Surgical assistance device

Abstract

The surgical assistance device related to the present invention is a master device for remotely operating a slave device, and includes: a first manipulator having a predetermined movable area and configured to operate a movable part of the slave device; and a control unit configured to control the movable part according to an operation input to the first manipulator, wherein the control unit performs processing for determining a correspondence relationship between an operation amount of the first manipulator and a movable amount of the movable part.

Description

Technical Field

[0001] The present invention relates to technology for surgical assistance devices, and more particularly to technology for surgical assistance devices that perform surgery on a patient with the devices on the master side and the slave side linked to each other. Background Art

[0002] As a device for a surgical operator to perform surgery on a patient, a device on the master side linked to a device on the slave side is known (for example, Patent Document 1).

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Patent Laid-Open No. 08-215211 Summary of the Invention

[0006] Problems to be Solved by the Invention

[0007] With such a device, the movement of the hand of the surgical operator is linked to the movement of a surgical instrument such as forceps disposed on the patient side, and thus the surgical instrument makes a movement intended by the surgical operator to carry out the surgery.

[0008] However, the hand of the surgical operator does not directly manipulate the surgical instrument, and depending on the situation, it may not be possible to move the surgical instrument as intended.

[0009] The present invention has been made in view of the above circumstances, and an object thereof is to provide a surgical assistance device capable of appropriately performing surgery.

[0010] Means for Solving the Problems

[0011] The surgical assistance device according to the present invention is a master side device for remotely operating a slave side device, and includes: a first operator that has a predetermined movable area and is used to operate a movable part of the slave side device; and a control unit that controls the movable part according to an operation input to the first operator, and the control unit performs processing for determining a correspondence relationship between an operation amount of the first operator and a movable amount of the movable part.

[0012] Thereby, by slightly moving the first operator, the corresponding movable part can be moved significantly, or even by significantly moving the first operator, the movable part can be moved slightly, and so on.

[0013] Effects of the Invention

[0014] According to the present invention, it is possible to provide a surgical assistance device capable of appropriately performing surgery. Brief Description of the Drawings

[0015] Figure 1It is a perspective view of the master side device in the embodiment of the present invention.

[0016] Figure 2 It is a perspective view of the slave side device.

[0017] Figure 3 It is a perspective view of the right operation member.

[0018] Figure 4 It is a perspective view of the left operation member.

[0019] Figure 5 It is a perspective view showing a state (reference position) in which each movable part of the Delta mechanism (parallel platform mechanism) is located approximately at the center of each movable range.

[0020] Figure 6 It is a perspective view showing a state in which the support part of the Delta mechanism is located in front of (the side of the surgical operator) the reference position.

[0021] Figure 7 It is a perspective view showing a state in which the support part of the Delta mechanism is located above the reference position.

[0022] Figure 8 It is a perspective view conceptually showing the attitude change mechanism.

[0023] Figure 9 It is a perspective view schematically showing the movement of the attitude change mechanism during a rotational operation in the pan direction.

[0024] Figure 10 It is a perspective view schematically showing the movement of the attitude change mechanism during a rotational operation in the pitch direction.

[0025] Figure 11 It is a perspective view schematically showing the movement of the attitude change mechanism during a rotational operation in the roll direction.

[0026] Figure 12 It is a side view mainly showing the gripping mechanism of the attitude change mechanism.

[0027] Figure 13 It is a cross-sectional view showing a trocar provided on the abdominal wall of a patient and a surgical instrument inserted into the trocar.

[0028] Figure 14 It is a functional block diagram of the surgical assistance system.

[0029] Figure 15 It is a view showing a state in which the first setting label is selected in the setting screen displayed on the second monitor.

[0030] Figure 16It is a diagram showing a state where the second setting label is selected in the setting screen displayed on the second monitor.

[0031] Figure 17 It is an example of a flowchart for implementing the neutral assist function.

[0032] Figure 18 It is an example of a flowchart for implementing the wrist angle scaling function.

[0033] Figure 19 It is an example of a flowchart for implementing the roll clutch function.

[0034] Figure 20 It is a diagram showing a modified example of a state where the second setting label is selected in the setting screen displayed on the second monitor. Detailed implementation mode

[0035] <1. Structure of the surgical assistance system>

[0036] Hereinafter, the surgical assistance system S of the implementation mode will be described with reference to the drawings.

[0037] Moreover, each structure described in the drawings referred to is merely an example for implementing the present invention. Therefore, various changes can be made according to the design etc. without departing from the scope of the technical idea of the present invention. In addition, for the structures that have been described, in order to avoid duplication, the same reference numerals may be sometimes used later and the description may be omitted again.

[0038] The surgical assistance system S includes a master device 1 and a slave device 2.

[0039] The master device 1 is a device used by a surgical operator (doctor) who performs surgery. In addition, the slave device 2 is a device that is installed in the operating room where the patient as the surgical object lies and actually performs surgery on the patient.

[0040] The master device 1 is provided separately from the slave device 2. The master device 1 and the slave device 2 may be provided in respective rooms or may be provided in the same room.

[0041] The master device 1 and the slave device 2 are connected in such a way that they can perform data communication by wire or wirelessly, and according to the operation of the surgical operator on the master device 1, each part of the slave device 2 located at a remote location is driven to perform surgery on the patient.

[0042] In the implementation mode shown below, an example of a type in which the master device 1 and the slave device 2 are applied to be used on the operating room floor etc. is shown. Among them, the application scope of the present invention is not limited to the type used on the operating room floor etc., and the present invention can also be applied to the type installed on the ceiling or wall of the operating room.

[0043] In addition, the front-back, up-down, left-right directions shown below are for ease of explanation, and the implementation of the present invention is not limited to these directions.

[0044] In addition, the surgical assistance system S shown below has a structure for rotating a movable body. However, this "rotation" refers to an action performed in the direction of rotation around a reference axis (central axis) including an arbitrary point, that is, it also includes the action of "revolution". In addition, examples of the rotational movement of the movable body are shown below. However, the movable body is not limited to performing rotational movement and may also perform a straight-ahead movement. "Movement" means including both rotational movement and straight-ahead movement.

[0045] Figure 1 The specific structure of the master device 1 is shown.

[0046] Moreover, in the description of the master device 1, the direction of the surgical operator when viewed from the master device 1 is set as the front to indicate the front-back, left-right directions. That is, the surgical operator is located in front of the master device 1.

[0047] The master device 1 includes: a base portion 3 provided on the ground; two operation members 4, the two operation members 4 being mounted on the upper side of the front surface portion 3a of the base portion 3 so as to be separated left and right; a first foot control button 5 mounted at the center below the front surface portion 3a; a second foot control button 6 capable of being connected to the base portion 3 by wire and disposed on the ground; a first monitor 7 mounted on the upper surface portion 3b of the base portion 3; and a second monitor 8 mounted on the upper surface portion 3b and being smaller than the first monitor 7.

[0048] One of the two operation members 4 is a right-handed operation member 4R for the surgical operator to manipulate with the right hand, and the other is a left-handed operation member 4L for manipulation with the left hand.

[0049] The surgical operator, while sitting on an unillustrated chair provided in front of the base portion 3 (on the side of the front surface portion 3a), operates the right-handed operation member 4R with the right hand and the left-handed operation member 4L with the left hand.

[0050] According to the operations using the right-handed operation member 4R and the left-handed operation member 4L, the respective parts of the slave device 2 shown are driven, Figure 2 and thus surgery is performed on the patient. The specific structures of the right-handed operation member 4R and the left-handed operation member 4L, the operations on them, and the actions of the slave device 2 with respect to the operations will be described later.

[0051] The first foot control button 5 is an operator for switching whether to link the operation of the master device 1 with the operation of the slave device 2. Since the surgical operator operates the operation member 4 with both hands, it is desirable that the first foot control button 5 be provided at a position where the surgical operator can operate it with a foot.

[0052] Each time the first foot control button 5 is operated, the state switches between the state where the master device 1 and the slave device 2 are linked and the state where they are not linked.

[0053] Moreover, the state where the two devices are linked means a state in which each part such as forceps provided in the slave device 2 is driven according to the operation of the operation member 4 of the master device 1. In addition, the state where the two devices are not linked means a state in which each part such as forceps provided in the slave device 2 is not driven even when the operation member 4 of the master device 1 is operated, and the position, posture, etc. of each part are maintained.

[0054] The second foot control button 6 functions as a shooting button for shooting the surgical field of view in the patient's body cavity or the like. For example, the slave device 2 is configured to have, in addition to forceps operated by the right operation member R and forceps operated by the left operation member 4L, an endoscope. The second foot control button 6 is a shooting button for shooting and storing an image based on the view angle of the endoscope.

[0055] The first monitor 7 is a monitor device for displaying real-time images related to the endoscope provided in the slave device 2.

[0056] The second monitor 8 is a monitor device for displaying various information. For example, it can display the posture information of the endoscope and display various setting screens. The screens displayed on the second monitor 8 will be described later.

[0057] The first monitor 7 and the second monitor 8 are, for example, set to display devices such as a liquid crystal display (LCD: Liquid Crystal Display) and an organic EL (Electro-Luminescence) display.

[0058] Then, with reference to Figure 2 The general structure of the slave device 2 will be described. There is an operating table 200 provided in the operating room, and the patient 300 lies flat on the operating table 200 in a supine state, for example. One or more incisions 302 are formed in a part of the patient 300 where the body cavity 301 is formed, for example, the abdominal wall 301a. During a surgical operation, a part (front end portion) of a surgical instrument described later is inserted into the incision 302. The incision 302 is a small hole for inserting a shaft-shaped surgical instrument.

