Data analysis device, medical robot system and monitoring method thereof

Abstract

The present invention discloses a data analysis device, a medical robot system, and a monitoring method for a medical robot. A technology for supporting a medical robot based on information collected from medical robots installed in multiple locations is provided. A medical robot system includes multiple medical robots and a data analysis device arranged in different locations, wherein each medical robot has a controller that sends data related to the movement status of the medical robot to the data analysis device, and the data analysis device has a data analysis unit that generates a benchmark for determining whether the medical robot is in a normal state based on the data sent from the multiple medical robots, and the data analysis unit monitors the data sent from the medical robot in motion based on the benchmark.

Description

[0001] This application is a divisional application of the invention patent application with application number 201611125075.8, application date December 9, 2016, and name “Data analysis device, medical robot system and monitoring method thereof”. Technical Field

[0002] The present invention relates to robots for use in surgical operations. Background Art

[0003] In recent years, there has been an increasing number of cases where surgery is performed using surgery support robots, and there is an increasing need to provide more detailed support (hereinafter referred to as "support") to the surgery support robots.

[0004] Regarding support for surgical support robots, there are existing technologies 1 to 3.

[0005] Prior art 1 discloses a technique for sending setting information of a machine used in an operating room to a support room located remotely from the operating room. The support room monitors whether the received setting information is within an appropriate range, and if not, notifies the operating room of a warning message (see patent document 1).

[0006] Prior art 2 discloses a remote surgery support system for checking the operation of a device used in an operating room before surgery. In this system, the operation is checked before surgery, and repairs or support personnel are remotely dispatched (see Patent Document 2).

[0007] Conventional technology 3 discloses a technology for storing the torque value of a drive motor when a robot arm is in motion for a certain period and detecting abnormality from a torque fluctuation value (see Patent Document 3).

[0008] Patent Document 1: Japanese Patent Application Publication No. 2005-111080

[0009] Patent Document 2: Japanese Patent Application Publication No. 2007-7040

[0010] Patent Document 3: Japanese Patent Application Publication No. 2006-281421 Summary of the invention

[0011] It is considered that if more information related to medical robots is collected from medical robots operating in a plurality of operating rooms, more detailed support can be provided for the medical robots.

[0012] However, none of the prior arts 1 to 3 discloses a technique for collecting information from a plurality of medical robots.

[0013] Therefore, an object of the present invention is to provide a technology for supporting a medical robot based on information collected from a plurality of medical robots.

[0014] In order to achieve the above-mentioned purpose, the medical robot system involved in the present invention comprises a plurality of medical robots and a data analysis device arranged in different locations, wherein each of the medical robots has a controller that sends data related to the movement status of the medical robot to the data analysis device, and the data analysis device has a data analysis unit that generates a benchmark for determining whether the medical robot is in a normal state based on the data sent from the plurality of medical robots, and the data analysis unit monitors the data sent from the medical robot in motion based on the benchmark.

[0015] Furthermore, each of the medical robots may include a plurality of movable parts, and the controller may transmit the data on the operation status of each of the plurality of movable parts to the data analysis device.

[0016] Furthermore, the data analysis unit may generate the reference based on a statistical analysis of the data transmitted from the plurality of medical robots.

[0017] Furthermore, the data analyzing unit may monitor a deviation between the data transmitted from the operating medical robot and the reference.

[0018] Furthermore, the data analysis unit may update the reference at a predetermined period.

[0019] Furthermore, the data analysis unit may generate warning information indicating an abnormality and / or failure of the medical robot based on a deviation between the data sent from the medical robot in operation and the benchmark, and notify the terminal of the medical robot of the warning information.

[0020] Furthermore, the data analysis unit may generate the reference based on the data related to the operation status of the same type of movable parts.

[0021] Furthermore, the data analyzing unit may generate the reference based on the data related to the operation status of the same movable unit.

[0022] In addition, the data analysis device involved in the present invention is capable of communicating with multiple medical robots arranged in different operating rooms, and the data analysis device comprises: a database that stores data related to the movement status of each of the multiple medical robots; and a data analysis unit that generates a benchmark for determining whether the medical robot is in a normal state based on the data sent from the multiple medical robots, and the data analysis unit monitors the data sent from the medical robot in motion based on the benchmark.

[0023] Furthermore, the database may store the data on operating conditions of a plurality of movable parts of each medical robot.

[0024] Furthermore, the data analysis unit may generate the reference based on a statistical analysis of the data transmitted from the plurality of medical robots.

[0025] Furthermore, the data analyzing unit may monitor a deviation between the data transmitted from the operating medical robot and the reference.

[0026] Furthermore, the data analysis unit may update the reference at a predetermined period.

[0027] Furthermore, the data analysis unit may generate warning information indicating an abnormality and / or failure of the medical robot based on a deviation between the data sent from the medical robot in operation and the benchmark, and notify the terminal of the medical robot of the warning information.

[0028] Furthermore, the data analysis unit may generate the reference based on the data related to the operation status of the same type of movable parts.

[0029] Furthermore, the data analyzing unit may generate the reference based on the data related to the operation status of the same movable unit.

[0030] In addition, in the medical robot monitoring method involved in the present invention, a data analysis device receives data related to the movement status of each of a plurality of medical robots arranged in different operating rooms, generates a benchmark for determining whether the medical robot is in a normal state based on the data sent from the plurality of medical robots, and monitors the data sent from the medical robot in motion based on the benchmark.

[0031] Furthermore, the data analysis device may receive the data on operating conditions of a plurality of movable parts of each of the medical robots.

[0032] Furthermore, the benchmark may be generated based on a statistical analysis of the data transmitted from a plurality of the medical robots.

[0033] Furthermore, a deviation between the data transmitted from the medical robot in operation and the reference may be monitored.

[0034] Alternatively, the reference may be updated at a predetermined period.

[0035] Furthermore, based on the deviation between the data transmitted from the medical robot in operation and the reference, warning information indicating an abnormality and / or failure of the medical robot may be generated, and the warning information may be notified to a terminal of the medical robot.

[0036] Furthermore, the reference may be generated based on the data related to the operation status of the same type of movable parts.

[0037] Furthermore, the reference may be generated based on the data related to the operation status of the same movable part.

[0038] According to the present invention, more detailed support can be provided to the medical robot based on information collected from a plurality of medical robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a diagram showing the configuration of a system according to one embodiment of the present invention.

[0040] Figure 2 It is a diagram showing the configuration of a system according to one embodiment of the present invention.

[0041] Figure 3 This is a schematic diagram showing the structure of a surgical system according to one embodiment of the present invention.

[0042] Figure 4 It is a side view showing the overall structure of the positioner.

[0043] Figure 5 This is a block diagram showing a schematic configuration of a control system of a positioner.

[0044] Figure 6 This is a side view showing the overall structure of a positioner in which a swing arm is tilted from the vertical.

[0045] Figure 7 It is a side view showing the overall structure of a positioner that tilts a platform from a horizontal position.

[0046] Figure 8 It is a schematic diagram showing the overall structure of the arm.

[0047] Fig. 9This is a block diagram showing a schematic configuration of a control system of the arm body.

[0048] Fig.10 It is a partial cross-sectional view of the arm body showing the layout of the drive system of the arm body.

[0049] Fig.11 It is a top view showing the connection structure between the platform and the patient-side robot arm.

[0050] Fig.12 yes Fig.11 The XII-XII arrow view in the figure.

[0051] Fig.13 is a block diagram showing a structure for managing a patient-side robot arm mounted on a platform.

[0052] Fig.14 This is a diagram showing the structure of a data center according to one embodiment of the present invention.

[0053] Fig.15 This is a diagram showing a data structure of a database representing one embodiment of the present invention.

[0054] Fig.16 This is a diagram showing a data structure of a database representing one embodiment of the present invention.

[0055] Fig.17 This is a diagram showing a data structure of a database representing one embodiment of the present invention.

[0056] Fig.18 This is a diagram showing a data structure of a database representing one embodiment of the present invention.

[0057] Fig.19 This is a diagram showing a data structure of a database representing one embodiment of the present invention.

[0058] (Explanation of symbols)

[0059] 100: surgical system; 1: patient-side system; 2: operating device; 3: patient-side robot arm (arm: movable part); 3A: camera arm; 3B: instrument arm; 5: platform (support body); 6: controller; 7: positioner; 9: sterilization drape; 30: arm body; 35: parallel arm; 36: holder; 41: endoscope assembly; 42: instrument; 55: mounting port (an example of a robot arm mounting part); 56: socket; 57: detection sensor; 91: IC tag (an example of an information holding unit); 92: connector; 93: reader / writer (reader); 94: mounting lock Organization; O: operator; P: patient; 200: system; 201: data center; 202: network within the facility; 203: external network; 204: facility; 205: support center; 210: computer; 211: data management department; 212: data analysis department; 213: database; 220: system ID; 221: component ID; 222: monitoring data; 223: timestamp; 224: data ID; 230: individual identification information of the arm; 231: model information of the arm; 232: number of times used; 233: installation port ID; 240: action instruction value; 250: customer ID. DETAILED DESCRIPTION

[0060] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In this embodiment, a surgical system 100 including a surgical robot will be described as an example.

