Surgical assistance system and method for controlling surgical assistance system

Abstract

In this surgical assistance system (100), the variable control parameter (h) can be changed within a prescribed range by the operation of the operation unit (33b), and the control device (130) performs control for moving the robot body (1) from the current posture to a first posture in which the variable control parameter (h) is adjusted on the basis of the operation of the operation unit (33b).

Description

Technical Field

[0001] The present disclosure relates to a surgery assisting system and a control method of the surgery assisting system. Background Art

[0002] In the past, there is a known surgical assistance system using a robot having a robot arm equipped with a surgical instrument. For example, in Japanese Patent Gazette No. 2017-515521, a telemedicine system that moves a robot arm to a previously established position is disclosed. In Japanese Patent Gazette No. 2017-515521, a touch panel includes a button for moving the robot arm to a previously established position. The previously established position refers to a stowed position, a curtain position, and a docking position, etc. The stowed position refers to the position of the robot arm that makes the robot in a compact state when arranging the robot. The curtain position refers to the position of the robot arm that is suitable for covering the robot arm with a sterilization drape. The docking position refers to the position of the robot arm that is suitable for docking the robot arm with a cannula. The operator operates the button of the touch panel, and the robot arm automatically moves from a certain position to a position corresponding to the operated button.

[0003] Patent Document 1: Japanese Patent Application No. 2017-515521

[0004] However, in Japanese Patent Gazette No. 2017-515521, since the position established in advance is fixed, the robot arm can only be moved from a certain position to a predetermined position. At this time, the posture of the robot arm can only be moved to a predetermined posture. For example, depending on the condition of the room where it is stored, there is a situation where you want to store the robot arm in a way that minimizes the robot's installation area, or you want to store the robot arm in a way that the installation area is not the smallest but the height of the robot is as low as possible. In Japanese Patent Gazette No. 2017-515521, there is a problem that the operator cannot adjust the position and posture of the robot after the transfer according to the situation. Summary of the invention

[0005] The present disclosure is made to solve the above-mentioned problems, and provides a surgery support system and a control method of the surgery support system in which an operator can adjust the posture of a robot main body after transfer according to the situation.

[0006] In order to achieve the above-mentioned purpose, the surgical assistance system involved in the first aspect of the present disclosure comprises: a robot main body, on which surgical instruments are installed; a control device, which controls the robot main body to move from a current posture to a first posture; and an operating unit, which accepts an operation of adjusting the first posture performed by an operator before the robot main body completes the transfer from the current posture to the first posture, wherein the first posture is defined by multiple control parameters including variable control parameters, and the variable control parameters can be changed within a prescribed range by operating the operating unit, and the control device controls the robot main body to move from the current posture to the first posture after the variable control parameters are adjusted based on the operation of the operating unit.

[0007] As described above, the surgical assistance system involved in the first aspect of the present disclosure includes an operating unit, which receives an operation of adjusting the first posture performed by an operator before the robot main body completes the transition from the current posture to the first posture, and the control device controls the robot main body to move from the current posture to the first posture after the variable control parameter is adjusted based on the operation of the operating unit. As a result, when the robot main body moves to the first posture, the first posture after the transition can be adjusted before the transition is completed. Therefore, the operator can move the robot main body to a posture corresponding to the situation.

[0008] The control method of the surgical assistance system involved in the second aspect of the present disclosure comprises: accepting an adjustment operation of a variable control parameter that can be changed within a prescribed range for adjusting the first posture performed by an operator before the robot main body equipped with the surgical instrument completes the transfer from the current posture to the first posture; and moving the robot main body from the current posture to the first posture after the variable control parameter is adjusted.

[0009] In the control method of the surgical assisting system involved in the second aspect of the present disclosure, as described above, there are: before the robot main body completes the transition from the current posture to the first posture, an adjustment operation of a variable control parameter that can be changed within a specified range for adjusting the first posture is accepted by the operator; and the robot main body is moved from the current posture to the first posture after the variable control parameter is adjusted. Thus, when the robot main body moves to the first posture, the first posture after the transition can be adjusted before the transition is completed. Therefore, it is possible to provide a control method of a surgical assisting system in which the operator can move the robot main body to a posture corresponding to the situation.

[0010] According to the present disclosure, the operator can move the robot body to a posture corresponding to the situation. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a diagram showing the configuration of a surgery support system according to one embodiment.

[0012] Figure 2 It is a diagram showing a display unit of a medical cart according to an embodiment.

[0013] Figure 3 It is a diagram showing the structure of a medical cart according to one embodiment.

[0014] Figure 4 It is a diagram showing the structure of a robot arm involved in one embodiment.

[0015] Figure 5 It is a diagram showing pliers.

[0016] Figure 6 It is a perspective view showing the structure of an arm operating unit according to one embodiment.

[0017] Figure 7 This is a diagram for explaining the translation movement of the robot arm.

[0018] Figure 8 This is a diagram for explaining the rotational movement of the robot arm.

[0019] Fig. 9 The present invention is a control block diagram of a surgical assistance robot according to an embodiment.

[0020] Fig.10 A control block diagram of a robot arm according to an embodiment.

[0021] Fig.11 This is a control block diagram of a medical cart and a positioner according to an embodiment.

[0022] Fig.12 This is a diagram for explaining the transition of the surgery support robot from the current posture to the first posture.

[0023] Fig.13 is a diagram showing a joystick for adjusting control parameters.

[0024] Fig.14 1 is a diagram showing the surgery support robot in the storage posture when the variable control parameter h is 0.

[0025] Fig.15 1 is a diagram showing the surgery support robot in the stored posture when the variable control parameter h is 0.5.

[0026] Fig.16 3 is a diagram showing the surgery support robot in the storage posture when the variable control parameter h is 1.

[0027] Fig.172 is a diagram showing the surgery support robot in a covered posture when the variable control parameter h is 0.

[0028] Fig.18 FIG. 1 is a diagram showing a surgery support robot in a case where the variable control parameter h in the cover posture is 0.5.

[0029] Fig.19 3 is a diagram showing a surgery support robot in a covered posture when the variable control parameter h is 1.

[0030] Fig. 20 This is a diagram for explaining control parameters when the surgery support robot moves from the current posture to the first posture.

[0031] Fig.21 It is a diagram showing control parameters of the rotation angles of the joints of the robot arm.

[0032] Fig. 22 This is a diagram showing the coordinates of the position of the positioner and the control parameters of the rotation angle of the joint.

[0033] Fig.23 This is a flowchart for explaining a control method of a surgery support robot according to an embodiment.

[0034] Fig.24 It is a diagram showing a display unit when setting a surgical site of the medical cart according to one embodiment.

[0035] Fig.25 This is a diagram showing a display unit when the medical cart according to one embodiment approaches a patient.

[0036] Fig.26 This is a diagram showing a state where an imaging unit is imaging a patient.

[0037] Fig. 27 This is a diagram showing a state before the trocar and the marking portion are aligned, which is shown on the display portion.

[0038] Fig.28 This is a diagram showing a state after the trocar and the marking portion are aligned and reflected on the display portion.

[0039] Fig.29 It is a figure which shows an endoscope.

[0040] Fig.30 The figure shows a pivot position teaching tool. DETAILED DESCRIPTION

[0041] (Structure of surgical assistance system)

[0042] The configuration of a surgery support system 100 according to the present embodiment will be described. The surgery support system 100 includes a surgery support robot 1 and a remote operation device 2 .

[0043] In addition, in this application specification, Figure 4 As shown, the longitudinal direction of the surgical instrument 4 is set as the Z direction. The front end side of the surgical instrument 4 is set as the Z1 side, and the base end side of the surgical instrument 4 is set as the Z2 side. The direction perpendicular to the Z direction is set as the X direction. The direction perpendicular to the Z direction and the X direction is set as the Y direction.