[0059] The side device 2 includes: a base member 20 placed on the floor of the operating room or the like; a mounting table 21 mounted on the base member 20; one or more arms 22 mounted on the mounting table 21; a surgical instrument holding device 23 mounted at the front end of the arm 22; and a surgical instrument 24 removably held by the surgical instrument holding device 23.

[0060] The base member 20 includes: a base portion 25 placed on the floor of the operating room or the like; a lifting mechanism 26 mounted on the upper part of the base portion 25; a rear part of the base arm 27 mounted on the upper part of the lifting mechanism 26; and a front part of the base arm 28 mounted in such a manner that the front part of the base arm 28 can extend horizontally relative to the rear part of the base arm 27.

[0061] The lifting mechanism 26 expands and contracts in the vertical direction, whereby the rear part of the base arm 27 is lifted and lowered in the vertical direction, so that an appropriate height position can be adjusted.

[0062] The front part of the base arm 28 can extend horizontally relative to the rear part of the base arm 27, whereby the position of the mounting table 21 mounted at the front end of the front part of the base arm 28 can be adjusted.

[0063] The mounting table 21 is formed on the front part of the base arm 28 and axially supports the arm 22.

[0064] In the present embodiment, as the arm 22, three arms 22 are mounted. One is a right-use arm 22R for holding a surgical instrument 24R driven corresponding to the operation of the right-use operation member 4R of the master side device 1, another is a left-use arm 22L for holding a surgical instrument 24L driven corresponding to the operation of the left-use operation member 4L of the master side device 1, and the remaining one is an endoscope-use arm 22S for holding an endoscope 24S as the surgical instrument 24. Moreover, a structure in which the surgical instrument 24 includes the endoscope 24S is illustrated, but it may also be that one of the surgical instruments 24 is a imaging device other than the endoscope.

[0065] In the following description, when the surgical instrument 24 is described without particular specification, it includes not only surgical instruments 24R, 24L such as forceps but also the endoscope 24S.

[0066] Each arm 22 can rotate on the mounting table 21 in a direction around an axis extending vertically.

[0067] Each arm 22 includes one or more joint portions and rotating portions, and has a mechanism that easily moves its front end to an arbitrary position.

[0068] A surgical instrument holding device 23 is mounted at the front end portion of the arm 22 via a gimbal mechanism or the like.

[0069] The endoscope 24S is configured as an endoscope component having an endoscope, with a shaft extending longitudinally, a camera coupled to the front end of the shaft, and an optical waveguide coupled to the middle portion of the shaft, etc.

[0070] The front end of the shaft of the surgical instrument 24 is inserted into the interior of the body cavity 301 through an incision 302 formed in the patient 300.

[0071] With the front end of the shaft inserted into the interior of the body cavity 301, illumination light is irradiated from the front end of the shaft of the endoscope component, and the state of the interior of the body cavity 301 is captured by the imaging element. For example, Figure 1 The second foot switch 6 shown is used to acquire an image based on this capture.

[0072] The state of the interior of the body cavity 301 captured by the imaging element is sent as a captured image signal to Figure 1 the first monitor 7 shown, and the surgical operator can remotely observe the state of the interior of the body cavity 301.

[0073] In addition, when the surgical operator operates the right-handed operation member 4R, the position and orientation of the surgical instrument 24R mounted on the right-handed arm 22R can be remotely operated. In addition, when the surgical operator operates the left-handed operation member 4L, the position and orientation of the surgical instrument 24L mounted on the left-handed arm 22L can be remotely operated.

[0074] All or part of the movable parts such as the joint parts and rotating parts in each arm 22 are driven by a driver such as a built-in motor according to the remote operation of the master device 1.

[0075] In addition, although the slave device 2 that can operate three surgical instruments 24 with three arms 22 is illustrated, when considering a surgery using the slave device 2 by remote operation from the master device 1, it is sufficient if the endoscope 24S and other surgical instruments 24 can be manipulated by two arms.

[0076] In this case, the surgical instrument 24 other than the endoscope 24S can be remotely operated by the right-handed operation member 4R, or can be remotely operated by the left-handed operation member 4L, or can be remotely operated using both the right-handed operation member 4R and the left-handed operation member 4L.

[0077] By using such a surgical assistance system S, in addition to being able to perform a surgical operation by remotely controlling one or more surgical instruments to shorten the surgical time, it is also possible to perform a highly skilled surgical operation using a plurality of surgical instruments of different types.

[0078] <2. Linkage between the operation member and the surgical instrument>

[0079] The linkage between the operating part 4 of the master device 1 and the surgical instrument 24 of the slave device 2 will be described with reference to the accompanying drawings.

[0080] First, the structure of the operating part 4 of the master device 1 will be described.

[0081] Figure 3 is a perspective view of the right-side operating part 4R, Figure 4 is a perspective view of the left-side operating part 4L.

[0082] The operating part 4 includes: a Delta mechanism (parallel platform mechanism) 50 for moving the position of the surgical instrument 24; and an attitude change mechanism 51 for changing the attitude of the surgical instrument 24.

[0083] The right-side operating part 4R is configured by reversing the left and right of the left-side operating part 4L. Therefore, in the following description, the left-side operating part 4L will be mainly described.

[0084] One end of the Delta mechanism 50 is mounted on the front surface portion 3a of the base portion 3, and the other end is a support portion for supporting the attitude change mechanism 51.

[0085] The Delta mechanism 50 is a mechanism for positioning the corresponding surgical instrument 24 in the up-down, left-right, front-back directions.

[0086] Moreover, in the following description, when the direction of the surgical instrument 24 is described, it will be described in the direction when viewed in the longitudinal direction (the direction in which the axis extends) of the surgical instrument 24. That is, the front-back direction of the surgical instrument 24 refers to the longitudinal direction of the surgical instrument 24, the up-down direction of the surgical instrument 24 refers to the vertical direction in the reference attitude of the surgical instrument 24, and the left-right direction of the surgical instrument 24 refers to the direction orthogonal to the front-back direction and the vertical direction in the reference attitude of the surgical instrument 24.

[0087] Therefore, when the attitude of the surgical instrument 24 is an attitude rotated 180 degrees in the direction around the axis extending in the longitudinal direction with respect to the reference attitude, that is, in an upside-down attitude, the up-down direction of the surgical instrument 24 is reversed.

[0088] The surgical operator operates in such a way that while holding a predetermined part of the attitude change mechanism 51 supported by the support part of the Delta mechanism 50, the entire attitude change mechanism 51 is moved in the up-down, left-right, front-back directions, whereby each part of the Delta mechanism 50 can be rotated to position the surgical instrument 24.

[0089] Specifically, as Figure 3 、 Figure 4 and Figure 5As shown in etc., the Delta mechanism 50 includes: a mounting base portion 52 which is a base mounted on the front surface portion 3a of the base portion 3; three connecting portions 53, one ends of the three connecting portions 53 are respectively mounted slightly above the center, slightly lower right of the center, and slightly lower left of the center in the mounting base portion 52; a link mechanism 54 which is mounted on the other ends of the connecting portions 53; and a support portion 55 which is mounted on the other ends of the link mechanisms 54 and is thus supported by the three link mechanisms 54 (refer to Figure 3 and Figure 4 ).

[0090] The end of the connecting portion 53 mounted on the mounting base portion 52 is set as an end portion 53a, and the end mounted on the link mechanism 54 is set as an end portion 53b.

[0091] The spatial position of the support portion 55 corresponds to the position of the surgical instrument 24. That is, the surgical operator moves the position of the support portion 55, and thereby can remotely move the position of the surgical instrument 24.

[0092] For example, the end portion 53a of the connecting portion 53 is mounted on the mounting base portion 52 by a ball-and-socket joint mechanism, and the end portion 53a of the connecting portion 53 can rotate in a direction around the rotation axis Ax0. The respective rotation axes Ax0 of the end portions 53a of the three connecting portions 53 are set to be parallel to the front surface portion 3a of the base portion 3 and in different directions that are respectively 120 degrees apart.

[0093] The end portion 53a of the connecting portion 53 rotates in a direction around the rotation axis Ax0, thereby determining the approximate position of the support portion 55 in the front-rear direction (refer to Figure 5 and Figure 6 ).

[0094] The link mechanism 54 having one end connected to the end portion 53b of the connecting portion 53 is configured to include two parallel links and can be deformed into a parallelogram (including a rectangle).

[0095] Deforming the link mechanism 54 thereby determines the approximate positions of the support portion 55 in the up-down and left-right directions. For example, starting from the state shown in Figure 5 , the attitude change mechanism 51 as a whole is operated in a manner of moving upward, and thereby the link mechanism 54 is deformed from a substantially rectangle into a parallelogram as shown in Figure 7 .

[0096] Moreover, strictly speaking, when the position of the support portion 55 in the front-rear direction is changed, the angles formed by the respective connecting portions 53 and the link mechanism 54 change and the link mechanism 54 is deformed.

[0097] In addition, when the support portion 55 is moved in the vertical direction or the left - right direction, the link mechanism 54 is also deformed, and the end portions 53b of the respective connecting portions 53 rotate, and the angle formed by the connecting portion 53 and the link mechanism 54 changes.

[0098] The support portion 55 can be translated in the up - down, left - right, front - back, and left - right directions in space while maintaining the same attitude (direction) by the movement of the Delta mechanism 50.

[0099] Since the structure and operation of the Delta mechanism 50 are well - known techniques, they will not be described in detail.

[0100] Then, the specific structure of the attitude change mechanism 51 will be described. The attitude change mechanism 51 is installed on the support portion 55 of the Delta mechanism 50 and is thus supported by the Delta mechanism 50. Moreover, Figure 8 The structure of the attitude change mechanism 51 is schematically shown.

[0101] The attitude change mechanism 51 includes: a first member 56; a second member 57 connected to the first member 56; a third member 58 connected to the second member 57; and a gripping mechanism 59 connected to the third member 58.