[0061] [System Structure]

[0062] Figure 1 Another example of the system configuration of this embodiment is shown. Figure 1 In the system 200, a plurality of surgical systems 100 and a data center 201 (including a data analysis device in this embodiment) are connected to each other (can communicate) via an external network 203 provided outside a facility 204 such as a research institution or a medical institution. The data center 201 centrally manages the plurality of surgical systems 100. The external network 203 is, for example, the Internet. Each surgical system 100 sends and receives data related to the operating status of the surgical system 100 to and from the data center 201 via the external network 203. The data center 201 can communicate with a support center 205 via the external network 203.

[0063] Figure 2 The system configuration of this embodiment is shown. In the system 200, a plurality of surgical systems 100 and a data center 201 (including a data analysis device in this embodiment) are connected to each other (communicable) via a network. Figure 2The figure shows a system in which a plurality of surgical systems 100 and a data center 201 are connected to each other via an in-facility network 202 installed in a facility such as a research institute or a medical institution. The data center 201 centrally manages a plurality of surgical systems 100 in the facility. Each surgical system 100 transmits and receives data related to the operation status of the surgical system 100 to and from the data center 201 via the in-facility network 202. The details of the surgical system 100 will be described later.

[0064] exist Figure 1 as well as Figure 2 In the example of FIG. 1 , each surgical system 100 and each data center 201 have unique identification information. When each surgical system 100 communicates with the data center 201, each identification information is used as information indicating a destination or a transmission source of data.

[0065] exist Figure 1 as well as Figure 2 In the example shown in FIG. 1 , each surgical system 100 is provided in a different operating room.

[0066] [Overview of surgical system]

[0067] Figure 3 1 is a schematic diagram showing the overall structure of a surgical system 100 according to an embodiment of the present invention. Figure 3 As shown, the surgical system 100 is a system in which an operator O such as a doctor performs endoscopic surgery on a patient P using a patient-side system 1 , such as robot-assisted surgery or robot remote surgery.

[0068] The surgical system 100 includes a patient-side system 1 and an operating device 2 for operating the patient-side system 1. The operating device 2 is configured to be separated from the patient-side system 1, and the patient-side system 1 is remotely operated by the operating device 2. The operator O inputs the action to be performed by the patient-side system 1 into the operating device 2, and the operating device 2 sends its action command to the patient-side system 1. Then, the patient-side system 1 receives the action command sent from the operating device 2, and according to the action command, the endoscope component 41, instrument 42, etc. of the patient-side system 1 are operated. The following describes in detail the various components of the surgical system 100. In the following description, the patient-side system 1 and the operating device 2 in the surgical system 100 are collectively referred to as a "surgical robot."

[0069] [Configuration example of operating device]

[0070] The operating device 2 constitutes an interface between the surgical system 100 and the operator O, and is a device for operating the patient-side system 1. The operating device 2 is installed in the operating room next to the operating table 111 or away from the operating table 111, or outside the operating room. The operating device 2 includes an operating input unit 50 such as an operating robot arm 51, an operating pedal 52, etc., for the operator O to input action instructions, and a monitor 53 for displaying images photographed by the endoscope assembly 41. The operator O visually recognizes the affected part on the monitor 53 while operating the operation input unit 50 to input action instructions to the operating device 2. The action instructions input to the operating device 2 are transmitted to the controller 6 of the patient-side system 1 described later by wire or wirelessly.

[0071] [Configuration example of patient-side system]

[0072] The patient-side system 1 constitutes an interface between the surgical system 100 and the patient P. The patient-side system 1 is arranged in an operating room beside an operating table 111 on which the patient P lies. The operating room is a sterile area to be sterilized.

[0073] The patient-side system 1 includes: a positioner 7; a platform 5 mounted on the front end of the positioner 7; a plurality of patient-side robot arms (hereinafter referred to as "arms 3" (a plurality of movable parts)) detachably mounted on the platform 5; an endoscope assembly 41 mounted on the front end of one arm 3A among the plurality of arms 3; an instrument 42 detachably mounted on the front end of the remaining arms 3B among the plurality of arms 3; a sterilization drape 9 shielding the positioner 7 and the platform 5 from the sterilization area; and a controller 6 that controls the operation of the patient-side system 1. Hereinafter, the arm 3 to which the endoscope assembly 41 is mounted is sometimes referred to as a "camera arm 3A", and the arm 3 to which the instrument 42 is mounted is sometimes referred to as a "instrument arm 3B". The patient-side system 1 of this embodiment includes one camera arm 3A and three instrument arms 3B, for a total of four arms 3.

[0074] In the patient-side system 1, the elements from the positioner 7 to the endoscope assembly 41 or each instrument 42 are connected in series. In this specification, among the above series of elements, the end facing the positioner 7 (more specifically, the contact portion of the positioner 7 with the floor of the operating room) is called the "base end", and the end on the opposite side is called the "front end". In addition, the base end is sometimes called the "proximal end", and the front end is sometimes called the "distal end".

[0075] The instrument 42 includes: a driving member 45 disposed at its base end; an end effector 44 disposed at its front end; and an elongated shaft 43 connecting the driving member 45 and the end effector 44 (both refer to Figure 8). A reference direction D is defined for the instrument 42, and the drive member 45, the shaft 43, and the end effector 44 are arranged parallel to the reference direction D. The end effector 44 of the instrument 42 is selected from a group consisting of instruments having joints for performing actions (e.g., forceps, scissors, graspers, needle holders, microdissectors, staplers, tack tackers, suction cleaning tools, snare wires, and clip applicators, etc.) and instruments without joints (e.g., cutters, ablation probes, cleaners, catheters, and suction ports, etc.).

[0076] In the patient-side system 1 of the above-mentioned structure, the controller 6 that receives the action instruction from the operating device 2 first operates the positioner 7 to position the platform 5 so that the platform 5 and the operating table 111 or the patient P are in a predetermined positional relationship. Next, the controller 6 operates each arm 3 to position the endoscope assembly 41 and each instrument 42 so that the sleeve (cannula sleeve) 110 indwelling on the body surface of the patient P and the endoscope assembly 41 and each instrument 42 are in a predetermined initial positional relationship. In addition, the above-mentioned positioning actions of the positioner 7 and each arm 3 may also be performed simultaneously. Then, in principle, the controller 6 operates each arm 3 according to the action instruction from the operating device 2 while keeping the positioner 7 stationary to appropriately displace and change the posture of the endoscope assembly 41 and each instrument 42, and operates each instrument 42 to perform surgery.

[0077] [Structure example of positioner]

[0078] Here, the structure of the positioner 7 will be described in detail. Figure 4 It is a side view showing the overall structure of the positioner 7.

[0079] like Figure 4 As shown, the positioner 7 is based on a horizontal multi-jointed robot and includes a base 70 placed on the floor of the operating room, a lifting shaft 72, a swing arm 71 connecting the base 70 and the base end of the lifting shaft 72, and a horizontal arm 73 connected to the front end of the lifting shaft 72. The platform 5 is connected to the front end of the horizontal arm 73.

[0080] The base 70 is, for example, a trolley with a brake, which can be moved to a desired position and remain stationary there. The base end of a swing arm 71 is connected to the base 70 via a rotary joint J71. Through the operation of the rotary joint J71, the swing arm 71 rotates (rocks) around a horizontal rotation axis (rocking axis) defined at the base 70. In addition, the front end of the swing arm 71 is connected to the base end of the lifting shaft 72 via a rotary joint J72. Through the operation of the rotary joint J72, the swing arm 71 rotates (rocks) around a horizontal rotation axis defined at the base end of the lifting shaft 72.

[0081] The lifting shaft 72 extends vertically and can be extended and retracted in the vertical direction. The lifting shaft 72 of this embodiment includes a cylinder member 72a, a hollow shaft member 72b inserted into the cylinder member 72a in a manner that allows it to move forward and backward in the vertical direction, and a parallel joint J73 connecting the cylinder member 72a and the shaft member 72b. Through the action of the parallel joint J73, the shaft member 72b moves forward and backward in the vertical direction relative to the cylinder member 72a.

[0082] The horizontal arm 73 includes a first link 74 and a second link 75 extending horizontally, and a wrist link 76 connected to the front end of the second link 75. The platform 5 is connected to the front end of the wrist link 76.

[0083] The base end of the first link 74 is connected to the front end of the lifting shaft 72 via a rotating joint J74. The first link 74 and the lifting shaft 72 are at right angles. Through the operation of the rotating joint J74, the first link 74 rotates around the vertical rotation axis defined at the front end of the lifting shaft 72. The front end of the first link 74 is connected to the base end of the second link 75 via a rotating joint J75. Through the operation of the rotating joint J75, the second link 75 rotates around the vertical rotation axis defined at the front end of the first link 74.

[0084] The front end of the second link 75 is connected to the base end of the wrist link 76 via a rotary joint J76. Through the operation of the rotary joint J76, the wrist link 76 rotates around a horizontal rotation axis defined at the front end of the second link 75. When stable, the wrist link 76 extends vertically, and the platform 5 connected to the front end of the wrist link 76 is in a horizontal posture.