[0044] In addition, in this application specification, Figure 3 As shown, the left-right direction observed from the operator who operates the display unit 33a of the input device 33 is set as the Xa direction. The right direction is set as the Xa1 direction, and the left direction is set as the Xa2 direction. The front-back direction observed from the operator who operates the display unit 33a of the input device 33 is set as the Ya direction. The front direction is set as the Ya1 direction, and the rear direction is set as the Ya2 direction. The direction perpendicular to the ground on which the surgical assistance robot 1 is arranged is set as the Za direction. The upper direction is set as the Za1 direction, and the lower direction is set as the Za2 direction.

[0045] like Figure 1 As shown, the surgical assistance robot 1 is arranged in the operating room. The remote operation device 2 is arranged at a position separated from the surgical assistance robot 1. The operator such as a doctor inputs a command for the surgical assistance robot 1 to perform a desired action to the remote operation device 2. The remote operation device 2 sends the input command to the surgical assistance robot 1. The surgical assistance robot 1 acts based on the received command. The surgical assistance robot 1 is arranged in a sterilized sterilization area, that is, in the operating room.

[0046] (Structure of surgical assistance robot)

[0047] like Figure 1 As shown, the surgery support robot 1 includes a medical cart 3, a positioner 40, an arm base 50, a plurality of robot arms 60, and an arm operation unit 80. The surgery support robot 1 is an example of a robot main body. The positioner 40 is an example of a robot arm moving unit.

[0048] like Figure 3 As shown, the medical trolley 3 moves the positioner 40. The medical trolley 3 includes an input device 33. The input device 33 receives operations for movement and posture change of the positioner 40, the arm base 50, and the plurality of robot arms 60 mainly for preparing for surgery before the operation. The medical trolley 3 includes an operating handle 34, Fig. 9 The stabilizer 34c and the electric cylinder 34d are shown.

[0049] like Figure 2 As shown, the input device 33 includes a display unit 33a. The display unit 33a is, for example, a liquid crystal panel. The display unit 33a displays numbers corresponding to the plurality of robot arms 60. In addition, the display unit 33a displays the types of surgical instruments 4 respectively mounted on the plurality of robot arms 60. The display unit 33a displays a check mark CM indicating that the pivot position PP described later has been taught.

[0050] like Figure 3 As shown, the trolley positioner operating unit 35 is supported by the trolley positioner operating support unit 36 ​​at the rear of the medical trolley 3, and the medical trolley 3 or the positioner 40 is moved by operating the trolley positioner operating unit 35. The trolley positioner operating unit 35 includes an input device 33 and an operating handle 34. The input device 33 includes a display unit 33a, a joystick 33b, and an enabling switch 33c. The joystick 33b is arranged near the input device 33 of the medical trolley 3. By selecting the action mode displayed on the input device 33 and operating the joystick 33b, the positioner 40 is moved three-dimensionally. The joystick 33b is an example of an adjustment unit and an operating unit.

[0051] The enabling switch 33c is arranged near the joystick 33b of the carriage positioner operating unit 35. The enabling switch 33c allows or does not allow the movement of the positioner 40. When the joystick 33b is operated in a state where the enabling switch 33c is pressed and the movement of the positioner 40 is allowed, the positioner 40 moves.

[0052] In addition, the operating handle 34 is arranged near the display part 33a of the trolley positioner operating part 35. Moreover, the operating handle 34 has a throttle 34a that is held and turned by an operator such as a nurse or a technician to operate the movement of the medical trolley 3. Specifically, the operating handle 34 is arranged below the input device 33. Moreover, by turning the throttle 34a from the near front side to the inner side, the medical trolley 3 moves forward. In addition, by turning the throttle 34a from the inner side to the near front side, the medical trolley 3 moves backward. In addition, the speed of the medical trolley 3 changes according to the rotation amount of the throttle 34a. In addition, the operating handle 34 is configured to be able to rotate left and right as represented by the R direction, and the medical trolley 3 rotates together with the rotation of the operating handle 34.

[0053] The operating handle 34 of the trolley positioner operating unit 35 is provided with an enabling switch 34b for allowing or not allowing movement of the medical trolley 3. The medical trolley 3 is moved by operating the throttle 34a of the operating handle 34 while the enabling switch 34b is pressed to allow movement of the medical trolley 3.

[0054] like Figure 1As shown, the positioner 40 is constituted by, for example, a 7-axis multi-joint robot. The positioner 40 is disposed on the medical cart 3. The positioner 40 adjusts the position of the arm base 50. The positioner 40 moves the position of the arm base 50 three-dimensionally.

[0055] The positioner 40 includes a base portion 41 and a plurality of link portions 42 connected to the base portion 41. The plurality of link portions 42 are connected to each other via joints 43.

[0056] The arm base 50 is mounted on the front end of the positioner 40. For the plurality of robot arms 60, the base end of each robot arm 60 is mounted on the arm base 50. The plurality of robot arms 60 can take a folded storage posture. The arm base 50 and the plurality of robot arms 60 are covered with a sterilization curtain for use. In addition, the robot arm 60 supports the surgical instrument 4.

[0057] The arm base 50 is provided with Fig. 9 The state indicator 53 and the arm state indicator 54 are shown. The state indicator 53 displays the state of the surgery assisting system 100 . The arm state indicator 54 displays the state of the robot arm 60 .

[0058] A plurality of robot arms 60 are provided. Specifically, four robot arms 60a, 60b, 60c, and 60d are provided. The robot arms 60a, 60b, 60c, and 60d have the same structure as each other.

[0059] like Figure 4 As shown, the robot arm 60 includes an arm portion 61, a first link portion 72, a second link portion 73, and a translational movement mechanism portion 70. The robot arm 60 has JT1, JT2, JT3, JT4, JT5, JT6, and JT7 axes as rotation axes, and JT8 axis as a direct-acting axis. The axes JT1 to JT7 are rotation axes of the joint 64 of the arm portion 61. In addition, the JT7 axis is the rotation axis of the first link portion 72. The JT8 axis is a direct-acting axis by which the translational movement mechanism portion 70 moves the second link portion 73 relative to the first link portion 72 along the Z direction. The arm portion 61 includes a base portion 62, a link portion 63, and a joint 64.

[0060] The arm 61 is composed of a 7-axis multi-joint robot arm. The first link 72 is arranged at the front end of the arm 61. The arm operation unit 80 described later is installed on the second link 73. The translation movement mechanism 70 is arranged between the first link 72 and the second link 73. The holder 71 for holding the surgical instrument 4 is arranged on the second link 73.

[0061] A surgical instrument 4 is mounted at the front end of each of the plurality of robot arms 60. The surgical instrument 4 includes, for example, a replaceable instrument, an endoscope 6 for acquiring an image of a surgical site, and a pivot position teaching device 7 for teaching a pivot position PP described later. The surgical instrument 4 as an instrument includes a driven unit 4a, forceps 4b, and a shaft 4c.

[0062] like Figure 1 As shown, an endoscope 6 is mounted on the front end of one of the plurality of robot arms 60, for example, the robot arm 60c, and surgical instruments 4 other than the endoscope 6 are mounted on the front ends of the remaining robot arms, for example, the robot arms 60a, 60b, and 60d. The endoscope 6 is mounted on any one of the two robot arms 60b and 60c arranged in the center among the four robot arms 60 arranged adjacent to each other.

[0063] (Structure of the instrument)

[0064] like Figure 5 As shown, for example, forceps 4b are provided at the front end of the instrument. In addition to forceps 4b, scissors, graspers, needle holders, micro-dissectors, staplers, tackers, suction cleaning tools, snare wires, and clip applicators are provided at the front end of the instrument as jointed instruments. A cutting knife, a cauterization probe, a cleaner, a catheter, and a suction hole are provided at the front end of the instrument as non-jointed instruments.

[0065] The forceps 4b includes a first support body 4e and a second support body 4f. The first support body 4e supports the base end side of the jaw members 104a and 104b so that they can rotate around the JT11 axis. The second support body 4f supports the base end side of the first support body 4e so that they can rotate around the JT10 axis. The shaft 4c rotates around the JT9 axis. The jaw members 104a and 104b open and close around the JT11 axis.

[0066] (Structure of the arm operating part)

[0067] like Figure 6 As shown, the arm operation part 80 is mounted on the robot arm 60 and operates the robot arm 60. Specifically, the arm operation part 80 is mounted on the second link part 73.