[0102] The first member 56 has: a supported portion 60 supported by the support portion 55 and formed in a plate shape facing the front - back direction; a first connecting portion 61 extending from one end portion of the supported portion 60 of the supported portion 60; and a first rotation support portion 62 continuous with the other end portion of the first connecting portion 61 and formed in a disk shape facing the up - down direction.

[0103] The second member 57 has: a first rotation - supported portion 63 installed on the lower surface portion of the first rotation support portion 62; a second connecting portion 64 formed in an L - shape extending from the first rotation - supported portion 63 in one direction of the left - right direction and extending downward from a substantially central portion; and a second rotation support portion 65 continuous with the second connecting portion 64 and formed in a disk shape facing the left - right direction.

[0104] The first rotation - supported portion 63 of the second member 57 can rotate relative to the first rotation support portion 62 of the first member 56 in a direction around an axis extending in the up - down direction (see Figure 8 and Figure 9 ). Thus, it is possible to perform a left - right nodding operation at the front end of the surgical instrument 24L provided in the side device 2 corresponding to the left - hand operation member 4L. This operation is recorded as a rotation operation Pa in the pan direction. Moreover, as described above, the left - right direction of the front end portion here is the left - right direction when the surgical instrument 24L is in the reference attitude, and depending on the attitude of the surgical instrument 24L, there are cases where the left - right direction of the front end portion is the vertical direction, the inclined direction, etc.

[0105] The third member 58 has: a second rotation-supported portion 66 which is mounted on the right side face of the second rotation support portion 65 and is formed in a disk shape extending in the left-right direction; a third connection portion 67 which extends from one end of the second rotation-supported portion 66 toward one of the left-right directions; and a mounted end portion 68 which is continuous with the other end portion of the third connection portion 67 and is formed in a disk shape extending in the front-rear direction and is for mounting the grasping mechanism 59.

[0106] The second rotation-supported portion 66 of the third member 58 can rotate relative to the second rotation support portion 65 of the second member 57 in a direction about an axis extending in the left-right direction (refer to Figure 8 and Figure 10 ). Thereby, the front end portion of the surgical instrument 24L can perform a pitching motion in the up-down direction. This operation is recorded as a pitching direction (Japanese: pitch direction) rotation operation Pi.

[0107] The grasping mechanism 59 has: a mounted end portion 69 which is mounted on the mounted end portion 68 and is formed in a substantially disk shape; a first connection portion 70 whose one end portion is connected to the front surface of the mounted end portion 69; a grasping portion 71 which is mounted on the other end portion of the first connection portion 70; a second connection portion 72 which extends laterally from the grasping portion 71; and an opening / closing portion 73 which is connected to the end portion of the second connection portion 72 on the side opposite to the grasping portion 71 and extends forward and is formed in a substantially L shape.

[0108] The mounted end portion 69 of the grasping mechanism 59 can rotate relative to the mounted end portion 68 of the third member 58 in a direction about an axis extending in the front-rear direction (refer to Figure 8 and Figure 11 ). Thereby, the surgical instrument 24L can be rotated in a direction about the axis in the longitudinal direction of the surgical instrument 24L. This operation is recorded as a roll direction (Japanese: roll direction) rotation operation Ro.

[0109] Moreover, each direction of the attitude change mechanism 51 shown in the description of the pan direction rotation operation Pa, the pitching direction rotation operation Pi, and the roll direction rotation operation Ro is always the direction in the case where the attitude change mechanism 51 adopts the Figure 8 shown reference attitude. Therefore, it is not limited to this in the case where the attitude of the attitude change mechanism 51 becomes an attitude different from the Figure 8 shown attitude by rotating each part. For example, when the first rotation-supported portion 63 of the second member 57 rotates 90 degrees counterclockwise relative to the first rotation support portion 62 of the first member 56 when viewed from above, the rotation axis of the mounted end portion 69 of the grasping mechanism 59 relative to the mounted end portion 68 of the third member 58 is an axis extending not in the front-rear direction but in the left-right direction.

[0110] The holding mechanism 59 includes: a first holding assist member 74, which is mounted on the side surface of the first connecting portion 70 and into which the finger of the surgical operator is inserted; and a second holding assist member 75, which is mounted on the lower surface of the opening and closing portion 73 and into which the other fingers of the surgical operator are inserted.

[0111] For example, when the surgical operator holds the holding portion 71 with the left palm, the thumb of the left hand is inserted into the first holding assist member 74, and the index finger of the left hand is inserted into the second holding assist member 75, whereby the attitude changing mechanism 51 can be appropriately operated.

[0112] In addition, by moving in such a way that the fingertips of the thumb and index finger of the left hand approach each other, an operation (closing operation Cl) for bringing the front end portion of the opening and closing portion 73 closer to the mounting end portion 69 is performed. Further, by moving in such a way that the fingertips of the thumb and index finger of the left hand move away from each other, an operation (opening operation Op) for moving the front end portion of the opening and closing portion 73 away from the mounting end portion 69 is performed.

[0113] By performing the opening operation Op and the closing operation Cl, the front end of the forceps, which is the surgical instrument 24L correspondingly provided in the slave device 2, can be closed and opened.

[0114] In this way, the attitude changing mechanism 51 is configured to have four degrees of freedom, whereby a pan direction rotation operation Pa for causing the front end portion of the surgical instrument 24 to shake in the pan direction, a pitch direction rotation operation Pi for causing it to shake in the pitch direction, a roll direction rotation operation Ro for rotating in the roll direction, and an opening and closing operation OC for opening and closing the front end portion of the forceps or the like can be performed.

[0115] The holding mechanism 59 further includes a clutch operator 76 in addition to the above-described respective parts. As Figure 12 shown, the clutch operator 76 is mounted on the lower surface portion of the first connecting portion 70 of the holding mechanism 59 in the reference attitude of the attitude changing mechanism 51, and is, for example, an operator formed in the shape of a trigger.

[0116] The clutch operator 76 is provided to release the linkage between the operation member 4 of the master device 1 and the arm 22 and the surgical instrument 24 of the slave device 2.

[0117] Specifically, in a state where the clutch operator 76 is pulled forward (in a direction away from the mounting end portion 69, that is, toward the surgical operator side), even if the operation member 4 is operated, the respective parts of the slave device 2 do not operate.

[0118] As a specific operation purpose of the clutch operator 76, for example, when the position of the hand of the surgical operator in the state of holding the holding part 71 of the holding mechanism 59 is far from the body and it is difficult to perform the operation, the surgical operator performs an operation of pulling the clutch operator 76 forward. Thereby, the linkage between the master device 1 and the slave device 2 can be released. Further, while maintaining the state of pulling the clutch operator 76 forward, the holding part 71 is translated in such a manner that the entire attitude change mechanism 51 is moved, and then the operation on the clutch operator 76 is released. Thereby, the linkage between the master device 1 and the slave device 2 restarts, and the surgical operator can restart the surgery in a state where the hand is moved to a position where it is easy to operate the operation member 4.

[0119] As Figure 12 shown, in the state where the surgical operator holds the holding part 71 with the right palm and inserts the right thumb into the first holding auxiliary member 74 and the index finger into the second holding auxiliary member 75, the clutch operator 76 can be pulled forward (toward the surgical operator side) using the middle finger or the like. That is, the clutch operator 76 can be operated without changing the position of the hand that can translate and rotate the distal end portion of the surgical instrument 24. Thereby, the operability is improved.

[0120] Further, in the present embodiment, in a state where the linkage between the master device 1 and the slave device 2 is released when the clutch operator 76 is operated, the position of the holding mechanism 59 of the master device 1 can be freely changed, but braking is applied to each part so that the pan rotation operation Pa, the pitch rotation operation Pi, and the roll rotation operation Ro cannot be performed, that is, the positional relationship between the first member 56, the second member 57, the third member 58, and the holding mechanism 59 does not change.

[0121] In order to perform the roll rotation operation Ro when the clutch operator 76 is operated, it can be achieved by using a roll clutch function described later. Further, it may be that the surgical assistance system S has a clutch function for the pan rotation operation Pa and the pitch rotation operation Pi.

[0122] Figure 13 Schematically shows a specific mechanism of the surgical instrument 24 whose attitude changes according to the attitude change mechanism 51.

[0123] In Figure 13 it, the surgical instruments 24R, 24L, and the endoscope 24S are shown as the surgical instrument 24.

[0124] For example, the surgical instruments 24R and 24L are configured to include: a first shaft portion 80 that is integrally formed in a shaft shape and is held by the surgical instrument holding device 23; a second shaft portion 81, one end of which is connected to the front end portion of the first shaft portion 80; a rotational coupling portion 82 that is held at the other end of the second shaft portion 81; and two front end pieces 83 that are supported by the rotational coupling portion 82.

[0125] The second shaft portion 81 is capable of rotating relative to the first shaft portion 80 in a direction around the second shaft portion 81 and rotates according to a roll-direction rotation operation Ro of the gripping mechanism 59 (rotation action Ro').

[0126] The rotational coupling portion 82 is capable of rotating relative to the second shaft portion 81 in a direction around Figure 13 the first axis Ax1 as shown and rotates according to a pitch-direction rotation operation Pi of the gripping mechanism 59 (rotation action Pi').

[0127] Each of the two front end pieces 83 is capable of rotating relative to the rotational coupling portion 82 in a direction around an axis that is orthogonal to the rotation axis of the rotation action Ro' and the rotation axis of the rotation action Pi' respectively.

[0128] According to a pan-direction rotation operation Pa of the gripping mechanism 59, the two front end pieces 83 rotate in the same direction (rotation action Pa'). Further, according to an opening operation Op in the opening / closing operation OC of the gripping mechanism 59, the two front end pieces 83 rotate in directions away from each other (opening action Op'). Also, according to a closing operation Cl in the opening / closing operation OC of the gripping mechanism 59, the two front end pieces 83 rotate in directions approaching each other (closing action Cl').

