Surgical robot

Abstract

A surgical robot (1) used in endoscopic surgery that enables an operator to easily handle the situation even when the front end position of the processing instrument deviates from the shooting range, comprising: a position information calculation unit that calculates information related to the front end position of a processing instrument (7) used in endoscopic surgery and information related to the front end position of the endoscope; a first display unit (19) that displays the relative positional relationship between the front end of the processing instrument and the front end of the endoscope using the calculation result of the position information calculation unit; and a second display unit (27) that displays an image captured by the endoscope.

Description

[0001] Cross - reference to related applications

[0002] This international application claims the priority of Japanese Patent Application No. 2020 - 021630, filed with the Japan Patent Office on February 12, 2020, and the entire contents of Japanese Patent Application No. 2020 - 021630 are incorporated herein by reference. Technical field

[0003] The present disclosure relates to a surgical robot used in endoscopic surgery. Background art

[0004] Endoscopic surgery such as laparoscopic surgery is performed as follows.

[0005] That is, a surgeon or the like makes two or more small incisions in the patient and inserts cylindrical trocars into each of the holes. Here, the trocar is also called a cannula.

[0006] Then, the surgeon inserts an endoscope and instruments such as forceps and an electrosurgical knife into each trocar, and performs the surgery while viewing the image captured by the endoscope. In addition, the forceps are tools for grasping or pulling visceral organs and the like, and can be remotely operated. Hereinafter, the instruments such as forceps and an electrosurgical knife used for performing processing during surgery are referred to as processing instruments.

[0007] Prior art documents

[0008] Patent documents

[0009] Patent Document 1: Japanese Patent Publication No. 4999012 Summary of the invention

[0010] Problems to be Solved by the Invention

[0011] In endoscopic surgery, a surgeon or the like performs the surgery while viewing the image captured by the endoscope. Therefore, if the tip position of the processing instrument deviates from the shooting range, the surgeon cannot view the processing instrument, resulting in a stagnation of the surgery.

[0012] In view of the above, the present disclosure discloses an example of a surgical robot that enables a surgeon to easily cope even when the tip position of the processing instrument deviates from the shooting range.

[0013] Technical Solution for Solving the Problems

[0014] The surgical robot used in endoscopic surgery preferably has at least one of the following constituent elements, for example.

[0015] That is, the constituent elements are as follows: a position information calculation unit that calculates information related to the front-end position of a processing tool used in endoscopic surgery and information related to the front-end position of the endoscope; a first display unit that uses the calculation result of the position information calculation unit to display the relative positional relationship between the front end of the processing tool and the front end of the endoscope; and a second display unit that displays an image captured by the endoscope.

[0016] Thus, in this surgical robot, even when the front-end position of the processing tool deviates from the imaging range, it is possible for the surgeon to easily perform coping processes.

[0017] In addition, this surgical robot may have the following configuration, for example.

[0018] That is, it is preferable to display a full-circle protractor based on the position of the front-end portion of the endoscope and the above-described positional relationship on the first display unit together. Thus, the surgeon can easily grasp the front-end position of the processing tool.

[0019] Preferably, in a state where the center of the full-circle protractor coincides with the center of the display screen of the first display unit, a pattern representing the front-end portion of the endoscope is displayed at the center of the display screen, and preferably, the display method or the display position of the pattern representing the processing tool changes corresponding to the change in the positional relationship. Thus, the surgeon can easily grasp the front-end position of the processing tool.

[0020] Preferably, the vertical direction of the display screen coincides with the vertical direction. Thus, the surgeon can easily grasp the front-end position of the processing tool.

[0021] Preferably, when the pattern representing the front-end portion of the endoscope is set as a camera icon, the display angle of the camera icon with respect to the display screen changes corresponding to the rotation angle of the endoscope. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is an external view of the surgical robot according to the first embodiment.

[0023] Figure 2 is a block diagram of the surgical robot according to the first embodiment.

[0024] Figure 3 is a flowchart showing the control of the fixed-point setting mode of the surgical robot according to the first embodiment.

[0025] Figure 4A , Figure 4B , and Figure 4C is a diagram showing a display example of the first state display.