[0068] The arm operating portion 80 includes an enabling switch 81 , a joystick 82 , a linear switch 83 , a mode switching button 84 , a mode indicator 84 a , a pivot button 85 , and an adjustment button 86 .

[0069] The enable switch 81 allows or disallows the movement of the robot arm 60 by the joystick 82 and the linear switch 83. When an operator such as a nurse or an assistant holds the arm operating unit 80 and presses the enable switch 81, the robot arm 60 is allowed to move the surgical instrument 4.

[0070] The joystick 82 is an operating member for operating the robot arm 60 to move the surgical instrument 4. The joystick 82 operates the moving direction and moving speed of the robot arm 60. The robot arm 60 moves according to the direction and angle in which the joystick 82 is pushed.

[0071] The linear switch 83 is a switch for moving the surgical instrument 4 in the longitudinal direction of the surgical instrument 4, that is, in the Z direction. The linear switch 83 includes a linear switch 83a for moving the surgical instrument 4 in the direction of insertion into the patient P, and a linear switch 83b for moving the surgical instrument 4 in the direction away from the patient P. Both the linear switch 83a and the linear switch 83b are formed of push button switches.

[0072] The mode switching button 84 is used to switch the operation of the surgical instrument 4. Figure 7 The mode of translational movement shown and the way in which the surgical instrument 4 is moved Figure 8 The push button switch of the rotary movement mode is shown. Figure 7 As shown, in the mode of making the robot arm 60 move in translation, the robot arm 60 is moved so that the front end 4d of the surgical instrument 4 moves on the XY plane. Figure 8 As shown, in the mode of rotating the robot arm 60, the robot arm 60 is moved so that when the pivot position PP is not stored in the storage unit 32, the robot arm 60 is rotated about the center of the JT11 axis of the forceps 4b as a fulcrum, and when the pivot position PP is stored in the storage unit 32, the surgical instrument 4 is rotated about the pivot position PP as a fulcrum. In addition, the surgical instrument 4 is rotated in a state where the shaft 4c of the surgical instrument 4 is inserted into the puncture device T. The mode switching button 84 is arranged on the surface of the arm operating unit 80 on the Z direction side.

[0073] The mode indicator 84a displays the switched mode. The mode indicator 84a is lit to indicate the rotational movement mode, and is off to indicate the translational movement mode. In addition, the mode indicator 84a also serves as a pivot position indicator that displays the taught pivot position PP. The mode indicator 84a is disposed on the surface of the arm operating unit 80 on the Z direction side.

[0074] The pivot button 85 is a push button switch for teaching the pivot position PP serving as a fulcrum for the movement of the surgical instrument 4 attached to the robot arm 60 .

[0075] The adjustment button 86 is a button for optimizing the position of the robot arm 60. After the pivot position PP is taught to the robot arm 60 to which the endoscope 6 is attached, the adjustment button 86 is pressed to optimize the positions of the other robot arms 60 and the arm base 50.

[0076] (Remote control device)

[0077] like Figure 1 As shown, the remote operation device 2 is arranged in or outside the operating room, for example. The remote operation device 2 includes an operation unit 120, a foot pedal 22, a touch panel 23, a monitor 24, a support arm 25, and a support rod 26. The operation unit 120 includes an arm 121 and an operation handle 21. The operation unit 120 constitutes an operation handle for an operator such as a doctor to input instructions.

[0078] The operation unit 120 is a handle for operating the surgical instrument 4. The operation unit 120 receives the amount of operation on the surgical instrument 4. The operation unit 120 includes an operation unit 120 that is arranged on the left side when viewed from the operator such as a doctor and operated by the operator's left hand, and an operation unit 120 that is arranged on the right side and operated by the operator's right hand. The operation unit 120L and the operation unit 120R include an operation handle 21L and an operation handle 21R, respectively.

[0079] The monitor 24 is an observation mirror type display device for displaying images acquired by the endoscope 6. The support arm 25 supports the monitor 24 in such a manner that the height of the monitor 24 matches the height of the face of the operator such as a doctor. The touch panel 23 is arranged on the support rod 26. By detecting the operator's head using a sensor provided near the monitor 24, the surgical assistance robot 1 can be operated using the remote operation device 2. The operator operates the operation unit 120 and the foot pedal 22 while visually confirming the affected part through the monitor 24. In this way, a command is input to the remote operation device 2. The command input to the remote operation device 2 is sent to the surgical assistance robot 1.

[0080] (Structure of control system)

[0081] like Fig. 9 As shown, the surgery support system 100 includes a control device 130 , an arm control unit 31 a , a positioner control unit 31 b , and an operation control unit 110 .

[0082] The control device 130 is configured to communicate with the arm control unit 31a and the positioner control unit 31b inside the medical cart 3 to control the entire surgical support system 100. Specifically, the control device 130 communicates with the arm control unit 31a, the positioner control unit 31b, and the operation control unit 110, respectively, and controls them. The control device 130, the arm control unit 31a, the positioner control unit 31b, and the operation control unit 110 are connected via a LAN or the like. The control device 130 is configured inside the medical cart 3.

[0083] The arm control unit 31 a is disposed for each of the plurality of robot arms 60 . That is, a plurality of arm control units 31 a corresponding to the number of the plurality of robot arms 60 are disposed inside the medical cart 3 .

[0084] like Fig. 9 As shown, the input device 33 is connected to the control device 130 via a LAN or the like. The state indicator 53, the arm state indicator 54, the operating handle 34, the throttle 34a, the joystick 33b, the stabilizer 34c, and the electric cylinder 34d are connected to the positioner control unit 31b via a wiring 145 and a communication network that can share information with each other. Fig. 9 In the figure, it is recorded that the status indicator 53, the arm status indicator 54, etc. are all connected to one wiring 145, but in fact, the wiring 145 is configured for each of the status indicator 53, the arm status indicator 54, the operating handle 34, the throttle 34a, the joystick 33b, the stabilizer 34c and the electric cylinder 34d.

[0085] like Fig.10 As shown, a plurality of servo motors M1, encoders E1, and reducers are provided in the arm 61 in a manner corresponding to the plurality of joints 64. The encoder E1 detects the rotation angle of the servo motor M1. The reducer decelerates the rotation of the servo motor M1 to increase the torque. Inside the medical trolley 3, a servo control unit C1 for controlling the servo motor M1 is arranged adjacent to the arm control unit 31a. In addition, the encoder E1 for detecting the rotation angle of the servo motor M1 is electrically connected to the servo control unit C1.

[0086] The joint 64 of the arm 61 and the joint 43 of the positioner 40 are respectively equipped with brakes BRK. In addition, the front wheels of the medical trolley 3, the arm base 50 and the translational movement mechanism 70 are also equipped with brakes BRK. The arm control unit 31a sends a control signal to each brake BRK mounted on the joint 64 of the arm 61 and the translational movement mechanism 70 in a unidirectional manner. The control signal is a signal to turn the brake BRK on and off. The signal to turn on the brake BRK includes a signal to keep the brake BRK in a state of being effective. The same is true for the control signal sent from the positioner control unit 31b to the joint 43 of the positioner 40 and the brake BRK of the arm base 50. The arm base 50, the arm 61 and the translational movement mechanism 70 release all brakes BRK at the start, and drive the servo motor SM in a manner to overcome gravity, thereby maintaining the posture of the robot arm 60 and the posture of the arm base 50. When an error occurs in the surgical support system 100, the brake BRK mounted on the arm base 50, the arm 61, and the translational movement mechanism 70 is turned on. If the error of the surgical support system 100 is resolved, the brake BRK mounted on the arm base 50, the arm 61, and the translational movement mechanism 70 is turned off. By shutting down the surgical support system 100, the brake BRK mounted on the arm base 50, the arm 61, and the translational movement mechanism 70 is turned on. In addition, for the front wheels of the medical trolley 3, the brake BRK is always turned on, and the brake BRK is released only while the enable switch 34b of the medical trolley 3 is pressed. In addition, for each joint 43 of the positioner 40, the brake BRK is always turned on, and the brake BRK is released only while the enable switch 33c of the medical trolley 3 is pressed.