[0129] In this way, the rotation action Pa' and the opening / closing action OC' of the front end pieces 83 are achieved.

[0130] Then, a structural example of the endoscope 24S will be described.

[0131] For example, the endoscope 24S is configured to include: a first shaft portion 80 that is integrally formed in a shaft shape and is held by the surgical instrument holding device 23; a second shaft portion 81, one end of which is connected to the front end portion of the first shaft portion 80; a third shaft portion 84 that is connected to the other end of the second shaft portion 81; and a camera 85 that is held by the third shaft portion 84.

[0132] In the above example, the following structure has been described: the position and posture of the surgical instrument 24R change according to the operation of the right-use operation member 4R, and the position and posture of the surgical instrument 24L change according to the operation of the left-use operation member 4L.

[0133] However, during the operation, there are also cases where it is necessary to change the viewing angle of the endoscope 24S. In such cases, it is also possible to change the position and attitude of the endoscope 24S according to the operation of either the right operation member 4R or the left operation member 4L. For example, it is also possible to start the linkage between the right operation member 4R and the endoscope 24S after releasing the linkage between the right operation member 4R and the surgical instrument 24R.

[0134] Thereby, an image based on an appropriate viewing angle can be obtained by the endoscope 24S, and the operation can be easily performed.

[0135] Specifically, the second shaft portion 81 of the endoscope 24S can rotate relative to the first shaft portion 80 in the direction around the Figure 13 second axis Ax2 shown, and rotates according to the pitching direction rotation operation Pi of the holding mechanism 59 (rotation operation Pi').

[0136] The third shaft portion 84 of the endoscope 24S can rotate relative to the second shaft portion 81 in the direction around the third shaft portion 84, and rotates according to the rolling direction rotation operation Ro of the holding mechanism 59 (rotation operation Ro').

[0137] The camera 85 can rotate relative to the third shaft portion 84 in the direction around the Figure 13 third axis AX3 shown, and rotates according to the pan direction rotation operation Pa of the holding mechanism 59 (rotation operation Pa').

[0138] In this way, the attitude change of the endoscope 24S is realized.

[0139] Moreover, although not described in detail, when the distal end portion of the surgical instrument 24 is inserted into the body cavity 301, the trocar 303 provided in the incision 302 formed in the abdominal wall 301a is used. Moreover, when changing the position and attitude of the surgical instrument 24, a pivot point P is set near the center of the incision 302, that is, inside the trocar 303.

[0140] In the state where the distal end portion of the surgical instrument 24 is inserted into the body cavity 301 of the patient 300, the position is controlled so that a part of the surgical instrument 24 always passes through the pivot point P. Thereby, it is possible to prevent a load from being applied to the tissue near the body surface of the patient 300 before and after the change in the position and attitude of the surgical instrument 24, and thus ensure safety.

[0141] <3. Functional Structure>

[0142] Describe the functional structure of the surgical assistance system S for smoothly performing the operation.

[0143] <3-1. Functional Structure of the Master Side Device>

[0144] First, with reference to Figure 14 the functional structure of the master device 1 will be described. Figure 14 FIG. is a functional block diagram of the master device 1 and the slave device 2 in the surgical assistance system S.

[0145] The master device 1 includes a master drive unit 90, a master sensor 91, an operation unit 92, a master control unit 93, a master communication unit 94, and a display unit 95.

[0146] The master drive unit 90 is provided for each part of the Delta mechanism 50 and each part of the attitude change mechanism 51 in the operation member 4. Specifically, a driver that rotates the end 53a of the coupling part 53 in the direction around the Figure 5 shown rotation axis Ax0, a driver for controlling the relative rotation state of the link mechanism 54 and the support part 55, or a driver that rotates the Figure 8 shown second member 57 relative to the first member 56 in the direction of the pitching rotation operation Pa, etc. are set as the master drive unit 90.

[0147] The master drive unit 90 is driven based on the control signal supplied from the master control unit 93, whereby the position and attitude of each part in the master device 1 can be changed.

[0148] The master sensor 91 is provided as a sensor for sensing the positional relationship of each part. For example, it detects and outputs a detection signal for the rotation angle indicating the rotation state of the end 53a of the coupling part 53 in the direction around the Figure 5 shown rotation axis Ax0, the rotation angle indicating the rotation state of the Figure 8 shown second member 57 relative to the first member 56, etc.

[0149] The operation unit 92 corresponds to, for example, the above-described clutch operator 76, the first foot control button 5, the second foot control button 6, etc. In addition, when the first monitor 7, the second monitor 8, etc. have a touch panel function, this touch panel part is also an example of the operation unit 92. Moreover, when a mouse or the like for operating a menu screen or the like displayed on the second monitor 8 or the like is connected, the mouse or the like is also set as the operation unit 92.

[0150] In addition, it may be that when the master device 1 corresponds to voice input, a microphone or the like provided in the master device 1 is set as the operation unit 92.

[0151] The display unit 95 corresponds to the above-described first monitor 7, second monitor 8, etc.

[0152] The master-side control unit 93 is configured to include a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc. The arithmetic processing devices such as the CPU execute the programs stored in the ROM and the programs loaded into the RAM, thereby implementing the established functions.

[0153] Specifically, the master-side control unit 93 includes a display control unit FM1, a master-side communication control unit FM2, a master-side drive control unit FM3, a force feedback processing unit FM4, a master-side position detection unit FM5, a control quantity conversion unit FM6, a Neutral Assist function FM7, a Wrist angle scaling function FM8, and a Roll Clutch function FM9.

[0154] The display control unit FM1 performs display control on the first monitor 7 and the second monitor 8. In the present embodiment, the display control unit FM1 displays a setting screen for performing various settings on the second monitor 8. In each setting screen, a drop-down list, buttons, etc. are appropriately arranged as the operation unit 92, and the operation information of the operation unit 92 is notified to the Neutral Assist function FM7, the Wrist angle scaling function FM8, and the Roll Clutch function FM9.

[0155] In addition, the display control unit FM1 performs the following processing: receives the image data captured by the endoscope 24S, which is a surgical instrument 24 of the slave-side device 2, via the master-side communication unit 94, and outputs it to the first monitor 7.

[0156] The master-side communication control unit FM2 uses the master-side communication unit 94 to perform processing for sending and receiving various information with the slave-side device 2.

[0157] The master-side drive control unit FM3 controls various drivers provided as the master-side drive unit 90 in order to control each part of the master-side device 1.

[0158] Moreover, the master-side drive control unit FM3 can be controlled by other functions and components in order to implement the various functions of the master-side control unit 93. That is, the master-side drive control unit FM3 can execute the processing for controlling the master-side drive unit 90 based on the instructions output from other functions and components.

[0159] As an example thereof, there is force sense prompting control. Specifically, a force sense prompting processing unit FM4 performs processing for prompting a surgical operator with a force sense as if operating a surgical instrument 24 such as forceps provided in the slave device 2, based on the movement of the surgical instrument 24. For example, when the surgical instrument 24 encounters an obstacle, the master side drive unit 90 is driven in a direction to cancel the operation input by the surgical operator, whereby the force required by the surgical operator to move the surgical instrument 24 is greater than usual, enabling the operator to detect that an obstacle has been encountered.

[0160] To perform such control, the force sense prompting processing unit FM4 gives an instruction to the master side drive control unit FM3.

[0161] The master side control unit 93 performs control for driving each part of the slave device 2 according to the operation of the surgical operator on the master device 1.

[0162] Specifically, the master side position detection unit FM5 detects the position, attitude, etc. of the master side drive unit 90 based on the output signal from the master side sensor 91 and outputs it to the control amount conversion unit FM6.

[0163] The control amount conversion unit FM6 calculates the change amount of the master side drive unit 90 based on the position and attitude of the master side drive unit 90 input from the master side position detection unit FM5. The control amount conversion unit FM6 converts this change amount into a control amount for each drive unit in the slave device 2. Moreover, each surgical instrument 24 provided in the slave device 2 changes its position and attitude in such a way as to pass through a pivot point P set near the incision 302 of the patient 300. The control amount conversion unit FM6 performs the following processing: converting the translational movement of the support portion 55 in the master device 1 into a rotational motion and other types of motions of the drive units of the slave device 2 in such a way that the surgical instrument 24 passes through the pivot point P.

[0164] The control amount (drive amount) calculated by the control amount conversion unit FM6 for each drive unit of the slave device 2 is sent from the master side communication unit 94 to the slave device 2 through the processing of the master side communication control unit FM2.

[0165] The neutral assist function FM7, the wrist angle scaling function FM8, and the roll clutch function FM9 should also be referred to as auxiliary functions for smoothly performing surgery.

[0166] <3-1-1. Neutral assist function>

[0167] The neutral assist function FM7 is a function for guiding the Delta mechanism 50 of the operation member 4 provided in the master device 1 to an appropriate position.

[0168] For example, the neutral assist function FM7 is a function that is activated by simultaneously operating the clutch operators 76 provided in the attitude change mechanism 51 of the left operation member 4L and the clutch operators 76 provided in the attitude change mechanism 51 of the right operation member 4R (when observed from the surgical operator, it is an operation of pulling forward). Moreover, this operation method is only an example, and this function can also be executed according to voice operations. For example, it can also be that the function is executed by simultaneously pressing the first foot control button 5 and the second foot control button 6. Additionally, it can also be that a predetermined operation mode is input to the clutch operator 76 or the like to execute this function.

