Continuous robot control system and continuous robot control method

Abstract

To provide a mechanism capable of reducing a burden required for a technique when the technique of inserting or removing a plurality of different tools to or from a tool channel after a curved part of a continuous robot is inserted to the inside of a target such as a subject.SOLUTION: A control device 300 acquires a maximum value of curve angles at which a tool can pass through a tool channel 101 for each of a plurality of different tools inserted to and removed from the tool channel 101, sets the smallest value of the maximum value of the plurality of acquired curve angles as a maximum curve angle, and controls a drive unit 150 such that a curved part 120 curves within a range of the set maximum curve angle.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a continuum robot control system and a continuum robot control method for controlling a continuum robot having a tool channel, which is a tubular passage that passes through the inside of a curved section, for inserting and removing a tool. [Background technology]

[0002] In recent years, minimally invasive medical treatments have been attracting attention as they reduce the burden on patients and other subjects and improve their quality of life after treatment and examination. A typical example of minimally invasive medical treatment is surgery and examination using an endoscope. For example, laparoscopic surgery allows for smaller surgical incisions compared to conventional open surgery, which not only shortens the length of hospital stay required after surgery but also has the advantage of providing superior cosmetic results.

[0003] Flexible endoscopes are known as endoscopes used in minimally invasive medical treatment. The insertion section of these flexible endoscopes is made of a bendable material. Therefore, even curved organs such as the esophagus, colon, and lungs can be inserted without compressing the tissue, reducing the patient's discomfort. Furthermore, using an actuator to drive the insertion section of the flexible endoscope and automatically controlling its orientation to follow the path of the patient's internal tissue is expected to further reduce the patient's discomfort. Some flexible endoscopes also feature tool channels through which tools, including those used for biopsy and treatment, can be inserted. Such endoscopes enable not only observation of diseased areas deep within the patient's body but also tissue sampling and treatment. For these reasons, active research and development is underway to develop mechanisms and control methods for continuum robots that can be used as flexible endoscopes.

[0004] It is desirable that the bending portion of this continuum robot, which is the insertion portion and can be bent by a drive portion such as an actuator, has a small diameter. This is because if the bending portion, which is the insertion portion, has a small diameter, it can reach deep inside the subject's body without compressing the lumen. In addition, if the bending portion, which is the insertion portion, has a small diameter, it can reach deep inside organs such as the lungs, where the lumen diameter becomes smaller as you go closer to the periphery, so it becomes possible to diagnose or treat a wider area.

[0005] Patent Document 1 describes an example of a flexible endoscope whose insertion section can be made thinner. Conventional flexible endoscopes incorporate an imaging device for observing lumens into their insertion section, but the flexible endoscope described in Patent Document 1 uses an imaging tool inserted through the tool channel only when necessary for observation. With the flexible endoscope described in Patent Document 1, when treating an affected area or extracting tissue from the affected area, the imaging tool is removed from the tool channel and a surgical tool is inserted instead. When the affected area is to be observed again, the surgical tool is removed and the imaging tool is reinserted. This makes it possible to reduce the diameter of the insertion section by the amount of space required to install the imaging device in conventional flexible endoscopes. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-82435 Summary of the Invention [Problem to be solved by the invention]

[0007] However, some imaging tools and surgical instruments use highly rigid materials for some of their components. In this case, for example, if the bending section, which is the insertion section of the flexible endoscope described in Patent Document 1, is bent too much, depending on the tool, the parts made of highly rigid materials may not be able to pass through the tool channel. In such a case, it becomes necessary to readjust the bending angle of the bending section so that the tool can pass through when it becomes stuck in the tool channel, which increases the effort required for the procedure and, as a result, increases the burden on the doctor performing the procedure and the patient.

[0008] The present invention was made in consideration of this problem, and aims to provide a mechanism that can reduce the effort required for a procedure in which multiple different tools are inserted and removed from a tool channel after the bending portion of a continuum robot is inserted into the inside of a subject, such as a human subject. [Means for solving the problem]

[0009] The continuum robot control system of the present invention is a continuum robot control system having a continuum robot including a bending section that bends relative to a reference axis when a linear member is driven, a drive section that drives the linear member, and a tool channel that is a tubular passage that passes through the inside of the bending section and is used to insert and remove tools, and a control device that controls the operation of the continuum robot, wherein the control device obtains the maximum bending angle that can pass through the tool channel for each of a plurality of different tools that are inserted and removed from the tool channel, sets the smallest of the obtained maximum bending angles as the maximum bending angle, and controls the drive section so that the bending section bends within the range of the maximum bending angle. The present invention also includes a continuum robot control method using the above-described continuum robot control system. [Effects of the Invention]

[0010] According to the present invention, when a procedure is performed in which a bending portion of a continuum robot is inserted into the interior of a subject and then multiple different tools are inserted and removed from a tool channel, the effort required for the procedure can be reduced. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a schematic diagram showing an example of a schematic configuration of a continuum robot control system according to a first embodiment of the present invention. [Figure 2] 1 is a schematic diagram showing an example of a schematic configuration of a continuum robot according to a first embodiment of the present invention. [Figure 3] 3 is a schematic diagram illustrating an example of various tools that can be inserted into and removed from the tool channel illustrated in FIGS. 1 and 2 according to the first embodiment of the present invention. FIG. [Figure 4] 1 is a schematic diagram showing an example of a schematic configuration of a control device according to a first embodiment of the present invention. [Figure 5] 5 is a flowchart showing an example of a processing procedure of an angle limiting unit of the control device shown in FIG. [Figure 6] FIG. 2 is a schematic diagram illustrating the behavior of the continuum robot and various tools inside the lungs of a subject according to the first embodiment of the present invention. [Figure 7] FIG. 10 is a schematic diagram showing an example of the schematic configuration of a continuum robot control system according to a second embodiment of the present invention. [Figure 8] FIG. 6 is a schematic diagram showing an example of a schematic configuration of a control device according to a second embodiment of the present invention. [Figure 9] 9 is a diagram for explaining a method for calculating the maximum movement amount by the limited movement amount calculation unit of the control device shown in FIG. 8. FIG. [Figure 10] FIG. 10 is a schematic diagram showing an example of a plurality of bending portions provided in a continuum robot according to a third embodiment of the present invention. [Figure 11] FIG. 10 is a schematic diagram showing an example of a schematic configuration of a control device according to a third embodiment of the present invention. [Figure 12] 12 is a flowchart showing an example of a processing procedure of an angle limiting unit of the control device shown in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0012] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0013] (First embodiment) First, a first embodiment of the present invention will be described.