[0026] Figure 5A and Figure 5B is a diagram showing a display example of the first state display.

[0027] Figure 6 is a display example of the second state display.

[0028] Explanation of Reference Signs

[0029] 1... Surgical robot; 3... Robotic arm; 5... Control device; 7... Instrument;

[0030] 9... Arm drive device; 11... Fixed point setting device; 13... Drive control device;

[0031] 15... Trocar; 17A... Setting button; 17B... Shiftable button;

[0032] 19... First display unit; 20... Covering unit; 21A... First display processing unit;

[0033] 21B... Second display processing unit; 23... Cover detection unit; 25... Second display unit;

[0034] 25A... Image processing unit for captured images; 27... Endoscope; 29... Third display processing unit Detailed implementation manners

[0035] The following shows an example of the implementation manner.

[0036] In addition, the arrows indicating directions, diagonal lines, etc. marked in each drawing are attached for the purpose of easily understanding the mutual relationship of each drawing and the shape of each component or part. Therefore, the configuration of the surgical robot shown in the present disclosure is not limited to the directions marked in each drawing. The drawing marked with diagonal lines is not necessarily a cross-sectional view drawing.

[0037] For at least the components or parts marked with symbols and described, unless otherwise stated as "one" etc. in advance, at least one of them is provided. That is, in the case where it is not stated as "one" etc. in advance, two or more of such components may be provided. The surgical robot shown in the present disclosure at least includes the components or parts etc. marked with symbols and described, as well as the structural parts shown in the drawings.

[0038] (First Embodiment)

[0039] <1. Configuration of the surgical robot>

[0040] This embodiment is an example of a surgical robot used in endoscopic surgery.

[0041] The surgical robot 1 includes, in addition to the robotic arm 3 (refer to Figure 1) In addition, it also includes a control device 5, an arm driving device 9, a first display unit 19, and a second display unit 25 as shown in Figure 2 .

[0042] <Robotic arm>

[0043] As shown in Figure 1 , the robotic arm 3 is an example of an arm device that holds the treatment instrument 7. Specifically, the robotic arm 3 is formed by a link mechanism, which is a link mechanism having a plurality of joints and is a link mechanism capable of changing the position of the pivot point.

[0044] The pivot point is a position that remains fixed regardless of the state of the robotic arm 3 when the robotic arm 3 is operating. The treatment instrument 7 is an instrument such as forceps and an electrosurgical scalpel for performing treatment during surgery.

[0045] Figure 1 As shown in

[0046] , the treatment instrument 7 shown is forceps. A hand part for gripping or pulling a visceral organ or the like is provided at the tip of the forceps. The robotic arm 3 is covered by a tubular covering part 20. The covering part 20 is a flexible non-woven fabric-like covering member. Figure 2 In addition, the endoscope 27 is held by the second robotic arm (refer to

[0047] <Arm driving device>

[0048] The arm driving device 9 is an example of a driving device that drives the robotic arm 3. The arm driving device 9 of the present embodiment has a plurality of electric motors, pneumatic cylinders, and a pressure generating device.

[0049] Each electric motor drives each joint part. The pneumatic cylinder applies a pulling force to the cable that drives the treatment instrument 7 (for example, the hand part of the forceps). The pressure generating device supplies compressed air to the pneumatic cylinder.

[0050] In addition, the second robotic arm is driven by a second arm driving device. The configuration of the second arm driving device is the same as that of the arm driving device 9. The operation of the second arm driving device is controlled in the same manner as that of the arm driving device 9.

[0051] <Control device>

[0052] As shown in Figure 2 , the control device 5 at least 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, and an imaging image processing unit 25A, etc.

[0053] The fixed point setting device 11 identifies the position of the part where the trocar 15 (refer to Figure 1 ) is inserted during the operation (hereinafter also referred to as the incision position), and stores the identified position as the pivot point P1.

[0054] Hereinafter, a series of operations performed by the fixed point setting device 11, from the identification of the incision position to the storage of this position, etc., are called fixed point setting. And the state capable of performing fixed point setting is called the fixed point setting mode.

