surgical robots

Abstract

The present disclosure provides a surgical robot, which is a surgical robot used in endoscopic surgical operations, and comprises: an action part, which performs an action by receiving pressure from a gas; a pressure generating device, which generates the pressure; a pressure detecting part, which detects the pressure supplied from the pressure generating device to the action part; and an action diagnosis device, which uses the pressure detected by the pressure detection part to determine whether the action part is capable of performing an action, and reports the result of the determination.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This international application claims priority from Japanese Patent Application No. 2020-021633 filed in the Japan Patent Office on February 12, 2020, and the entire contents of Japanese Patent Application No. 2020-021633 are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to a surgical robot for use in endoscopic surgery. Background Art

[0004] For example, the surgical robot described in Patent Document 1 includes an operating unit that operates in response to pressure from gas.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent No. 5327687 Summary of the Invention

[0008] Problems to be solved by the invention

[0009] In the surgical robot described in Patent Document 1, for example, when the pressure is low, the motion unit may not be able to operate normally. Therefore, the present disclosure discloses an example of a surgical robot that addresses the problem caused by the pressure.

[0010] Technical solutions to the problem

[0011] A surgical robot used in endoscopic surgery preferably includes, for example, at least one of the following components.

[0012] That is, the constituent elements are: an action part, which performs an action by receiving pressure from the gas; a pressure generating device, which generates pressure; a pressure detecting part, which detects the pressure supplied from the pressure generating device to the action part; and an action diagnostic device, which uses the pressure detected by the pressure detecting part to determine whether the action part can perform the action, and reports the result of the determination.

[0013] This allows the user to easily determine whether the surgical robot is in a state where it can perform an action. The motion diagnosis device can, for example, determine whether the robot cannot perform an action normally due to too low a pressure or too high a pressure. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1This is an external view of the surgical robot according to the first embodiment.

[0015] Figure 2 This is a block diagram of the surgical robot according to the first embodiment.

[0016] Figure 3 This is a block diagram of the arm driving device according to the first embodiment.

[0017] Figure 4 This is a flowchart showing control in the fixed point setting mode of the surgical robot according to the first embodiment.

[0018] Figures 5A to 5C It is a diagram showing a display example of the first state display.

[0019] Figure 6A and Figure 6B It is a diagram showing a display example of the first state display.

[0020] Figure 7 It is a diagram showing a display example of the second state display.

[0021] Figure 8 This is a flowchart showing an example of the operation of the motion diagnosis device according to the first embodiment.

[0022] Description of Reference Signs

[0023] 1…surgical robot; 3…robot arm; 5…control device; 7…processing tool;

[0024] 9…arm driving device; 9A…electric actuator; 9a…electric motor;

[0025] 9E…air pressure actuator; 9B…pneumatic cylinder; 9C…pressure generating device;

[0026] 9D…control solenoid valve; 9F…solenoid valve; 11…fixed point setting device;

[0027] 13 ... drive control device; 15 ... trocar; 17A ... setting button;

[0028] 17B: freely movable button; 19: first display portion; 20: cover portion;

[0029] 21A: First display processing unit; 21B: Second display processing unit; 23: Cover detection unit;

[0030] 25A: captured image processing unit; 25: second display unit; 27: endoscope;

[0031] 29…3rd display processing unit DETAILED DESCRIPTION

[0032] An example of an embodiment of the present disclosure is shown below.

[0033] Furthermore, arrows and diagonal lines indicating directions in the drawings are provided to facilitate understanding of the relationships between the drawings and the shapes of the components or parts. Therefore, the present disclosure is not limited to the directions indicated in the drawings. Drawings marked with diagonal lines do not necessarily represent cross-sectional views.

[0034] For components or parts that are described with at least one symbol, unless otherwise indicated, at least one component is provided. That is, unless otherwise indicated, at least two components may be provided. The surgical robot disclosed herein includes at least the components or parts described with the symbols, as well as the illustrated structural parts.

[0035] (First embodiment)

[0036] <1. Configuration of a surgical robot>

[0037] The present embodiment is an example of a surgical robot used in endoscopic surgery.

[0038] The surgical robot 1 includes a robot arm 3 (see Figure 1 ) in addition to Figure 2 The control device 5 , the arm driving device 9 , the first display unit 19 , and the second display unit 25 are shown.

[0039] <Robotic Arm>

[0040] like Figure 1 As shown, the robot arm 3 is an example of an arm device that holds the treatment tool 7. Specifically, the robot arm 3 is formed by a link mechanism having a plurality of joints and capable of changing the position of a pivot point.

[0041] The pivot point is a position that becomes a fixed point when the robot arm 3 is operating, regardless of the state the robot arm 3 is in. The treatment tool 7 is an instrument such as forceps and an electric scalpel used for performing treatment during surgery.

[0042] Figure 1 The treatment tool 7 shown is a forceps. The front end of the forceps is provided with a hand for grasping or pulling internal organs, etc. The robot arm 3 is covered by a tubular cover 20. The cover 20 is a flexible non-woven fabric covering member.