[0014] In this embodiment, an example of a continuum robot control system including a continuum robot with a bending portion that can be bent three-dimensionally and a control device that controls the operation of the continuum robot will be described. First, the configuration of the continuum robot control system according to this embodiment will be described, followed by the configurations of the continuum robot, imaging tool, and surgical tool according to this embodiment. Next, a method for limiting the bending angle of the bending portion in the control device will be described, and finally, an example of a procedure for collecting a sample from deep within the lungs of a subject such as a patient will be described.

[0015] [1-1: Configuration of a continuum robot control system] 1 is a schematic diagram showing an example of the general configuration of a continuum robot control system 10-1 according to a first embodiment of the present invention. As shown in FIG. 1, the continuum robot control system 10-1 includes a continuum robot 100, a linear stage 200, a control device 300, an input device 400, an operation device 500, and an image display device 600.

[0016] 1, the continuum robot 100 is configured to have a long section 110, a bending section 120, a coil 130, a tool insertion port 140, and a drive unit 150. The continuum robot 100 also has a tool channel 101, which is a tubular path that passes through the interior of the long section 110 and the bending section 120 and is used to insert and remove a tool through the tool insertion port 140.

[0017] In addition to having a tool channel 101 inside, the long portion 110 has multiple drive wires inserted therethrough that correspond to multiple linear members that are driven by the drive unit 150 when bending the bending portion 120 relative to the reference axis 102.

[0018] The bending section 120 is configured to be able to actively change its posture. Specifically, the bending section 120 is bent with respect to the reference axis 102 when a drive wire, which is a linear member connected to the bending section 120, is driven by an actuator (drive section) installed inside the drive unit 150. Here, in this embodiment, the reference axis 102 is an axis parallel to the direction of movement of the continuum robot 100 on the linear stage 200.

[0019] The coil 130 is installed at the tip 120a of the bending portion 120. Although not shown in Fig. 1, a magnetic field generating device is installed near the bending portion 120. Then, by reading changes in the magnetic field generated by the magnetic field generating device (not shown) via the coil 130, the position and direction of the tip 120a of the bending portion 120 can be detected.

[0020] The tool insertion port 140 is provided, for example, at the joint (base portion) between the long portion 110 and the drive unit 150. This tool insertion port 140 is an entrance for inserting and removing various tools into and from the tool channel 101 provided inside the long portion 110 and the curved portion 120. Examples of various tools that can be inserted through this tool insertion port 140 include imaging tools and surgical tools for biopsy and treatment.

[0021] The drive unit 150 is configured to include an actuator (drive section) that drives a drive wire, which is a linear member connected to the bending section 120, when bending the bending section 120 at a desired bending angle with respect to the reference axis 102. In this embodiment, the drive unit 150 is fixed to the linear stage 200, and when a user such as a doctor pushes and pulls the drive unit 150 back and forth, the continuum robot 100 performs linear motion in the longitudinal direction of the linear stage 200.

[0022] As described above, the drive unit 150 is fixed to the linear stage 200. This linear stage 200 corresponds to a moving device that moves the continuum robot 100 forward and backward relative to the subject (which may also be referred to as a "subject" as a higher concept).

[0023] The control device 300 is a device that controls the operation of the continuum robot 100 based on, for example, operation input from the operation device 500, input from the input device 400, and further input from the coil 130. Furthermore, the control device 300 performs various controls including display control of the image display device 600, and various processes.

[0024] The input device 400 is a device that inputs various information (including various data and various images) to the control device 300.

[0025] The operation device 500 is a device to be operated by a user such as a doctor. The operation device 500 is provided with a lever 510 that is operated by a user such as a doctor so that the bending portion 120 assumes a desired posture. Based on the amount of operation of the lever 510, the control device 300 outputs a wire driving amount command to an actuator (drive section) of the drive unit 150 so that the bending portion 120 assumes a desired posture.

[0026] The control device 300 is also provided with an interface for receiving images acquired by an imaging tool, and the images received by the control device 300 from the imaging tool are output to the image display device 600 and displayed as a camera image 610. In addition to the camera image 610 output from the imaging tool, the image display device 600 also displays, for example, a navigation image 620 created from a 3D model of the subject's lungs constructed before surgery. Examples of this navigation image 620 include an overhead view of the path from the tip position of the bending portion 120 to the affected area (region of interest) of the subject observed from outside the lungs, and an image of the inside of the lungs observed from a first-person perspective using a virtual camera at the tip 120a of the bending portion 120. A user such as a doctor can switch between the camera image 610 and the navigation image 620 displayed on the image display device 600 as needed.

[0027] [1-2: Structure of a Continuum Robot] Fig. 2 is a schematic diagram showing an example of the general configuration of the continuum robot 100 according to the first embodiment of the present invention. In Fig. 2, the same components as those shown in Fig. 1 are denoted by the same reference numerals, and detailed description thereof will be omitted. Furthermore, Fig. 2 does not show the tool insertion port 140 shown in Fig. 1.

[0028] The long portion 110 is a member that bends passively in response to an external force.

[0029] The bending portion 120 is configured to include a plurality of wire guides 124, which are members for guiding a plurality of linear drive wires 121 to 123. One end of each of the three drive wires 121 to 123 is fixedly connected to the wire guide 124 disposed at the distal end 120a of the bending portion 120, and the other end is connected to the actuators 151a to 153a. Furthermore, for example, the wire guide 124 disposed at the distal end 120a of the bending portion 120 is provided with the coil 130 described above.

[0030] The drive unit 150 shown in Fig. 1 is provided with actuators 151a to 153a and feed screws 151b to 153b shown in Fig. 2 inside. Specifically, the drive wire 121 is connected to the actuator 151a via the feed screw 151b. The drive wire 122 is connected to the actuator 152a via the feed screw 152b. The drive wire 123 is connected to the actuator 153a via the feed screw 153b. The actuators 151a to 153a push and pull the drive wires 121 to 123 along the longitudinal direction of the continuum robot 100 under the control of the control device 300, thereby bending the bending section 120 with respect to the reference axis 102.

[0031] 2, the above-mentioned tool channel 101 is provided inside the long section 110 and the bending section 120. A user such as a doctor can insert an imaging tool or a surgical tool from the tool insertion port 140 shown in FIG.

[0032] Here, the behavior of the bending section 120 and the long section 110 when the actuators 151a to 153a are driven will be described below. The rotational motion of the actuators 151a to 153a is decelerated and converted into translational motion by the feed screws 151b to 153b connected to the respective output shafts. Wire grippers for fixing the drive wires 121 to 123 are provided on the nuts of the feed screws 151b to 153b, and when the actuators 151a to 153a are driven, the drive wires 121 to 123 are pushed and pulled along the longitudinal direction of the continuum robot 100. As described above, the drive wires 121 to 123 are fixedly connected to the distal end 120a of the bending portion 120, and therefore, the bending portion 120 is bent relative to the reference axis 102 by pushing and pulling the drive wires 121 to 123. At this time, the drive wires 121 to 123 are fixedly connected to the distal end 120a of the bending portion 120 at different phases, and therefore, by controlling the drive amount of each actuator 151a to 153a, it is possible to bend the bending portion 120 to a desired bending angle and direction. On the other hand, the driving wires 121 to 123 are not fixed to the long portion 110, so even if the driving wires 121 to 123 are pushed or pulled, the posture of the long portion 110 does not change.