[0169] The neutral assist function FM7 is a function that moves only the Delta mechanism 50 of the main side device 1 to a predetermined position without moving the respective parts of the slave side device 2. Therefore, when the neutral assist function FM7 is executed, it is notified to the control amount conversion unit FM6 to release (interrupt) the linkage with the slave side device 2. In the control amount conversion unit FM6, accordingly, regardless of the detection result of the main side sensor 91, the rotation amount of the drive unit of the slave side device 2 and the operation amounts of other types of operations are calculated as "0".

[0170] In a state where the linkage with the slave side device 2 is ended, the neutral assist function FM7 performs processing for guiding the Delta mechanism 50 to an appropriate position.

[0171] Moreover, the end of the linkage between the main side device 1 and the slave side device 2 can be performed only using software like this, or can also be performed using a hardware mechanism.

[0172] For example, it can also be that each movable part of the slave side device 2 is provided with an electromagnetic braking mechanism as a non-excitation operation type brake, and this non-excitation operation type brake is configured to apply braking to maintain the position and attitude when the power supply is cut off. In this case, the power supply to the electromagnetic brake is stopped to apply braking to each movable part to maintain the position and attitude of each movable part. In this way, it can be achieved without performing the calculation of the operation amount by the control amount conversion unit FM6.

[0173] The Delta mechanism 50 of the main side device 1 has a predetermined movable area in the vertical direction, horizontal direction, and front-rear direction. Therefore, the range that the position of the attitude change mechanism 51 (or the position of the holding mechanism 59) mounted on the Delta mechanism 50 can obtain is limited in each direction.

[0174] For example, when the surgical operator operates near the end of the movable area of the holding mechanism 59, there is a concern that the movable area of the Delta mechanism 50 reaches the limit and the intended operation cannot be performed, so that the patient 300 cannot be appropriately treated.

[0175] In order to cope with such a situation, the neutral assist function FM7 guides the Delta mechanism 50.

[0176] Specifically, the neutral assist function FM7 moves the respective parts of the left and right Delta mechanisms 50 so that the respective gripping mechanisms 59 on the left and right are located near the approximate center of the movable region in each direction.

[0177] Thereby, the gripping mechanism 59 held by the surgical operator can restart the operation with a certain degree of movable region remaining on either side in each of the up-down direction, left-right direction, and front-back direction, and thus appropriate treatment can be performed.

[0178] The neutral assist function FM7 thus instructs the master side drive control unit FM3.

[0179] Moreover, in order to guide the gripping mechanism 59 to a predetermined position, force feedback for transmitting the direction in which it should move to each palm of the surgical operator holding the gripping mechanism 59 may be performed.

[0180] After the gripping mechanism 59 is moved to a predetermined position by the neutral assist function FM7, the linkage between the master side device 1 and the slave side device 2 can restart. The restart of the linkage can be performed automatically, or can be configured not to restart until a manual operation is performed.

[0181] Moreover, in a state where the clutch operator 76 is pulled toward the surgical operator side, the linkage between the master side device 1 and the slave side device 2 ends, and when the state where the clutch operator 76 is pulled toward the surgical operator side is released, the linkage between the master side device 1 and the slave side device 2 restarts. However, in the case of operating the left and right clutch operators 76 simultaneously, for safety reasons, even if the state where the left and right clutch operators 76 are pulled forward is released during the automatic control of the gripping mechanism 59 by the neutral assist function FM7, the linkage between the master side device 1 and the slave side device 2 will not restart until the automatic control ends.

[0182] Alternatively, in the case where the state where the left and right clutch operators 76 are pulled forward is released during the automatic control of the gripping mechanism 59 by the neutral assist function FM7, the automatic control of the neutral assist function FM7 may be aborted and the linkage between the master side device 1 and the slave side device 2 may be restarted immediately.

[0183] In the present embodiment, it is possible to switch between turning on and off the neutral assist function FM7. This switching is achieved by operating the setting screen displayed on the second monitor 8.

[0184] An example of the setting screen G1 will be described with reference to the accompanying drawings.

[0185] The setting screen G1 is configured as a screen with two tags. Figure 15 It shows the state where the first setting tag Tab1 displayed as "Setting 1" is selected. This screen is set as the setting screen G1a.

[0186] On the setting screen G1a, there are arranged a position zoom selection bar Sel1, a neutral gear assist button Btn1, a left force feedback intensity selection bar Sel2, a right force feedback intensity selection bar Sel3, a cancel button BtnC, and an execute button BtnOK.

[0187] Among them, the operator for switching the on and off of the neutral gear assist function FM7 is the neutral gear assist button Btn1.

[0188] The current state is displayed on the neutral gear assist button Btn1, and operating the neutral gear assist button Btn1 thus switches the on and off states.

[0189] When the cancel button BtnC is operated, the setting screen G1 can be closed without reflecting the settings made in the setting screen G1a.

[0190] In addition, when the execute button BtnOK is operated, the settings made in the setting screen G1a can be reflected and the setting screen G1 can be closed.

[0191] <3-1-2. Wrist Angle Zoom Function>

[0192] The wrist angle zoom function FM8 is a function for changing the rotation amount of the rotation action Pa' with respect to the pan direction rotation operation Pa, the rotation amount of the rotation action Pi' with respect to the pitch direction rotation operation Pi, and the rotation amount of the rotation action Ro' with respect to the roll direction rotation operation Ro.

[0193] The movable range of a person's wrist is roughly fixed. For example, it is difficult to rotate the wrist 360 degrees while performing precise operations. The wrist angle zoom function FM8 is a function for solving such problems.

[0194] Operating the operation unit 92 can thus execute the ratio of the operation amount to the rotation amount. The wrist angle zoom function FM8 notifies the control amount conversion unit FM6 of this ratio set based on the operation of the operation unit 92. In the control amount conversion unit FM6, based on this notification, the action amounts of the respective parts of the slave device 2 calculated according to the operation amount are multiplied by the above ratio to obtain the final action amount.

[0195] As the operation unit 92 for determining the ratio of the operation amount to the rotation amount, it can be a physical operator such as a rotary knob, or an operator displayed on the screen implemented by software. Figure 16 An example is shown.

[0196] Figure 16 Shows the state where the second setting label Tab2 displayed as "Setting 2" is selected in the setting screen G1 with two labels. This screen is set as the setting screen G1b.

[0197] On the setting screen G1b, there are arranged a roll clutch button Btn2, a ratio selection bar Sel4, a cancel button BtnC, and an execution button BtnOK.

[0198] Among them, the operator for determining the ratio of the operation amount to the rotation amount in the wrist angle scaling function FM8 is the ratio selection bar Sel4.

[0199] The ratio selection bar Sel4 can, for example, be selected from three options: "1.0", "1.5", and "2.0". For example, when "2.0" is selected, when a 30-degree panning direction rotation operation Pa is performed in the master device 1, it is controlled to be in a state where the front end of the surgical instrument 24 in the slave device 2 rotates 60 degrees.

[0200] Moreover, it can also be that the options that can be selected from the ratio selection bar Sel4 include values less than 1.0. This is preferable in the case of performing precise operations.

[0201] In addition, it can also be that a slider operator is provided instead of the ratio selection bar Sel4, whereby the ratio can be changed approximately steplessly.

[0202] The operations of the cancel button BtnC and the execution button BtnOK are the same as those of the setting screen G1b, so the description is omitted.

[0203] Moreover, it can also be that the master control unit 93 respectively has a scaling function for adjusting the rotation amount of the rotation action Pa' with respect to the panning direction rotation operation Pa, a scaling function for adjusting the rotation amount of the rotation action Pi' with respect to the pitching direction rotation operation Pi, and a scaling function for adjusting the rotation amount of the rotation action Ro' with respect to the roll direction rotation operation Ro. Moreover, it can also be that different ratios can be set for these respective scaling functions.

[0204] In addition, it can also be that the master control unit 93 does not have some of the scaling functions.

[0205] <3-1-3. Roll Clutch Function>

[0206] The roll clutch function FM9 is a function for determining whether to make the front end of the surgical instrument 24 of the slave device 2 perform a rotation action Ro' when a roll direction rotation operation Ro is performed.

[0207] This function is for solving the problem that it is difficult to perform surgery due to the movable area of a person's wrist.

[0208] For example, when performing a 180-degree rotation operation as the roll-direction rotation operation Ro, specifically, when performing an operation of rotating the wrist in such a manner that the palm facing downward faces upward, the distal end portion of the surgical instrument 24 also performs a 180-degree rotation motion Ro'. In a case where it is desired to perform the rotation motion Ro' in the same direction in this state, there are difficulties due to the movable area of the wrist of the surgical operator. In this case, the roll clutch function FM9 changes to a state where the distal end portion of the surgical instrument 24 does not perform the rotation motion Ro' even when the roll-direction rotation operation Ro is performed.

[0209] Moreover, after the surgical operator rotates the wrist in such a manner that the palm faces downward again, the roll clutch function FM9 changes back to a state where the distal end portion of the surgical instrument 24 performs the rotation motion Ro' according to the roll-direction rotation operation Ro.

[0210] By repeating this, it is possible to perform the rotation motion Ro' in the same direction any number of times.

[0211] The operation unit 92 for turning on and off the linkage between the roll-direction rotation operation Ro and the rotation motion Ro' can be a physical operator such as a button, or an operator displayed on the screen implemented by software.

[0212] In Figure 16 In the example shown, the roll clutch button Btn2 in the setting screen G1b is an operator for the roll clutch function FM9.

[0213] The current state is displayed on the roll clutch button Btn2, and by operating the roll clutch button Btn2, it is possible to switch the turning on and off of the linkage between the roll-direction operation and the rotation motion.

[0214] <3-2. Functional Structure of the Side Device>

[0215] The side device 2 includes a side drive unit 100, a side sensor 101, a side control unit 102, and a side communication unit 103.