[0087] The second connecting rod portion 73 is provided with a servo motor M2, an encoder E2, and a reducer for rotating a driven component of a driven unit 4a provided on the surgical instrument 4. The encoder E2 detects the rotation angle of the servo motor M2. The reducer decelerates the rotation of the servo motor M2 to increase the torque. In addition, the medical trolley 3 is provided with a servo control unit C2 for controlling the servo motor M2 driving the surgical instrument 4. The encoder E2 for detecting the rotation angle of the servo motor M2 is electrically connected to the servo control unit C2. In addition, a plurality of servo motors M2, encoders E2, and servo control units C2 are provided respectively.

[0088] The translation mechanism 70 is provided with a servo motor M3, an encoder E3, and a reducer for translationally moving the surgical instrument 4. The encoder E3 detects the rotation angle of the servo motor M3. The reducer decelerates the rotation of the servo motor M3 to increase the torque. In addition, the medical trolley 3 is provided with a servo control unit C3 for controlling the servo motor M3 for translationally moving the surgical instrument 4. The encoder E3 for detecting the rotation angle of the servo motor M3 is electrically connected to the servo control unit C3.

[0089] like Fig.11 As shown, the positioner 40 is provided with a plurality of servo motors M4, an encoder E4, and a reducer in a manner corresponding to the plurality of joints 43 of the positioner 40. The encoder E4 is configured to detect the rotation angle of the servo motor M4. The reducer is configured to reduce the rotation of the servo motor M4 to increase the torque.

[0090] The medical trolley 3 has wheels, including front wheels as driving wheels and rear wheels steered by an operating handle 34. The rear wheels are arranged on the side closer to the operating handle 34 than the front wheels. In addition, the medical trolley 3 is provided with a servo motor M5, an encoder E5, a speed reducer, and a brake for driving the plurality of front wheels of the medical trolley 3 respectively. The speed reducer is configured to reduce the rotation of the servo motor M5 to increase the torque. In addition, the operating handle 34 of the medical trolley 3 is provided with a Figure 3 The potentiometer P1 shown in FIG. 1 drives the servo motor M5 of the front wheel based on the rotation angle detected by the potentiometer P1 according to the twisting of the throttle valve 34a. In addition, the rear wheels of the medical trolley 3 are double-wheeled, and the rear wheels are steered based on the left and right rotation of the operating handle 34. In addition, the operating handle 34 of the medical trolley 3 is provided with a Figure 3 The potentiometer P2 shown in the figure is provided with a servo motor M5a, an encoder E5a and a reducer at the rear wheel of the medical trolley 3. The reducer is configured to reduce the rotation of the servo motor M5a to increase the torque. The servo motor M5a is driven based on the rotation angle detected by the potentiometer P2 according to the left and right rotation of the operating handle 34. That is, the servo motor M5a is configured to assist the steering operation of the rear wheel based on the left and right rotation of the operating handle 34.

[0091] The medical trolley 3 moves in the front-rear direction by driving the front wheels. In addition, the medical trolley 3 is turned in the left-right direction by turning the operating handle 34 of the medical trolley 3 to steer the rear wheels.

[0092] like Fig.11As shown, the medical trolley 3 is provided with a servo control unit C4 for controlling the servo motor M4 for moving the positioner 40. In addition, an encoder E4 for detecting the rotation angle of the servo motor M4 is electrically connected to the servo control unit C4. In addition, the medical trolley 3 is provided with a servo control unit C5 for controlling the servo motor M5 for driving the front wheels of the medical trolley 3. The encoder E5 for detecting the rotation angle of the servo motor M5 is electrically connected to the servo control unit C5. The medical trolley 3 is provided with a servo control unit C5a for controlling the servo motor M5a for power-assisted steering of the rear wheels of the medical trolley 3. The encoder E5a for detecting the rotation angle of the servo motor M5a is electrically connected to the servo control unit C5a.

[0093] like Fig. 9 As shown, the control device 130 controls the robot arm 60 based on the operation received by the arm operating unit 80. For example, the control device 130 controls the robot arm 60 based on the operation received by the joystick 82 of the arm operating unit 80. Specifically, the arm control unit 31a outputs the input signal input from the joystick 82 to the control device 130. The control device 130 generates a position command based on the received input signal and the rotation angle detected by the encoder E1, and outputs the position command to the servo control unit C1 via the arm control unit 31a. The servo control unit C1 generates a current command based on the position command input from the arm control unit 31a and the rotation angle detected by the encoder E1, and outputs the current command to the servo motor M1. As a result, the robot arm 60 is moved in a manner in accordance with the action command input to the joystick 82.

[0094] The control device 130 controls the robot arm 60 based on the input signal from the linear switch 83 of the arm operation unit 80. Specifically, the arm control unit 31a outputs the input signal input from the linear switch 83 to the control device 130. The control device 130 generates a position command based on the received input signal and the rotation angle detected by the encoder E1 or E3, and outputs the position command to the servo control unit C1 or C3 via the arm control unit 31a. The servo control unit C1 or C3 generates a current command based on the position command input from the arm control unit 31a and the rotation angle detected by the encoder E1 or E3, and outputs the current command to the servo motor M1 or M3. Thus, the robot arm 60 is moved in a manner in accordance with the action command input to the linear switch 83.

[0095] The positioner control unit 31b is arranged on the medical trolley 3. The positioner control unit 31b controls the positioner 40 and the medical trolley 3. The positioner 40 is provided with a servo motor SM, an encoder EN, and a speed reducer in correspondence with the plurality of joints 43 of the positioner 40. The servo control unit SC that controls the servo motor SM of the positioner 40 is arranged on the medical trolley 3. The medical trolley 3 is provided with a servo motor SM that drives the plurality of front wheels of the medical trolley 3, an encoder EN, a speed reducer, a servo control unit SC, and a brake.

[0096] The operation control unit 110 is arranged on the main body of the remote operation device 2. The operation control unit 110 controls the operation unit 120. The operation control unit 110 is arranged to correspond to the operation unit 120 for the left hand and the operation unit 120 for the right hand, respectively. In the operation unit 120, a servo motor SM, an encoder EN, and a speed reducer are arranged in a manner corresponding to a plurality of joints of the operation unit 120. The servo control unit SC that controls the servo motor SM of the operation unit 120 is arranged on the main body of the remote operation device 2 adjacent to the operation control unit 110.

[0097] (Posture transfer of surgical assistance robot)

[0098] In this embodiment, if Fig.12 As shown, the control device 130 controls the robot body to move from the current posture to the first posture. The first posture is defined by multiple control parameters including the variable control parameter h described later. The variable control parameter h can be changed within a specified range by operating the joystick 33b. In addition, the multiple control parameters include fixed control parameters. The first posture includes at least one of a storage posture, a covering posture, a standby posture, a transfer posture, a cleaning posture, and a transport posture. In the present embodiment, the first posture includes all of the above postures. The storage posture refers to the posture when the surgical assistance robot 1 is stored. The covering posture refers to the posture when the surgical assistance robot 1 is covered with a sterilization curtain. The standby posture refers to the posture when the surgical assistance robot 1 is on standby before the start of the operation. The transfer posture refers to the posture when the surgical assistance robot 1 is moved to the patient P. The cleaning posture refers to the posture when the surgical assistance robot 1 is cleaned. The transport posture refers to the posture when the surgical assistance robot 1 is transported.

[0099] like Fig.13As shown, buttons 33d for moving to each of the above-mentioned first postures are displayed on the display unit 33a of the input device 33. When an operator such as a nurse or a technician presses the button 33d on the display unit 33a, the control device 130 controls the movement to the first posture corresponding to the pressed button 33d. Specifically, after the operator presses the button 33d on the display unit 33a, the operator tilts the joystick 33b in the Xa1 direction while pressing the power switch 33c, thereby moving the surgery support robot 1 from the current posture to the first posture. The Xa1 direction is an example of the second direction.