[0085] Here, the structure of the control system of the positioner 7 will be described. Figure 5 7 is a block diagram showing a schematic structure of the control system of the positioner 7. Figure 5 As shown, the positioner 7 has servo motors M71 to M76 for driving and encoders E71 to E76 for detecting the rotation angles of the servo motors M71 to M76, corresponding to the joints J71 to J76. A temperature sensor is provided in each of the servo motors M71 to M76. In addition, in this figure, the drive systems of the rotary joints J71 and J76 among the joints J71 to J76 are representatively shown, and the drive systems of the remaining joints J73 to J75 are omitted.

[0086] The controller 6 includes a positioner control unit 601 that controls the operation of the positioner 7. The positioner control unit 601 is electrically connected to the servo control units C71 to C76, and the servo control units C71 to C76 are electrically connected to the servo motors M71 to M76 via an amplifier circuit (not shown) and the like. The controller 6 can communicate with the data center 201 via the in-facility network 202 or the external network 203.

[0087] In the above structure, the position and posture instructions of the platform 5 are input to the positioner control unit 601 according to the action instructions input to the operating device 2. The positioner control unit 601 generates and outputs the position instruction value according to the position and posture instructions and the rotation angle detected by the encoders E71 to E76. The servo control units C71 to C76 that have obtained the position instruction value generate and output the drive instruction value (torque instruction value) according to the rotation angle detected by the encoders E71 to E76 and the position instruction value. The amplifier circuit that has obtained the drive instruction value supplies the drive current corresponding to the drive instruction value to the servo motors M71 to M76. In this way, each servo motor M71 to M76 is servo-controlled so that the platform 5 reaches the position and posture corresponding to the position and posture instructions.

[0088] The controller 6 transmits data on each element (eg, each joint J71 to J76) constituting a movable part of the positioner 7 to the data center 201. The controller 6 transmits the following data to the data center 201 via the in-facility network 202 or the external network 203, for example.

[0089] Position command values ​​output to each servo control unit C71 to C76

[0090] ·Drive command values ​​(torque command values) output from the servo control units C71 to C76

[0091] · Current value of the drive current supplied from the amplifier circuit

[0092] · Temperatures taken by the temperature sensors installed in the servo motors M71 to M76

[0093] Encoder values ​​of encoders E71 to E76 corresponding to the drive current

[0094] Voltage value of backup battery for encoders E71 to E76

[0095] ·Resistance value of the wiring harness installed in each joint J71 to J76

[0096] The controller 6 can transmit image data of the localizer 7 photographed by at least one camera (not shown) provided in the surgical system 100 to the data center 201. The controller 6 obtains image data from the camera and transmits the obtained data to the data center 201. The camera photographs a still image of the localizer 7, and the controller 6 can transmit the photographed still image data to the data center 201. In addition, the camera photographs the movement of the localizer 7 as an animation, and the controller 6 can transmit the photographed animation data to the data center 201.

[0097] The controller 6 may also transmit information indicating the status of the operating room to the data center 201 .

[0098] The controller 6 associates each of the above information with identification information (component ID) of each element (for example, each joint J71 to J76 ) that is a movable part of the positioner 7 , and transmits the information to the data center 201 .

[0099] The data transmitted by the controller 6 to the data center 201 is not limited to the above-mentioned examples. The controller 6 can transmit the above-mentioned data to the data center 201 every time an operation command is input from the operating device 2 .

[0100] As described above, the positioner 7 can change the style according to the position and posture instruction of the platform 5. Figure 4 As shown, the basic posture of the positioner 7 is set to the following state, that is, the swing arm 71 and the lifting shaft 72 extend vertically, the horizontal arm 73 extends horizontally, and the platform 5 connected to the wrist link 76 is horizontal.

[0101] like Figure 6 As shown, when the swing arm 71 is tilted from the vertical position from the above basic posture, the positioner control unit 601 operates the rotary joint J71 to tilt the swing arm 71 from the vertical position, and operates the rotary joint J72 to maintain the vertical position of the lifting shaft 72. In this way, regardless of whether the swing arm 71 is tilted from the vertical position, the vertical position of the lifting shaft 72 and the horizontal position of the horizontal arm 73 are maintained.

[0102] When the swing arm 71 is tilted from the vertical as described above, the positioner 7 as a whole assumes a C-shape. Thus, the positioner 7 can be configured such that the base 70 is located below the operating table 111, the lifting shaft 72 is located to the side of the operating table 111, and the horizontal arm 73 is located above the operating table 111. In this way, since the base 70 is retracted below the operating table 111, the movement route of the assistant who assists the operation around the operating table 111 during the operation can be ensured.

[0103] Furthermore, if Figure 7As shown, when the rotary joint J76 is driven to tilt the wrist link 76 from the vertical, the platform 5 tilts from the horizontal. When the platform 5 tilts from the horizontal, the basic axis (rotation axis) Lp of the arm 3 mounted on the platform 5 tilts from the vertical. As a result, the angle range of the reference direction D specified by the instrument 42 is expanded, and the instrument 42 can be inserted into the patient P with a larger tilt from the vertical. In this way, the insertion direction of the instrument 42 for the patient P can be appropriately adjusted according to the lying position of the patient P and the surgical position.

[0104] [Arm structure example]

[0105] Here, the structure of the arm 3 is described in detail. Figure 8 , a schematic structure of one of the multiple arms 3 included in the patient-side system 1 is shown. Figure 8 As shown, the arm 3 includes an arm body 30 and a parallel arm 35 connected to the front end of the arm body 30, and is configured to be able to move the front end in a three-dimensional space relative to the base end. In addition, in this embodiment, the plurality of arms 3 included in the patient-side system 1 all have the same or similar structure, but at least one of the plurality of arms 3 may have a structure different from the others.

[0106] When the arm 3 is the instrument arm 3B, a holder (tool holder) 36 for holding an instrument 42 is provided at the front end of the translation arm 35. The holder 36 detachably holds the instrument 42. The shaft 43 of the instrument 42 held by the holder 36 extends parallel to the reference direction D.

[0107] In addition, when the arm 3 is a camera arm 3A, a holder 36 is provided at the front end of the translation arm 35, similarly to the instrument arm 3B, and the endoscope assembly 41 is detachably held by the holder 36. Here, the style of the holder 36 provided in the camera arm 3A may be different from that of the holder 36 provided in the instrument arm 3B. Alternatively, since it is rare to replace the endoscope assembly 41 during surgery, the endoscope assembly 41 may be fixed to the camera arm 3A.

[0108] The arm 3 is freely loadable and unloadable relative to the platform 5 (i.e., it is easy to install or remove). The arm 3 has water resistance, heat resistance, and chemical resistance for cleaning and sterilization. There are various methods for sterilizing the arm 3, for example, high-pressure steam sterilization, EOG sterilization, chemical sterilization using disinfectants, etc. can be selectively used. In the high-pressure steam sterilization method, the arm 3 is sealed in a high-pressure container such as an autoclave and placed in saturated water vapor at a predetermined pressure for a predetermined time (for example, 30 minutes at 115°C, 20 minutes at 121°C, or 15 minutes at 126°C). In the EOG sterilization method, the arm 3 is sealed in a container and 450 to 1000 mg / L of ethylene oxide gas is circulated in the container. In the chemical sterilization method, for example, the arm 3 is immersed in a disinfectant such as glutaraldehyde.

[0109] [Structural example of arm body]

[0110] The arm body 30 includes a base 80 detachably mounted on the platform 5 and a first link 81 to a sixth link 86 connected in sequence from the base 80 toward the front end. In more detail, the base end of the first link 81 is connected to the front end of the base 80 via a torsion joint J31. The base end of the second link 82 is connected to the front end of the first link 81 via a torsion joint J32. The base end of the third link 83 is connected to the front end of the second link 82 via a bending joint J33. The base end of the fourth link 84 is connected to the front end of the third link 83 via a torsion joint J34. The base end of the fifth link 85 is connected to the front end of the fourth link 84 via a bending joint J35. The base end of the sixth link 86 is connected to the front end of the fifth link 85 via a torsion joint J36. The base end of the translation arm 35 is connected to the front end of the sixth link 86 .

[0111] The outer shell of the arm body 30 is mainly formed of a member having heat resistance and chemical resistance, such as stainless steel. In addition, a seal (not shown) for water resistance is provided at the connection portion between the chain rods. The seal has heat resistance corresponding to the high-pressure steam sterilization method and chemical resistance to disinfectants. Furthermore, in the connection portion between the chain rods, the end of the chain rod on one side of the connection is inserted inside the end of the chain rod on the other side, and the seal is arranged in a manner that buries the ends of these chain rods between each other, so that the seal is hidden from the outside. Thus, water, liquid medicine, and steam are prevented from infiltrating between the seal and the chain rod.

[0112] Here, use Fig. 9 as well as Fig.10 , explaining the structure of the driving system and control system of the arm body 30. Fig. 9 1 is a block diagram showing a schematic structure of a control system of the arm body 30. Fig.101 is a schematic cross-sectional view of the arm body 30 showing the layout of the drive system of the arm body 30 .