[0216] The side drive unit 100 is provided as a movable part in each part of the arm 22 included in the side device 2, each part of the surgical instrument holding device 23, each part of the surgical instrument 24, and the like.

[0217] The side drive unit 100 is driven based on a control signal supplied from the side control unit 102, and thereby various translational motions and rotational motions can be achieved, and the position and posture of the distal end portion of the surgical instrument 24 can be changed.

[0218] The slave-side sensor 101 is a sensor configured to sense the positional relationship of the movable part of the slave-side device 2. For example, it outputs a detection signal corresponding to Figure 13 the rotational position of the second shaft portion 31 relative to the first shaft portion 80 shown in FIG., the rotational position of the front end piece 83 relative to the rotational coupling portion 82, and the like.

[0219] Moreover, a graphic sensor or the like provided in the endoscope 24S is also an example of the slave-side sensor 101.

[0220] The slave-side control unit 102 is configured to include a CPU, a ROM, a RAM, etc. An arithmetic processing device such as the CPU executes programs stored in the ROM and programs loaded into the RAM, thereby realizing a predetermined function.

[0221] Specifically, the slave-side control unit 102 includes a slave-side communication control unit FS1 and a slave-side drive control unit FS2.

[0222] The slave-side communication control unit FS1 performs processing for transmitting and receiving various information to and from the master-side device 1 using the slave-side communication unit 103.

[0223] The slave-side drive control unit FS2 controls various drivers provided as the slave-side drive unit 100 in order to control the drive units of the respective parts provided as the slave-side device 2. Specifically, the slave-side drive control unit FS2 outputs a control signal to each driver of the slave-side device 2 based on the control amount (drive amount) calculated by the control amount conversion unit FM6 of the master-side control unit 93.

[0224] <4. Processing Flow>

[0225] An example of the processing flow executed by the arithmetic processing unit of the master-side control unit 93 when implementing the various functions provided in the master-side device 1 is shown.

[0226] <4-1. Processing Related to Neutral Assist Function>

[0227] As the processing related to the neutral assist function FM7, the master-side control unit 93 executes Figure 17 the series of processing shown in FIG.

[0228] In step S101, the master-side control unit 93 determines whether a setting change operation for the neutral assist function is detected. For example, this setting change operation is an operation of pressing the execute button BtnOK after pressing the neutral assist button Btn arranged in the setting screen G1a to change the current state.

[0229] If it is determined that no setting change operation is detected, the master-side control unit 93 does not execute the processing of steps S102 to S104 and proceeds to step S105.

[0230] On the other hand, when it is determined that a setting change operation has been detected, in step S102, the master control unit 93 determines whether the setting for activating the neutral assist function according to a predetermined operation input such as pressing two clutch operators 76 simultaneously is on or off.

[0231] When the neutral assist function is on, in step S103, the master control unit 93 sets this function to off.

[0232] On the other hand, when the neutral assist function is off, in step S104, the master control unit 93 sets this function to on.

[0233] After executing step S103 or step S104, or after making a "no" determination in step S101, in step S105, the master control unit 93 determines whether a predetermined operation input, that is, a simultaneous operation input of two clutch operators 76, has been detected.

[0234] When it is determined that this operation input has not been detected, the master control unit 93 proceeds to step S109.

[0235] On the other hand, when it is determined that this operation input has been detected, in step S106, the master control unit 93 determines whether the neutral assist function is on.

[0236] When it is determined that the neutral assist function is on, in step S107, the master control unit 93 releases (interrupts) the linkage between the master device 1 and the slave device 2, and executes the neutral assist function in step S108.

[0237] That is, the master control unit 93 moves each part provided in the left and right Delta mechanisms 50 so that the left and right gripping mechanisms 59 are each located near the approximate center of the movable region in each direction.

[0238] Moreover, as described above, the neutral assist function may be executed using the force feedback of the force feedback processing unit FM4.

[0239] On the other hand, when it is determined that the neutral assist function is off, the master control unit 93 returns to the process of step S101.

[0240] After executing step S108, in step S109, the master control unit 93 determines whether the condition for restarting the linkage between the master device 1 and the slave device 2 is satisfied.

[0241] When it is determined that the condition for restarting this linkage is satisfied, in step S110, the master control unit 93 restarts the linkage between the master device 1 and the slave device 2, and returns to the process of step S101.

[0242] On the other hand, when it is determined that the condition for restarting the linkage is not satisfied, the process returns to step S101 in a state where the linkage between the master device 1 and the slave device 2 is interrupted.

[0243] During startup, the surgical assistance system S repeatedly executes Figure 17 the series of processes shown, whereby the surgical operator can activate the neutral assist function at an arbitrary timing. Additionally, Figure 17 the series of processes shown ends, for example, when the power supply of the surgical assistance system S is turned off.

[0244] <Processing related to the wrist angle scaling function>

[0245] As the processing related to the wrist angle scaling function FM8, the master control unit 93 executes Figure 18 the series of processes shown.

[0246] First, in step S201, the master control unit 93 determines whether a setting change operation for the wrist angle scaling function is detected. This setting change operation is, for example, an operation of pressing the execute button BtnOK after selecting a ratio different from the current one from the ratio selection bar Sel4 arranged on the setting screen G1b.

[0247] When it is determined that no setting change operation is detected, the master control unit 93 executes the process of step S201 again.

[0248] On the other hand, when it is determined that a setting change operation is detected, in step S202, the master control unit 93 acquires the selected setting, and in step S203, applies the selected setting. For example, the ratio information is notified to the control amount conversion unit FM6, thereby applying the selected setting. The control amount conversion unit FM6 obtains the action amount of each movable part in the slave device 2 based on the notified ratio information.

[0249] After the process of step S203 ends, the master control unit 93 returns to the process of step S201.

[0250] During startup, the surgical assistance system S repeatedly executes Figure 18 the series of processes shown, whereby the surgical operator can change the ratio of the operation amount to the action amount based on the wrist angle scaling function at an arbitrary timing. Additionally, Figure 18 the series of processes shown ends, for example, when the power supply of the surgical assistance system S is turned off.

[0251] <Processing related to the roll clutch function>

[0252] As for the processing related to the roll clutch function FM9, the master side control unit 93 executes Figure 19 a series of processes shown below.

[0253] First, in step S301, the master side control unit 93 determines whether a setting change operation for the roll clutch function is detected. This setting change operation is, for example, an operation of pressing the roll clutch button Btn2 arranged on the setting screen G1b to change the current state and then pressing the execute button BtnOK.

[0254] When it is determined that no setting change operation is detected, the master side control unit 93 executes the process of step S301 again.

[0255] On the other hand, when it is determined that a setting change operation is detected, in step S302, the master side control unit 93 determines whether the roll clutch function changes from off to on.

[0256] When it is determined that the change is from off to on, in step S303, the master side control unit 93 applies the following setting: when an operation of pulling the clutch actuator 76 forward is performed, the brake on the mechanism related to rolling is released. Thus, in a state where the operation of pulling the clutch actuator 76 forward is performed, the surgical operator can perform not only the translational movement of the grasping mechanism 59 but also the rotational operation Ro in the rolling direction.

[0257] For example, when the shapes of the two front end pieces 83 of the surgical instrument 24 as forceps are different, in order to set the front end portion of the surgical instrument 24 to an appropriate attitude, there is a case where a rotational movement Ro' of 180 degrees is required, and in such a case, the roll clutch function is suitable.

[0258] In step S302, when it is determined that the roll clutch function changes from on to off, in step S304, the master side control unit 93 applies the following setting: when an operation of pulling the clutch actuator 76 forward is performed, the brake is applied to the mechanism related to rolling. Thus, even when an operation of pulling the clutch actuator 76 forward is performed, the Figure 8 shown mounting end portion 69 is prevented from rotating relative to the mounted end portion 68 by applying the brake.

[0259] After finishing the process of step S303 or the process of step S304, the master side control unit 93 returns to the process of step S301.

[0260] The surgical assistance system S repeatedly executes Figure 19 a series of processes shown below at each predetermined time during startup, whereby the surgical operator can switch the on and off states of the roll clutch function at an arbitrary timing. In addition, Figure 19The series of processes shown, for example, end when the power supply of the surgical assistance system S is turned off.

[0261] <5. Modification Example>

[0262] Alternatively, the surgical assistance system S can scale the operation amount and the actual movement amount when translating the distal end portion of the surgical instrument 24. For example, in Figure 15 the setting screen G1a shown, an example is shown in which a position scaling selection bar Sel1 is provided.

[0263] The position scaling selection bar Sel1 can select the ratio of the operation amount when the surgical operator operates to translate the holding mechanism 59 using the Delta mechanism 50 and the movement amount when the distal end portion of the surgical instrument 24 translates according to this operation.

[0264] In the position scaling selection bar Sel1, it is possible to select "2:1", "3:1", "1:1", etc. By setting options such that the movement amount is less than the operation amount, it is possible to appropriately handle delicate surgeries.

[0265] In the above neutral assist function FM7, a process for guiding the holding mechanism 59 to the approximate center of the movable region in the up-down direction, left-right direction, and front-back direction has been described so that the translational movement of the distal end portion of the surgical instrument 24 is easy to operate.

[0266] In the neutral assist function FM7, alternatively, force feedback can also be provided for the pan rotation operation Pa, pitch rotation operation Pi, and roll rotation operation Ro of the attitude change mechanism 51 so as to guide them to the approximate center of each movable region.

[0267] In addition, in this case, it can also be configured in the setting screen G1 such that the surgical operator can select the target operation when executing the neutral assist function. For example, it can also be configured such that the pan rotation operation Pa and the pitch rotation operation Pi are not the targets of the neutral assist function, but the roll rotation operation Ro can be selected as the target of this function. Thereby, in addition to being able to be customized according to the preferences of the surgical operator, it is also possible to appropriately handle various scenarios.