[0100] In the present embodiment, the joystick 33b accepts an operation performed by the operator to adjust the variable control parameter h of the first posture before the surgical assistance robot 1 completes the transition from the current posture to the first posture. The adjustment of the first posture includes the adjustment of at least one of the height H of the surgical assistance robot 1 in the first posture, the forward extension amount of the surgical assistance robot 1 in the first posture, the extension amount of the surgical assistance robot 1 in the left and right directions in the first posture, and the rotation angle of the surgical assistance robot 1 in the left and right directions in the first posture. In the present embodiment, the adjustment of the first posture includes all of the above adjustments.

[0101] The height H of the surgical assistance robot 1 refers to the height H of the surgical assistance robot 1 in the Za direction. The forward extension amount of the surgical assistance robot 1 refers to the protrusion amount of the surgical assistance robot 1 in the Ya1 direction. The left-right extension amount of the surgical assistance robot 1 refers to the protrusion amount of the surgical assistance robot 1 in the Xa1 direction or the Xa2 direction. The left-right rotation angle of the surgical assistance robot 1 refers to the rotation angle of the surgical assistance robot 1 around the axis along the Za direction.

[0102] In the present embodiment, the control device 130 performs control to move the robot arm 60 and the positioner 40 from the current posture to the first posture adjusted by the variable control parameter h. In other words, the postures of both the robot arm 60 and the positioner 40 are adjusted.

[0103] exist Fig.14 , Fig.15 as well as Fig.16 , the storage posture of the surgery assisting robot 1 is shown. Fig.14 , Fig.15 as well as Fig.16 In this order, the height H of the surgery assistance robot 1 becomes higher. Fig.14 The surgery support robot 1 is shown in a state where the height H is not adjusted. Fig.15 and Fig.16 The surgical assistance robot 1 is shown in a state where the height H has been adjusted. Fig.14In the embodiment, the height H of the surgery assisting robot 1 becomes smaller, and the extension amount of the surgery assisting robot 1 in the front-rear direction becomes larger. Fig.16 , the height H of the surgery assistance robot 1 becomes larger, while the extension amount of the surgery assistance robot 1 in the front-rear direction becomes smaller.

[0104] exist Fig.17 , Fig.18 as well as Fig.19 , the covering posture of the surgery assisting robot 1 is shown. Fig.17 , Fig.18 as well as Fig.19 In this order, the height H of the surgery assistance robot 1 becomes higher. Fig.17 The surgery support robot 1 is shown in a state where the height H is not adjusted. Fig.18 and Fig.19 The surgical assistance robot 1 is shown in a state where the height H has been adjusted. Fig.17 In the embodiment, since the height H of the surgery support robot 1 is reduced, it is easy for the operator to cover the arm base 50 with a sterile curtain. Fig.19 In the embodiment, the height H of the surgical assisting robot 1 becomes larger, and the intervals between adjacent robot arms 60 become larger. As a result, the operation of covering the robot arm 60 with a sterilization curtain performed by the operator becomes easier. In addition, the central robot arm 60b and the robot arm 60c of the four robot arms 60 arranged on the arm base 50 are fixed to the arm base 50. The robot arm 60a and the robot arm 60d arranged at both ends can respectively move linearly, and the intervals between the robot arms 60 can be adjusted. The arm base 50 has a servo motor SM, an encoder EN, a reducer, a servo control unit SC and a brake BRK. By transmitting the driving force of the servo motor SM to the belt and the pulley, the intervals between the robot arms 60 can be adjusted. In addition, the servo control unit SC is arranged on the medical trolley 3.

[0105] In this embodiment, if Fig. 20 As shown, when the control device 130 receives the operation of adjusting the first posture through the joystick 33b, the control device 130 controls the surgery support robot 1 to move from the current posture to the first posture after the variable control parameter h is adjusted. Fig. 20 In , h represents a control parameter for adjusting the first posture. When h=0, it means that the first posture is not adjusted. s represents the degree of transition of the posture of the surgical assistance robot 1. s=0 refers to the moment before the surgical assistance robot 1 transitions. s=1 refers to the moment when the transition of the surgical assistance robot 1 is completed. That is, the posture of the surgical assistance robot 1 at the moment s=0 is the current posture. The posture of the surgical assistance robot 1 at the moment s=1 is the first posture.

[0106] In this embodiment, at any time from the start of the transition of the surgical assisting robot 1 from the current posture to the first posture to the completion of the transition, the joystick 33b accepts the operation of adjusting the variable control parameter h by the operator. That is, at any time from s=0 to s=1, the joystick 33b accepts the operation of adjusting the variable control parameter h by the operator. That is, even in the middle of the transition from s=0 to s=1, the joystick 33b accepts the operation of adjusting the variable control parameter h. Fig.12 As shown, the intermediate posture of the surgery support robot 1 during the transition from the current posture to the first posture is determined by the variable control parameter h and the progress rate s.

[0107] In this embodiment, when the surgical support robot 1 starts to shift from the current posture to the first posture, the joystick 33b receives an operation by the operator to adjust the variable control parameter h. That is, the joystick 33b receives an operation to adjust the current posture at the time s = 0. After adjusting the current posture, the surgical support robot 1 moves to the first posture.

[0108] In this embodiment, if Fig.21 and Fig. 22 As shown, the variable control parameter h is included in the multiple control parameters that define the posture of the surgical assistance robot 1. The joystick 33b adjusts the variable control parameter h included in the multiple control parameters that define the posture of the surgical assistance robot 1 based on the operation performed by the operator. Specifically, in this embodiment, the control device 130 controls the change of at least one of the rotation angle of the joint 43 of the positioner 40 and the joint 64 of the robot arm 60 as control parameters and the coordinates of the surgical assistance robot 1 as control parameters based on the adjustment operation received by the joystick 33b. Fig.21 As shown, for example, the rotation angle of the servo motor SM corresponding to the axis lines JT1 to JT8 of the robot arm 60 is specified in each first posture. Fig.21 In the example, ω1 to ω8 are fixed control parameters. The variable control parameter h can be changed within a specified range. For example, the upper limit of the variable control parameter h is 1 and the lower limit is 0. The joystick 33b accepts the adjustment of the variable control parameter h between the upper limit and the lower limit of the variable control parameter h. α and β are constants. That is, Fig.21 In the example shown, the joint 64 of the robot arm 60 corresponding to the axis of JT2 and JT7 changes the rotation angle based on the adjustment operation received by the joystick 33b. Thus, the first posture of the robot arm 60 is adjusted based on the adjustment operation received by the joystick 33b.

[0109] exist Fig. 22In the example shown, the coordinates and rotation angles of the positioner 40 are specified for each first posture. RX is the rotation angle around the X axis, RY is the rotation angle around the Y axis, and RZ is the rotation angle around the Z axis. J7 is the rotation axis of the front end of the positioner 40 supporting the arm base 50. J8 and J9 are the rotation axes of the robot arm 60 relative to the arm base 50. Fig. 22 In , x, y, z, rx, ry, rz, ω17, ω18, and ω19 are fixed control parameters. Fig. 22 In the example shown, the coordinates of the Z axis include a control parameter h having an upper limit and a lower limit. In addition, γ is a constant. Fig. 22 In the example shown, the position of the positioner 40 in the Z-axis direction changes based on the adjustment operation received by the joystick 33b. Thus, the height H of the surgery support robot 1 in the first posture is adjusted based on the adjustment operation received by the joystick 33b.

[0110] In this embodiment, if Fig.13 As shown, the operator operates the joystick 33b to accept the operation of adjusting the variable control parameter h. Specifically, when the operator tilts the joystick 33b in the Ya direction, the operation of adjusting the variable control parameter h is accepted. When the operator tilts the joystick 33b in the Xa1 direction intersecting the Ya direction, the control device 130 controls the surgical assistance robot 1 to move from the current posture to the first posture after the variable control parameter h is adjusted. For example, when the joystick 33b is tilted in the Ya1 direction, the value of the variable control parameter h increases. When the joystick 33b is tilted in the Ya2 direction, the value of the variable control parameter h decreases. When the joystick 33b is tilted in the Xa1 direction, the value of the degree s increases. The Ya direction is an example of a first direction.