[0033] Next, the behavior of the bending portion 120 and the long portion 110 when the bending portion 120 comes into contact with the subject's lumen when inserted inside the subject, or when external forces such as the insertion and removal of various tools are applied will be described below. Because the long portion 110 is not connected to the drive wires 121-123, it deforms to follow the external force when it is applied. Therefore, even if the long portion 110 is curved, it can deform to follow the insertion of a tool, allowing the tool to pass through. On the other hand, when an external force is applied to the bending portion 120, a pushing / pulling force is generated on the drive wires 121-123 due to the external force. However, because the actuators 151a-153a do not easily rotate due to the friction of the feed screws 151b-153b and the action of the speed reduction mechanism, the bending angle of the bending portion 120 does not change when a tool is inserted, for example.

[0034] [1-3: Configuration of various tools] FIG. 3 illustrates the first embodiment of the present invention and is a schematic diagram illustrating an example of various tools that can be inserted into and removed from the tool channel 101 illustrated in FIGS.

[0035] FIG. 3(a) is a schematic diagram of the imaging tool 710. As shown in FIG. 3(a), the imaging tool 710 is configured to include an imaging unit 711 and a camera cable 712. The imaging unit 711 is equipped with an objective optical system and an illumination optical system (not shown) and is configured to capture images of the inside of the subject's body. The camera cable 712 also contains a signal cable for transmitting image information acquired by the objective optical system and a power cable for supplying power to the illumination optical system. The camera cable 712 is made of a low-rigidity material, so it can be inserted into the tool channel 101 even if the continuum robot 100 is bent. On the other hand, the imaging unit 711 is made of a high-rigidity material to protect the optical system. As described above, the bending angle of the bending portion 120 does not change when the tool is inserted, so if the imaging tool 710 is inserted into the tool channel 101 when the bending portion 120 is bent significantly, the imaging unit 711 will get stuck halfway through the tool channel 101 and will not be able to proceed to the tip 120a of the bending portion 120.

[0036] FIG. 3(b) is a schematic diagram of a biopsy brush tool 720, which is one of the surgical tools. As shown in FIG. 3(b), the biopsy brush tool 720 is configured to include a brush 721, a sheath 722, a cable 723, and an operation unit 724. The brush 721 is connected to the operation unit 724 via the cable 723. By pushing and pulling the operation unit 724, the brush 721 can be stored in the sheath 722 or exposed from the sheath 722. When the biopsy brush tool 720 is inserted into the tool channel 101 of the continuum robot 100, the brush 721 is stored in the sheath 722 so as not to damage the continuum robot 100. On the other hand, when using the biopsy brush tool 720 to sample tissue from an affected area (region of interest) of a subject, the brush 721 is exposed from the sheath 722. In the biopsy brush tool 720, the sheath 722 and the cable 723 are made of low-rigidity materials, so they can be inserted into and removed from the tool channel 101 even when the continuum robot 100 is bent. However, the joint between the brush 721 and the cable 723 is made of a high-rigidity material, just like the imaging unit 711 described above. Therefore, if the biopsy brush tool 720 is inserted into the tool channel 101 with the bending portion 120 bent significantly, the joint will get stuck midway through the tool channel 101, and the tool will not be able to advance to the tip 120a of the bending portion 120.

[0037] 3(c) is a schematic diagram of a biopsy needle tool 730, which is one of the surgical tools. As shown in FIG. 3(c), the biopsy needle tool 730 is configured to have a hollow needle 731, a sheath 732, a cable 733, and an operation unit 734. The hollow needle 731 is connected to the operation unit 734 via the cable 733, and the hollow needle 731 can be exposed from the sheath 732 by pushing the operation unit 734. In the biopsy needle tool 730, the sheath 732 and the cable 733 are configured from low-rigidity materials, and therefore can be inserted into and removed from the tool channel 101 even when the continuum robot 100 is bent. However, since the hollow needle 731 is made of a highly rigid material, like the imaging section 711 described above, if the biopsy needle tool 730 is inserted into the tool channel 101 with the bending section 120 bent significantly, the hollow needle 731 will become stuck halfway through the tool channel 101 and will not be able to advance to the tip 120a of the bending section 120.

[0038] [1-4: Control device configuration] FIG. 4 is a schematic diagram showing an example of a schematic configuration of a control device 300 according to the first embodiment of the present invention.

[0039] The control device 300 shown in FIG. 4 includes a maximum bending angle database 311, an angle command generation unit 312, an angle restriction unit 313, a kinematics calculation unit 314, and a wire driving amount control unit 315.

[0040] 4, tool information 301 is information input by a user such as a doctor before surgery, such as information about the model of a tool to be used in surgery, from the input device 400. User operation input 302 is input information about the amount of operation when a user such as a doctor operates lever 510 of operation device 500. Bending portion tip position 303 is position information about the tip 120a of the bending portion 120 measured by coil 130. Affected area position 304 is information input by a user such as a doctor before surgery, such as position information about the affected area, which is a region of interest of the subject that has been determined.

[0041] The maximum bending angle database 311 stores the maximum bending angle that can pass through the tool channel 101 for each of a plurality of different tools (for example, the imaging tool 710, the biopsy brush tool 720, and the biopsy needle tool 730 shown in FIG. 3) that can be used by the user. The maximum bending angle database 311 acquires the maximum bending angle that can pass through the tool channel 101 for each of the plurality of tools related to the input tool information 301, and defines the smallest of the acquired maximum bending angles as the maximum bending angle θ lim Set it as and output it.

[0042] The angle command generation unit 312 generates a bending angle command value θ of the bending portion 120 based on the input user operation input 302. cmd Calculate the following.

[0043] The angle limiting unit 313 determines the maximum bending angle θ based on the input bending portion tip position 303 and affected area position 304 and the maximum bending angle θ output from the maximum bending angle database 311. lim and the bending angle command value θ generated by the angle command generating unit 312. cmd Based on this, a target bending angle θ is calculated taking into consideration the limit on the bending angle of the bending portion 120. ref Set and output.

[0044] The kinematics calculation unit 314 calculates the bending angle of the bending portion 120 to the target bending angle θ using the kinematics of the continuum robot 100. ref To achieve this, target wire drive amounts for the drive wires 121 to 123 are calculated.

[0045] The wire driving amount control unit 315 outputs a wire driving amount command 305 to the actuators 151 a to 153 a so that the driving amount of the driving wires 121 to 123 coincides with the target wire driving amount calculated by the kinematics calculation unit 314 .