[0113] In the arm body 30 of the above structure, corresponding to each joint J31 to J36, there are provided servomotors M31 to M36 for driving, encoders E31 to E36 for detecting the rotation angle of the servomotors M31 to M36, and reducers R31 to R36 for reducing the output of the servomotors M31 to M36 to increase the torque. Fig. 9 In the figure, the control systems of the torsion joint J31 and the torsion joint J36 among the joints J31 to J36 are representatively shown, and the control systems of the remaining joints J33 to J35 are omitted. In addition, the encoders E31 to E36 are provided as an example of a rotation position detection unit for detecting the rotation position (rotation angle) of the servo motors M31 to M36, and a rotation position detection unit such as a resolver may be used instead of the encoders E31 to E36. In addition, the above-mentioned elements of the drive system of the arm body 30 and the wiring and control unit used therefor are made of high-temperature resistant materials and have heat resistance for sterilization.

[0114] In the torsion joint J31 connecting the base 80 and the first link 81, a servo motor M31 is provided at the base end of the first link 81, and a reducer R31 is provided at the front end of the base 80. The reducer R31 of the present embodiment is a reducer of a component type including a gear for reducing the rotation speed of the input power and an output gear for receiving its output. The servo motor M31 is configured so that its output shaft is parallel to the rotation axis of the torsion joint J31. An encoder E31 is attached to the servo motor M31. The output of the servo motor M31 is input to the reducer R31. The output gear of the reducer R31 is fixed to the first link 81, so that the first link 81 rotates relative to the base 80 by the output from the reducer R31.

[0115] In the torsion joint J32 connecting the first link 81 and the second link 82, a servo motor M32 is provided at the front end of the first link 81, and a speed reducer R32 is provided at the base end of the second link 82. The servo motor M32 is arranged so that its output shaft is parallel to the rotation axis of the torsion joint J32. An encoder E32 is attached to the servo motor M32.

[0116] In the bending joint J33 connecting the second link 82 and the third link 83, a speed reducer R33 is provided at the front end of the second link 82, and a servo motor M33 is provided at the base end of the third link 83. The servo motor M33 is arranged so that its output shaft is parallel to the rotation axis of the bending joint J33. An encoder E33 is attached to the servo motor M33.

[0117] Similarly to the above, the remaining joints J34 to J36 are also provided with servo motors M34 to M36, encoders E34 to E36 and reducers R34 to R36.

[0118] Servo motors M31 to M36 are small in output (e.g., about 80W), lightweight, and compact. In addition, reducers R31 to R36 are flat in shape with a small dimension in the axial direction, and use reducers that can obtain high torque at a high reduction ratio (e.g., 100 or more). In the arm 3 of the patient-side system 1, high-speed motion like a general industrial robot is not required, so a servo motor with a large output is not required. Therefore, by combining the servo motors M31 to M36 with relatively small output and the reducers R31 to R36 with a relatively high reduction ratio, the arm 3 can be made lightweight and compact while ensuring the required torque.

[0119] Furthermore, in a general industrial robot, the output of the servo motor is transmitted in the order of the output gear, the speed reducer, and the load, but in the arm 3 of this embodiment, the output of the servo motor is transmitted in the order of the speed reducer, the output gear, and the load. In this way, by configuring the speed reducer on the input side relative to the output gear, the arm 3 can also be made lighter and smaller.

[0120] The controller 6 includes an arm body control unit 602 that controls the operation of the arm body 30. The arm body control unit 602 is electrically connected to the servo control units C31 to C36, and the servo motors M31 to M36 are electrically connected to the servo control units C31 to C36 via an amplifier circuit (not shown) and the like. The controller 6 can communicate with the data center 201 via the in-facility network 202 or the external network 203.

[0121] In the above structure, the position and posture instructions of the front end of the arm body 30 are input to the arm body control unit 602 according to the action instructions input to the operating device 2. The arm body control unit 602 generates and outputs the position instruction value according to the position and posture instructions and the rotation angle detected by the encoders E31 to E36. The servo control units C31 to C36 that have obtained the position instruction value generate and output the drive instruction value (torque instruction value) according to the rotation angle detected by the encoders E31 to E36 and the position instruction value. The amplifier circuit that has obtained the drive instruction value supplies the drive current corresponding to the drive instruction value to the servo motors M31 to M36. In this way, each servo motor M31 to M36 is servo-controlled so that the front end of the arm body 30 reaches the position and posture corresponding to the position and posture instructions.

[0122] The controller 6 transmits data on each element (eg, each joint J31 to J36) constituting a movable portion of the arm 3 to the data center 201. The controller 6 transmits the following data to the data center 201 via the in-facility network 202 or the external network 203, for example.

[0123] Position command values ​​output to each servo control unit C31 to C36

[0124] ·Drive command value (torque command value) output from each servo control unit C31 to C36

[0125] · Current value of the drive current supplied from the amplifier circuit

[0126] · Temperatures captured by temperature sensors installed in servo motors M31 to M36

[0127] Encoder values ​​of encoders E31 to E36 corresponding to the drive current

[0128] Voltage value of backup battery for encoders E71 to E76

[0129] ·Resistance value of the wiring harness installed in each joint J31 to J36

[0130] The controller 6 can transmit image data captured by the endoscope unit 41 to the data center 201. The controller 6 can also transmit still image data captured by the endoscope unit 41 to the data center 201. The controller 6 can also transmit moving image data captured by the endoscope unit 41 to the data center 201 as streaming data.

[0131] The controller 6 can transmit image data of the arm 3 photographed by at least one camera (not shown) provided in the surgical system 100 to the data center 201. The controller 6 obtains image data from the camera and transmits the obtained data to the data center 201. The camera photographs a still image of the arm 3, and the controller 6 can transmit the photographed still image data to the data center 201. In addition, the camera photographs the movement of the arm 3 as an animation, and the controller 6 can transmit the photographed animation data to the data center 201.

[0132] The controller 6 transmits the above-mentioned information to the data center 201 in association with the identification information (element ID) of each element (eg, each torsion joint J31 to J36 ) that constitutes the movable portion of the arm 3 .

[0133] The data transmitted by the controller 6 to the data center 201 is not limited to the above-mentioned examples. The controller 6 can transmit the above-mentioned data to the data center 201 every time an operation command is input from the operating device 2 .

[0134] [Connection structure of arm and platform]

[0135] The connection structure between the platform 5 and the arm 3 will be described.

[0136] The base 80 of the arm 3 is detachable relative to the platform 5. In other words, the arm 3 can be easily removed or attached to the patient-side system 1 as a whole. In the present embodiment, the four arms 3 are detachable relative to the platform 5, but at least one of the arms 3 included in the patient-side system 1 only needs to be detachable relative to the platform 5.

[0137] The arm 3 removed from the patient-side system 1 is reused within a limited number of times after being cleaned and sterilized. In this way, the arm 3 is replaced with a sterilized clean arm at each operation. Therefore, the arm 3 does not need to be covered with a sterilization drape as in the past, but can be placed in a sterilization area.

[0138] Fig.11 is a top view showing the connection structure of the platform 5 and the arm 3, Fig.12 yes Fig.11 The XII-XII arrow view in the cross-sectional view. Fig.11 as well as Fig.12 As shown, the base end portion of the base 80 of the arm 3 is cylindrical, and has at least one interface portion (hereinafter sometimes referred to as "I / F portion 801") around or on the base end surface. The I / F portion 801 of this embodiment is a protrusion formed on the outer peripheral surface of the base 80, but the style of the I / F portion 801 is not limited to this.

[0139] An IC tag 91 for attaching identification information to the arm 3 is embedded in the I / F unit 801. The IC tag 91 includes an IC chip and an antenna. The IC chip includes a microcomputer, EEPROM, RAM, etc. (all omitted in the figure). The IC tag 91 stores the solid identification information, model, number of times used, etc. of the arm 3.

[0140] One or more connectors 92 are provided in the I / F unit 801 . The one or more connectors 92 include a connector for electric wires for supplying power to the arm 3 , a connector for communication wiring for transmitting and receiving signals to and from the arm 3 , and the like.

[0141] In the present embodiment, the platform 5 is provided with at least four mounting ports 55 so that the four arms 3 can be detachably mounted on the platform 5. The platform 5, when viewed from above, presents a hexagonal shape in which two adjacent corners of a quadrilateral are chamfered, and three continuous side surfaces thereof have components facing the same direction. One mounting port 55 is provided on each of the three side surfaces. In addition, a portion of the lower portion of the platform 5 is cut away, thereby forming a wall 59 facing the side, and three mounting ports 55 of the lower section are provided in the wall 59 in the same manner as the three mounting ports 55 of the upper section described above. In the present embodiment, one of the three mounting ports 55 of the lower section is used, and the remaining two are left vacant. In this way, by providing a plurality of mounting ports 55 on the platform 5, the mounting port 55 to be used can be selected for each operation.

[0142] The coupling mechanism connecting the arm 3 and the platform 5 is constituted by the I / F portion 801 provided on the base 80 of the arm 3 as described above and the mounting port 55 provided on the platform 5. Then, the base 80 (i.e., the arm 3) is mounted on the platform 5 by fitting the I / F portion 801 of the base 80 into the mounting port 55 of the platform 5.

[0143] In the mounting port 55 of the platform 5, a socket 56 is provided at a position corresponding to the connector 92 provided in the I / F portion 801. With the connection between the I / F portion 801 and the mounting port 55, the connector 92 and the socket 56 are automatically connected. The socket 56 is connected with electric wires and / or communication wiring via the internal space of the hollow elements (shafts, chain rods, etc.) constituting the platform 5 and the positioner 7. In addition, the connector 92 is exposed on the surface of the arm 3 and can contact the socket 56, but the following structure may be adopted: the connector 92 is buried near the surface of the arm 3, and the socket 56 and the connector 92 are electrically connected in a non-contact manner by electromagnetic induction or the like.

