Surgery supporting apparatus, control method of the same, and storage medium

Abstract

The invention provides a surgery supporting apparatus, a control method of the same, and a storage medium. A surgery supporting apparatus is capable of controlling a posture of a first surgical instrument (127) that is inserted into a body cavity and mechanically drivable, by using a second surgical instrument (131) to be inserted into the body cavity. The apparatus comprises: a robot arm configured to control the posture of the first surgical instrument attached to the robot arm; a switching unit configured to switch motion modes for controlling a motion of the robot arm; and a control unit configured to control the motion of the robot arm in accordance with the motion mode, wherein the motion mode includes a first mode in which the second surgical instrument is used to control the firstsurgical instrument, and a second mode in which the robot arm is moved by a manipulation including contact to the robot arm, and the control unit controls the motion of the robot arm such that the posture of the first surgical instrument is controlled in accordance with the posture of the second surgical instrument, in a case where the motion mode is the first mode, and controls the motion of therobot arm in accordance with the manipulation including contact to the robot arm, in a case where the motion mode is the second mode.

Description

technical field [0001] The present invention relates to a surgical assisting device, a control method thereof, and a recording medium. Background technique [0002] Laparoscopic surgery is generally performed by a doctor who cuts, resects, and sutures the organs (hereinafter referred to as "operator"), and a doctor who holds the endoscope (hereinafter referred to as "scopist"). ) and a doctor (hereinafter referred to as "assistant") who performs traction of organs or tension maintenance during incision in order to expand the operator's field of vision. Surgical assisting devices (also referred to as surgical assisting robots, etc.) for laparoscopic surgery include surgical assisting devices that use one or more robotic arms (robot arms) to align forceps, endoscopes, electric scalpels, etc. The posture of surgical instruments is controlled to curb the number of surgeons required for surgery. [0003] The operation of the surgical assisting device includes a console type in ...

AI Technical Summary

Problems solved by technology

However, since assistants are still required to operate, and the robotic arm is close to many people, it is impossible to ensure a sufficient range of action for the robotic arm, or the robotic arm will interfere with the operator or assistant, which will affect the surgical operation.

In addition, in the case of using a voice-based operation unit, it is easy to imagine that when operating a complex surgical instrument different from an endoscope, it is difficult to operate as desired

Images