Medical device

Abstract

The present disclosure provides a medical device capable of accurately performing settings such as positioning of a medical instrument and a patient. A medical device according to the present disclosure arranges a pivoting operation point of a medical instrument at a desired position on a body surface of a patient. A medical apparatus includes a base portion, a connection portion, a front side portion, and a support portion, the support portion is connected to both the base portion and the front side portion and changes a posture of a medical instrument to a desired posture with a pivot operation point as a rotation center, and the front side portion includes a first light irradiation portion that irradiates light in a preset direction.

Description

Technical Field

[0001] The present disclosure relates to a medical device that arranges a pivot point of a connected medical device at a desired position on a patient's body surface and supports the medical device in a desired posture. Background Art

[0002] Laparoscopic surgery using a master-slave type surgical robot system has become popular. Generally speaking, a surgical robot system includes a patient-side unit disposed near the patient and an operation unit operated by a surgeon performing the operation.

[0003] In laparoscopic surgery performed using this surgical robot system, medical instruments such as endoscopes and forceps with elongated shafts are used via a robot arm connected to a patient-side unit, and the front portion of the connected medical instrument is inserted into the abdominal cavity via a trocar placed through the patient's abdominal wall.

[0004] The surgeon operates the operation unit, causing the robot arm of the patient-side unit and the medical device connected to the robot arm to perform actions corresponding to the operation, thereby performing the desired treatment on the patient's target part. The position of the medical device connected to the robot arm and its angle relative to the patient are changed by changing the posture of the robot arm according to the surgeon's operation.

[0005] Since the medical device connected to the mechanical arm is inserted into the abdominal cavity of the patient through the puncture device, the movable range of the medical device is limited within a predetermined range. In addition, the angle of the medical device relative to the patient is also limited within a predetermined range.

[0006] The above-mentioned restrictions are caused by, for example, the position of the medical device relative to the arrangement position of the puncture device placed on the patient, the position of the robot arm relative to the patient, the movable range of the robot arm, and the like.

[0007] Therefore, the robot arm, the medical device connected to the robot arm, and the puncture device must be accurately aligned before the operation. That is, before the operation is started using the surgical robot system, the relative position of the medical device relative to the puncture device disposed on the patient, the relative position of the robot arm relative to the patient, etc. need to be adjusted respectively so that they are in an appropriate positional relationship.

[0008] Generally speaking, in laparoscopic surgery performed using a surgical robot system, the above-mentioned alignment is performed using a light source for alignment, for example, a laser light source for alignment is used to irradiate a laser or other light onto a position where a trocar is to be placed, thereby aligning the patient and the surgical robot system.

[0009] For example, Patent Document 1 discloses a medical manipulator system, which is equipped with an alignment device for aligning a robot arm and a puncture device, wherein the robot arm supports surgical instruments such as an endoscope and forceps in a desired posture, and the puncture device is inserted into the surgical instrument. In this medical manipulator system, the position of the surgical instrument connected to the medical manipulator system and the angle of the surgical instrument relative to the patient are changed by operating a connecting rod mechanism provided on the front side of the arm member. The alignment device is used to align the fixed point of the connecting rod mechanism with the position of the puncture device. A light source unit (irradiation unit) that irradiates light onto the fixed point of the connecting rod mechanism is provided on the alignment device. The operator who performs the alignment aligns the fixed point of the connecting rod mechanism and the position of the puncture device with reference to the light irradiated from the light source unit.

[0010] Furthermore, Patent Document 2 discloses a remote-operated medical system (surgical robot system) equipped with a guidance setting system for guiding preoperative preparations. Patent Document 2 discloses the use of light such as laser light in the guidance setting system.

