BACKGROUND

Technical Field

The present invention relates to a medical manipulator system and method for operating a medical manipulator system.

Background Art

Conventionally, a medical manipulator operated by an operator in a state in which observation means and a plurality of treatment tools are inserted into the body is known.

Generally, the observation means and the treatment tool have a long insertion portion. When the observation means or the treatment tool includes an active drive portion such as a joint or a bending portion, a wire or the like for transmitting the driving force to the active drive portion is inserted into the insertion portion.

When the medical manipulator is introduced into the digestive tract or the like, the insertion portion of the observation means and the treatment tool meanders along the meandering digestive tract and the like in the body. When the insertion portion meanders, the path length of the wire or the like in the insertion portion changes or the wire or the like extends, and the correspondence relationship between the driving amount of the wire or the like and the driving amount of the active driving portion changes. As a result, the drive accuracy of the active drive site is lowered, and problems such as the active drive site not operating as intended by the operator occur.

In relation to the above problems, a treatment tool system described in Japanese Patent (Granted) Publication No. 4580973 has been proposed. The treatment tool system includes an endoscope and a treatment tool having a joint. The joint is electrically driven by the control means. The treatment tool system includes detection means for always detecting the bending state of the endoscope insertion portion, and the control means generates a drive signal of the joint while reflecting the bending state of the endoscope insertion portion detected by the detection means. Thereby, the operation signal of the treatment tool is adjusted according to the bending state of the endoscope insertion portion, and the treatment tool operates smoothly.

SUMMARY

A medical manipulator system includes: a treatment tool unit including an arm portion having an arm with a joint and an end effector attached to the arm; an overtube having a lumen through which the treatment tool unit is inserted; a drive source configured to generate a drive force for driving the joint; a controller configured to generate an operation signal for operating the drive source, and a detector configured to detect friction generated between an inner surface of the lumen and the treatment tool unit. The controller calculates a correction amount for adjusting the operation signal based on the detected friction.

The treatment tool unit may have a motor unit in which the drive source is disposed, and a flexible connection portion disposed between the arm portion and the motor unit, and the detector may detect a force generated between the connection portion and the motor unit by the friction.

The medical manipulator system may further include: a mounting portion to which the treatment tool unit is attached and configured to advance and retreat the treatment tool unit relative to the overtube. The detector may detect a force generated between the treatment tool unit and the mounting portion by the friction.

The medical manipulator system may further include: a speed sensor configured to be able to detect a moving speed of the treatment tool unit connected to the mounting portion. The controller may calculate the correction amount based on the detected friction and the moving speed detected by the speed sensor.

A method for operating a medical manipulator system including a treatment tool unit having an arm portion including an arm having a joint and an end effector attached to the arm, an overtube having a lumen through which the treatment tool unit is inserted, a drive source configured to generate a driving force for driving the joint, and a controller configured to generate an operation signal for operating the drive source, the method comprising: moving the treatment tool unit relative to the overtube; detecting friction generated between an inner surface of the lumen and the treatment tool unit by the relative movement; and calculating a correction amount for correcting the operation signal based on the detected friction.