[0046] FIG. 5 is a flowchart showing an example of a processing procedure of the angle limiting unit 313 of the control device 300 shown in FIG.

[0047] In this embodiment, the angle limiting unit 313 limits the maximum bending angle θ only when the tip 120a of the bending portion 120 reaches the vicinity of the affected area (region of interest) of the subject. lim The target bending angle θ of the bending portion 120 is set to the following bending angle. ref Therefore, when the tip 120a of the bending portion 120 is away from the affected area (region of interest) of the subject, the angle limiting unit 313 sets the bending angle command value θ cmd The target bending angle θ of the bending portion 120 ref Set it as it is.

[0048] Specifically, first, in step S101 of FIG. 5, the angle limiting unit 313 calculates the distance Δ between the bending portion tip position 303 and the affected area position 304 measured by the coil 130. d Calculate.

[0049] Next, in step S102, the angle limiting unit 313 calculates the distance Δ d is the threshold Δ th Determine whether it is greater than

[0050] As a result of the determination in step S102, the distance Δ d is the threshold Δ th (distance Δ d is the threshold Δ th If the number of the digits is less than or equal to the number of the digits (S102 / No), the process proceeds to step S103. In step S103, the angle limiting unit 313 determines the maximum bending angle θ lim is the bending angle command value θ generated by the angle command generating unit 312. cmd Determine whether it is greater than

[0051] In step S103, the maximum bending angle θ lim is the bending angle command value θ cmd If it is determined that the distance Δ d is the threshold Δ th If it is determined that the value is greater than (S102 / Yes), the process proceeds to step S104. In step S104, the angle limiting unit 313 adjusts the bending angle command value θ generated by the angle command generating unit 312. cmd The target bending angle θ of the bending portion 120 ref Set it as and output it.

[0052] On the other hand, in step S103, the maximum bending angle θ lim is the bending angle command value θ cmd (maximum bending angle θ lim is the bending angle command value θ cmd If it is determined that the number of the digits is less than or equal to the number of the digits (S103 / No), the process proceeds to step S105. In step S105, the angle limiting unit 313 determines the maximum bending angle θ lim The target bending angle θ of the bending portion 120 ref Set it as and output it.

[0053] When the process of step S104 is completed, or when the process of step S105 is completed, the process of the flowchart in FIG. 5 is completed.

[0054] According to the processing of the flowchart in FIG. 5, the control device 300 performs the following control. The control device 300 calculates a bending angle command value θ of the bending portion 120 based on an operation input by the user. cmd is the maximum bending angle θ lim If it is smaller than (S103 / Yes), the bending angle command value θ cmd The target bending angle θ of the bending portion 120 ref As a result, the actuators 151a to 153a, which are the driving units, are controlled. The control device 300 also controls the bending angle command value θ of the bending portion 120. cmd If the maximum bending angle θ is equal to or greater than the maximum bending angle (S103 / No), lim The target bending angle θ of the bending portion 120 ref As a result, the actuators 151a to 153a, which are the driving units, are controlled.

[0055] [1-5: Lung biopsy procedure] The following describes a procedure for performing a lung biopsy on a subject using the above-described continuum robot 100, the various tools 710 to 730 shown in FIG. 3, and the control device 300. Before surgery, a user creates a 3D model of the subject's lungs from medical images such as MRI images or CT images of the lungs. Then, referring to the created 3D model, the user determines a target position (position of the region of interest) from which tissue will be sampled and a target path along which the tip 120a of the bending portion 120 of the continuum robot 100 will pass to reach the target position. The user then stores information about the determined target position and target path together with the created 3D model in a memory unit (not shown) of the control device 300. Before surgery, the user also inputs information about the type of tool to be used in the actual surgery (procedure) from the input device 400 to the control device 300 as tool information 301. In this case, the maximum bending angle database 311 acquires the maximum bending angle at which the tool can pass through the tool channel 101 for each of the multiple tools related to the input tool information 301, and defines the smallest of the acquired maximum bending angles as the maximum bending angle θ lim Set as.

[0056] Fig. 6 is a schematic diagram illustrating the behavior of the continuum robot 100 and various tools inside the lungs of a subject according to the first embodiment of the present invention. In Fig. 6, the same components as those shown in Figs. 1 to 3 are denoted by the same reference numerals, and detailed description thereof will be omitted.

[0057] When surgery begins, a user such as a doctor first inserts the imaging tool 710 into the tool channel 101 of the continuum robot 100, and inserts the imaging unit 711 located at the tip of the imaging tool 710 up to the tip of the bending section 120. Next, the user inserts the continuum robot 100 with the imaging tool 710 inserted into it through the mouth or nose of the subject. Then, the user operates the operation device 500 (lever 510, etc.) while referring to the camera image 610 and navigation image 620 displayed on the image display device 600, and moves the linear stage 200 on which the drive unit 150 of the continuum robot 100 is mounted forward while controlling the attitude of the tip 120a of the bending section 120 so that the tip 120a of the bending section 120 does not press against the lumen of the subject.

[0058] 6(a), when the tip of the bending portion 120 of the continuum robot 100 reaches a bifurcation in the lumen 601 of the subject's lung, the user refers to the navigation image 620 to confirm the position of the affected area 602, which is the region of interest of the subject. Then, the user directs the tip of the bending portion 120 toward the target path in the lumen 601 of the subject's lung, and moves forward the linear stage 200 on which the drive unit 150 of the continuum robot 100 is mounted.

[0059] Note that, from the entrance of the bronchus of the subject until the robot reaches the vicinity of the affected part 602, the distance Δ d is the threshold Δ th , the control device 300 does not limit the bending angle of the bending portion 120. Therefore, the user can manipulate the posture of the bending portion 120 to a desired bending angle.

[0060] When the tip of the bending portion 120 reaches the vicinity of the affected area 602 along the lumen 601 of the lung of the subject, the user operates the operating device 500 (lever 510, etc.) to adjust the bending angle of the bending portion 120 so that the tip of the bending portion 120 faces the affected area 602 as shown in FIG. 6(b). At this time, the distance Δ d is the threshold Δ th Therefore, the angle limiting unit 313 sets the target bending angle θ of the bending portion 120.ref The maximum bending angle θ at which all tools can pass through the tool channel 101 is lim Within the range (maximum bending angle θ lim Set it so that

[0061] After completing the adjustment, the user removes the imaging tool 710 from the tool channel 101 of the continuum robot 100 as shown in FIG. 6(c).

[0062] Next, as shown in FIG. 6(d), the user inserts the biopsy brush tool 720 into the tool channel 101 of the continuum robot 100 and uses the brush 721 at the tip of the tool to collect tissue from the affected area 602, which is the area of ​​interest of the subject.