[0055] The trocar 15 is a cylindrical component that is inserted into the hole incised in the subject. That is, surgical instruments such as the forceps 7 and the endoscope 27 are inserted into the body of the subject through the trocar 15 inserted into the incision site.

[0056] <Drive control device>

[0057] As Figure 2 shown, the drive control device 13 controls the operation of the arm drive device 9 using the position of the pivot point P1. Specifically, the drive control device 13 receives the command signal output from the input operation device on the master side, and causes the arm drive device 9 to perform an operation according to the command signal.

[0058] At this time, the drive control device 13 causes the arm drive device 9 to perform an operation so that the part of the surgical instrument 7 corresponding to the pivot point P1 does not move. The input operation device on the master side is an example of an input device directly operated by a surgical practitioner such as a doctor.

[0059] In addition, the operation of the second arm drive device is controlled by the second drive control device. The second drive control device causes the second robotic arm to perform an operation with the incision site where the endoscope 27 is inserted as the pivot point P1.

[0060] This pivot point is the 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, so the detailed description of the second fixed point setting device is omitted in this specification.

[0061] Moreover, the surgical robot of this embodiment uses the robotic arm 3 (in other words, the arm drive device 9) to send a command signal to the second arm drive device with the input operation device. Specifically, a changeover switch is provided in the surgical robot.

[0062] The changeover switch can switch between the case where the output destination of the above command signal is set to the arm drive device 9 and the case where the output destination of the above command signal is set to the second arm drive device. The surgical practitioner switches between the case of causing the robotic arm 3 to perform an operation and the case of causing the second robotic arm to perform an operation by operating this changeover switch.

[0063] <Detailed Description of the Fixed Point Setting Device>

[0064] The fixed point setting device 11 of this embodiment can perform a position recognition function and a storage function. Moreover, the fixed point setting device 11 stores the position of the pivot point P1 as a fixed point by using the position recognition function and the storage function.

[0065] The position recognition function is a function for recognizing the front end position of the processing tool 7 held by the robotic arm 3. The storage function stores the front end position recognized by the position recognition function as the pivot point P1. In addition, the pivot point P1 stored by the storage function can be, for example, the position recognized by the position recognition function. Moreover, the position recognized by the position recognition function is not limited to the front end position of the processing tool 7. The position recognized by the position recognition function can also be, for example, the position of the part where the trocar 15 is inserted during the operation, that is, the incision position.

[0066] The position recognition function of this embodiment obtains or calculates coordinates indicating the front end position of the processing tool 7 based on the posture of the robotic arm 3, thereby recognizing the front end position of the processing tool 7. The storage function stores the coordinates as the pivot point P1.

[0067] In addition, when setting the fixed point, an equivalent of the surgical instrument can be used instead of the processing tool 7. An equivalent of the surgical instrument refers to a component having the same shape as the processing tool 7. Specifically, for example, a rod-shaped or tubular component belongs to an equivalent of the surgical instrument. Moreover, in the case of the second fixed point setting device, the endoscope 27 belongs to an equivalent of the surgical instrument.

[0068] The position recognition function and the storage function of this embodiment are implemented by software, the program constituting the software, and a microcomputer. The microcomputer has at least a CPU, a ROM, a RAM, etc. for executing the software. In addition, the software is pre-stored in the non-volatile storage unit.

[0069] As Figure 2 shown, the surgical robot 1 has a setting button 17A, a freely shiftable button 17B, etc. The setting button 17A and the freely shiftable button 17B are provided on at least one of the robotic arm 3 and the control device 5. In addition, the robotic arm 3 is an example of a slave device, and the control device 5 is an example of a master device.

[0070] The setting button 17A is an example of a setting operation unit operated by the user. In addition, the user is a person who performs the fixed point setting operation. Specifically, it is a surgeon or a person assisting in the operation. Moreover, if the setting button 17A is operated, the fixed point setting mode starts or ends.

[0071] That is, if the setting button 17A is operated when not in the fixed point setting mode, the fixed point setting mode starts. If the setting button 17A is operated when in the fixed point setting mode, the fixed point setting mode ends.

