable range 1195A of the linear motion shaft 6 in the puncture depth direction from the display examples 5 and 6 of FIGS. 21A and 21B.

1-7 Drive shaft 6 Puncture direction linear motion shaft 7 Instantaneous puncture shaft 100 Puncture robot 110 Puncture needle 121-127 Acquisition unit 1000 Operation interface 1010 Puncture start position setting unit 1020 Puncture depth target position setting unit 1030 Soft limit setting value setting unit 1040 Display unit 121-127 Acquisition unit 1100 Display 1110 Display screen 1200 Operation controller 1300 Operation PC

Claims (19)

A linear motion part that moves the puncture needle linearly from the puncture start position in the puncture depth direction,
A puncture start position setting unit that sets the position of the linear motion portion when the puncture needle is positioned at the puncture start position as the puncture start position of the puncture needle, and a puncture start position setting unit.
The puncture depth of the puncture needle is the position of the linear movement portion when the puncture needle advances from the puncture start position set by the puncture start position setting portion to the set puncture depth by the linear movement of the linear movement portion. Puncture depth target position setting unit to be set as the target position
An acquisition unit that acquires the current position information of the linear motion unit, and
The puncture depth target position of the puncture needle set by the puncture depth target position setting unit is displayed, and the current position of the puncture needle is specified from the current position information of the linear motion unit acquired by the acquisition unit. Display section,
Puncture robot system equipped with. The display unit displays the relative positional relationship between the current position of the puncture needle and the puncture depth target position of the puncture needle.
The puncture robot system according to claim 1. The display unit displays the current position of the puncture needle and the puncture depth target position of the puncture needle in correspondence with the movable range of the linear motion unit.
The puncture robot system according to claim 1 or 2. The display unit displays the relative positional relationship between the current position of the puncture needle, the puncture start position of the puncture needle, and the puncture depth target position of the puncture needle.
The puncture robot system according to claim 1. The display unit displays the current position of the puncture needle, the puncture start position of the puncture needle, and the puncture depth target position of the puncture needle in correspondence with the movable range of the linear motion axis in the puncture depth direction.
The puncture robot system according to claim 1 or 4. It is provided with a soft limit setting value setting unit that sets a position where the linear motion unit advances from the puncture start position to the maximum value of the puncture depth allowed by the puncture needle as a soft limit setting value.
The position corresponding to the soft limit set value set by the soft limit set value setting unit is displayed on the display unit.
The puncture robot system according to any one of claims 1 to 5. The display unit displays the relative positional relationship between the current position of the puncture needle, the puncture depth target position of the puncture needle, and the position corresponding to the soft limit set value.
The puncture robot system according to claim 6. The display unit displays the current position of the puncture needle, the puncture depth target position of the puncture needle, and the position corresponding to the soft limit set value in correspondence with the movable range of the linear motion unit.
The puncture robot system according to claim 6 or 7. The display unit displays the relative positional relationship between the current position of the puncture needle, the puncture start position of the puncture needle, the puncture depth target position of the puncture needle, and the position corresponding to the soft limit set value. Is,
The puncture robot system according to claim 6. The display unit corresponds to the movable range of the linear motion unit, and corresponds to the current position of the puncture needle, the puncture start position of the puncture needle, the puncture depth target position of the puncture needle, and the soft limit set value. Show position,
The puncture robot system according to claim 6 or 9. The puncture start position is set by the puncture start position setting unit and the puncture depth target position is set by the puncture depth target position setting unit on the display screen of the operation interface.
The puncture robot system according to any one of claims 1 to 5. The puncture start position setting unit sets the puncture start position, the puncture depth target position setting unit sets the puncture depth target position, and the soft limit setting value setting unit sets the soft limit setting value. Performed on the display screen of
The puncture robot system according to any one of claims 6 to 10. On the display screen of the operation interface, a navigation display unit for instructing an operation of setting the puncture start position and an operation of setting the puncture depth target position is provided.
The puncture robot system according to claim 11. On the display screen of the operation interface, a navigation display unit for instructing an operation of setting the puncture start position, an operation of setting the puncture depth target position, and an operation of setting the soft limit set value is provided. Yes,
The puncture robot system according to claim 12. A linear motion part that moves the puncture needle linearly from the puncture start position in the puncture depth direction,
A puncture start position setting unit that sets the position of the linear motion portion when the puncture needle is positioned at the puncture start position as the puncture start position of the puncture needle, and a puncture start position setting unit.
A soft limit setting value setting unit that sets a position where the linear motion unit linearly moves from the puncture start position to the maximum value of the puncture depth allowed by the puncture needle as a soft limit setting value.
An acquisition unit that acquires the current position information of the linear motion unit, and
The position corresponding to the soft limit set value set by the soft limit set value setting unit is displayed, and the current position of the puncture needle is specified and displayed from the current position information of the linear motion unit acquired by the acquisition unit. Display,
Puncture robot system equipped with. The display unit displays the relative positional relationship between the current position of the puncture needle and the position corresponding to the soft limit set value.
The puncture robot system according to claim 15. The display unit displays the current position of the puncture needle and the position corresponding to the soft limit set value in association with the movable range of the linear motion unit.
The puncture robot system according to claim 15 or 16. The setting of the puncture start position by the puncture start position setting unit and the setting of the soft limit setting value by the soft limit setting value setting unit are performed on the display screen of the operation interface.
The puncture robot system according to any one of claims 15 to 17. On the display screen of the operation interface, a navigation display unit for instructing an operation of setting the puncture start position and an operation of setting the soft limit set value is provided.
The puncture robot system according to claim 18.

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