[0111] In this embodiment, the joystick 33b receives the operation of adjusting the first posture corresponding to the magnitude of the tilt in the Ya direction. That is, as the tilt of the joystick 33b in the Ya1 direction increases, the value of the variable control parameter h increases faster. As the tilt of the joystick 33b in the Ya2 direction increases, the value of the variable control parameter h decreases faster. In addition, as the tilt of the joystick 33b in the Xa1 direction increases, the value of the degree of progress s increases faster.

[0112] In the present embodiment, when the operator tilts the joystick 33b in the Ya direction while the transition of the posture of the surgery support robot 1 is permitted by the enable switch 33c, the control device 130 accepts the operation of adjusting the variable control parameter h. In addition, when the operator tilts the joystick 33b in the Xa1 direction while the transition of the posture of the surgery support robot 1 is permitted by the enable switch 33c, the control device 130 controls the surgery support robot 1 to move from the current posture to the first posture. That is, the operation of the joystick 33b is accepted while the operator presses the enable switch 33c.

[0113] (Control method of surgical assistance system)

[0114] Next, a control method of the surgery support system 100 is described. In addition, four puncture devices T4 are pre-arranged on the body surface S of the patient P placed on the operating table 5. In addition, the surgical instrument 4 is not mounted on the robot arm 60. In addition, the following describes an example in which the adjustment of the variable control parameter h is accepted by the joystick 33b when the surgery support robot 1 moves to the transition posture.

[0115] like Fig.23 As shown, in step S1, preparation for positioning of the surgery assisting robot 1 is performed. Fig.24 As shown, the surgical site such as the abdomen and the insertion direction of the surgery support robot 1 with respect to the patient P are selected on the touch panel of the display unit 33 a .

[0116] Next, in step S2, Fig.24 As shown, the button for turning in displayed on the display unit 33a is pressed. Thus, the turning in mode is set, and the movement of the arm base 50 and the robot arm 60 is controlled so that the surgical support robot 1 takes a turning in posture. The turning in posture is a posture in which each robot arm 60 is folded in a manner not to interfere with the patient P when the robot arm 60 is positioned above the patient P by the movement of the surgical support robot 1, and the arm base 50 is configured by the positioner 40 to be a posture in which the imaging unit 51 provided on the arm base 50 can capture the vertical downward direction, and the arm base 50 is configured by the positioner 40 to be a posture corresponding to the arrangement direction of each robot arm 60 based on the information of the surgical site selected in step S1 and the information of the insertion direction. That is, after pressing the transfer button displayed on the display unit 33a and moving to the transfer mode, the joystick 33b is operated while the enable switch 33c is pressed to allow the movement of the positioner 40, so that the control device 130 moves the positioner 40 and each robot arm 60 so that the surgical assistance robot 1 automatically assumes the transfer posture.

[0117] Here, in the present embodiment, before the surgical assistance robot 1 completes the transition from the current posture to the first posture, an operation of adjusting the variable control parameter h by the operator is accepted. For example, when the surgical assistance robot 1 is in the current posture of s=0, and the operator tilts the joystick 33b in the Ya1 direction, the value of the variable control parameter h increases. Next, the surgical assistance robot 1 is moved from the current posture to the transition posture by the operator tilting the joystick 33b in the Xa1 direction. As a result, the height H of the surgical assistance robot 1 after moving to the transition posture is larger than that when the first posture is not adjusted.

[0118] Next, in step S3, Fig.25 As shown in FIG. 1 , after the robot arm 60 moves, the screen of the display unit 33a is switched to the image captured by the imaging unit 51. Fig.25 As shown in FIG. 1 , the operator moves the medical trolley 3 close to the operating table 5 so that the operating table 5 and the patient P placed on the operating table 5 can be photographed by the photographing unit 51 provided on the arm base 50. Specifically, the operator such as a nurse or a technician operates the operating handle 34 while observing the image displayed on the display unit 33a to move the medical trolley 3 to the vicinity of the patient P. Thus, the puncture device T is arranged directly below the photographing unit 51. Fig. 27 As shown in FIG. 1 , on the display unit 33a, the puncture device T is arranged inside the substantially circular first marking portion MK1. Fig.28 As shown, the operator uses the joystick 33b to operate the positioner 40 so that on the display part 33a, when one puncture device T is arranged inside the roughly circular first marking part MK1, the remaining puncture devices T are arranged along the first line part L1 or the second line part L2 of the second marking part MK2.

[0119] Next, in step S4, the control device 130 moves the plurality of robot arms 60 to the set posture by pressing the arm preparation button on the display unit 33a. The set posture is different from the rotation posture in which each robot arm 60 is folded, and means that the intervals between the robot arms 60 are widened so that it is easy to install the plurality of robot arms 60. Fig.29 The endoscope 6 shown or Fig.30 The posture of the pivot position teaching tool 7 is shown. The pivot position teaching tool 7 is a tool that is installed at the front end of the robot arm 60 for installing the instrument instead of the instrument when teaching the pivot position PP. Then, the operator installs the endoscope 6 or the pivot position teaching tool 7 on each of the plurality of robot arms 60.

[0120] Next, in step S5, the robot arm 60 is operated by the arm operating unit 80, and the end of the endoscope 6 or the pivot position teaching tool 7 attached to the front end side of the robot arm 60 is moved to a position corresponding to the insertion position of the puncture device T inserted into the body surface S of the patient P. The pivot button 85 is pressed, and the control device 130 stores the pivot position PP in the storage unit 32. The pivot position PP is stored as one coordinate, and the setting of the pivot position PP does not set the direction of the surgical instrument 4.

[0121] [Effects of this embodiment]

[0122] A joystick 33b is provided, and the joystick 33b receives an operation performed by the operator to adjust the variable control parameter h for adjusting the first posture before the surgical assistance robot 1 completes the transition from the current posture to the first posture. The control device 130 controls the surgical assistance robot 1 to move from the current posture to the first posture after the variable control parameter h is adjusted. Thus, when the surgical assistance robot 1 moves to the first posture, the first posture after the transition can be adjusted before the transition is completed. Therefore, the operator can move the surgical assistance robot 1 to a posture corresponding to the situation.

[0123] The plurality of control parameters include a fixed control parameter. Thus, by changing the variable control parameter h based on the reference posture defined by the fixed control parameter, the posture of the surgery support robot 1 can be made variable.

[0124] The control device 130 controls to change at least one of the rotation angles of the joints 43 of the positioner 40 and the joints 64 of the robot arm 60 as control parameters and the coordinates of the surgery support robot 1 as control parameters based on the adjustment operation received by the joystick 33b. Thus, by changing at least one of the rotation angles of the joints 43 of the positioner 40 and the joints 64 of the robot arm 60 and the coordinates of the surgery support robot 1, the first posture can be easily adjusted.

[0125] At any time during the period from the start of the transition to the completion of the transition when the surgery support robot 1 moves from the current posture to the first posture, the joystick 33b receives an operation by the operator to adjust the variable control parameter h. Thus, the operation of adjusting the variable control parameter h is received at any time during the period from the start of the transition to the completion of the transition, so that the operator can adjust the variable control parameter h in real time while observing the state of the transition of the posture of the surgery support robot 1.

[0126] The control device 130 controls the robot arm 60 and the positioner 40 to move from the current posture to the first posture adjusted by the variable control parameter h. Thus, the operator can adjust the posture of the surgery support robot 1 including the robot arm 60 and the positioner 40.

[0127] When the surgery support robot 1 starts to transition from the current posture to the first posture, the joystick 33b receives an operation by the operator to adjust the control parameter. Thus, the operator can adjust the variable control parameter h when the surgery support robot 1 starts to be stationary, and thus the variable control parameter h can be easily adjusted.