[0063] Next, when the user has completed the tissue collection from the affected area 602 using the biopsy brush tool 720, the user removes the biopsy brush tool 720 from the tool channel 101 of the continuum robot 100. Thereafter, the user inserts the biopsy needle tool 730 into the tool channel 101 of the continuum robot 100 and collects tissue from the affected area 602 in the same manner as the biopsy brush tool 720. At this time, the angle limiting unit 313 adjusts the maximum bending angle θ so that all of the tools 710 to 730 to be used can pass through the tool channel 101. lim , the biopsy needle tool 730 can also pass through the tool channel 101 and reach the affected area 602.

[0064] After that, when the user has completed the tissue collection from the affected area 602 using the biopsy needle tool 730, the user removes the biopsy needle tool 730 from the tool channel 101 of the continuum robot 100. Next, the user again inserts the imaging tool 710 into the tool channel 101 of the continuum robot 100 to confirm that there is no significant bleeding near the affected area 602. Finally, the user retracts the linear stage 200 on which the drive unit 150 of the continuum robot 100 is mounted, and removes the continuum robot 100 from the lung of the subject.

[0065] The control device 300 of the continuum robot control system 10-1 according to the first embodiment is configured to perform the following processes. Specifically, when the bending portion 120 of the continuum robot 100 is inserted into the inside of a subject (which may be referred to as a "subject" as a general concept) and then the different tools 710 to 730 are inserted into and removed from the tool channel 101, the control device 300 acquires the maximum bending angle at which each of the tools 710 to 730 can pass through the tool channel 101. Then, the control device 300 determines the smallest of the acquired maximum bending angles as the maximum bending angle θ lim The maximum bending angle θ is set as lim The actuators 151a to 153a in the drive unit 150, which is the drive section, are controlled so that the bending section 120 bends within this range. According to this configuration, when performing a procedure to insert and remove a plurality of different tools, the tip 120a of the bending portion 120 can be directed toward the affected area 602, which is the region of interest of the subject (examinee), while limiting the bending angle of the bending portion 120 so that all of the plurality of tools can be inserted through the tool channel 101. In other words, according to this configuration, when performing a procedure to insert and remove a plurality of different tools into and from the tool channel 101 after the bending portion 120 of the continuum robot 100 is inserted inside the subject, it is possible to reduce the effort required for the procedure.

[0066] Furthermore, the control device 300 of the continuum robot control system 10-1 according to the first embodiment is configured to perform the following processing. Specifically, the control device 300 calculates the distance Δ between the distal end position of the bending portion 120 and the position of the affected area 602, which is the region of interest of the subject (subject). d is below the threshold (threshold Δ th ) when the maximum bending angle θ lim The actuators 151a to 153a, which are the driving units, are controlled so that the bending portion 120 bends within this range. According to this configuration, the bending angle of the bending portion 120 is limited only when the tip 120a of the bending portion 120 reaches the vicinity of the affected area 602, so that the user's operation is not hindered when the bending portion 120 advances inside the lumen 601 of the subject (examinee).

[0067] The first embodiment also includes a processing method (continuum robot control method) performed by the continuum robot control system 10-1.

[0068] (Second embodiment) Next, a second embodiment of the present invention will be described. In the following description of the second embodiment, matters common to the first embodiment will be omitted, and only matters different from the first embodiment will be described.

[0069] In the second embodiment, in addition to the restriction on the bending angle of the bending portion 120 described in the first embodiment, a form will be described in which the amount of movement of the linear stage that moves the continuum robot 100 forward and backward is restricted.

[0070] In order to improve the success rate when extracting tissue from the affected area 602 described in the first embodiment with reference to FIG. 6 , it is desirable to control the linear stage to an appropriate position relative to the affected area 602. This is because if an attempt is made to extract tissue when the movement amount of the linear stage is small and the tip of the bending portion 120 is far from the affected area 602, the tool may deviate after leaving the tip of the bending portion 120, making it impossible to extract tissue from the desired area. Furthermore, if the movement amount of the linear stage is too large and the bending portion 120 penetrates deeper than the affected area 602, the bending portion 120 must be bent at an acute angle to point the tip of the bending portion 120 toward the affected area 602, making it impossible to insert the tool.

[0071] Therefore, in the second embodiment, the bending angle of the bending portion 120 is set to the maximum bending angle θ lim Even when the maximum value of the stage movement amount is reached, the maximum value of the stage movement amount is limited so that the bending portion 120 can be directed toward the affected area 602.

[0072] [2-1: Configuration of a continuum robot control system] Fig. 7 is a schematic diagram showing an example of the overall configuration of a continuum robot control system 10-2 according to a second embodiment of the present invention. As shown in Fig. 7, the continuum robot control system 10-2 is configured to include a continuum robot 100, an electric stage 220, a control device 300, an input device 400, an operation device 500, and an image display device 600. In Fig. 7, the same components as those shown in Fig. 1 are denoted by the same reference numerals, and detailed descriptions thereof will be omitted.

[0073] In the second embodiment, instead of the linear stage 200 shown in FIG. 1 , an electric stage 220 is used, in which the stage (table) is driven by an actuator (not shown). This electric stage 220 corresponds to a moving device that moves the continuum robot 100 forward and backward relative to the subject (which may also be referred to as a "subject" as a general concept). The operating device 500 is provided with forward and backward movement buttons 520 (forward and backward movement buttons) for outputting forward and backward movement commands for the electric stage 220, in addition to the lever 510 shown in FIG. 1 . In this embodiment, when a user presses these forward and backward movement buttons 520, the control device 300 outputs a drive command to the actuator of the electric stage 220 according to the type of button pressed. When the actuator of the electric stage 220 is driven, the table of the electric stage 220 operates, and the drive unit 150 installed on the table performs forward and backward movement. An encoder (not shown) is connected to the actuator of the electric stage 220, and the control device 300 calculates the amount of movement of the table based on the input and output of this encoder.

[0074] [2-2: Control device configuration] Fig. 8 is a schematic diagram showing an example of the schematic configuration of a control device 300 according to a second embodiment of the present invention. In Fig. 8, the same components as those shown in Fig. 4 are denoted by the same reference numerals, and detailed description thereof will be omitted.

[0075] The control device 300 shown in Fig. 8 is configured to include a maximum bending angle database 311, an angle command generation unit 312, an angle limiting unit 313, a kinematics calculation unit 314, a wire driving amount control unit 315, a movement amount limit calculation unit 321, a movement amount command generation unit 322, and a stage control unit 323. That is, the control device 300 shown in Fig. 8 is configured such that the movement amount limit calculation unit 321, the movement amount command generation unit 322, and the stage control unit 323, which correspond to the control system of the motorized stage 220, are added to the control device 300 according to the first embodiment shown in Fig. 4.