[0268] In Figure 16In this example, a ratio selection bar Sel4 is provided, which is used to implement the following functions as the wrist angle scaling function FM8: a scaling function for adjusting the rotation amount of the rotation action Pa' with respect to the panning direction rotation operation Pa, a scaling function for adjusting the rotation amount of the rotation action Pi' with respect to the pitching direction rotation operation Pi, and a scaling function for adjusting the rotation amount of the rotation action Ro' with respect to the rolling direction rotation operation Ro.

[0269] Figure 20 An example is shown in which the selection bar for scaling the panning direction and the pitching direction in the wrist angle scaling function FM8 is separated from the selection bar for scaling the rolling direction.

[0270] Specifically, on the setting screen G1b', there are configured a roll clutch button Btn2, a panning and pitching ratio selection bar Sel4a, a roll ratio selection bar Sel4b, a cancel button BtnC, and an execute button BtnOK.

[0271] The panning and pitching ratio selection bar Sel4a and the roll ratio selection bar Sel4b can each select different ratios. Thus, it can be customized according to the preferences of the surgical operator and can appropriately handle various scenarios.

[0272] <6. Summary>

[0273] The surgical assistance device in the above surgical assistance system S is a master device 1 for remotely operating the slave device 2, and includes: a first operator (a gripping part 71 or a gripping mechanism 59), which has a predetermined movable area and is used to operate the movable parts of the slave device (the movable parts of the arm 22, the movable parts of the surgical instrument holding device 23, the movable parts of the surgical instrument 24, that is, the slave drive part 100); a second operator (a clutch operator 76), which is provided corresponding to the first operator; and a control part (a master control part 93), which controls the movable parts according to the operation input to the first operator, and when the second operator is operated, the control part performs a process of moving the position of the first operator to a predetermined position (substantially the center of the movable area) in the predetermined movable area.

[0274] This process is a process of executing the above neutral assist function FM7.

[0275] Thus, when the first operator is near the end of the predetermined movable area, the first operator can be moved to a position that is easy for the surgical operator to operate, specifically, to a position near the substantially center of the movable area.

[0276] Therefore, it is possible to prevent an operation intended by the surgical operator from being impossible due to reaching the limit of the movable region, and thus the surgery can be easily performed. In addition, operation errors based on the movable region can be reduced, which is also appropriate from the viewpoint of safety.

[0277] As described in Figure 14 , Figure 18 , the master device 1 of the surgical assistance device may have a drive unit (master drive unit 90) that feeds back the sense of touch detected in the slave device 2 via a first manipulator (holding unit 71 or holding mechanism 59), and the control unit controls the drive unit to move the first manipulator to a predetermined position (for example, approximately the center of the movable region).

[0278] Thereby, it is possible to gently guide the hand of the surgical operator without hurting the hand of the surgical operator and move the first manipulator to an appropriate operation position.

[0279] As described with reference to Figure 12 etc., it may also be that when the second manipulator (clutch operation unit 76) is operated, the control unit (master control unit 93) in the master device 1 of the surgical assistance device releases the linkage between the first manipulator (holding unit 71 or holding mechanism 59) and the first manipulator (holding unit 71 or holding mechanism 59) used in the operation of the movable part (the movable part of the arm 22, the movable part of the surgical instrument holding device 23, the movable part of the surgical instrument 24, that is, the slave drive unit 100).

[0280] Thereby, it is possible to perform the process of moving the first manipulator to a predetermined position after releasing the linkage between the master device 1 and the slave device 2, which is appropriate in terms of safety.

[0281] As described above, the first manipulator (holding unit 71 or holding mechanism 59) in the master device 1 of the surgical assistance device may be an operator capable of moving the movable part (the movable part of the arm 22, the movable part of the surgical instrument holding device 23, the movable part of the surgical instrument 24, that is, the slave drive unit 100) in the axial directions of three mutually orthogonal axes (the rotation axis in the pan direction, the rotation axis in the pitch direction, and the rotation axis in the roll direction), and the predetermined position may be the center position of each movable region in the axial directions of the three axes.

[0282] That is, when observing the distal end portion of the surgical instrument 24 in the direction extending from the axis of the surgical instrument 24, the axial directions of the three axes are set as the front-rear direction (the axial direction of the surgical instrument 24), the left-right direction (the direction in which the front end pieces 83 of the forceps are arranged if the surgical instrument 24 is forceps), and the up-down direction (the direction orthogonal to both the front-rear direction and the left-right direction). Moreover, a translational movement is performed in such a manner that the attitude of the distal end portion of the surgical instrument 24 remains unchanged, and it is moved to the center position of each movable region.

[0283] As described with reference to Figure 17 and the like, it may also be that the control unit (main side control unit 93) in the main side device 1 of the surgical assistance device selects whether or not it is possible to move to a predetermined position based on a predetermined operation input (for example, an input operation to the neutral assist button Btn1 on the setting screen G1a).

[0284] Thereby, the surgical operator can switch the turning on and off of the neutral assist function according to his or her preference. Therefore, even when multiple surgical operators use the main side device 1, different settings can be made for each surgical operator, thereby improving convenience.

[0285] As described in the modification example, it may also be that the first operator (the holding portion 71 or the holding mechanism 59) in the main side device 1 of the surgical assistance device is an operator capable of rotating the movable portion (the movable portion of the arm 22, the movable portion of the surgical instrument holding device 23, the movable portion of the surgical instrument 24, that is, the slave side drive unit 100) in the directions around three mutually orthogonal axes, and the predetermined position is set as the central angular position of each movable region in the directions around the three axes.

[0286] Thereby, when the neutral assist function is used, not only in the translational operation but also in the rotational operation, it is automatically adjusted to an appropriate position, so that the surgery can be restarted with an appropriate hand position and hand attitude.

[0287] As described with reference to Figure 12 and the like, it may also be that the main side device 1 of the surgical assistance device includes a continuous portion (the first connection portion 70) that is continuous with the holding portion 71 in the first operator, and the second operator (the clutch operator 76) is provided in either the holding portion or the continuous portion.

[0288] Thereby, the surgical operator can operate the second operator while translating and rotating the distal end portion of the surgical instrument 24 while holding the holding portion 71, thereby improving the ease of operation.

[0289] As described with reference to Figure 14 、 Figure 17As described with reference to

[0290] It is configured to simultaneously operate the clutch operator 76 with both hands to activate the neutral assist function, thereby preventing malfunction.

[0291] As described with reference to Figure 14 、 Figure 17 and so on, it may also be that the slave device 2 is provided with a right movable part corresponding to the right first operator (the holding part 71 or the holding mechanism 59 of the right operating member 4R), a left movable part corresponding to the left first operator (the holding part 71 or the holding mechanism 59 of the left operating member 4L), the right second operator (the clutch operator 76 of the right operating member 4R), and the left second operator (the clutch operator 76 of the left operating member 4L). When the right second operator and the left second operator are jointly operated, the control unit (the master control unit 93) performs processing to move the positions of both the left first operator and the right first operator to their respective predetermined positions.

[0292] Thus, when the clutch operator 76 is simultaneously operated with both hands to activate the neutral assist function, the linkage between the right first operator and the right movable part and the linkage between the left first operator and the left movable part can necessarily be jointly released (interrupted), which is more appropriate in terms of safety.

[0293] Alternatively, the surgical assistance device in the above-described surgical assistance system S can be the master device 1 for remotely operating the slave device 2, and includes: a first operator (the grasping portion 71 or the grasping mechanism 59), which has a predetermined movable area and is used to operate the movable parts of the slave device 2 (the movable parts of the arm 22, the movable parts of the surgical instrument holding device 23, the movable parts of the surgical instrument 24, that is, the slave drive unit 100); and a control unit (the master control unit 93), which controls the movable parts according to the operation input to the first operator, and the control unit performs processing to determine the correspondence relationship between the operation amount of the first operator and the movable amount of the movable parts.

[0294] Thus, by slightly moving the first operator, the corresponding movable parts can be moved significantly, etc.

[0295] Therefore, the surgical operator can confidently move the wrist within the movable range to move the tip of the surgical instrument 24 as intended, thereby improving the operability.

[0296] In addition, the number of times of using the above neutral assist function can be reduced, and the surgery can be performed smoothly and quickly.

[0297] As described with reference to Figure 14 、 Figure 18 etc., alternatively, the correspondence relationship between the operation amount of the first operator (the grasping portion 71 or the grasping mechanism 59) and the movable amount of the movable parts (the movable parts of the arm 22, the movable parts of the surgical instrument holding device 23, the movable parts of the surgical instrument 24, that is, the slave drive unit 100) can be set as the relationship between the operation amount of the first operator (the grasping portion 71 or the grasping mechanism 59) and the movable amount related to the rotation of the movable parts in the pan direction and the pitch direction.

[0298] Thus, the tip of the surgical instrument 24 can be rotated beyond the movable area of the surgical operator's wrist. Therefore, various operations can be easily performed.

[0299] As described with reference to Figure 14 、 Figure 18 etc., alternatively, the correspondence relationship between the operation amount of the first operator (the grasping portion 71 or the grasping mechanism 59) and the movable amount of the movable parts (the movable parts of the arm 22, the movable parts of the surgical instrument holding device 23, the movable parts of the surgical instrument 24, that is, the slave drive unit 100) can be set as the relationship between the operation amount of the first operator and the movable amount related to the rotation of the movable parts in the roll direction.

[0300] Thus, when the surgical operator twists the wrist to operate and thereby rotates the tip of the surgical instrument 24 in the roll direction, the tip of the surgical instrument 24 can perform an action beyond the movable area of the wrist.