[0043] In addition, the endoscope 27 (see Figure 2). Hereinafter, the treatment tool 7 and the endoscope 27 are collectively referred to as surgical instruments. That is, surgical instruments are instruments such as endoscopes, forceps, and electric scalpels used in endoscopic surgery.

[0044] <Arm drive device>

[0045] The arm driving device 9 is an example of a driving device that drives the robot arm 3. Figure 3 As shown, the arm driving device 9 of this embodiment includes an electric actuator 9A and an air pressure actuator 9E.

[0046] The electric actuator 9A includes at least one electric motor 9a and drives each joint. In this embodiment, an electric motor 9a is provided at each joint. The air pressure actuator 9E applies tension to the cable that drives the surgical instrument 7. In this embodiment, the hand of the forceps corresponds to an example of the surgical instrument 7.

[0047] The air pressure actuator 9E includes a pneumatic cylinder 9B, a pressure generating device 9C, and a control electromagnetic valve 9D. The pressure generating device 9C is a pressure supply source that supplies compressed air to the pneumatic cylinder 9B.

[0048] The pneumatic cylinder 9B is an example of an operating unit that receives air pressure and converts the air pressure into the aforementioned pulling force. The control solenoid valve 9D controls the operation of the pneumatic cylinder 9B by controlling the air pressure supplied to the pneumatic cylinder 9B.

[0049] The second arm driving device drives the second robot arm. The second arm driving device has the same configuration as the arm driving device 9. The operation of the second arm driving device is controlled in the same manner as the arm driving device 9.

[0050] <Control device>

[0051] like Figure 2 As shown, the control device 5 includes a fixed point setting device 11 , a drive control device 13 , a first display processing unit 21A, a second display processing unit 21B, a third display processing unit 29 , a captured image processing unit 25A, and a motion diagnosis device 31 .

[0052] The fixed point setting device 11 is used to set the puncture instrument 15 (see Figure 1 ) is identified (hereinafter also referred to as the incision position) and the identified position is stored as the pivot point P1.

[0053] Hereinafter, the series of operations performed by the fixed point setting device 11 from identification of the incision position to storage of the position is referred to as fixed point setting, and the state in which the fixed point setting can be performed is referred to as fixed point setting mode.

[0054] The trocar 15 is a cylindrical member that is inserted into the hole incised on the patient. That is, surgical instruments such as forceps (in other words, the treatment tool 7) and the endoscope 27 are inserted into the patient's body via the trocar 15 inserted into the incision site.

[0055] <Drive Control Device>

[0056] The drive control device 13 controls the operation of the arm drive device 9, specifically the electric actuator 9A and the air pressure actuator 9E (i.e., the control solenoid valve 9D). Specifically, the drive control device 13 receives command signals from the input operation device on the master side and operates the arm drive device 9 in accordance with the command signals.

[0057] At this time, the drive control device 13 uses the position of the pivot point P1 to control the motion of the robot arm 3. Specifically, the drive control device 13 controls the motion of the electric actuator 9A so that the portion of the treatment tool 7 corresponding to the pivot point P1 does not move.

[0058] Furthermore, the second drive control device controls the operation of the second arm drive device. The second drive control device causes the second robot arm to operate with the incision site where the endoscope 27 is inserted serving as the pivot point P1. In other words, the second robot arm operates with the incision site where the endoscope 27 is inserted serving as the fixed point.

[0059] The pivot point P1 is a fixed point set by the second fixed point setting device. The second fixed point setting device is the same as the fixed point setting device 11, and therefore, a detailed description of the second fixed point setting device is omitted in this specification.

[0060] The surgical robot 1 of this embodiment sends a command signal to the second arm driving device using the input operating device of the robot arm 3, in other words, the input operating device of the arm driving device 9. Specifically, the surgical robot is provided with a selector switch.

[0061] The switch can switch between outputting the command signal to the arm drive device 9 and outputting the command signal to the second arm drive device. The surgeon switches between operating the switch to operate the robot arm 3 and the second robot arm.

[0062] <Input Operation Device>

[0063] The input operation device on the master side is an example of an input device that is directly operated by a surgeon, such as a doctor, etc. The input operation device is provided with an operation force adjustment device and an operation amount adjustment device.

[0064] The operation force adjustment device is used to adjust the magnitude of the operation force. The operation amount adjustment device is used to adjust the ratio of the "movement amount of the robot arm 3" to the "direct operation amount of the surgeon" (hereinafter also referred to as the operation ratio).

[0065] The operating force is the force that the user needs to apply to the input operation device when the user operates the input operation device. That is, when the force applied by the user to the input operation device is smaller than the operating force, the treatment tool 7 will not be displaced and the hand will not perform any action.

[0066] The magnitude of this operating force is at least the sum of the operating force during movement and the operating force during treatment. The operating force during movement is the operating force when the treatment instrument 7 (in other words, the hand) is not in contact with the organ, etc. The operating force during treatment is the force generated by the treatment instrument 7 (in other words, the hand) in contact with the organ, etc.