[0128] The first posture includes at least one of a storage posture when storing the surgical assistance robot 1, a covering posture when covering the surgical assistance robot 1 with a sterile curtain, a standby posture when making the surgical assistance robot 1 standby before the start of surgery, a transfer posture when moving the surgical assistance robot 1 to the patient P, a cleaning posture when cleaning the surgical assistance robot 1, and a transport posture when transporting the surgical assistance robot 1. Thus, the operator can adjust at least one of the storage posture, covering posture, standby posture, transfer posture, cleaning posture, and transport posture according to the situation.

[0129] The joystick 33b receives an operation for adjusting at least one of the height H of the surgical assistance robot 1 in the first posture, the forward extension amount of the surgical assistance robot 1 in the first posture, the left-right extension amount of the surgical assistance robot 1 in the first posture, and the left-right rotation angle of the surgical assistance robot 1 in the first posture. Thus, the operator can adjust at least one of the height H, extension amount, and rotation angle of the surgical assistance robot 1.

[0130] When the operator tilts the joystick 33b in the Ya direction, the control device 130 receives the operation of adjusting the variable control parameter h. When the operator tilts the joystick 33b in the Xa1 direction intersecting the Ya direction, the control device 130 controls the surgical support robot 1 to move from the current posture to the first posture after the variable control parameter h is adjusted. Thus, the operation of adjusting the variable control parameter h and the operation of shifting to the first posture can be performed by one joystick 33b. Therefore, compared with the case where the operation of adjusting the variable control parameter h and the operation of shifting to the first posture are performed by independent operating units, the structure of the surgical support system 100 can be simplified.

[0131] The joystick 33b receives an adjustment operation of the variable control parameter h corresponding to the magnitude of the inclination in the Ya direction. Thus, the operator can easily change the adjustment amount of the variable control parameter h simply by changing the inclination amount of the joystick 33b.

[0132] In a state where the posture transition of the surgery support robot 1 is permitted by the enable switch 33c, when the operator tilts the joystick 33b in the Ya direction, the control device 130 accepts the operation of adjusting the variable control parameter h, and when the operator tilts the joystick 33b in the Xa1 direction, the control device 130 controls the surgery support robot 1 to move from the current posture to the first posture after the variable control parameter h is adjusted. Thus, the enable switch 33c can suppress the acceptance of the adjustment of the variable control parameter h in a state not desired by the operator.

[0133] [Modifications]

[0134] The embodiments disclosed herein are to be considered in all respects as illustrative rather than restrictive. The scope of the present disclosure is not limited by the description of the embodiments described above but is indicated by the claims, and includes all modifications or variations within the scope of the claims and the meaning equivalent to the claims.

[0135] In the above embodiment, an example is shown in which the joystick 33b receives an operation of adjusting the variable control parameter h by the operator at any time during the period from the start of the transition of the posture of the surgery support robot 1 to the completion of the transition, but the present disclosure is not limited to this. For example, the joystick 33b may also receive an operation of adjusting the variable control parameter h only during a predetermined period during the period from the start of the transition of the posture of the surgery support robot 1 to the completion of the transition.

[0136] In the above embodiment, an example of adjusting the first posture of the surgery support robot 1 including the robot arm 60 and the positioner 40 is shown, but the present disclosure is not limited thereto. For example, only the posture of the robot arm 60 or only the posture of the positioner 40 may be adjusted.

[0137] In the above embodiment, an example of adjusting the storage posture, covering posture, standby posture, transfer posture, cleaning posture, and conveying posture is shown, but the present disclosure is not limited to this. For example, only a portion of the storage posture, covering posture, standby posture, transfer posture, cleaning posture, and conveying posture may be adjusted. In addition, postures other than the above postures of the surgical assistance robot 1 may also be adjusted.

[0138] In the above embodiment, an example is shown in which the variable control parameter h is changed within the range from 0 to 1, but the present disclosure is not limited to this. For example, the variable control parameter h may be changed within a range other than the range from 0 to 1.

[0139] In the above embodiment, the example in which the control parameter changed by the operation of the joystick 33b is only h is shown, but the present disclosure is not limited to this. There may be a plurality of control parameters changed by the operation of the joystick 33b.

[0140] In the above embodiment, an example of adjusting the variable control parameter h by tilting the joystick 33b in the Ya direction is shown, but the present disclosure is not limited to this. For example, the variable control parameter h may be adjusted by rotating the joystick 33b around an axis along the Z direction.

[0141] In the above embodiment, an example of accepting the operation of adjusting the variable control parameter h by operating the joystick 33b is shown, but the present disclosure is not limited to this. For example, the operation of adjusting the variable control parameter h may also be accepted by pressing a button, a throttle, an input from a liquid crystal panel, a slide switch, a mouse, a remote controller, etc.

[0142] In the above embodiment, an example is shown in which the control device 130 performs control to move the surgical assistance robot 1 to the first posture after the variable control parameter h is adjusted, but the present disclosure is not limited to this. For example, the first posture after the operator adjusts the variable control parameter h may be registered in the storage unit 32. The operator presses the button for registering the first posture of the display unit 33a, so that the first posture after the variable control parameter h is adjusted is registered in the storage unit 32. Then, when the operator selects the first posture registered in the storage unit 32, the control device 130 performs control to move the surgical assistance robot 1 from the current posture to the first posture registered in the storage unit 32. Thus, since the first posture after the variable control parameter h is adjusted is registered, the operator can move the surgical assistance robot 1 to the first posture after the variable control parameter h is adjusted without operating the joystick 33b when transferring to the first posture for the second time or later. As a result, the burden on the operator when transferring to the first posture for the second time or later can be reduced.

[0143] In the above-mentioned embodiment, an example is shown in which the control device 130 controls the surgical assistance robot 1 to move to the first posture after the variable control parameter h is adjusted, but the present disclosure is not limited to this. For example, when moving to the first posture after the variable control parameter h is adjusted, the control device 130 may also move to the first posture within the range of the limit value of the axis speed of the joint 43 of the positioner 40 and the joint 64 of the robot arm 60. Specifically, when the control device 130 moves to the first posture after the variable control parameter h is adjusted, the translational movement component and the rotational component of the surgical assistance robot 1 are scaled, and the scaled translational movement component and the rotational component are inversely kinematically calculated, thereby calculating the rotation angle of the joint 43 of the positioner 40 and the joint 64 of the robot arm 60. In addition, scaling refers to adjusting in a manner that the movement amount of the surgical assistance robot 1 is smaller than the movement amount of the joystick 33b moved by the operator.

[0144] In addition, in the above embodiment, an example is shown in which four robot arms 60 are provided, but the present disclosure is not limited thereto. In the present disclosure, the number of robot arms 60 may be any other number as long as at least one is provided.

[0145] In addition, in the above embodiment, an example is shown in which the arm 61 and the positioner 40 are composed of a 7-axis multi-joint robot, but the present disclosure is not limited to this. For example, the arm 61 and the positioner 40 may also be composed of a multi-joint robot or the like having an axis structure other than the 7-axis multi-joint robot. The axis structure other than the 7-axis multi-joint robot is, for example, a 6-axis or 8-axis.

[0146] In addition, in the above embodiment, the surgical support robot 1 is shown as including the medical trolley 3, the positioner 40, and the arm base 50, but the present disclosure is not limited thereto. For example, the medical trolley 3, the positioner 40, and the arm base 50 are not necessarily required, and the surgical support robot 1 may be composed of only the robot arm 60.

[0147] The functions of the elements disclosed in this specification can be performed using circuits or processing circuits including general-purpose processors, special-purpose processors, integrated circuits, ASICs (Application Specific Integrated Circuits), existing circuits and / or combinations thereof that are configured or programmed to perform the disclosed functions. Since the processor includes transistors and other circuits, it is considered a processing circuit or circuit. In the present disclosure, a circuit, unit or mechanism is hardware that performs the listed functions, or hardware that is programmed to perform the listed functions. The hardware may be the hardware disclosed in this specification, or it may be other known hardware that is programmed or configured to perform the listed functions. In the case where the hardware is a processor that is considered to be a type of circuit, the circuit, mechanism or unit is a combination of hardware and software, and the software is used for the structure of the hardware and / or processor.

[0148] [Way]

[0149] It should be understood by those skilled in the art that the above-mentioned exemplary embodiments are specific examples of the following aspects.