[0301] As described with reference to Figure 16 , Figure 18 and the like, it may also be that the control unit (master-side control unit 93) in the master-side device 1 as the surgical assistance device in the above-described surgical assistance system S performs display processing, and the correspondence can be selected in this display processing.

[0302] Thereby, the surgical operator can select the operation amount and the movable amount regarding the pan direction and the tilt direction. Therefore, the correspondence can be customized according to the preference of the surgical operator, and thus it is preferable in the case where there are multiple surgical operators using the master-side device 1.

[0303] As described with reference to Figure 14 , Figure 16 and Figure 18 and the like, it may also be that a display unit (second monitor 8) is provided, and an image is displayed on the display unit due to the display processing performed by the control unit (master-side control unit 93) in the master-side device 1 as the surgical assistance device in the surgical assistance system S, and the control unit causes a screen (setting screen G1b) provided with a selection bar (ratio selection bar Sel4) capable of selecting the correspondence to be displayed on the display unit, and determines the correspondence according to the operation on the selection bar.

[0304] Thereby, the surgical operator performs a selection operation on the ratio selection bar Sel4 arranged on the setting screen G1b displayed on the second monitor 8, and thereby the correspondence can be changed. Therefore, the change operation is easy, and the interference with the surgery can be suppressed.

[0305] As described with reference to Figure 16 and the like, it may also be that the control unit (master-side control unit 93) in the master-side device 1 as the surgical assistance device in the surgical assistance system S sets a selection bar to include options in which the movable part (the movable part of the arm 22, the movable part of the surgical instrument holding device 23, the movable part of the surgical instrument 24, that is, the slave-side drive unit 100) has a larger movable amount than the operation amount on the first operator (the gripping part 71 or the gripping mechanism 59).

[0306] Thereby, the movable part can be moved larger than the movable area of the surgical operator's wrist. Therefore, the desired operation can be achieved with a single operation without releasing the linkage between the master-side device 1 and the slave-side device 2, and thus the convenience can be improved.

[0307] As described with reference to Figure 16As described above, it is also possible that a selection bar is provided in the main-side device 1, which is a surgical assistance device in the surgical assistance system S, by the control unit (main-side control unit 93) so as to include an option in which the amount of movement of the movable part (the movable part of the arm 22, the movable part of the surgical instrument holding device 23, the movable part of the surgical instrument 24, that is, the slave-side drive unit 100) is smaller than the amount of operation of the first operator (the holding part 71 or the holding mechanism 59).

[0308] Accordingly, even if the surgical operator moves the wrist significantly, the movable part can be moved slightly, so that more precise operations can be appropriately handled. Therefore, operation errors can be reduced, and the safety of the surgery can be improved.

[0309] It is also possible that the surgical assistance device in the surgical assistance system S described above is the main-side device 1 for remotely operating the slave-side device 2, and includes: a first operator (the holding part 71 or the holding mechanism 59), which has a predetermined movable area and is used to operate the movable part of the slave-side device 2 (the movable part of the arm 22, the movable part of the surgical instrument holding device 23, the movable part of the surgical instrument 24, that is, the slave-side drive unit 100); and a control unit (main-side control unit 93), which controls the movable part to rotate in the roll direction according to a specific operation of the first operator, and the control unit performs a process of determining whether the rotation of the movable part in the roll direction can be performed according to the specific operation.

[0310] Accordingly, the linkage between the main-side device 1 and the slave-side device 2 can be released.

[0311] In particular, it is configured to be able to release the linkage only for the translational movement in a predetermined direction or the rotational movement around a predetermined axis, so that an operation method that meets the various requirements of the surgical operator can be provided, and the convenience can be improved.

[0312] Refer to Figure 14 、 Figure 16 and Figure 19 As described above, it is also possible that in the main-side device 1, which is a surgical assistance device in the surgical assistance system S, the specific operation of the first operator (the holding part 71 or the holding mechanism 59) is set as an operation (roll-direction rotation operation Ro) for rotating the movable part (the movable part of the arm 22, the movable part of the surgical instrument holding device 23, the movable part of the surgical instrument 24, that is, the slave-side drive unit 100) in the roll direction, and the control unit (main-side control unit 93) determines whether to rotate the movable part in the roll direction (rotation action Ro') according to the specific operation in the determination process (the process of determining whether to move the movable part according to the operation of the first operator).

[0313] Thus, when the surgical operator twists the wrist to perform an operation and thereby rotates the distal end portion of the surgical instrument 24 in the roll direction, in the case where the operation is blocked by the movable area of the wrist and the desired operation cannot be performed, the linkage in the roll direction can be released, so that the wrist can return to an easily operable posture. Thus, it is possible to provide an environment in which appropriate actions can be performed when more rotational movements in the roll direction are desired.

[0314] As described with reference to Figure 14 , Figure 16 and Figure 19 etc., it may also be that the control unit (main-side control unit 93) in the main-side device 1 as the surgical assistance device in the surgical assistance system S performs a display process in which a predetermined option can be selected. In the case where the predetermined option is selected, in the determination process (the process of determining whether to move the movable part (the movable part of the arm 22, the movable part of the surgical instrument holding device 23, the movable part of the surgical instrument 24, that is, the slave-side drive unit 100) according to the operation of the first operator), it is determined not to perform the rotation of the movable part in the roll direction according to a specific operation.

[0315] Thus, the surgical operator can, for example, select whether to cause the slave-side movable part to perform a rotational movement in the roll direction with respect to the rotational operation in the roll direction. Therefore, the correspondence relationship can be customized according to the preferences of the surgical operator, so it is suitable for the case where there are multiple surgical operators using the main-side device 1.

[0316] In particular, a structure that can be realized by operating a display unit having a touch panel function is provided, so that the operation can be performed intuitively, so that misoperations are not easily caused, and thus it is suitable.

[0317] As described with reference to Figure 14 , Figure 16 and Figure 19 etc., it may also be that a display unit (second monitor 8) is provided, and the display unit displays an image due to the display process performed by the control unit (main-side control unit 93) in the main-side device 1 as the surgical assistance device in the surgical assistance system S, and the control unit causes a screen (setting screen G1b) provided with a selection operator (roll clutch button Btn2) for selecting a predetermined option to be displayed on the display unit.

[0318] Thus, the surgical operator performs a selection operation on the roll clutch button Btn2 arranged on the setting screen G1b displayed on the second monitor 8, whereby it is possible to change whether the main-side device 1 and the slave-side device 2 are linked with respect to the rotational operation in the roll direction. Therefore, the change operation is easy, and it is possible to prevent it from interfering with the surgery.

[0319] In particular, a structure that can be realized by operating a display unit with touch panel function enables intuitive operation, so it is not likely to cause misoperation, which is therefore preferable.

[0320] Alternatively, as described with reference to Figure 16 etc., as a predetermined option, only the following are provided: a first option ("shut down" option) that selects, according to a specific operation, to rotate the movable part (the movable part of the arm 22, the movable part of the surgical instrument holding device 23, the movable part of the surgical instrument 24, i.e., the slave side drive unit 100) in the roll direction; and a second option ("start up" option) that selects not to perform this rotation. The selection operator is a button operator (roll clutch button Btn2) that switches between the state of selecting the first option and the state of selecting the second option each time it is operated.

[0321] Thus, setting changes are easy. Therefore, setting changes can be made without interfering with the progress of the surgery.

[0322] Moreover, the above various examples can be combined in any way.

[0323] Explanation of reference numerals

[0324] 1: master side device; 2: slave side device; 59: gripping mechanism (first operator, right-handed first operator, left-handed first operator); 70: first connecting part (continuous part); 71: gripping part (first operator, gripping part); 76: clutch operator (second operator, right-handed second operator, left-handed second operator); 93: master side control unit (control unit); 100: slave side drive unit (movable part).

Claims

1. A surgical assistance device, which is a master device for remotely operating a slave device. The slave device has a surgical instrument holding device capable of holding a surgical instrument. The surgical assistance device includes: A first operator, which has a predetermined movable area and is used to operate a movable part of the slave device; and A control unit, which controls the movable part according to an operation input to the first operator. The movable part includes a rotation structure, and the rotation structure can rotate the movable part in a direction around a predetermined axis. The direction around the predetermined axis is set as the direction around a first axis extending along the longitudinal direction of the surgical instrument or the direction around a second axis orthogonal to the first axis. By rotating the wrist of the hand holding the first operator relative to the forearm, the first operator can be operated. The control unit performs the following processing: determining the correspondence between the operation amount of the first operator and the movable amount of the rotation structure, thereby determining the correspondence between the rotation amount of the first operator based on the rotation amount of the wrist and the rotation amount in the rotation structure. The direction of the first axis is the roll direction, and the direction of the second axis is the pan direction or the tilt direction.

2. The surgical assistance device according to claim 1, wherein The rotation amount of the rotation structure in the correspondence is set as the rotation amount in the direction around the second axis.

3. The surgical assistance device according to claim 1, wherein The rotation amount of the rotation structure in the correspondence is set as the rotation amount in the direction around the first axis.

4. The surgical assistance device according to any one of claims 1 to 3, wherein The control unit performs a display process, and in this display process, a screen for selecting the correspondence is displayed.

5. The surgical assistance device according to claim 4, wherein A display unit is provided, and the display unit displays an image due to the display process performed by the control unit. The control unit causes a screen provided with a selection bar for selecting the correspondence to be displayed on the display unit, and determines the correspondence according to an operation on the selection bar.

6. The surgical assistance device according to claim 5, wherein The control unit sets the selection bar to include an option in which the rotation amount in the rotation structure is larger than the rotation amount of the first operator.

7. The surgical assistance device according to claim 5, wherein The control unit sets the selection bar to include an option in which the rotation amount in the rotation structure is smaller than the rotation amount of the first operator.

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