[0067] In the surgical robot 1 of this embodiment, the user can change the magnitude of the operating force during movement. Furthermore, in the surgical robot 1 of this embodiment, the magnitude of the operating force during treatment is determined by the force (also referred to as reaction force) exerted by the treatment instrument 7 (including the hand) upon contact with an organ or the like.

[0068] Specifically, the surgical robot 1 is provided with a reaction force detection unit for detecting the reaction force. The input operation device sets the value obtained by multiplying the reaction force detected by the reaction force detection unit by a reaction force coefficient as the magnitude of the operation force during processing, where the reaction force coefficient is a real number greater than or equal to 0.

[0069] In this embodiment, the user can change the reaction force coefficient. Therefore, the input operation device includes a setting unit for setting the operating force during movement, a setting unit for setting the reaction force coefficient, and a setting unit for setting the operation ratio. Furthermore, the user sets the operation setting unit.

[0070] <2. Detailed description of the fixed point setting device>

[0071] The fixed point setting device 11 of this embodiment can perform a position recognition function and a storage function. Furthermore, the fixed point setting device 11 uses the position recognition function and the storage function to store the position of the pivot point P1 as a fixed point.

[0072] The position recognition function is a function of recognizing the position of the distal end of the treatment tool 7 held by the robot arm 3. The storage function stores the distal end position recognized by the position recognition function as the pivot point P1.

[0073] The position recognition function of this embodiment obtains or calculates coordinates representing the distal end position of the surgical instrument 7 based on the posture of the robotic arm 3, thereby identifying the distal end position of the surgical instrument 7. The storage function stores these coordinates as the pivot point P1. Furthermore, the pivot point P1 stored by the storage function may be, for example, a position identified by the position recognition function. Furthermore, the position identified by the position recognition function is not limited to the distal end position of the surgical instrument 7. The position identified by the position recognition function may also be, for example, the location of the site where the trocar 15 is inserted during surgery, i.e., the incision site.

[0074] Furthermore, when setting the fixed point, a surgical instrument equivalent can be used instead of the treatment instrument 7. A surgical instrument equivalent refers to a component having a shape equivalent to the treatment instrument 7. Specifically, rod-shaped or tubular components, for example, are considered surgical instrument equivalents. Furthermore, in the case of the second fixed point setting device, the endoscope 27 is considered a surgical instrument equivalent.

[0075] The position recognition function and storage function of this embodiment are realized by software, a program constituting the software, and a microcomputer. The microcomputer has a CPU, ROM, and RAM for executing the software. In addition, the software is pre-stored in a non-volatile storage unit.

[0076] like Figure 2 As shown, the surgical robot 1 has a setting button 17A and a freely movable button 17B. The setting button 17A and the freely movable button 17B are provided on at least one of the robot arm 3 and the control device 5. The robot arm 3 is an example of a slave device, and the control device 5 is an example of a master device.

[0077] The setting button 17A is an example of a setting operation unit operated by a user. The user is the person performing the fixed point setting operation. Specifically, the user is the surgeon or a person assisting the surgeon. When the setting button 17A is operated, the fixed point setting mode starts or ends.

[0078] That is, if the setting button 17A is operated when the fixed point setting mode is not in progress, the fixed point setting mode starts, and if the setting button 17A is operated when the fixed point setting mode is in progress, the fixed point setting mode ends.

[0079] Specifically, when the setting button 17A is pressed for a time exceeding a predetermined time (eg, 3 seconds), the fixed point setting mode starts. Once the fixed point setting mode starts, the position recognition function is ready for execution.

[0080] If the setting button 17A is pressed for less than a predetermined time (e.g., 2 seconds), the position recognition function is executed followed by the storage function. The pivot point P1 is then stored as the fixed point, and the fixed point setting mode ends.

[0081] The freely displaceable button 17B is an example of an operating unit operated by the user. When the freely displaceable button 17B is operated, the arm drive device 9 enters a freely displaceable state. The freely displaceable mode is a mode in which the robot arm 3 can freely displace in response to an external force acting on the robot arm 3.

[0082] Therefore, when in the free displacement mode, the user can freely displace the robotic arm 3 by pushing or pulling the robotic arm 3. In other words, when in the free displacement mode, the user can align the distal end of the treatment instrument 7 with the incision position by pushing or pulling the robotic arm 3 without having to operate the input operation device on the master side.

[0083] Furthermore, the free-shift mode ends when the free-shift button 17B is operated in the free-shift mode or when the fixed-point setting mode ends. When the free-shift mode is not in effect, the robot arm 3 will not shift even if an external force acts on it.

[0084] <Control in fixed point setting mode>

[0085] Figure 4 The following is an example of the control executed by the control device 5 in the fixed point setting mode. The control device 5 determines whether the setting button 17A is pressed continuously for more than a predetermined time (for example, 3 seconds) (S1). Figure 4 The number of the control step shown.

[0086] When the control device 5 determines that the setting button 17A has been pressed continuously for more than a predetermined time ( S1 : YES), the control device 5 determines whether the arm driving device 9 is in the free displacement mode ( S3 ).