[0011] Prior art literature

[0012] Patent Literature

[0013] Patent Document 1: Japanese Patent Application Publication No. 2019-98496

[0014] Patent Document 2: Japanese Patent Application Publication No. 6725424 Summary of the invention

[0015] Problem that the invention aims to solve

[0016] In the above-mentioned prior art, the light source unit is arranged at a position far away from the surgical instrument, so it is sometimes difficult to perform efficient and accurate alignment. For example, in the technologies disclosed in Patent Documents 1 and 2, the light source unit is arranged at a position far away from the alignment target position onto which the light is projected, so that a part of the linkage mechanism or a part of the operator's body may enter between the alignment target position and the light source unit, thereby possibly blocking the light irradiated from the light source unit. In addition, in the technology described in Patent Document 1, since the light source unit is arranged at a portion of the front side of the arm member far away from the surgical instrument, even if the arm member moves slightly, sometimes the position where the light irradiates the alignment target position will be greatly offset.

[0017] The present disclosure discloses an example of a medical device that can efficiently and accurately align a medical instrument and a patient.

[0018] Solutions to the problem

[0019] The medical device disclosed herein is a medical device that configures the pivot point of a connected medical device at a desired position on the patient's body surface, and comprises a base; a connecting portion, which is connected to the medical device; a front side portion, which comprises the connecting portion; and a supporting portion, which is connected to both the base and the front side portion and changes the posture of the medical device to a desired posture with the pivot point as the rotation center, and the front side portion comprises a first light irradiation portion, which irradiates light in a predetermined direction when the pivot point is configured.

[0020] According to the medical device disclosed in the present invention, when the pivot point of the connected medical device is arranged at a desired position on the patient's body surface, light is irradiated from the first light irradiation unit toward a predetermined direction. Therefore, it is easy to perform adjustment operations so that the pivot point serving as the rotation center is arranged at a desired position on the patient's body when the posture of the medical device is changed. Hereinafter, adjusting the posture or position of the medical device or adjusting the position of the patient so as to arrange a specific part of the medical device at a desired position on the patient's body is referred to as "alignment of the patient and the medical device" or simply "alignment". According to the medical device disclosed in the present invention, alignment can be performed with reference to the projection position of the light from the first light irradiation unit, so the surgical assistant (hereinafter also referred to as the operator) who performs alignment of the patient and the medical device can easily perform the alignment operation.

[0021] In addition, since the first light irradiation unit is arranged on the front side portion where the connection portion connected to the medical device is provided, the alignment operation can be easily performed. That is, since the distance between the desired position on the patient's body and the first light irradiation unit is short, the alignment operation can be easily performed. In addition, when performing the alignment, it is not easy for a part of the body of the operator performing the alignment operation or a part of the supporting portion to enter between the first light irradiation unit and the patient. In other words, during the alignment operation, it is not easy for a part of the body of the operator or a part of the supporting portion to block the light from the first light irradiation unit. Therefore, the operator can effectively perform the alignment operation between the patient and the medical device.

[0022] In the above configuration, the first light irradiation unit preferably comprises a first light source unit and a second light source unit, and the first light source unit and the second light source unit are configured so that a first optical axis of the first light source unit and a second optical axis of the second light source unit intersect at a relative position at a predetermined distance from the first light source unit and the second light source unit.

[0023] According to the above-mentioned configuration, the patient and the medical device can be accurately aligned. That is, by configuring the desired position of the patient at a position where the projection image generated by the light from the first light source unit overlaps with the projection image generated by the light from the second light source unit, the alignment in the advancing direction of the light irradiated from the first light irradiation unit (the irradiation direction of the light) can be accurately performed. For example, if the first light source unit and the second light source unit are configured so that the first optical axis and the second optical axis intersect at the pivot point, the operator can use the position where the first optical axis and the second optical axis intersect as a reference to accurately align the pivot point at the desired position on the patient. In other words, the desired position of the patient and the medical device in the irradiation direction of the light from the first light irradiation unit can be accurately aligned.

[0024] In the above configuration, it is preferable that the first light source section and the second light source section are arranged side by side in a direction intersecting a direction from the base section toward the front side section.

[0025] According to the above configuration, the alignment operation can be easily performed by moving the front side portion in a direction away from the base or in a direction close to the base. That is, when the operator performs alignment by moving the front side portion in a direction away from the base or in a direction close to the base, the operator can easily perform the alignment operation so that the desired position of the patient is arranged at a position where the light from the first light source portion and the light from the second light source portion overlap and are projected.