[0144] The platform 5 is provided with a reader / writer 93 for reading and writing (storing) information of the IC tag 91 embedded in the arm 3. The reader / writer 93 is provided corresponding to each mounting port 55 of the platform 5, and outputs information read from the IC tag 91 to the controller 6 described later. The reader / writer 93 may be a reader / writer that reads the IC tag 91 of each arm 3 mounted on the platform 5 individually, or a reader / writer that reads the IC tags 91 of all the arms 3 mounted on the platform 5 at once.

[0145] One or more installation locking mechanisms 94 capable of performing installation locking (holding) and installation locking release (hold release) of the arm 3 installed on the platform 5 are provided on the platform 5 and the base 80 to prevent the base 80 from falling off the platform 5. In addition, installation locking refers to fixing the I / F part 801 of the arm 3 installed at the installation port 55 of the platform 5 to the installation port 55, and installation locking release refers to releasing the fixation.

[0146] The installation locking mechanism 94 is formed by the cooperation of a member provided at or near the installation port 55 of the platform 5 and a member provided at or near the I / F portion 801 of the arm 3. Such an installation locking mechanism 94 is selected from a group consisting of, for example, the following combinations: a protrusion provided in one of the platform 5 and the base 80 and a rod with a hook provided in the other; a recess provided in one of the two and an engaging claw provided in the other; a recess provided in one of the two and a cylindrical plug provided in the other. Alternatively, the installation locking mechanism 94 may be other known installation locking mechanisms. However, the installation locking mechanism 94 is not a mechanism that uses a tool such as a bolt / nut for installation locking / installation lock release, but is preferably a mechanism that can perform installation locking / installation lock release by one-touch operation.

[0147] Fig.13 is a block diagram showing a structure for managing the arm 3 mounted on the platform 5. Fig.13 As shown, the controller 6 includes an arm management unit (management device) 603 for managing the arm 3 installed on the platform 5. The reader / writer 93 is electrically connected to the arm management unit 603. The controller 6 can communicate with the data center 201 via the in-facility network 202 or the external network 203.

[0148] The arm management unit 603 detects that the connector 92 and the socket 56 are connected based on the power supply from the platform 5 to the arm 3. For example, the power supply from the platform 5 to the arm 3 can be detected based on the detection signal from the current detection sensor (detection sensor 57) provided in the electric wire or communication wiring leading to the socket 56. The connection between the connector 92 and the socket 56 means that the I / F unit 801 is normally installed in the installation port 55. In other words, the presence or absence of the arm 3 installed in the installation port 55 can be detected based on the presence or absence of power supply from the platform 5 to the arm 3. In this way, the arm management unit 603 can detect that the arm 3 is installed in each installation port 55 provided in the platform 5.

[0149] However, in order to detect whether the arm 3 is mounted in the mounting port 55, a contact or non-contact object detection sensor (not shown) may be provided on the platform 5. In this case, the arm management unit 603 detects that the arm 3 is mounted in the mounting port 55 based on the detection signal from the detection sensor.

[0150] When the arm management unit 603 detects that the arm 3 is installed in the mounting port 55, the reader / writer 93 performs a reading operation, and obtains the individual identification information, model information (type), usage count information, etc. of each arm 3 connected to the platform 5 based on the information read by the reader / writer 93 from the IC tag 91. The arm management unit 603 associates the obtained information with the installation position information (i.e., the mounting port 55) on the platform 5 where the arm 3 is installed, and temporarily stores it. In addition, multiple mounting ports 55 are identified separately. Information related to the consumables of the endoscope assembly 41 and the instrument 42 installed in the arm 3 can also be stored in the IC tag 91. For example, the usage time of the endoscope light in the endoscope assembly 41, the usage time of the forceps as the instrument 42, etc. can also be stored in the IC tag 91.

[0151] The controller 6 sends the information read from the IC tag 91 by the arm management unit 603 to the data center 201. The controller 6 sends, for example, individual identification information, model information (type), and usage count information of each arm 3 to the data center 201. The controller 6 associates the individual identification information, model information (type), and usage count information of each arm 3 with the identification information of the surgical system 100 and sends them to the data center 201. The controller 6 may also send information related to consumables of the endoscope assembly 41 and the instrument 42 to the data center 201. For example, the controller 6 sends the usage time of the lamp of the endoscope assembly 41 and the usage time of the forceps as the instrument 42 to the data center 201.

[0152] In addition, surgical information is input and set (stored) in advance in the controller 6 via the operating device 2. The surgical information includes a combination of a plurality of arms 3 used in the surgery.

[0153] The arm management unit 603 determines whether the combination of the solid identification information included in the information obtained from the reader / writer 93 corresponds to the combination set as the above-mentioned surgical information. If the combination does not correspond to the combination set as the surgical information, the arm management unit 603 outputs a warning via the warning device 605 connected to the controller 6. In addition, the warning device 605 warns the operator O through one or more of light, sound, and image. In this way, the arm management unit 603 manages the arm 3 installed on the platform 5 so that the appropriate arm 3 is installed.

[0154] The surgical information may include information on a combination of individual identification information of the arm 3 used in the surgery and an installation position (ie, installation port 55) of the platform 5 to which the arm 3 is to be installed.

[0155] In this case, the arm management unit 603 determines whether the combination of the individual identification information included in the information obtained from the reader / writer 93 and the installation position information on the platform 5 (i.e., the installation port 55) stored in association with the individual identification information corresponds to the combination set as the above-mentioned surgical information. If the combination does not correspond to the combination set as the surgical information, the arm management unit 603 outputs a warning via the alarm 605 connected to the controller 6. In this way, the arm management unit 603 manages the arm 3 installed on the platform 5 so that the arm 3 is installed at a suitable position on the platform 5 and a suitable arm 3 is installed in each installation port 55.

[0156] Furthermore, the surgical information may include information on a combination of model information of the arm 3 used in the surgery and an installation position (ie, installation port 55 ) on the platform 5 to which the arm 3 is to be installed.

[0157] In this case, the arm management unit 603 can also be configured to determine whether the combination of model information contained in the information obtained from the reader / writer 93 and the installation position (installation port 55) associated therewith corresponds to the combination set as the above-mentioned surgical information. If the combination does not correspond to the combination set as the surgical information, a warning is output via the alarm device 605 connected to the controller 6.

[0158] The arm 3 differs in type (camera arm 3A, instrument arm 3B), structure (length of chain rod, degree of freedom, etc.) and the like depending on the model. In the above, the model information is stored in the IC tag 91, but the storage device 604 may include a model storage unit storing the model information in association with the individual identification information, and the arm management unit 603 reads the corresponding model information from the model storage unit according to the individual identification information, and uses the model information instead of the model information read from the IC tag 91 in the above process.

[0159] The controller 6 may also receive the above-mentioned operation information from the data center 201. The controller 6 may also perform the above-mentioned control according to the operation information received from the data center 201.

[0160] The storage device 604 of the controller 6 includes a usage limit number storage unit that stores the usage limit number associated with the solid identification information. The arm management unit 603 reads the usage limit number corresponding to the solid identification information from the storage device 604 based on the solid identification information obtained from the IC tag 91, and compares the usage limit number with the obtained usage number information. If the usage number information exceeds the usage limit number, the arm management unit 603 outputs a warning via the alarm 605 connected to the controller 6. In this way, the arm management unit 603 manages the usage number of the arm to avoid using the arm 3 beyond its usage limit number. In addition, the arm 3 that has ended the use of the usage limit number is recycled by the manufacturing dealer. The instrument 42 held on the arm 3 is a consumable, and the recycled arm 3 becomes usable after the instrument 42 is disassembled and cleaned, and a new instrument 42 and IC tag 91 are installed and sterilized.

[0161] The arm management unit 603 operates the reader / writer 93 to write new usage count information obtained by adding 1 to the usage count information obtained from the IC tag 91 into the IC tag 91. As a result, the IC tag 91 of the arm 3 retains information related to its own usage count. Therefore, the arm 3 can be shared with other patient-side systems 1.

[0162] In the above, the arm 3 itself holds the usage count information of the arm 3, but the usage count information of the arm 3 may be stored in the storage device 604 of the controller 6. In this case, a reader having only a reading function may be used instead of the reader / writer 93. In addition, the arm management unit 603 may read the corresponding usage count information from the storage device 604 based on the individual identification information read from the IC tag 91 by the reader, and use it for the above processing.

[0163] A preferred embodiment of the connection structure between the platform 5 and the arm 3 has been described above. However, the connection structure between the platform 5 and the arm 3 may be changed as follows, for example.

[0164] For example, in the above embodiment, six mounting ports 55 are provided on the platform 5, and the arm 3 is connected to four of the mounting ports 55. In this way, there may be an idle mounting port 55 among the plurality of mounting ports 55. In addition, more than five mounting ports 55 may be provided on the platform 5, and the mounting ports 55 at appropriate positions corresponding to the contents of the surgery may be selectively used.