[0087] When the control device 5 determines that the arm driving device 9 is not in the free displacement mode (S3: No), it prompts the user to operate the free displacement button 17B using a notification device such as a sound (for example, a buzzer) or a warning light (S5).

[0088] When the control device 5 determines that the arm driving device 9 is in the free displacement mode ( S3 : YES), the control device 5 determines whether the setting button 17A is pressed for less than a predetermined time (eg, 2 seconds) ( S7 ).

[0089] When the control device 5 determines that the setting button 17A is pressed for less than a predetermined time ( S7 : YES), the control device 5 executes the position recognition function ( S9 ) and then executes the storage function ( S11 ).

[0090] That is, in the present embodiment, when the arm driving device 9 is not in the free displacement mode ( S3 : No), the position recognition function and the storage function are substantially inoperable.

[0091] Then, after storing the pivot point P1 as the fixed point, the control device 5 ends the fixed point setting mode and the free displacement mode, and notifies the user that the pivot point P1 has been stored as the fixed point.

[0092] <3. Information Notification>

[0093] Figure 2 The first display unit 19 and the second display unit 25 shown are displays that convey information such as text and images to the user. The first display unit 19 displays at least information related to the surgical robot 1 (hereinafter referred to as status information). The second display unit 25 displays images captured by the endoscope 27.

[0094] The endoscope 27 of the present embodiment is configured to include a camera such as a stereo camera capable of capturing a three-dimensional image of an object. The captured image processing unit 25A is a processing unit for displaying a stereoscopic image on the second display unit 25 .

[0095] <Display of the First Status Information>

[0096] The first display processing unit 21A and the second display processing unit 21B display information on the first display unit 19. The first display processing unit 21A displays the incision position, ie, the relative positional relationship between the pivot point P1 and the distal end position of the treatment instrument 7, on the first display unit 19.

[0097] The first display processing unit 21A of this embodiment displays the relative positional relationship using graphic information such as patterns (eg, icons), wherein each icon is a pattern showing the pivot point P1 and the distal end position of the treatment instrument 7 .

[0098] That is, for example Figure 5A The state where the distal end position St of the treatment instrument 7 is located inside the body relative to the pivot point P1 is shown. Figure 5B The front end position St of the treatment instrument 7 is shown as being outside the body relative to the pivot point P1. Figure 5C Indicates a state where the fixed point setting has not yet been performed.

[0099] The second display processing unit 21B displays the cover detection unit 23 on the first display unit 19 (see Figure 2 The cover detection unit 23 detects whether the cover 20 has been installed on the robot arm 3. In addition, the cover detection unit 23 is provided on the robot arm 3.

[0100] Furthermore, when the cover portion 20 is attached, the second display processing unit 21B displays information related to the attachment of the cover portion 20 on the display unit 19 (for example, referring to Figure 6A ). When the cover portion 20 has not been installed, the second display processing unit 21B displays on the display unit 19 the related information that the cover portion 20 has not been installed (for example, refer to Figure 6B ).

[0101] <Display of Second Status Information>

[0102] The third display processing unit 29 displays the relative positional relationship between the distal end position of the treatment instrument 7 and the distal end position of the endoscope 27 on the first display unit 19. That is, the third display processing unit 29 can perform at least three functions.

[0103] Specifically, the first function is to acquire information regarding the position of the distal end of the treatment instrument 7. The second function is to calculate position information, that is, to calculate information regarding the position of the distal end of the endoscope 27. The third function is to display information such as the position of the distal end of the treatment instrument 7 and the position of the distal end of the endoscope 27 on the first display unit 19. Furthermore, the third display processing unit 29 of this embodiment utilizes the aforementioned position recognition function to implement the first and second functions.

[0104] Furthermore, the third display processing unit 29 displays the relative positional relationship between the distal end of the treatment tool 7 and the distal end of the endoscope 27 using the calculation result of the position information calculation function. Figure 7 As shown, at least a pattern (eg, icon) 29B indicating the distal end of the treatment instrument 7 and a pattern (eg, icon) 29A indicating the distal end of the endoscope 27 are displayed on the first display unit 19 .

[0105] Furthermore, a full-circle indexer 29C based on the position of the distal end portion of the endoscope 27 is displayed on the first display unit 19 along with the two icons 29A and 29B. The full-circle indexer 29C is displayed so that the center of the full-circle indexer 29C coincides with the center of the display screen of the first display unit 19.

[0106] When only the second status information is displayed on the first display unit 19, the center of the display screen of the first display unit 19 refers to the physical center of the display screen. Furthermore, when other information (e.g., the first status information) is displayed on the first display unit 19 in addition to the second status information, the center of the display screen of the first display unit 19 refers to the center of the display area of the second status information.

[0107] Furthermore, in the surgical robot 1 of this embodiment, the center of the second status information display area coincides with the physical center of the display screen. Therefore, even when multiple status information is displayed, the center of the full-circle indexer 29C coincides with the physical center of the display screen.