[0026] In the above configuration, it is preferable that at least one of the first light source unit and the second light source unit is configured so that the shape of the projected light is a cross.

[0027] According to the above-mentioned configuration, the operator can easily identify the position where the first optical axis intersects with the second optical axis. In other words, the operator can easily perform the alignment operation so that the desired position of the patient is arranged at the position where the first optical axis intersects with the second optical axis. For example, in the case where the projection shape of the light from the first light source unit is a cross, the operator can grasp the degree of misalignment and its direction by comparing the center position of the cross-shaped image projected by the light from the first light source unit with the center position of the image projected by the light from the second light source unit. For example, in the case where the projection shape of the light from the second light source unit is a cross, the operator can grasp the degree of misalignment and its direction by comparing the center position of the cross-shaped image projected by the light from the second light source unit with the center position of the image projected by the light from the first light source unit. Therefore, the operator can easily perform accurate alignment by making the centers of the projection images of each light overlap. When the projection shape of the light from the first light source unit and the projection shape of the light from the second light source unit are both set to a cross shape, the operator can more easily perform accurate alignment by making the center of the cross-shaped projection image of the first light source unit and the center of the cross-shaped projection image of the second light source unit overlap at the same position.

[0028] In the above configuration, the medical device preferably further includes a cart portion on which the base portion is mounted and which is movable, and the base portion preferably includes a second light irradiation portion that irradiates light toward a floor on which the cart portion is disposed.

[0029] According to the above configuration, the light irradiated from the second light irradiation unit is projected onto the floor on which the cart is placed. The operator can easily grasp the relationship between the position of the patient and the position of the medical device by confirming the position of the light projected onto the floor. In addition, the operator can adjust the position of the medical device relative to the patient by moving the cart.

[0030] In the above configuration, it is preferred that the support portion changes the position of the front side portion so that a distance between the first light irradiation portion and the second light irradiation portion becomes a predetermined distance.

[0031] According to the above configuration, it is possible to ensure that the distance between the first light irradiation portion and the second light irradiation portion remains constant. In other words, the support portion changes the position of the front side portion so that the distance between the front side portion and the base portion becomes a predetermined distance. By maintaining the distance between the front side portion and the base portion at a predetermined distance, it is possible to prevent the movable range of the support portion from being restricted. For example, it is possible to prevent the movable range of the support portion from being unnecessarily restricted due to a short distance between the front side portion and the base portion.

[0032] In the above configuration, it is preferred that the first light irradiation unit irradiates red complementary color light and / or red contrast color light.

[0033] According to the above configuration, even if the light from the first light irradiation unit is projected onto a portion of the patient covered with the patient's blood, the operator can easily recognize the position of the projected light. That is, even if the desired position of the patient is covered with blood, the operator can accurately perform the alignment operation between the patient and the medical device. In addition, the alignment operation between the patient and the medical device can be easily performed.

[0034] In the above configuration, it is preferred that the second light irradiation unit irradiates green complementary color light and / or green contrast color light.

[0035] Generally, the floor of the operating room is painted green or made of green floor material. Therefore, when the second light irradiation unit irradiates green complementary color light and / or green contrast color light, the operator can easily recognize the light projected onto the green floor. That is, the operator can accurately perform the alignment operation between the patient and the medical device. In addition, the alignment operation between the patient and the medical device can be easily performed.

[0036] Effects of the Invention

[0037] According to the present disclosure, it is possible to provide a medical device that can accurately and easily align a medical device and a patient. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is an external view for explaining the medical device of the present disclosure.

[0039] Figure 2 It is a diagram for explaining the first light irradiation unit of the medical device of the present disclosure.

[0040] Figure 3 It is a diagram for explaining the second light irradiation unit of the medical device of the present disclosure.

[0041] Figure 4 It is a diagram for explaining a state where a medical device is connected to the medical apparatus of the present disclosure.

[0042] Figure 5 This is a diagram for explaining the relationship between the light irradiated from the first light source unit and the light irradiated from the second light source unit of the present disclosure.