[0165] For example, in the above-mentioned embodiment, in order to make the arm 3 itself retain information, the IC tag 91 is provided in the arm 3. However, the IC tag 91 is an example of the information holding unit provided in the arm 3, and other information holding units may be used instead of or in addition to the IC tag 91. For example, a barcode may be provided in the arm 3, and a barcode reader may be provided on the platform 5. In addition, for example, a shape mark such as a concave and convex shape may be provided on the arm 3, and a reader for reading the shape mark may be provided on the platform 5.

[0166] In the above embodiment, the connector 92 is provided in the I / F section 801 of the base 80 of the arm 3, and the socket 56 is provided in the mounting port 55 of the platform 5, but the connector 92 and the socket 56 may be omitted. In this case, the arm 3 is connected to an electric wire for power supply and / or wiring for communication at a location other than the I / F section 801.

[0167] [Data center configuration example]

[0168] Fig.14 The data center 201 is shown as a configuration example. The data center 201 includes a computer 210 and a database 213. The computer 210 includes a data management unit 211 and a data analysis unit 212. The data management unit 211 communicates with the surgical robot of the surgical system 100 via the in-facility network 202 or the external network 203. The computer 210 is a data analysis device.

[0169] The data management unit 211 stores the data received from the surgical robot in the database 213. The data management unit 211 transmits the data read out from the database 213 to the surgical robot.

[0170] The data analysis unit 212 monitors the surgical robot in operation by statistically analyzing the data stored in the database 213. The details of the analyzed operation will be described later. The data analysis unit 212 notifies the support center 205 of the monitoring results via the external network 203. The data analysis unit 212 may also notify the operating device 2 of the monitoring results via the in-facility network 202.

[0171] The data analysis unit 212 may be pre-programmed with a response strategy based on the knowledge of the robot technician.

[0172] Fig.15 An example of the format of data transmitted and received between the surgical robot and the data center 201 is shown.

[0173] exist Fig.15 In the example of (a), the data format includes: a system ID 220 which is identification information of the surgical robot in the surgical system 100, a component ID 221 which is identification information of the movable part of the arm 3 or the positioner 7, monitoring data 222 related to the movable part of the arm 3 or the positioner 7, and a timestamp 223 corresponding to the time when the monitoring data 222 was extracted. As described above, the monitoring data 222 is an encoder value, a current value of a servo motor, and the like.

[0174] When extracting multiple types of data for one movable part, the data format may be as follows: Fig.15 The example of (b) includes a data ID 224 indicating the type of data.

[0175] Fig.16 The data format when information extracted from the IC tag 91 of the arm 3 is transmitted and received between the surgical robot and the data center 201 is shown.

[0176] The data format includes a system ID 220 , individual identification information 230 of the arm 3 , model information 231 corresponding to the type of the arm, the number of times the arm 3 has been used 232 , and a mounting port ID 233 indicating the mounting port 55 to which the arm 3 is mounted.

[0177] [Data analysis example (1)]

[0178] The data analysis unit 212 can perform data analysis for preventive measures for abnormalities and failures of the surgical system 100 using data stored in the database 213. The data analysis unit 212 can also perform data analysis for backup support during surgery using data sequentially stored in the database 213 during surgery.

[0179] In the preventive measures for abnormalities, failures, etc., it is intended to ensure high safety by taking measures as soon as possible based on the information stored in the database 213, not after the failure is detected, but at the time when the possibility of the failure is discovered.

[0180] The data analysis unit 212 monitors monitoring data 222 of each element as a movable part of the arm 3 or the positioner 7 to detect signs of abnormality or failure of the arm 3 or the positioner 7. The data analysis unit 212 monitors the following monitoring data 222 related to the arm 3 and the positioner 7, for example.

[0181] Output position command value to each servo control unit

[0182] ·Drive command value (torque command value) output from each servo control unit

[0183] · Current value of the drive current supplied from the amplifier circuit

[0184] ·Temperature acquired by temperature sensors installed in servo motors

[0185] Encoder value of the encoder corresponding to the drive current

[0186] Voltage value of backup battery for each encoder

[0187] ·Resistance value of the wiring harness installed in each joint

[0188] Images and moving image data acquired by the endoscope unit 41 (images of the internal equipment status acquired by the endoscope)

[0189] Images and video data taken by a camera installed in the surgical system 100

[0190] Information about consumables (number of times used, usage time)

[0191] Distance measured by laser sensor

[0192] The data analysis unit 212 can determine that there is a sign of abnormality or failure in the arm 3 or the positioner 7 when the deviation between the monitoring data 222 of each component and the normal value exceeds a predetermined threshold. For example, the data analysis unit 212 compares the temperature data of the servo motor with the normal value, and determines that there is a sign of abnormality or failure in the arm 3 when the deviation between the temperature data and the normal value exceeds a predetermined threshold.

[0193] The data analysis unit 212 can determine that there is a sign of abnormality or failure in the arm 3 or the positioner 7 based on the number of times the deviation between the monitoring data 222 of each component and the normal value exceeds a predetermined threshold. The data analysis unit 212 can determine that there is a sign of abnormality or failure in the arm 3 or the positioner 7 when the number of times the deviation between the monitoring data 222 of each component and the normal value exceeds the predetermined threshold is greater than a predetermined number of times. For example, the data analysis unit 212 monitors the number of times the deviation between the resistance value of the wire harness and the normal value exceeds a predetermined threshold, and when the number of times is greater than a predetermined number of times, it is determined that there is a sign of abnormality or failure in the arm 3 or the positioner 7.

[0194] The data analysis unit 212 can determine that there is a sign of abnormality or failure in the arm 3 or the positioner 7 based on the period during which the deviation between the monitoring data 222 of each component and the normal value exceeds a predetermined threshold. The data analysis unit 212 uses the timestamp 223 stored in the database 213 to monitor the period during which the deviation between the monitoring data and the normal value of each component exceeds the predetermined threshold. The data analysis unit 212 can determine that there is a sign of abnormality or failure in the arm 3 or the positioner 7 when the period during which the deviation between the monitoring data and the normal value exceeds the predetermined threshold continues for more than a predetermined period. For example, the data analysis unit 212 monitors the period during which the deviation between the current value of the servo motor and the normal value exceeds the predetermined threshold, and when the period continues for more than a predetermined period, it can be determined that there is a sign of abnormality or failure in the arm 3 or the positioner 7.

[0195] The data analysis unit 212 can detect signs of abnormality or failure of the arm 3 or the positioner 7 based on the multiple monitoring data 222 obtained for the movable part. The data analysis unit 212 monitors, for example, the current value of the servo motor and the encoder value corresponding to the current value. The data analysis unit 212 monitors the deviation between the encoder value (expected value) expected for the current value and the monitored encoder value. The data analysis unit 212 determines that there is a sign of abnormality or failure in the arm 3 or the positioner 7 when the deviation exceeds a predetermined threshold. The data analysis unit 212 can also determine that there is a sign of abnormality or failure in the arm 3 or the positioner 7 based on the number of times the deviation exceeds the predetermined threshold or the period during which the deviation exceeds the predetermined threshold.

[0196] The data analysis unit 212 can dynamically generate a reference used in detecting the signs of abnormality or failure of the arm 3 or the positioner 7 based on the plurality of monitoring data 222. For example, the data analysis unit 212 changes the reference for detecting the signs of abnormality or failure of the current value supplied to the servo motor based on the three-dimensional position of the arm 3 or the positioner 7 calculated based on the encoder value. For example, when the arm 3 is approximately horizontal with respect to the ground on which the operating table 111 is set, the data analysis unit 212 sets the reference value for detecting the signs of abnormality or failure of the current value higher than when the front end of the arm 3 is facing the ground.

[0197] The data analysis unit 212 can detect signs of abnormality or failure of the arm 3 or the positioner 7 based on the monitoring data 222 acquired from a plurality of surgical robots.

[0198] For example, the data analysis unit 212 can detect abnormalities or signs of failure of the arm 3 and the positioner 7 based on the statistical analysis of the monitoring data 222 related to the same type of movable parts (for example, the torsion joints of the arms 3 of each surgical robot and the bending joints of the arms 3 of each surgical robot) obtained from multiple surgical robots. The data analysis unit 212 calculates the mean value (M) and the standard deviation (σ) of the group of monitoring data 222 related to the same type of movable parts. The data analysis unit 212 calculates the mean value and the standard deviation for each group of the same type of movable parts. In the data analysis unit 212, as a basis for detecting signs of abnormalities or failures of the arm 3 and the positioner 7, for example, the following formula is used.

[0199] |X-M|>3σ

[0200] In the above formula, X is the monitoring data 222 obtained from the working arm 3 and positioner 7. According to the above formula, when the absolute value of the difference between the monitoring data 222 and the average value (M) is greater than 3σ, the data analysis unit 212 determines that there is a sign of abnormality or failure in the arm 3 and positioner 7 corresponding to the monitoring data 222. The data analysis unit 212 may also determine that there is a sign of abnormality or failure in the arm 3 and positioner 7 corresponding to the monitoring data 222 when the absolute value of the difference between the monitoring data 222 and the average value (M) is greater than 2σ or 4σ. The data analysis unit 212 updates the above reference, for example, at a predetermined period.