[0072] Specifically, when the setting button 17A is pressed for more than a preset time (e.g., 3 seconds), the fixed point setting mode starts. If the fixed point setting mode starts, the position recognition function can be executed.

[0073] Also, when the setting button 17A is pressed for less than a preset time (e.g., 2 seconds), the storage function is executed after the position recognition function is executed. Then, the pivot point P1 is stored as the fixed point, and then the fixed point setting mode ends.

[0074] The freely shiftable button 17B is an example of an operation unit operated by the user. If the freely shiftable button 17B is operated, the arm driving device 9 is in the freely shiftable state. The freely shiftable mode is a mode in which the robotic arm 3 can freely shift in response to an external force applied to the robotic arm 3.

[0075] Therefore, when in the freely shiftable mode, the user can freely shift the robotic arm 3 by pushing or pulling the robotic arm 3. That is, when in the freely shiftable mode, the user does not have to operate the main side input operation device and can make the front end of the processing tool 7 coincide with the cutting position by pushing or pulling the robotic arm 3.

[0076] In addition, "when the freely shiftable button 17B is operated in the freely shiftable mode" or "when the fixed point setting mode has ended", the freely shiftable mode ends. In a state where the freely shiftable mode is not executed, even if an external force is applied to the robotic arm 3, the robotic arm 3 will not shift.

[0077] <Control in the fixed point setting mode>

[0078] Figure 3 An example of the control executed by the control device 5 in the fixed point setting mode is shown. The control device 5 determines whether the setting button 17A has been continuously pressed for more than a preset time (e.g., 3 seconds) (S1). Herein, "(S1)" etc. represent Figure 3 the numbers of the shown control steps.

[0079] When the control device 5 determines that the setting button 17A has been continuously pressed for more than a preset time (S1: Yes), the control device 5 determines whether the arm driving device 9 is in the freely shiftable mode (S3).

[0080] When the control device 5 determines that the arm driving device 9 is not in the freely displaceable mode (S3: No), a notification device such as sound (e.g., buzzer) or warning light is used to prompt the user to operate the freely displaceable button 17B (S5).

[0081] When the control device 5 determines that the arm driving device 9 is in the freely displaceable mode (S3: Yes), the control device 5 determines whether the setting button 17A has been pressed for less than a preset time (e.g., 2 seconds) (S7).

[0082] When the control device 5 determines that the setting button 17A has been pressed for less than a preset time (S7: Yes), after the control device 5 executes the position recognition function (S9), it executes the storage function (S11).

[0083] That is, in the present embodiment, when the arm driving device 9 is not in the freely displaceable mode (S3: No), the position recognition function and the storage function are substantially in a state where they cannot be executed.

[0084] And after the control device 5 stores the pivot point P1 as a fixed point, it ends the fixed point setting mode and the freely displaceable mode, and notifies the user that the pivot point P1 has been stored as a fixed point.

[0085] <3. Notification of Information>

[0086] Figure 2 The shown first display unit 19 and second display unit 25 are displays for conveying information such as text information or image information to the user. Information related to the surgical robot 1 (hereinafter referred to as status information) and the like is displayed on the first display unit 19. An image captured by the endoscope 27 is displayed on the second display unit 25.

[0087] In addition, the endoscope 27 of the present embodiment is configured to include a camera such as a stereo camera capable of three-dimensionally photographing an object. The captured image processing unit 25A is a processing unit for displaying a stereo image on the second display unit 25.

[0088] <Display of First Status Information>

[0089] 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 cutting position on the first display unit 19, that is, the relative positional relationship between the pivot point P1 and the front end position of the processing tool 7.

[0090] The first display processing unit 21A of the present embodiment displays this relative positional relationship on the display unit 19 through image information such as patterns (e.g., icons). Among them, each icon is a pattern showing the pivot point P1 and the front end position of the processing tool 7, respectively.

[0091] That is, for example Figure 4A Shows the case where the front end position St of the treatment instrument 7 is located inside the body with respect to the pivot point P1. Figure 4B Shows the case where the front end position St of the treatment instrument 7 is located outside the body with respect to the pivot point P1. Figure 4C Shows the state where the fixed point setting has not been performed.