[0043] Figure 6 It is a diagram for explaining a state where positioning is performed appropriately.

[0044] Figure 7 This is a diagram for explaining an example of a state in which positioning is not performed appropriately.

[0045] Figure 8 This is a diagram for explaining an example of another state in which positioning is not performed appropriately.

[0046] Fig. 9 This is a diagram for explaining the relationship between the first light irradiation unit and the second light irradiation unit of the present disclosure.

[0047] Description of Reference Numerals

[0048] 1…Surgical robot system; 2…Operation unit; 3…Control unit;

[0049] 10 ... patient side unit (medical device); 12a, 12b, 12c ... front side;

[0050] 13a, 13b, 13c…mechanical arm; 14…base; 15…base support portion; 16…cart portion;

[0051] 17a, 17b, 17c…side surfaces of the floor; 21a, 21b, 21c…joints;

[0052] 30a ... a first light irradiation unit; 31a ... a first light source unit; 31b ... a second light source unit;

[0053] 33a…first optical axis; 33b…second optical axis; 34…intersecting position;

[0054] 35a, 35b…projection shape; 41a…rigid endoscope (medical device);

[0055] 41b, 41c ... surgical instruments (medical instruments); 42a, 42b, 42c ... connecting parts;

[0056] 45 ... pivoting action point; 50 ... patient; 51 ... abdominal cavity; 52 ... trocar; 53 ... through hole;

[0057] 54 ... desired position; 60 ... second light irradiation portion; 61 ... lower side surface; 80 ... floor DETAILED DESCRIPTION

[0058] The following reference Figures 1 to 9 A medical device according to an embodiment of the present disclosure is described. In addition, arrows and oblique lines indicating directions in the drawings are elements of the drawings for easy understanding of the relationship between the drawings and the shapes of the components or parts. Therefore, the technical content shown in the present disclosure is not limited to the directions indicated in the drawings. The drawings marked with oblique lines do not necessarily represent cross-sectional views.

[0059] The medical device of the present disclosure is used as a slave device in a master-slave surgical robot system 1. The surgical robot system 1 of the present embodiment includes: a patient-side unit 10, which is arranged near a patient and performs a desired treatment on the patient; an operation unit 2, which is operated by a surgeon performing an operation; and a control unit 3. Hereinafter, the patient-side unit 10 will also be referred to as a medical device 10.

[0060] The operation unit 2 is an operation device operated by an operator performing surgery. The control unit 3 is mainly a part that controls the medical device 10 according to the operation performed on the operation unit 2. The control unit 3 outputs an operation signal according to the operation performed on the operation unit 2 and controls the robot arms 13a, 13b, and 13c.

[0061] The control unit 3 also has a function of switching the operation mode of the medical device 10. The operation modes of the medical device 10 include an operation mode in which an action is performed according to an operation signal, and a setting mode in which an assistant located near the patient sets the setting. When the medical device 10 is switched to the setting mode, the assistant (operator) controls the medical device 10 so that the configuration position of the robot arms 13a, 13b, 13c can be manually changed. That is, the medical device 10 can be controlled to change the configuration position of the robot arms 13a, 13b, 13c by the assistant applying force to specific parts of the robot arms 13a, 13b, 13c without operating the operation unit 2.

[0062] exist Figure 1 In the figure, for the sake of convenience, the control unit 3 is shown as an independent unit. However, the operation unit 2 may have the function of the control unit 3. Alternatively, the medical device 10 may have the function of the control unit 3. Alternatively, the medical device 10 and the operation unit 2 may each have the function of the control unit 3.

[0063] 1. Description of the composition

[0064] like Figure 1 As shown, the medical device 10 includes: robotic arms 13a, 13b, 13c, a base 14, front side portions 12a, 12b, 12c, connecting portions 42a, 42b, 42c, and a first light irradiation portion 30a. The medical device 10 also includes a cart portion 16 and a second light irradiation portion 60. In the following description, the side of each robotic arm 13a, 13b, 13c located at the base 14 is also referred to as the base side, and the opposite side thereof is referred to as the front side. The medical device 10 may include two or less robotic arms. Alternatively, the medical device 10 may include four or more robotic arms.