[0076] 8, tool information 301, user operation input 302, bending section tip position 303, affected area position 304, and wire drive amount command 305 are the same as those in FIG. 4. In FIG. 8, stage movement amount 306 is information relating to the stage movement amount obtained, for example, from an encoder connected to the actuator of the above-mentioned motorized stage 220. Target path 307 is information input from the input device 400 by a user such as a doctor regarding information on a target path to an affected area 602 (a region of interest of the subject) determined before surgery. Forward / backward movement command 308 is information on a forward / backward movement command for the motorized stage 220 output from the operation device 500 when a user such as a doctor operates the forward / backward movement button 520 of the operation device 500.

[0077] The limited movement amount calculation unit 321 calculates the maximum bending angle θ 1 output from the maximum bending angle database 311 based on the input affected area position 304 and target path 307 . lim Based on this, the bending portion 120 is set to a maximum bending angle θ lim The maximum movement amount zb of the motorized stage 220 when the tip of the bending portion 120 is directed toward the affected area 602 in a state where the bending portion 120 is bent to the maximum movement amount zb lim is calculated by the iterative calculation described below.

[0078] When a forward / backward command 308 is input during surgery, the movement command generation unit 322 calculates the current stage movement amount z based on the stage movement amount 306. b z with a small amount added to b ' and calculate the calculated z b ' is the maximum movement amount zb lim If it is less than or equal to zb ' is the target movement amount zb ref The movement command generator 322 outputs the calculated z b ' is the maximum movement amount zb lim If it is larger than zb, the maximum movement lim The target movement amount zb ref Output as

[0079] The stage control unit 323 determines whether the movement amount of the motorized stage 220 is equal to the target movement amount zb ref A stage movement amount command is output to the motorized stage 220 so that the position of the stage 220 coincides with the position of the stage 220.

[0080] 9 is a graph showing the maximum movement amount zb lim 9 is a diagram for explaining a method for calculating the value of the sigma ... First, the limited movement amount calculation unit 321 assumes that the motorized stage 220 has advanced to a certain movement amount zb0, and calculates the position of the bending section 120 at that time. Next, the limited movement amount calculation unit 321 calculates the bending angle of the bending section 120 to the maximum bending angle θ lim Then, the limited movement amount calculation unit 321 calculates an extension line 910 of the tip of the bending portion 120 when the center of the affected part 602 is on the extension line 910 and the distance d between the tip position of the bending portion 120 and the position of the affected part 602 is less than the threshold value r th If the movement amount zb0 is less than the maximum movement amount zb0, it is determined that the tissue of the affected area 602 can be collected. lim On the other hand, the limited movement amount calculation unit 321 determines whether the center of the affected area 602 is not on the extension line 910, or whether the distance d is greater than the threshold value r th If the difference is larger than zb0, it is determined that it is difficult to collect tissue from the affected area 602. Then, the limited movement amount calculation unit 321 sets the new movement amount as a value obtained by adding a small positive amount to the movement amount zb0, and sets the new movement amount as the maximum movement amount zb lim The above operations are repeated until

[0081] The control device 300 of the continuum robot control system 10-2 according to the second embodiment is configured to perform the following processes. Specifically, the control device 300 determines the position of the affected part 602 (affected part position 304) which is the region of interest of the subject, the target path (target path 307) of the bending portion 120 until it reaches the position of the affected part 602, and the maximum bending angle θ lim Based on this, the maximum movement amount zb of the continuum robot 100 by the motorized stage 220, which is the movement device, is lim Then, the control device 300 calculates the calculated maximum movement amount zb lim The motorized stage 220 is controlled so that the continuum robot 100 moves within the range of . With this configuration, the tip of the curved portion 120 can be brought sufficiently close to the affected area 602 before tissue can be harvested from the affected area 602, thereby improving the success rate when harvesting tissue from the affected area 602.

[0082] (Third embodiment) Next, a third embodiment of the present invention will be described. In the following description of the third embodiment, matters common to the first and second embodiments will be omitted, and only matters different from the first and second embodiments will be described.

[0083] The continuum robot control system 10 according to the third embodiment may have a configuration similar to that of the continuum robot control system 10-1 according to the first embodiment shown in FIG. 1 or the continuum robot control system 10-2 according to the second embodiment shown in FIG. 7.

[0084] As described above in the first embodiment, the long portion 110 of the continuum robot 100 can bend passively even when it comes into contact with the lumen 601 inside the subject. However, since the posture of the long portion 110 cannot be actively controlled, for example, when it is forced into the path of the lumen 601 that curves greatly, the maximum bending angle θ limIn this case, it becomes difficult to insert the tool into the tool channel 101 of the continuum robot 100. Therefore, in the third embodiment, a continuum robot 100 having a plurality of bending portions 120 is applied, and when the tip of the bending portion located at the tip reaches the vicinity of the affected part 602, all of the bending portions 120 bend at the maximum bending angle θ lim The bending angle is controlled as follows:

[0085] [3-1: Structure of a Continuum Robot] Fig. 10 is a schematic diagram showing an example of a plurality of bending sections 120 provided in a continuum robot 100 according to a third embodiment of the present invention. In Fig. 10, the same components as those shown in Fig. 2 are denoted by the same reference numerals, and detailed description thereof will be omitted.

[0086] In this embodiment, the number of bending portions 120 is N. In FIG. 10, a certain bending portion 120 among the N bending portions 120 is illustrated as the n-th bending portion 120-n. In the n-th bending portion 120-n, one ends of drive wires 121-n, 122-n, and 123-n are fixedly connected to a wire guide 124-na located at the distal end of the multiple wire guides 124-n. Specifically, in FIG. 10, three bending portions 120 are illustrated, in order from the tip of the continuum robot 100: the (n-1)th bending portion 120-(n-1), the nth bending portion 120-n, and the (n+1)th bending portion 120-(n+1).

[0087] The driving wires 121-n, 122-n, and 123-n of the n-th bending portion 120-n are guided by the wire guide of the (n+1)-th bending portion 120-(n+1) located on the base side and the long portion 110, and are connected to an actuator (not shown). Then, by driving the actuator, the bending angle θn and bending direction of the n-th bending portion 120-n can be controlled.

[0088] [3-2: Control device configuration] In the control device 300 of the first embodiment, the user controls the posture of the bending section 120 using the operation device 500 so that the bending section 120 follows the shape of the lumen 601. However, in the continuum robot 100 having a plurality of bending sections 120 according to the present embodiment, controlling the posture of all of the bending sections 120 so that the posture follows the shape of the lumen 601 requires complex operations, which reduces usability. Therefore, in the present embodiment, leading-following control is applied, which can control the posture of the continuum robot 100 so that the posture follows the path of the curved lumen 601 with a simple operation. Here, first, the leading-following control of the present embodiment will be described, and then a method of applying the bending angle limit according to the present invention to the control device 300 that performs leading-following control will be described.