[0108] An icon (hereinafter referred to as a camera icon) 29A representing the distal end of the endoscope 27 is displayed at the center of the display screen. The display mode and display position of the icon 29B representing the treatment instrument 7 change in accordance with the relative positional relationship between the distal end of the treatment instrument 7 and the distal end of the endoscope 27.

[0109] The display mode of icon 29B refers to, for example, the specific appearance of icon 29B, that is, the shape, pattern, color or combination of the icon 29B, or the display method of the above-mentioned specific appearances (for example, flashing display and normal light display), etc.

[0110] Furthermore, the vertical direction of the display screen or display area coincides with the vertical direction. The display angle of the camera icon 29A relative to the display screen changes in accordance with the rotation angle of the endoscope 27. That is, if the endoscope 27 rotates, the camera icon 29A also rotates in conjunction with the rotation of the endoscope 27. Furthermore, regardless of the physical location of the endoscope 27, the center position of the camera icon 29A generally coincides with the center of the display screen (e.g., the center of the full-circle indexer 29C).

[0111] <Display of the Third Status Information>

[0112] The third state information is information on whether the treatment tool 7 (in other words, the hand) is in a state in which it can move, that is, information on whether the pneumatic cylinder 9B is in a state in which it can move.

[0113] Furthermore, the motion diagnosis device 31 (see Figure 2 ) After determining that the information to be notified as the third state information is to be notified, the information is notified to the user in the form of audio information or image information. In addition, the motion diagnosis device 31 of this embodiment displays the information on the first display unit 19 in the form of image information.

[0114] like Figure 3As shown, the surgical robot 1, specifically, the air pressure actuator 9E of the arm driving device 9 provided in the surgical robot 1, is provided with pressure detectors PS1 and PS2. The pressure detectors PS1 and PS2 detect the pressure supplied from the pressure generating device 9C to the pneumatic cylinder 9B.

[0115] The pressure detection unit PS1 (hereinafter referred to as the first pressure sensor PS1) is a pressure sensor that detects the discharge pressure of the pressure generating device 9C. Specifically, the first pressure sensor PS1 detects pressure at the outlet of the solenoid valve 9F provided on the discharge side of the pressure generating device 9C.

[0116] The pressure detection unit PS2 (hereinafter referred to as the second pressure sensor PS2 ) detects pressure at the outlet of the control solenoid valve 9D. Signals indicating the pressures detected by the first and second pressure sensors PS1 and PS2 are input to the operation diagnosis device 31 .

[0117] Then, when the operation diagnosis device 31 determines that the pressure detected by the first pressure sensor PS1 (hereinafter referred to as the first detected pressure) does not satisfy the predetermined first requirement, the first display unit 19 displays information related to the determination.

[0118] Similarly, when the operation diagnosis device 31 determines that the pressure detected by the second pressure sensor PS2 (hereinafter referred to as the second detected pressure) does not satisfy the predetermined second requirement, the first display unit 19 displays information related to the determination.

[0119] The second requirement may be the same as the first requirement or different from the first requirement. In this embodiment, the two requirements are the same. Specifically, the requirement is that "the detected pressure does not remain below the predetermined pressure for a predetermined period of time."

[0120] The operation diagnosis device 31 performs the above-mentioned determination before the drive control device 13 serving as the “control unit for controlling the operation of the pneumatic cylinder 9B (in other words, the control solenoid valve 9D)” is activated, and when the drive control device 13 is activated.

[0121] Specifically, the motion diagnosis device 31 executes Figure 8 The control flow shown in FIG. 1 is shown in FIG. 2 . The operation diagnosis device 31 is composed of a microcomputer. A program for executing the control flow is stored in advance in a nonvolatile storage unit.

[0122] In the surgical robot 1 of this embodiment, the pressure generating device 9C has separate power switches and the surgical robot 1 has its own power switch. These switches are not linked to each other. Therefore, when the surgical robot 1's power switch is turned on, the pressure generating device 9C may not yet be operational.

[0123] Therefore, if the power switch of the surgical robot 1 is turned on, Figure 8 As shown, the motion diagnosis device 31 determines whether the first detection pressure satisfies the first necessary condition (S21). Figure 8 The number of the control step shown.

[0124] If the motion diagnosis device 31 determines that the first requirement is satisfied (S21: Yes), the first display unit 19 displays the content indicating that the first requirement is satisfied (S23). If the motion diagnosis device 31 determines that the first requirement is not satisfied (S21: No), the first display unit 19 displays the content indicating that the first requirement is not satisfied (S25).

[0125] After executing S23, the operation diagnosis device 31 determines whether the confirmation button has been operated (S27). The confirmation button is an example of an input unit operable by the user and is a physical switch or a virtual switch displayed on the touch panel.

[0126] If the action diagnosis device 31 determines that the confirmation button has not been operated (S27: No), it notifies the user of relevant information prompting the user to operate the confirmation button (S31). In addition, the information may be, for example, sound or image. The image representing the notified information may also include text.