[0065] like Figure 1As shown, the robot arm 13a is a multi-joint arm composed of columnar arm parts 22a, 24a and joint parts 21a, 23a, 25a. The arm parts 22a, 24a are connected to each other by the joint part 23a arranged therebetween so as to be rotatable. The base side of the arm part 24a is connected to the base 14 by the joint part 25a so as to be rotatable relative to the base 14. The front side part 12a is connected to the front side of the arm part 22a via the joint part 21a so as to be rotatable relative to the arm part 22a.

[0066] Actuators not shown in the figure are provided on the joint parts 21a, 23a, and 25a, respectively. In the robot arm 13a, each actuator is actuated according to the operation signal from the control unit 3, thereby changing the position of the arm parts 22a and 24a relative to the base 14. That is, each actuator is actuated according to the operation signal from the control unit 3, thereby changing the posture of the robot arm 13a. That is, the configuration position of the arm parts 22a and 24a, the angle formed between the arm parts 22a and the arm parts 24a, and the angle of the arm parts 22a and 24a relative to the base 14 and the front side part 12a are changed. By changing the posture of the robot arm 13a according to the operation signal from the control unit 3, the front side part 12a is moved in the desired direction.

[0067] The robot arms 13b and 13c have the same structure as the robot arm 13a. Figure 1 As shown, the robot arm 13b is composed of columnar arm parts 22b, 24b and joint parts 21b, 23b, 25b. The base side of the robot arm 13b is connected to the base 14 via the joint part 25b so as to be rotatable relative to the base 14. In addition, the front side part 12b is connected to the front side of the robot arm 13b via the joint part 21b so as to be rotatable relative to the arm part 22b.

[0068] The joint members 21b, 23b, and 25b are provided with actuators (not shown). As with the robot arm 13a, in the robot arm 13b, each actuator is actuated in accordance with an operation signal from the control unit 3, thereby changing the posture of the robot arm 13b.

[0069] like Figure 1 As shown, the robot arm 13c is composed of columnar arm parts 22c, 24c and joint parts 21c, 23c, 25c. The base side of the robot arm 13c is connected to the base 14 via the joint part 25c so as to be rotatable relative to the base 14. In addition, the front side part 12c is connected to the front side of the robot arm 13c via the joint part 21c so as to be rotatable relative to the arm part 22c.

[0070] The joint parts 21c, 23c, and 25c are provided with actuators (not shown). As with the robot arm 13a, in the robot arm 13c, each actuator is actuated according to the operation signal from the control unit 3, thereby changing the posture of the robot arm 13c. The robot arms 13a, 13b, and 13c are examples of support parts. The configuration of the robot arms 13a, 13b, and 13c is not limited to the above configuration, as long as they can perform the desired action according to the operation signal.

[0071] A connecting portion 42a is provided on the front side portion 12a. Figure 4 As shown, a medical device 41a having an axial shape is connected to the connection portion 42a. As the medical device 41a connected to the connection portion 42a, a rigid endoscope can be cited. A medical device having an axial shape other than a rigid endoscope can also be connected to the connection portion 42a. Hereinafter, the medical device 41a is also referred to as a rigid endoscope 41a. The rigid endoscope 41a is connected to the connection portion 42a in such a manner that an angle formed by the longitudinal direction of the rigid endoscope 41a and the floor side surface 17a of the front side portion 12a becomes a predetermined angle. The floor side surface 17a is a portion (surface) of the front side portion 12a that faces the floor 80 when in use (refer to Figure 1 and Figure 2 ).

[0072] A connecting portion 42b is provided on the front side portion 12b. The connecting portion 42b is a connection adapter connected to the medical instrument 41b. The following instrument is connected to the connecting portion 42b, and an end effector is provided on the front side of the axial part of the instrument. As the medical instrument 41b, there can be cited a clamping forceps having a clamping portion provided on the front side of the axial part. Hereinafter, the medical instrument 41b is also referred to as a surgical instrument 41b. The surgical instrument 41b is connected to the connecting portion 42b in such a manner that the angle formed by the extension direction of the axial part of the surgical instrument 41b and the floor side surface 17b becomes a predetermined angle. The floor side surface 17b is a portion (surface) of the front side portion 12b facing the floor 80 when in use (refer to Figure 1 ).