[0092] The second display processing unit 21B displays the detection result of the covering detection unit 23 (refer to Figure 2 ) on the first display unit 19. The covering detection unit 23 detects whether the covering unit 20 has been installed on the robotic arm 3. In addition, the covering detection unit 23 is provided on the robotic arm 3.

[0093] And, when the covering unit 20 is installed, the second display processing unit 21B displays the relevant information of the installed covering unit 20 on the display unit 19 (for example, refer to Figure 5A ). When the covering unit 20 has not been installed, the second display processing unit 21B displays the relevant information of the non-installed covering unit 20 on the display unit 19 (for example, refer to Figure 5B ).

[0094] <Display of the second state information>

[0095] The third display processing unit 29 displays the relative positional relationship between the front end position of the treatment instrument 7 and the front 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.

[0096] That is, the first function is the function of obtaining information related to the front end position of the treatment instrument 7. The second function is the position information calculation function, that is, calculating information related to the front end position of the endoscope 27. The third function is the function of displaying information related to the front end position of the treatment instrument 7 and information related to the front end position of the endoscope 27 on the first display unit 19. In addition, the third display processing unit 29 of the present embodiment implements the first function and the second function by using the above position recognition function.

[0097] And, the third display processing unit 29 displays the relative positional relationship between the front end of the treatment instrument 7 and the front end of the endoscope 27 by using the calculation result of the position information calculation function. Specifically, as Figure 6 shown, at least the following patterns are displayed on the first display unit 19, that is, the pattern (for example, an icon) 29B representing the front end of the treatment instrument 7 and the pattern (for example, an icon) 29A representing the front end of the endoscope 27.

[0098] Moreover, the full-circle divider 29C with reference to the position of the front end portion of the endoscope 27 and the two types of icons 29A and 29B are displayed on the first display unit 19. The full-circle divider 29C is displayed in a state where the center of the full-circle divider 29C coincides with the center of the display screen of the first display unit 19.

[0099] When only the second state 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. When other information (such as the first state information) is also displayed on the first display unit 19 in addition to the second state information, the center of the display screen of the first display unit 19 refers to the center of the display area of the second state information.

[0100] In addition, in the surgical robot 1 of the present embodiment, the center of the display area of the second state information coincides with the physical center of the display screen. Therefore, even when multiple state information is displayed, the center of the full-circle divider 29C also coincides with the center of the physical display screen.

[0101] The icon (hereinafter referred to as the camera icon) 29A indicating the front end portion of the endoscope 27 is displayed at the center of the display screen. The display mode of the icon 29B indicating the processor tool 7 or the display position of the icon 29B changes corresponding to the change in the relative position relationship between the front end position of the processor tool 7 and the front end position of the endoscope 27.

[0102] The display mode of the icon 29B refers to, for example, the specific appearance of the icon 29B, that is, the shape, pattern, color of the icon 29B, or their combination, or the display method of the above specific appearances (for example, blinking display and normal lighting display), etc.

[0103] In addition, the up-down direction of the display screen or the display area coincides with the vertical direction. The display angle of the camera icon 29A with respect to the display screen changes corresponding to 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. In addition, regardless of the physical position of the endoscope 27, the center position of the camera icon 29A generally coincides with the center of the display screen (in other words, the center of the full-circle divider 29C).

[0104] <4. Features of the surgical robot of the present embodiment>

[0105] In the surgical robot 1 of the present embodiment, the relative position relationship between the front end of the processor tool 7 and the front end of the endoscope 27 is displayed on the first display unit 19. Thus, in this surgical robot 1, even when the front end position of the processor tool 7 deviates from the shooting range, it is easy for the surgical operator to perform coping processing.

[0106] In this embodiment, a display for showing status information and a display for showing an image captured by the endoscope 27 are provided respectively. Thereby, it is easy for the surgeon to perform the operation. In addition, the display for showing status information is equivalent to an example of a component of the first display unit 19, and the display for showing an image captured by the endoscope 27 is equivalent to an example of a component of the second display unit 25.

[0107] In addition, if the status information is also shown on the second display unit 25 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 a part of the captured image, making it difficult for the surgeon to perform the operation.