[0089] In the leading-following control of this embodiment, the user operates only the posture of the first bending portion, which corresponds to the (n-1)th bending portion 120-(n-1) located at the tip of the continuum robot 100 in FIG. 10. That is, the first bending portion is the bending portion that becomes the leading portion when the continuum robot 100 moves forward relative to the subject. In this embodiment, the control device 300 controls the postures of the second bending portion to the Nth bending portion, which correspond to the nth bending portion 120-n shown in FIG. 10 (when N is 3, the third bending portion, which corresponds to the (n+1)th bending portion 120-(n+1) shown in FIG. 10), so as to follow the posture of the first bending portion. Here, the second bending portion is the bending portion that moves forward following the first bending portion when the continuum robot 100 moves forward relative to the subject.

[0090] Specifically, similar to the continuum robot control system 10-1 according to the first embodiment, for example, the user manipulates the posture of the first bending section so that it follows the shape of the lumen 601 while referring to the camera image 610 and navigation image 620 displayed on the image display device 600. After determining the bending angle of the first bending section, the user moves the stage forward. The user repeats this process until the tip of the first bending section reaches the affected area 602.

[0091] At this time, the control device 300 controls the postures of the second to Nth bending portions that move forward following the forward movement so that they match the bending angle of the first bending portion operated by the user. At this time, the control device 300 first controls the postures of the second to Nth bending portions that move forward following the forward movement so that they match the bending angle of the first bending portion operated by the user. At this time, each time the movement amount zb of the stage changes, the control device 300 first controls the postures of the second to Nth bending portions that move forward following the forward movement so that they match the bending angle of the first bending portion operated by the user. ref (zb) is stored in an internal storage unit (not shown). Then, when the bending portion following the first bending portion during forward movement reaches a position of a certain penetration depth inside the subject, the control device 300 reads out from the storage unit the target bending angle when the first bending portion passes that position, and sets this as the target bending angle of the following bending portion. For example, when the stage is moved forward by the length L1 of the first bending portion, the second bending portion moves by the same amount as the first bending portion before movement. Therefore, the target bending angle θ2 of the second bending portion ref is expressed by the following equation (1).

number

[0092] Furthermore, when the stage is further moved by the length L2 of the second bending portion, the third bending portion reaches the same movement amount as the first bending portion before the movement, and the target bending angle θ3 of the third bending portion ref is expressed by the following equation (2).

number

[0093] By similar calculation, the target bending angle θn of the nth bending part is generally ref is expressed by the following equation (3).

number

[0094] Then, the control device 300 adjusts the bending angle of each bending portion to the target bending angle θn refThe wire driving amount, which is the amount of pushing and pulling of the driving wire, is controlled so that it matches the shape of the lumen 601. As a result, if the user controls the posture of the first bending section so that it follows the shape of the lumen 601, the second bending section and subsequent bending sections that follow it can also enter the lumen 601 in a similar manner, following the shape of the lumen 601.

[0095] However, in the leading-following control, the bending angle of the first bending section is propagated to the bending angle of the following bending section, so if the first bending section is bent significantly when proceeding through the lumen 601, the following bending section will also be bent significantly. In this case, it will become impossible to insert the tool when it reaches the vicinity of the affected area 602. Therefore, the control device 300 of this embodiment calculates the position P of the tip of the nth bending section when the first bending section reaches the affected area 602 based on the target path 307 to the affected area 602. n Then, the control device 300 of this embodiment estimates the position P n When passing near the target bending angle θ1 ref The maximum bending angle θ lim Within the range (maximum bending angle θ lim As a result, when the first curved portion actually reaches the vicinity of the affected area 602, the position P n The bending angle θn of the nth bending part in the vicinity of ref The maximum bending angle θ lim Within the range (maximum bending angle θ lim (See below)

[0096] Fig. 11 is a schematic diagram showing an example of the schematic configuration of a control device 300 according to a third embodiment of the present invention. In Fig. 11, the same components as those shown in Fig. 4 and Fig. 8 are denoted by the same reference numerals, and detailed description thereof will be omitted.

[0097] The control device 300 shown in Fig. 11 is configured to include a maximum bending angle database 311, an angle command generation unit 312, an angle restriction unit 313, a kinematics calculation unit 314, a wire drive amount control unit 315, a following bending portion tip position calculation unit 331, and a leading following control unit 332. That is, the control device 300 shown in Fig. 11 is configured such that the following bending portion tip position calculation unit 331 and the leading following control unit 332 are added to the control device 300 according to the first embodiment shown in Fig. 4. Note that, in the present invention, a configuration in which the following bending portion tip position calculation unit 331 and the leading following control unit 332 shown in Fig. 11 are added to the control device 300 according to the second embodiment shown in Fig. 8 is also applicable.

[0098] The following bending portion tip position calculation unit 331 is a component that determines the conditions for limiting the bending angle. Based on the input target path 307 and the length of each bending portion, this following bending portion tip position calculation unit 331 calculates the position P of the tip of the following bending portion (the bending portion after the second bending portion) when the first bending portion reaches the affected area 602. n Calculate and output.

[0099] The angle limiting unit 313 is configured to calculate the current position P of the tip of the first bending portion and the position P calculated by the following bending portion tip position calculation unit 331. n When the distance between the first bending portion and the target bending angle θ1 becomes equal to or less than a certain value, ref The maximum bending angle θ lim Restrict to the following:

[0100] Based on the output of the angle limiting unit 313, the leading follow-up control unit 332 controls the posture of each bending unit so that the second bending unit and subsequent following bending units follow the first bending unit.

[0101] FIG. 12 is a flowchart showing an example of a processing procedure of the angle limiting unit 313 of the control device 300 shown in FIG.

[0102] Specifically, first, in step S301 of FIG. 12, the angle limiting unit 313 calculates the current position P of the tip of the first bending portion and the position P calculated by the following bending portion tip position calculation unit 331. n Distance Δdn Calculate the following.

[0103] Next, in step S302, the angle limiting unit 313 calculates the distance Δ dn is the threshold Δ th Determine whether it is greater than

[0104] As a result of the determination in step S302, the distance Δ dn is the threshold Δ th (distance Δ dn is the threshold Δ th If the number of the digits is less than or equal to the number of the digits (S302 / No), the process proceeds to step S303. In step S303, the angle limiting unit 313 determines the maximum bending angle θ1 of the first bending portion output from the maximum bending angle database 311. lim The bending angle command value θ1 of the first bending portion generated by the angle command generating unit 312 is cmd Determine whether it is greater than

[0105] Step S303: Maximum bending angle θ1 lim is the bending angle command value θ1 cmd If it is determined that the distance Δ dn is the threshold Δ th If it is determined that the value is greater than (S302 / Yes), the process proceeds to step S304. In step S304, the angle limiting unit 313 determines whether the bending angle command value θ1 generated by the angle command generating unit 312 is cmd The target bending angle θ1 of the bending portion 120 ref Set it as and output it.