[0127] If the confirmation button is pressed (S27: Yes), the operation diagnosis device 31 determines whether the drive control device 13 has been activated (S29). If the drive control device 13 is activated (S29: Yes), the operation diagnosis device 31 determines whether the second detection pressure satisfies the second requirement (S33).

[0128] If the motion diagnosis device 31 determines that the second requirement is satisfied (S33: Yes), the motion diagnosis device 31 displays the content related to the satisfaction of the second requirement on the first display unit 19 (S35). If the motion diagnosis device 31 determines that the second requirement is not satisfied (S33: No), the motion diagnosis device 31 displays the content related to the failure to satisfy the second requirement on the first display unit 19 (S37).

[0129] After executing S35, the motion diagnosis device 31 determines whether the confirmation button has been pressed (S39). If the motion diagnosis device 31 determines that the confirmation button has not been pressed (S39: No), it notifies the user of relevant information prompting the user to press the confirmation button (S43). If the motion diagnosis device 31 determines that the confirmation button has been pressed (S39: Yes), it terminates the control flow.

[0130] <5. Features of the Surgical Robot of This Embodiment>

[0131] The surgical robot 1 of this embodiment uses the pressures detected by the first and second pressure sensors PS1 and PS2 to determine whether the pneumatic cylinder 9B is ready for operation and reports the result of this determination. This allows the user to easily determine whether the surgical robot 1 is ready for operation.

[0132] The motion diagnosis device 31 performs the above determination when the drive control device 13 is activated and before the activation operation is performed. Thus, when the surgeon begins the operation, the surgeon can easily know whether the surgical robot is in a state capable of performing motion.

[0133] In the surgical robot 1 of this embodiment, the relative positional relationship between the distal end of the treatment instrument 7 and the distal end of the endoscope 27 is displayed on the first display unit 19. Thus, in the surgical robot 1, even if the distal end of the treatment instrument 7 is out of the imaging range, the surgeon can easily take appropriate action.

[0134] In this embodiment, a display (specifically, the first display unit 19) that displays status information and a display (specifically, the second display unit 25) that displays images captured by the endoscope 27 are provided separately. This makes it easier for the operator to perform the operation.

[0135] In addition, if the second display unit 25 is configured to display status information in addition to the image captured by the endoscope 27 (hereinafter referred to as the captured image), the display of the status information will cover part of the captured image, making it difficult for the surgeon to perform the operation.

[0136] In this embodiment, a full-circle indexer 29C based on the position of the distal end of the endoscope 27 is displayed on the first display unit 19 along with the positional relationship between the two icons 29A and 29B. This allows the operator to easily grasp the distal end position of the treatment instrument 7.

[0137] In this embodiment, when the center of the full-circle indexer 29C is aligned with the center of the display screen of the first display unit 19, the icon 29A representing the distal end of the endoscope 27 is displayed at the center of the display screen, and the display method or display position of the icon 29B representing the treatment instrument 7 changes in accordance with the change in this positional relationship. This allows the operator to easily grasp the position of the distal end of the treatment instrument 7.

[0138] In this embodiment, the up-down direction of the display screen coincides with the vertical direction, so that the operator can easily grasp the distal end position of the treatment instrument 7 .

[0139] In the surgical robot 1 of this embodiment, during surgery, the relative positional relationship between the site where the puncture instrument 15 is inserted and the distal end of the treatment instrument 7 is displayed on the first display unit 19. This allows the surgeon to confirm whether the treatment instrument 7 is being moved so that the site corresponding to the incision site remains stationary.

[0140] That is, the surgeon can easily and reliably recognize whether the surgical robot 1 recognizes the site where the puncture instrument 15 is inserted as a fixed point, that is, whether the surgical robot is in a state where surgery can be performed.

[0141] The first display processing unit 21A uses the position stored in the fixed point setting device 11 as the site to be inserted into the trocar 15. This allows the operator to easily and reliably recognize whether the fixed point setting device 11 has stored the incision position as the fixed point.

[0142] In the surgical robot 1 of this embodiment, the detection result of the cover detection unit 23 is displayed on the first display unit 19. This allows the surgeon to easily and reliably recognize whether the surgical robot is in a state where surgery can be performed.

[0143] The surgical robot 1 of this embodiment not only identifies the position of the site where the puncture instrument 15 is inserted during surgery, i.e., the incision site, but also stores this identified position as the pivot point P1. This facilitates alignment of the pivot point P1 with the incision site.

[0144] The arm drive device 9 can operate in a free-shift mode. This allows the user to perform position recognition and storage functions after aligning the distal end of the treatment instrument 7 with the incision site in this surgical robot 1. This allows for reliable alignment of the pivot point P1 with the incision site.

[0145] The surgical robot 1 of this embodiment is equipped with an operating force adjustment device for adjusting the magnitude of the operating force. This prevents the surgeon from feeling a strong sense of discomfort when operating the input operation device. Consequently, the surgeon can perform the surgery appropriately.