[0108] In this embodiment, the full-circle protractor 29C with the position of the front end portion of the endoscope 27 as a reference and the positional relationship between the two types of icons 29A and 29B are shown on the first display unit 19. Thereby, the surgeon can easily grasp the front end position of the treatment instrument 7.

[0109] In this embodiment, with the center of the full-circle protractor 29C coinciding with the center of the display screen of the first display unit 19, the icon 29A representing the front end portion of the endoscope 27 is shown at the center of the display screen, and the display mode or the display position of the icon 29B representing the treatment instrument 7 changes corresponding to the change of this positional relationship. Thereby, the surgeon can easily grasp the front end position of the treatment instrument 7.

[0110] In this embodiment, the vertical direction of the display screen coincides with the vertical direction. Thereby, the surgeon can easily grasp the front end position of the treatment instrument 7.

[0111] In the surgical robot 1 of this embodiment, the relative positional relationship between the part to be inserted into the trocar 15 during the operation and the front end position of the treatment instrument 7 is shown on the first display unit 19. Thereby, the surgeon can confirm whether "the treatment instrument 7 is moving in such a way that the part corresponding to the incision site in the treatment instrument 7 does not move".

[0112] That is, the surgeon can easily and surely identify whether the surgical robot 1 "identifies the part to be inserted into the trocar 15 as a fixed point", that is, whether it is in a state where the operation can be performed by the surgical robot.

[0113] The first display processing unit 21A uses the position stored in the fixed point setting device 11 as the part to be inserted into the trocar 15. Thereby, the surgeon can easily and surely identify whether the fixed point setting device 11 has stored the incision position as a fixed point.

[0114] In the surgical robot 1 of the present embodiment, the detection result of the covering detection unit 23 is displayed on the first display unit 19. Thereby, the surgical operator can easily and surely recognize whether the state is such that the surgery can be performed by the surgical robot.

[0115] The surgical robot 1 of the present embodiment recognizes the position of the site where the trocar 15 is inserted during the surgery, that is, the incision position, and stores the recognized position as the pivot point P1. Thereby, in this surgical robot 1, the alignment operation between the position of the pivot point P1 and the incision site can be easily performed.

[0116] The arm driving device 9 can execute the free displacement mode. Thereby, in this surgical robot 1, the user can execute the position recognition function and the storage function after aligning the tip of the processing tool 7 with the incision site. Therefore, the alignment operation between the position of the pivot point P1 and the incision site can be surely performed.

[0117] (Other embodiments)

[0118] In the above embodiment, the robotic arm 3 for holding the processing tool 7 and the second robotic arm for holding the endoscope 27 are provided. However, the present disclosure is not limited to the configuration in which the second robotic arm is provided.

[0119] That is, the present disclosure may be, for example, a configuration in which the second robotic arm is abolished and the endoscope 27 is held by an assistant, or may be a configuration in which a plurality of robotic arms 3 for holding a plurality of processing tools 7 are provided.

[0120] In the above embodiment, the full-circle protractor 29C with the position of the tip of the endoscope 27 as a reference is displayed on the first display unit 19. However, the present disclosure is not limited to the configuration in which the full-circle protractor 29C is displayed on the first display unit 19. That is, the present disclosure may also be, for example, a configuration in which the full-circle protractor 29C is not displayed.

[0121] In the above embodiment, it is configured such that the vertical direction of the display screen coincides with the vertical direction, and the display mode or the display position of the icon 29B indicating the processing tool 7 changes corresponding to the change in the positional relationship. However, the present disclosure is not limited to the configuration in which the vertical direction of the display screen coincides with the vertical direction, and the display mode or the display position of the icon 29B indicating the processing tool 7 changes corresponding to the change in the positional relationship.

[0122] The robotic arm 3 of the above-described embodiment is formed by a link mechanism capable of changing the position of the pivot point. However, the robotic arm 3 of the present disclosure is not limited to the robotic arm formed by the link mechanism capable of changing the position of the pivot point. That is, the present disclosure may also be configured such that, for example, the pivot point (also referred to as a fixed point) is immovable relative to the robot main body, in other words, it may also be configured such that the pivot point cannot be changed.