[0106] On the other hand, in step S303, the maximum bending angle θ1 lim is the bending angle command value θ1 cmd (maximum bending angle θ1 lim is the bending angle command value θ1 cmd If it is determined that the number of the digits is less than or equal to the number of the digits (S303 / No), the process proceeds to step S305. In step S305, the angle limiting unit 313 determines the maximum bending angle θ1 output from the maximum bending angle database 311. lim The target bending angle θ1 of the bending portion 120 ref Set it as and output it.

[0107] When the process of step S304 is completed, or when the process of step S305 is completed, the process of the flowchart in FIG. 12 is completed.

[0108] In this way, by performing leading-following control while limiting the bending angle, it is possible to control the posture of the continuum robot 100, which has multiple bending sections 120, so that the tool can be inserted and removed while entering the subject's lumen 601.

[0109] In this embodiment, when the continuum robot 100 reaches the affected area 602, the maximum bending angle of all the bending sections 120 including the first bending section is set to a maximum bending angle θ lim (Maximum bending angle θ1 lim ) has been described as an example of limiting the bending angle. This is because, in order to collect tissue (specimen) from the affected area 602 using the biopsy tool of the biopsy brush tool 720 or the biopsy needle tool 730 described in the first embodiment, it is necessary for all bending sections 120 of the continuum robot 100 to pass through the high-rigidity members of these tools. However, when using a tool whose tip portion is made of a low-rigidity member and whose high-rigidity member is located on the side of the drive unit 150, it is not necessary to limit the bending angle for bending sections 120 that do not need to pass through the high-rigidity member. For example, if it is possible to collect tissue from the affected area 602 by inserting the tool up to the second bending section, the target bending angle θn of the nth bending section ref The bending angle command value θn cmd In this way, by limiting the bending angle of only the bending portion 120 required for inserting and removing the biopsy tool, usability can be improved.

[0110] The control device 300 of the continuum robot control system 10 according to the third embodiment is configured to perform the following processes. Specifically, the control device 300 determines whether the maximum bending angle θ is reached when the first bending portion reaches a predetermined position. lim (Maximum bending angle θ1 lim ), when the actuator in the drive unit 150, which is the drive section, is controlled so that the first bending section bends within the range of θ , the maximum bending angle θ lim (Maximum bending angle θ1 lim The actuator in the drive unit 150 is controlled so that the second bending portion bends within the range of . With this configuration, in addition to the effects of the first embodiment, it is possible to avoid the problem of the tool being unable to be inserted into the tool channel 101 when the tip of the continuum robot 100 reaches the vicinity of the affected area 602.

[0111] (Other embodiments) In the above-described first to third embodiments, an example has been described in which a subject such as a patient is assumed as the object into which the bending portion 120 of the continuum robot 100 is inserted, but the present invention is not limited to this. The object into which the bending portion 120 of the continuum robot 100 is inserted may also be another object such as a pipe.

[0112] The present invention can also be realized by supplying a program that realizes one or more functions of the above-described embodiments to a system or device via a network or a storage medium, and having one or more processors in the computer of the system or device read and execute the program.The present invention can also be realized by a circuit (e.g., ASIC) that realizes one or more functions. This program and a computer-readable storage medium storing the program are included in the present invention.

[0113] It should be noted that the above-described embodiments of the present invention are merely illustrative examples of the implementation of the present invention, and the technical scope of the present invention should not be construed as being limited by these. In other words, the present invention can be implemented in various forms without departing from its technical concept or main features. [Explanation of symbols]

[0114] 10: Continuum robot control system, 100: Continuum robot, 101: Tool channel, 102: Reference axis, 110: Long section, 120: Bending section, 120a: Tip of bending section 120, 130: Coil, 140: Tool insertion port, 150: Drive unit, 200: Linear stage, 300: Control device, 400: Input device, 500: Operation device, 510: Lever, 600: Image display device, 610: Camera image, 620: Navigation image

Claims

1. a continuum robot including: a bending section that is bent about a reference axis by driving a linear member; a drive section that drives the linear member; and a tool channel that is a tubular path that passes through the inside of the bending section and through which a tool is inserted and removed; a control device for controlling the operation of the continuum robot; 1. A continuum robot control system having: the control device acquires a maximum bending angle at which each of a plurality of different tools can pass through the tool channel for insertion and removal from the tool channel, sets the smallest of the acquired maximum bending angles as a maximum bending angle, and controls the drive unit so that the bending portion bends within the range of the maximum bending angle.

2. 2. The continuum robot control system according to claim 1, wherein the control device controls the drive unit so that the bending portion bends within the range of the maximum bending angle when a distance between the tip position of the bending portion and the position of a region of interest of the subject is equal to or less than a threshold value.

3. 3. The continuum robot control system according to claim 1, wherein the control device controls the drive unit by setting the bending angle command value of the bending portion based on a user's operation input as a target bending angle of the bending portion when the bending angle command value is smaller than the maximum bending angle, and controls the drive unit by setting the maximum bending angle as the target bending angle of the bending portion when the bending angle command value is equal to or greater than the maximum bending angle.

4. The robot further includes a movement device that moves the continuum robot forward and backward relative to the subject, The control device calculates the maximum movement amount of the continuum robot by the moving device based on the position of the region of interest of the subject, the target path of the bending section to reach the position of the region of interest, and the maximum bending angle, and controls the moving device so that the continuum robot moves within the range of the maximum movement amount.

5. the continuum robot includes a plurality of the bending portions, the plurality of bending portions include a first bending portion that serves as a leader when the continuum robot moves forward relative to the subject, and a second bending portion that moves forward following the first bending portion when the continuum robot moves forward, 5. The continuum robot control system according to claim 1, wherein when the control device controls the drive unit so that the first bending portion bends within the range of the maximum bending angle when the first bending portion reaches a predetermined position, the control device controls the drive unit so that the second bending portion bends within the range of the maximum bending angle when the second bending portion reaches the predetermined position.

6. a continuum robot including: a bending section that is bent about a reference axis by driving a linear member; a drive section that drives the linear member; and a tool channel that is a tubular path that passes through the inside of the bending section and through which a tool is inserted and removed; a control device for controlling the operation of the continuum robot; A continuum robot control method using a continuum robot control system having a control device for controlling a continuum robot, the control device acquiring a maximum value of a bending angle at which each of a plurality of different tools can pass through the tool channel for insertion and removal from the tool channel, setting the smallest of the acquired maximum values ​​of the bending angles as a maximum bending angle, and controlling the drive unit so that the bending portion bends within the range of the maximum bending angle.

Images