[0201] The data analysis unit 212 can also calculate the above-mentioned benchmark based on the statistical analysis of the monitoring data 222 related to the same movable part (for example, the torsion joint J31 of the arm 3 of each surgical robot and the bending joint J33 of the arm 3 of each surgical robot) obtained from multiple surgical robots.

[0202] As described above, the data analysis unit 212 can dynamically generate a benchmark for detecting signs of abnormality or failure based on a plurality of monitoring data 222 obtained from a plurality of surgical robots. Since the signs of abnormality or failure can be detected by using the benchmark generated based on a plurality of monitoring data 222, a more precise judgment can be made compared to monitoring the monitoring data 222 of a single surgical robot.

[0203] The data analysis unit 212 may also detect signs of abnormality or failure of the arm 3 or the positioner 7 based on the correlation between the different monitoring data 222 .

[0204] The data analysis unit 212 can detect abnormalities caused by interference between the arms 3. If the arms 3 interfere with each other, an action that is not based on the instruction of the operating device 2 occurs in the arm 3. The surgical robot grasps the behavior of the arm 3 by comparing the encoder value based on the position command value of the operating device 2 and the origin position. The uncertain action of the arm 3 caused by the interference between the arms 3 is not reflected in the encoder value, and a difference occurs between the position of the arm 3 corresponding to the encoder value and the actual position of the arm 3. In this case, even if the arm 3 is to be returned to the origin, the arm 3 cannot be returned to the correct origin position because a difference occurs between the position of the arm 3 corresponding to the encoder value and the actual position of the arm 3. The data analysis unit 212 analyzes, for example, images and animation data, grasps the position of the arm 3 that changes due to interference, and corrects the origin deviation. The data analysis unit 212 analyzes, for example, images and animation data to grasp the position of the arm 3 that changes due to interference, and calculates the deviation from the position of the arm 3 corresponding to the encoder value. The data analysis unit 212 calculates the encoder value corresponding to the calculated deviation, and calculates the correction value of the origin deviation based on the calculated encoder value. The data analysis unit 212 notifies the support center 205 or the surgical robot of the calculated correction value.

[0205] When the data analysis unit 212 detects abnormalities or signs of failure of the arm 3 or the positioner 7, it notifies the support center 205 of the warning information. The notification of the warning information from the data analysis unit 212 is displayed on, for example, the monitor of the terminal used by the service personnel of the support center 205. Based on the notification displayed on the monitor, the service personnel notifies the surgical robot of the abnormality or signs of failure, and issues an alarm or an action stop instruction. The service personnel can also provide telephone support to the user of the surgical robot and dispatch maintenance personnel based on the notification displayed on the monitor. The service personnel can connect the monitor of the terminal and the monitor 53 of the surgical robot, and display the operation screen of the surgical robot on the monitor of the terminal. The service personnel can remotely operate the surgical robot via the operation screen displayed on the monitor of the terminal.

[0206] The data analysis unit 212 may also frequently send monitoring results of the monitoring data 222 to the support center 205. The monitoring results are sequentially displayed on the monitor of the terminal used by the service personnel of the support center 205. For example, the data analysis unit 212 frequently sends the deviation of the monitoring data 222 obtained from the surgical robot during the operation and the normal value to the support center 205. The service personnel monitors the information sent from the data analysis unit 212 to determine whether the arm 3 and the positioner 7 have abnormalities or signs of failure. The service personnel can connect the monitor of the terminal and the monitor 53 of the surgical robot, and display the operation screen of the surgical robot on the monitor of the terminal. The service personnel can remotely operate the surgical system via the operation screen displayed on the monitor of the terminal.

[0207] When the data analysis unit 212 detects abnormality or a sign of failure of the arm 3 or the positioner 7, it may directly notify the surgical robot of warning information without going through the support center 205. For example, the data analysis unit 212 notifies the surgical robot of an abnormality or a sign of failure detected, of an alarm or an operation stop instruction.

[0208] The data analysis unit 212 may also present a countermeasure on a monitor of a terminal used by the service personnel.

[0209] The data analysis unit 212 can obtain information related to consumables (the number of times the arm 3 is used, the usage time of the lamp of the endoscope assembly 41, etc.) from the database 213. The data analysis unit 212 compares the reference value for replacement of consumables with the information obtained from the database 213. For example, the data analysis unit 212 notifies the support center 205 that the number of times and the usage time obtained from the database 213 exceed the reference value. Based on the notification, the service personnel of the support center 205 notify the surgical robot that the replacement time of the consumables is approaching. The service personnel can also instruct the maintenance personnel to replenish or replace the consumables based on the notification.

[0210] [Data analysis example (2)]

[0211] The data analysis unit 212 uses the data stored in the database 213 to perform analysis for inspection and setup of the surgical robot before surgery.

[0212] Preoperative inspection and debugging support can automate the inspection of preoperative debugging information to confirm the operation of each part before using the surgical robot. Through this support, the surgical robot can be inspected from a remote location at the discretion of the robot technician.

[0213] The data analysis unit 212 can perform operation checks on the arm 3 and the positioner 7. The data analysis unit 212 can also perform operation checks on the operation device 2, the endoscope assembly 41, and the instrument 42.

[0214] The data analysis unit 212 analyzes the deviation between the position command value output to each servo control unit and the encoder value corresponding to the position command value. The data analysis unit 212 analyzes the deviation between the encoder value (expected value) expected for the position command value and the actual encoder value. The data analysis unit 212 can analyze the deviation between the current value (expected value) expected for the position command value and the actual current value, and check the torque state of the arm 3 and the positioner 7. The data analysis unit 212 can also rotate the servo motor in the state where the brake of the arm 3 is turned on, analyze the current value when the servo motor starts to rotate, and check the braking torque.

[0215] The data analysis unit 212 notifies the support center 205 of the analysis result. The notification from the data analysis unit 212 is displayed on, for example, a monitor of a terminal used by a service personnel of the support center 205. The service personnel instructs the surgical robot to correct the deviation based on the notification displayed on the monitor. For example, the service personnel sends a correction value for correcting the deviation to the surgical robot.

[0216] The data analysis unit 212 may directly notify the surgical robot of the analysis result without going through the support center 205. The data analysis unit 212 may calculate a correction value for correcting the deviation and transmit the calculated correction value to the surgical robot.

[0217] The data analysis unit 212 can check the positioning accuracy of the arm 3 and the positioner 7 based on the image and animation data taken by the camera provided in the endoscope assembly 41 or the surgical system 100. The data analysis unit 212 analyzes the image and animation data to analyze whether the arm 3 and the positioner 7 have moved to the position corresponding to the position instruction value. The data analysis unit 212 virtually sets the position corresponding to the position instruction value on the image data to analyze whether the arm 3 and the positioner 7 have reached the position. The data analysis unit 212 calculates the movement amount of the arm 3 and the positioner 7 corresponding to the position instruction value. The data analysis unit 212 analyzes the image and animation data to determine whether the arm 3 and the positioner 7 have moved by the calculated movement amount. The data analysis unit 212 can also analyze the image and animation data to check the relative position between the arms 3.

[0218] The data analysis unit 212 can check the backlash of the arm 3 and the positioner 7 based on the image or animation data taken by the camera provided in the endoscope assembly 41 or the surgical system 100. The backlash means the gap intentionally provided between the gears provided in the arm 3 and the positioner 7. It is assumed that the backlash may vary due to the wear and deterioration of the gears. The data analysis unit 212 can analyze the backlash deviation.

[0219] When backlash deviation occurs, a time lag occurs from input of the position command value to joint motion of the arm 3 and the positioner 7. The data analysis unit 212 analyzes the animation data and calculates the time lag from input of the position command value to joint motion of the arm 3 and the positioner 7.

[0220] The data analysis unit 212 notifies the support center 205 of the analysis result. The data analysis unit 212 notifies the support center 205 of an image, animation data, or data indicating the analysis result. The notification from the data analysis unit 212 is displayed on, for example, a monitor of a terminal used by a service personnel of the support center 205. The service personnel instructs the surgical robot to correct the deviation of positioning and the deviation of tooth backlash based on the image and animation data displayed on the monitor. For example, the service personnel sends a correction value for correcting the deviation to the surgical robot.

[0221] The data analysis unit 212 may directly notify the surgical robot of the analysis result without going through the support center 205. The data analysis unit 212 may calculate a correction value for correcting the deviation and transmit the calculated correction value to the surgical robot.

[0222] The data analysis unit 212 can also check whether the operating pedal 52, the endoscope assembly 41, the instrument 42 (for example, an electric scalpel (energy device), forceps, etc.), the monitor 53, the recorder, etc. are normally connected to the surgical robot. The data analysis unit 212 can also check the operation of energy devices such as electric scalpels and bipolar devices. These inspections can be used to check, for example, whether there is any bend in the instrument. In addition, it is possible to check whether standard products are used in each machine. This inspection can be performed by providing a sensor in the mounting part of the surgical instrument. As an inspection of the energy device, there is an operation inspection (output failure, etc.) of a bipolar device (the front end is two scalpels: a high-frequency current flows out from the tip of one scalpel and is recovered from the tip of the scalpel on the opposite side).