[0146] That is, during surgery using the surgical robot 1, the surgeon does not directly operate the treatment tool 7 such as forceps, and therefore the sensation of the forceps contacting the organ is not conveyed to the surgeon. This makes it difficult for the surgeon to perform a precise surgery appropriately.

[0147] However, since the surgical robot 1 is provided with an operating force adjustment device, the feeling of the forceps contacting an organ, etc. can be reproduced. Therefore, the surgeon can perform a precise surgery appropriately.

[0148] The surgical robot 1 can change the magnitude of the operating force during movement, thereby allowing the surgeon to operate the surgical robot 1 (specifically, the input operation device) without feeling a strong sense of discomfort.

[0149] In this surgical robot 1, the surgeon can change the operating force (in other words, the reaction force coefficient) during treatment. This allows the surgeon to perform surgery appropriately and accurately. Furthermore, in this surgical robot 1, the surgeon can change the operating ratio. This allows the surgeon to perform surgery appropriately and accurately.

[0150] (Other embodiments)

[0151] The motion diagnosis device 31 of the above embodiment performs the above determination when the drive control device 13 is activated and before the drive control device 13 is activated. However, the timing for the motion diagnosis device 31 of the present disclosure to perform the above determination is not limited to when the drive control device 13 is activated and before the drive control device 13 is activated.

[0152] That is, the present disclosure may be configured to execute the above determination at a timing when the drive control device 13 is activated or before the activation operation is performed, or may be configured to execute the above determination at a timing different from the above timing.

[0153] In the above embodiment, the pressure detection unit is configured to include a first pressure sensor PS1 for detecting the discharge pressure of the pressure generating device 9C, and a second pressure sensor PS2 for detecting the pressure at the outlet of the control solenoid valve 9D. However, the present disclosure is not limited to a configuration in which the pressure detection unit includes the first pressure sensor PS1 for detecting the discharge pressure of the pressure generating device 9C, and the second pressure sensor PS2 for detecting the pressure at the outlet of the control solenoid valve 9D.

[0154] In the above embodiment, the power switches of the pressure generating device 9C and the surgical robot 1 are not linked to each other. However, the present disclosure is not limited to a configuration in which the power switches of the pressure generating device 9C and the surgical robot 1 are not linked to each other. For example, the present disclosure may also include a configuration in which, when the power switch of the surgical robot 1 is turned on, the power switch of the pressure generating device 9C is automatically turned on in conjunction with the operation of the power switch of the surgical robot 1.

[0155] In the above embodiment, the robot arm 3 for holding the treatment tool 7 and the second robot arm for holding the endoscope 27 are provided. However, the present disclosure is not limited to the configuration including the robot arm 3 for holding the treatment tool 7 and the second robot arm for holding the endoscope 27.

[0156] That is, the present disclosure may be a configuration in which the second robot arm is eliminated and an assistant holds the endoscope 27 , or may be a configuration including a plurality of robot arms 3 holding a plurality of treatment instruments 7 .

[0157] In the above embodiment, a full-circle indexer 29C based on the position of the distal end portion of the endoscope 27 is displayed on the first display unit 19. However, the present disclosure is not limited to a configuration in which the full-circle indexer 29C is displayed on the first display unit 19. In other words, the present disclosure may also include a configuration in which the full-circle indexer 29C is not displayed, for example.

[0158] In the above-described embodiment, the vertical direction of the display screen coincides with the vertical direction, and the display method or display position of the icon 29B representing the treatment instrument 7 changes in accordance with the change in the positional relationship. However, the present disclosure is not limited to a configuration in which the vertical direction of the display screen coincides with the vertical direction, and the display method or display position of the icon 29B representing the treatment instrument 7 changes in accordance with the change in the positional relationship.

[0159] The robot arm 3 of the above-described embodiment is formed by a link mechanism capable of changing the position of a pivot point. However, the robot arm 3 of the present disclosure is not limited to a configuration having a link mechanism capable of changing the position of a pivot point. In other words, the present disclosure also allows for a configuration in which the pivot point (in other words, the fixed point) is immovable relative to the robot body.

[0160] In the above embodiment, the control device 5 includes the second display processing unit 21B. However, the present disclosure is not limited to a configuration in which the control device 5 includes the second display processing unit 21B. Specifically, the present disclosure may include a configuration in which a component other than the control device 5 includes the second display processing unit 21B, or a configuration in which the second display processing unit 21B is omitted.

[0161] In the above embodiment, when the arm drive device 9 is not in the free displacement mode (S7: No), the control device 5 sets the position recognition function and the storage function to a non-executable state. However, the present disclosure is not limited to a configuration in which the control device 5 sets the position recognition function and the storage function to a non-executable state when the arm drive device 9 is not in the free displacement mode (S7: No).

[0162] That is, the present disclosure can also be configured to, for example, even when not in the freely shifting mode, also position recognition function and storage function are set to the configuration of the state that can be executed. In addition, in this case, the input operation device of the main side can be utilized to make the front end of the treatment tool 7 consistent with the incision position.