[0150] (Item 1)

[0151] A surgical assistance system, wherein:

[0152] The above-mentioned surgical assisting system has:

[0153] The main body of the robot is equipped with surgical instruments;

[0154] a control device for controlling the robot body to move from a current posture to a first posture; and

[0155] an operating unit that receives an operation of adjusting the first posture by an operator before the robot main body completes the transition from the current posture to the first posture,

[0156] The first posture is defined by a plurality of control parameters including a variable control parameter,

[0157] The variable control parameter can be changed within a predetermined range by operating the operating unit.

[0158] The control device performs control to move the robot body from the current posture to the first posture after the variable control parameter is adjusted based on the operation of the operation unit.

[0159] (Item 2)

[0160] A surgical assistance system according to item 1, wherein:

[0161] The plurality of control parameters include fixed control parameters.

[0162] (Item 3)

[0163] A surgical assistance system according to item 2, wherein:

[0164] The robot body has joints.

[0165] The control device performs control to change at least one of a rotation angle of the joint as the control parameter and a coordinate of the robot body as the control parameter based on the adjustment operation received by the operation unit.

[0166] (Item 4)

[0167] The surgical assisting system according to any one of items 1 to 3, wherein:

[0168] The operation unit receives an operation of adjusting the variable control parameter by the operator at any time during a period from the start of the transition to the completion of the transition when the robot body moves from the current posture to the first posture.

[0169] (Item 5)

[0170] The surgical assisting system according to any one of items 1 to 4, wherein:

[0171] The robot body comprises:

[0172] A robotic arm, mounted with the above-mentioned surgical instruments; and

[0173] A robot arm moving unit moves the robot arm.

[0174] The control device performs control to move the robot arm and the robot arm moving unit from the current posture to the first posture after the variable control parameter is adjusted.

[0175] (Item 6)

[0176] The surgical assisting system according to any one of items 1 to 5, wherein:

[0177] The operation unit receives an operation of adjusting the control parameter by an operator when the robot main body starts to shift from the current posture to the first posture.

[0178] (Item 7)

[0179] The surgical assisting system according to any one of items 1 to 6, wherein:

[0180] The first posture includes at least one of the following postures:

[0181] A storage posture when storing the robot main body;

[0182] A covering posture when the main body of the robot is covered by a sterilization curtain;

[0183] Putting the robot body into a standby position before starting surgery;

[0184] A transition posture when the robot body is moved to the patient;

[0185] a cleaning posture when cleaning the main body of the robot; and

[0186] A conveying posture when conveying the robot main body.

[0187] (Item 8)

[0188] The surgical assisting system according to any one of items 1 to 7, wherein:

[0189] The operating unit receives at least one adjustment operation of the height of the robot main body in the first posture, the forward extension amount of the robot main body in the first posture, the left and right extension amount of the robot main body in the first posture, and the left and right rotation angle of the robot main body in the first posture.

[0190] (Item 9)

[0191] The surgical assisting system according to any one of items 1 to 8, wherein:

[0192] The operating unit includes a joystick.

[0193] When the operator tilts the joystick in a first direction, the operator receives an adjustment operation of the variable control parameter.

[0194] When the operator tilts the joystick in a second direction intersecting the first direction, the control device controls the robot body to move from the current posture to the first posture after the variable control parameter is adjusted.

[0195] (Item 10)

[0196] The surgical assistance system according to item 9, wherein:

[0197] The joystick receives an operation for adjusting the variable control parameter corresponding to the magnitude of the inclination in the first direction.

[0198] (Item 11)

[0199] A surgical assisting system according to item 9 or 10, wherein:

[0200] The robot also includes an enabling switch, which allows or does not allow the posture of the robot body to be transferred.

[0201] In a state where the transfer of the posture of the robot main body is permitted by the enabling switch, when the operator tilts the joystick toward the first direction, the control device accepts the operation of adjusting the variable control parameters, and when the operator tilts the joystick toward the second direction, the control device controls the robot main body to move from the current posture to the first posture after the variable control parameters are adjusted.

[0202] (Item 12)

[0203] A control method for a surgical assistance system, wherein:

[0204] The control method of the above-mentioned surgical assistance system has the following features:

[0205] Before the robot main body with the surgical instrument attached thereto completes the transition from the current posture to the first posture, accepting an operation by an operator to adjust a variable control parameter that can be changed within a predetermined range for adjusting the first posture; and

[0206] The robot body is moved from the current posture to the first posture after the variable control parameter is adjusted.

Claims

1. A surgical assistance system, characterized in that: The surgical assistance system comprises: The main body of the robot is equipped with surgical instruments; A control device for controlling the robot body to move from a current posture to a first posture; as well as an operating unit that receives an operation of adjusting the first posture by an operator before the robot main body completes the transition from the current posture to the first posture, The first posture is defined by a plurality of control parameters including a variable control parameter, The variable control parameter can be changed within a predetermined range by operating the operating unit. The control device performs control to move the robot body from the current posture to the first posture after the variable control parameter is adjusted based on the operation of the operation unit.

2. The surgical assistance system according to claim 1, characterized in that: The plurality of control parameters include fixed control parameters.

3. The surgical assistance system according to claim 2, characterized in that: The robot body has joints. The control device performs control to change at least one of a rotation angle of the joint as the control parameter and a coordinate of the robot body as the control parameter based on the adjustment operation received by the operation unit.

4. The surgical assistance system according to claim 1, characterized in that: The operation unit receives an operation of adjusting the variable control parameter by the operator at any time during a period from the start of a transition to the completion of a transition when the robot body moves from the current posture to the first posture.

5. The surgical assisting system according to claim 1, characterized in that: The robot body comprises: a robotic arm on which the surgical instrument is mounted; and a robot arm moving unit, for moving the robot arm, The control device performs control to move the robot arm and the robot arm moving unit from the current posture to the first posture after the variable control parameter is adjusted.

6. The surgical assistance system according to claim 1, characterized in that: The operation unit receives an operation of adjusting the control parameter by an operator when the robot main body starts to shift from the current posture to the first posture.

7. The surgical assistance system according to claim 1, characterized in that: The first posture includes at least one of the following postures: a storage posture when storing the robot main body; A covering posture when the robot body is covered by a sterilization curtain; placing the robot body in a standby position before a surgery begins; A transition posture when the robot body is moved to the patient; a cleaning posture when cleaning the robot body; and A conveying posture when conveying the robot main body.

8. The surgical assistance system according to claim 1, characterized in that: The operating unit accepts operations for adjusting at least one of the height of the robot body in the first posture, the forward extension amount of the robot body in the first posture, the left and right extension amount of the robot body in the first posture, and the left and right rotation angle of the robot body in the first posture.

9. The surgical assistance system according to claim 1, characterized in that: The operating part includes a joystick, When the operator tilts the joystick in a first direction, an adjustment operation of the variable control parameter is accepted; When the operator tilts the joystick in a second direction intersecting the first direction, the control device controls the robot body to move from the current posture to the first posture after the variable control parameter is adjusted.

10. The surgical assisting system according to claim 9, characterized in that: The joystick receives an operation for adjusting the variable control parameter corresponding to the magnitude of the tilt in the first direction.

11. The surgical assisting system according to claim 9, characterized in that: The robot further includes an enabling switch, the enabling switch allowing or not allowing the posture of the robot body to be transferred. In a state where the transfer of the posture of the robot main body is permitted by the enabling switch, when the operator tilts the joystick in the first direction, the control device accepts the operation of adjusting the variable control parameter, and when the operator tilts the joystick in the second direction, the control device controls the robot main body to move from the current posture to the first posture after the variable control parameter is adjusted.

12. A control method for a surgical assistance system, characterized in that: The control method of the surgical assistance system comprises: Before the robot main body with the surgical instrument attached thereto completes the transition from the current posture to the first posture, accepting an operation by an operator to adjust a variable control parameter that can be changed within a predetermined range for adjusting the first posture; and The robot body is moved from the current posture to the first posture after the variable control parameter is adjusted.

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