[0223] The data analysis unit 212 can generate configuration information of the arm 3. The data analysis unit 212 notifies the surgical robot of the generated configuration information via the support center 205, thereby supporting the user of the surgical robot. The data analysis unit 212 can also directly notify the surgical robot of the generated configuration information. The configuration information notified to the surgical robot is stored in the controller 6 of the arm 3 and the positioner 7 as the above-mentioned surgical information. The data analysis unit 212 can also save the configuration information in the database 213 and reuse the information.

[0224] Fig.17An example of configuration information generated by the data analysis unit 212 is shown. The data analysis unit 212 generates configuration information suitable for the surgical method, for example, based on the surgical method performed by the surgical robot. For example, the data analysis unit 212 is notified of information related to the surgical method via the operating device 2 of the surgical robot. The information related to the surgical method includes, for example, position information of a sleeve (cannula sleeve) placed on the patient's body, and information related to the relative position of the patient and the bed. The data analysis unit 212 can also generate configuration information based on the characteristics of the doctor using the surgical robot (for example, height, sitting height, etc.). The data analysis unit 212 can also generate configuration information based on a combination of the surgical method and the doctor's characteristics, and other information.

[0225] In the configuration information, for example, the configuration of the arm 3 and the configuration of the positioner 7 are set for each system ID 220 .

[0226] The configuration of the arm 3 is set for each individual identification information 230 of the arm. The configuration of the arm 3 includes, for example, a mounting port ID 233 and an operation command value 240 for each component ID 221 .

[0227] The configuration of the positioner 7 is the same as that of the arm 3 .

[0228] [Data analysis example (3)]

[0229] The data analysis unit 212 can analyze the use history of the endoscope unit 41 and the instrument 42 and the use status of consumables using the data stored in the database 213 .

[0230] The database 213 can manage the data of each customer based on the information obtained from the surgical robot.

[0231] Fig.18 The following is an example of the customer management data of the database 213. The customer management data includes information on each of the surgical robot delivered to the customer, the arm 3 delivered to the customer, and the consumables delivered to the customer.

[0232] The customer ID 250 for identifying the customer and the system ID 220 of the surgical robot delivered to the customer are associated and managed in the database 213. The information on the arm 3, the information on the endoscope assembly 41 and the consumables of the instrument 42 and the system ID 220 are associated and managed in the database 213.

[0233] The data analysis unit 212 refers to Fig.18 The customer management data illustrated in the example can be used to grasp the number of times the arm 3 is used, the usage time of consumables, etc. In addition, the data analysis unit 212 can refer to Fig.18The customer management data shown as an example grasps the stock status of the arm 3 and consumables for each customer. The data analysis unit 212 notifies the support center 205 of, for example, the number of times the arm 3 is used, the usage time of the consumables, and their stock status.

[0234] The service personnel of the support center 205 checks the difference between the number of times of use and the limit of the time of use and the current number of times of use and the time of use. For example, if the difference is greater than a predetermined value and the number of arms 3 and consumables is greater than the inventory, the service personnel instructs the maintenance personnel to replenish the arms 3 and consumables. The service personnel may also instruct the production base of the arms 3 and consumables to ship the arms 3 and consumables if the difference is greater than a predetermined value and the number of arms 3 and consumables is greater than the inventory.

[0235] The data analysis unit 212 may specify the replenishment of the arm 3 and consumables to the maintenance personnel and the production base without going through the support center 205. The data analysis unit 212 confirms the difference between the number of uses and the usage time limit and the current number of uses and the usage time. For example, when the difference is greater than a predetermined value and the number of arms 3 and consumables is greater than the inventory, the data analysis unit 212 instructs the maintenance personnel and the production base to replenish the arm 3 and consumables.

[0236] The service personnel of the support center 205 can also accumulate data such as the working time of operations performed by the surgical robot, the movement time and movement amount of the surgical robot, and propose efficient system operation methods.

[0237] [Data analysis example (4)]

[0238] The data analysis unit 212 can generate simulation data for the surgical robot based on the data acquired from the surgical robot. The generated simulation data is used, for example, for training users of the surgical robot, and for research by medical institutions, universities, and the like.

[0239] The surgical robot sequentially transmits monitoring data 222 related to the operation of the arm 3 and the positioner 7 during the operation to the data center 201. The surgical robot transmits the monitoring data 222 to the data center 201 in association with information indicating the operation method of the operation, for example.

[0240] Fig.19 The data management unit 211 of the data center 201 stores the data sent by the surgical robot (in Fig.15 The data illustrated in FIG. 2A and FIG. 2B are associated with a surgical method ID 250 indicating the surgical method of the surgery and stored in the database 213.

[0241] The data management unit 211 stores the component ID 221, the monitoring data 222, and the time stamp 223 in the database 213 for each system ID 220. The data analysis unit 212 can create simulation data of a specific surgical method performed by the surgical robot by arranging the data retrieved using the surgical method ID 250 and the system ID 220 as keywords in time series. The data analysis unit 212 can also create simulation data based on only data related to a specific action related to a certain surgical method.

[0242] The service personnel of the support center 205 can train the customer on how to use the surgical robot by installing simulation data in the customer's educational surgical robot.

[0243] [Summarize]

[0244] As described above, according to the system 200 , support for causing the surgical robot to operate normally can be remotely performed via the network based on the judgment of the robot technician.

[0245] In addition, a large amount of data can be concentrated in the data center 201, and the frequency of abnormalities and failure tendencies caused by the combination of surgical robot actions can be analyzed by analyzing the big data. Through this analysis, precursors of abnormalities and failures can be derived, and countermeasures can be derived in advance.

[0246] In addition, in the above-mentioned embodiment, an example of service personnel responding in the support center 205 is described, but preventive measures support, etc. can also be responded to using programs in the computer 210 of the data center 201 without going through service personnel, and the analysis and action instructions for data stored in the data center 201 also include responses other than responses via the support center 205.

[0247] In addition, in the above embodiment, the surgical system 100 including a plurality of surgical robots is described as an example, but the present invention is not limited to the surgical system 100 including a surgical robot, but can be applied to all aspects of a medical robot system including a medical robot.

[0248] Furthermore, the above-described embodiment is merely an example, and various modifications can be made without departing from the spirit of the present invention. The present invention is not limited to the above-described embodiment.

Claims

1. A data analysis device configured to communicate with a plurality of medical robots located in different operating rooms, the data analysis device comprising: a database storing data related to the operation status of each of the plurality of medical robots; and a data analysis unit that generates a reference for determining the motion status of the medical robots based on the data transmitted from the plurality of medical robots; in, The medical robot comprises: Robotic arm; Endoscopes; and A controller configured to send image data generated by the endoscope to the data analysis device, wherein: The data analysis unit is configured to detect an error related to movement of the robot arm based on the image data sent from the controller.

2. The data analysis device according to claim 1, wherein: The medical robot includes an operating device configured to remotely control the robot arm, and The data analysis section is configured to detect an error related to the movement of the robot arm based on whether the robot arm has moved to a position according to an instruction of the operation device.

3. The data analysis device according to claim 1, wherein: The robot arm includes a plurality of robot arms, and The data analysis unit is configured to detect errors related to movement of the robot arms based on relative positions between the plurality of robot arms.

4. The data analysis device according to claim 1, wherein: The controller is configured to send image data generated by the endoscope during surgery to the data analysis unit.

5. The data analysis device according to claim 1, wherein: The data analysis unit generates a criterion for determining an operation status based on data transmitted from the medical robot, and updates the criterion at a predetermined period.

6. The data analysis device according to claim 5, wherein: The data analysis unit monitors the deviation between the data transmitted from the medical robot and the reference, The data analysis unit notifies an abnormality when the deviation exceeds a predetermined threshold value.

7. The data analysis device according to claim 6, wherein: The data analysis unit detects a sign of a failure of the medical robot based on the deviation.

8. The data analysis device according to claim 6, wherein: The data analysis unit detects abnormality of the medical robot based on the deviation.

9. The data analysis device according to claim 5, wherein: The database stores data on operating conditions of a plurality of movable parts of each of the plurality of medical robots.

10. A medical robot system comprising a plurality of medical robots located in different operating rooms and a data analysis device according to any one of the preceding claims, wherein: Each of the plurality of medical robots comprises: Robotic arm; Endoscopes; and A controller is provided for transmitting data related to the operation status of the medical robot to the data analysis device.

11. The medical robot system according to claim 10, wherein: The medical robot includes an operating device configured to remotely control the robot arm, and The data parsing device is configured to detect an error related to the movement of the robot arm based on whether the robot arm has moved to a position according to an instruction of the operating device.

12. The medical robot system according to claim 10, wherein: The robot arm includes a plurality of robot arms, and The data analysis device is configured to detect errors related to the movement of the robot arms based on the relative positions between the plurality of robot arms.

13. The medical robot system according to claim 10, wherein: The controller is configured to send image data generated by the endoscope during surgery to the data parsing device.

14. The medical robot system according to claim 10, wherein: Each of the plurality of medical robots includes a plurality of movable parts, and The controller transmits the data on the operation status of each of the plurality of movable parts to the data analysis device.

15. The medical robot system according to claim 14, wherein: The data analysis unit generates a reference based on a statistical analysis of the data transmitted from the plurality of medical robots, and notifies an abnormality when a deviation exceeds a predetermined threshold value.

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