[0123] In the above-described embodiment, the second display processing unit 21B is provided. However, the present disclosure is not limited to the configuration in which the second display processing unit 21B is provided. That is, the present disclosure may also be configured such that, for example, the second display processing unit 21B is abolished.

[0124] In the above-described embodiment, when the arm driving 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 an inexecutable state. However, the present disclosure is not limited to the control device 5 configured to make the position recognition function and the storage function inexecutable when the arm driving device 9 is not in the free displacement mode.

[0125] That is, the present disclosure may also be configured such that, for example, even when not in the free displacement mode, the position recognition function and the storage function are set to an executable state. Further, in this case, the front end of the processor tool 7 can be made to coincide with the incision position by using the input operation device on the master side.

[0126] The fixed point setting device 11 of the above-described embodiment acquires the coordinates indicating the front end position of the processor tool 7 based on the posture of the robotic arm 3, and identifies the front end position. However, the present disclosure is not limited to the configuration in which the fixed point setting device 11 acquires the coordinates indicating the front end position of the processor tool 7 based on the posture of the robotic arm 3 and identifies the front end position. That is, the present disclosure may also be configured such that, for example, the front end position is identified by using an image analysis technique of a 3D camera such as a stereo camera or a depth camera.

[0127] In the above-described embodiment, it is configured such that the user identifies the front end in a state where the front end of the processor tool 7 or an equivalent of the surgical instrument coincides with the incision position, and thereby identifies the incision position. However, the present disclosure is not limited to the configuration in which the user identifies the front end in a state where the front end of the processor tool 7 or an equivalent of the surgical instrument coincides with the incision position and thereby identifies the incision position. That is, the present disclosure may also be configured such that, for example, a laser is irradiated to the incision position, and the irradiated position is identified by using an image analysis technique.

[0128] In the above-described embodiment, it is configured to shift to the freely shiftable mode when the freely shiftable button 17B is operated. However, the present disclosure is not limited to the configuration in which the freely shiftable mode is shifted to when the freely shiftable button 17B is operated. That is, the present disclosure may also be configured to automatically shift to the freely shiftable mode, for example, while shifting to the fixed point setting mode.

[0129] In addition, the present disclosure only needs to conform to the gist of the disclosure described in the above-described embodiment, and is not limited to the above-described embodiment. Therefore, it may be a configuration formed by combining at least two of the above-described embodiments, or may be a configuration in which any one of the illustrated constituent elements or the constituent elements described with reference numerals is eliminated in the above-described embodiment.

Claims

1. A surgical robot, which is a surgical robot used in endoscopic surgery, is characterized in that, Comprising: a position information calculation unit that calculates information related to the front end position of a processor tool used in endoscopic surgery, information related to the front end position of an endoscope, and information related to the position of a pivot point of the processor tool; a first display unit that uses the calculation results of the position information calculation unit to display a pattern representing the front end of the processor tool, a pattern representing the front end of the endoscope, and a pattern representing the pivot point, and displays the relative positional relationship between the front end of the processor tool and the front end of the endoscope based on the pattern representing the front end of the processor tool and the pattern representing the front end of the endoscope, and displays the relative positional relationship between the pivot point and the front end position of the processor tool based on the pattern representing the front end of the processor tool and the pattern representing the pivot point; and a second display unit that displays an image captured by the endoscope.

2. The surgical robot according to claim 1, wherein a full circle protractor with the position of the front end portion of the endoscope as a reference and the positional relationship are displayed together on the first display unit.

3. The surgical robot according to claim 2, wherein with the center of the full circle protractor coinciding with the center of the display screen of the first display unit, a pattern representing the front end portion of the endoscope is displayed at the center of the display screen, and the display mode or the display position of the pattern representing the processor tool changes corresponding to the change in the positional relationship.

4. The surgical robot according to claim 3, wherein the up-down direction of the display screen coincides with the vertical direction.

5. The surgical robot according to claim 3 or 4, wherein when the pattern representing the front end portion of the endoscope is set as a camera icon, the display angle of the camera icon with respect to the display screen changes corresponding to the rotation angle of the endoscope.

Images