[0163] In the above-described embodiment, the fixed point setting device 11 acquires coordinates representing the distal end position of the treatment instrument 7 based on the posture of the robot arm 3 and identifies the distal end position. However, the present disclosure is not limited to a configuration in which the fixed point setting device 11 acquires coordinates representing the distal end position of the treatment instrument 7 based on the posture of the robot arm 3 and thereby identifies the distal end position. Alternatively, the distal end position may be identified using image analysis technology using a 3D camera, such as a stereo camera or a depth camera.

[0164] In the above-described embodiment, the user identifies the incision location by aligning the distal end of the treatment instrument 7 or a surgical instrument equivalent thereto with the distal end thereof. However, the present disclosure is not limited to a configuration in which the user identifies the incision location by aligning the distal end of the treatment instrument 7 or a surgical instrument equivalent thereto with the distal end thereof. In other words, the present disclosure may also include, for example, irradiating the incision location with a laser and identifying the irradiated location using image analysis technology.

[0165] In the above embodiment, the mode is switched to the free-shift mode when the free-shift button 17B is operated. However, the present disclosure is not limited to the mode in which the free-shift mode is switched to when the free-shift button 17B is operated. In other words, the present disclosure may also include a mode in which the mode is automatically switched to the free-shift mode simultaneously with the fixed-point setting mode.

[0166] In the above embodiment, the input operation device on the master side is provided with an operating force adjustment device. However, the present disclosure is not limited to a configuration in which the input operation device on the master side is provided with an operating force adjustment device. In other words, the input operation device on the master side may be provided with an operating force adjustment device, or may be provided with an operating force adjustment device that generates only one of the movement operating force and the processing operating force as the operating force.

[0167] The input operation device of the above embodiment includes a setting unit for setting the operating force during movement and a setting unit for setting the reaction force coefficient. However, the input operation device of the present disclosure is not limited to a configuration including a setting unit for setting the operating force during movement and a setting unit for setting the reaction force coefficient. In other words, the present disclosure also allows, for example, a configuration in which the input operation device includes at least one of the two setting units, or in other words, a configuration in which one of the two setting units is eliminated.

[0168] In the surgical robot 1 of the above-described embodiment, the operator can change the operation ratio. However, the surgical robot 1 of the present disclosure is not limited to a configuration in which the operator can change the operation ratio. Specifically, the surgical robot 1 of the present disclosure may have a fixed operation ratio, a configuration in which the operation ratio is automatically changed upon sensing contact between the treatment tool 7 and an organ, or a configuration in which the operation ratio is automatically changed in response to a reaction force.

[0169] Furthermore, the present disclosure is not limited to the above-described embodiments as long as it complies with the disclosure principles described in the above-described embodiments. Therefore, the present disclosure may be a configuration formed by combining at least two of the above-described multiple embodiments, or may be a configuration in which any one of the illustrated constituent elements or constituent elements described with reference numerals is eliminated from the above-described embodiments.

Claims

1. A surgical robot used in endoscopic surgery, characterized in that: have: A treatment instrument, the treatment instrument being used to perform treatment during surgery; an action portion that generates a force for driving the treatment instrument and is actuated by pressure from a gas to generate the force; a control solenoid valve configured to control the operation of the operating portion by controlling the air pressure supplied to the operating portion; a drive control device for controlling the operation of the control solenoid valve; a pressure generating device for generating the pressure; a power switch for the pressure generating device, the power switch for the pressure generating device being provided separately from the power switch for the surgical robot and being independent of each other; a pressure detecting unit that detects the pressure supplied from the pressure generating device to the operating unit and includes a first pressure sensor that detects the discharge pressure of the pressure generating device and a second pressure sensor that detects the pressure at the outlet of the control solenoid valve; as well as an action diagnosis device that uses the pressure detected by the pressure detection unit to determine whether a pressure condition for the treatment tool to perform an action is satisfied, and reports the result of the determination. When the power switch of the surgical robot is turned on, the motion diagnosis device determines whether the detection pressure detected by the first pressure sensor satisfies the first pressure condition. If it is determined that the first pressure condition is satisfied, the motion diagnosis device notifies the user of the content that the first pressure condition is satisfied. If it is determined that the first pressure condition is not satisfied, the motion diagnosis device notifies the user of the content that the first pressure condition is not satisfied. In addition, when the drive control device has been started, the motion diagnosis device determines whether the detection pressure detected by the second pressure sensor satisfies the second pressure condition. If it is determined that the second pressure condition is satisfied, the content that satisfies the second pressure condition is notified. If it is determined that the second pressure condition is not satisfied, the content that does not satisfy the second pressure condition is notified.

2. The surgical robot according to claim 1, wherein: After notifying that the first pressure condition is satisfied, the motion diagnosis device determines whether the confirmation button has been operated by the user. If it is determined that the confirmation button has not been operated, the motion diagnosis device notifies relevant information prompting the user to operate the confirmation button.

3. The surgical robot according to claim 2, wherein: The operation diagnosis device determines whether the drive control device has been activated when it is determined that the confirmation button has been operated.

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