[0073] A connection portion 42c is provided on the front side portion 12c. The connection portion 42c is a connection adapter connected to the medical instrument 41c. The following instrument is connected to the connection portion 42c, and an end effector is provided on the front side of the axial part of the instrument. As the medical instrument 41c, there can be cited a clamping forceps having a clamping portion provided on the front side of the axial part. Hereinafter, the medical instrument 41c is also referred to as a surgical instrument 41c. The surgical instrument 41c is connected to the connection portion 42c in such a manner that the angle formed by the extension direction of the axial part of the surgical instrument 41c and the floor side surface 17c becomes a predetermined angle. The floor side surface 17c is a portion (surface) of the front side portion 12c facing the floor 80 when in use (refer to Figure 1 ).

[0074] The rigid endoscope 41a and the surgical instruments 41b and 41c are examples of medical instruments. Medical instruments connected to the connecting parts 42b and 42c include medical instruments having an end effector disposed on the front side of the shaft-like member, and the end effector includes not only clamping forceps but also electric scalpels, surgical scissors, and staplers commonly used in laparoscopic surgery.

[0075] The mechanical arm 13a operates in accordance with the operation signal in a state where the specific part of the rigid endoscope 41a connected to the connection part 42a is arranged at a desired position on the patient 50, so that the posture of the rigid endoscope 41a becomes a desired posture. Specifically, the mechanical arm 13a operates in accordance with the operation signal so that the specific part of the rigid endoscope 41a is arranged at a desired position on the body surface of the patient 50. Hereinafter, the above-mentioned specific part of the rigid endoscope 41a is also referred to as a pivoting action point 45. Here, the desired position on the body surface includes not only a part of the body surface of the patient 50 such as the skin of the patient 50, but also an area inside the through hole 53 of the puncture device 52 provided for puncturing the skin of the patient 50. That is, the desired position on the body surface includes: an area inside the through hole 53 of the puncture device 52 provided on the patient 50 corresponding to the body surface, and an area slightly offset from the body surface to the inside of the body.

[0076] Furthermore, the robot arm 13 a operates according to the operation signal so that the posture of the rigid endoscope 41 a relative to the patient 50 becomes a desired posture, wherein the pivot point 45 of the rigid endoscope 41 a is arranged at a desired position on the patient 50 .

[0077] That is, the robot arm 13a arranges the pivot point 45 at a desired position on the patient 50, and controls the rigid endoscope 41a to change its posture according to the operation signal, with the pivot point 45 arranged at the desired position on the patient 50 as the rotation center. In other words, in a state where the pivot point 45 is arranged at a desired position on the patient 50, the robot arm 13a rotates the rigid endoscope 41a with the pivot point 45 as the rotation center, and controls the rigid endoscope 41a to change its relative angle with respect to the patient 50 to a desired angle according to the operation signal.

[0078] Here, if Figure 4 As shown in FIG. 1 , the pivot point 45 is a part of the rigid endoscope 41a that is disposed inside the through hole 53 of the puncture device 52 provided on the abdomen of the patient 50 when the rigid endoscope 41a is used. The relative position of the pivot point 45 on the rigid endoscope 41a is preset based on information about the rigid endoscope 41a such as the length and purpose. Figure 4 As shown in FIG. 1 , the pivot point 45 is provided at a position on the rigid endoscope 41a that is away from the portion of the rigid endoscope 41a connected to the connecting portion 42a by a predetermined distance D to the front side. As long as the relative positional relationship between the pivot point 45 and the connecting portion 42a, the front side portion 12a, etc. can be specified, the relative position of other portions to the pivot point 45 may be set based on other portions.

[0079] Hereinafter, the relative configuration position of the pivot point 45 with respect to the connection part 42a when the rigid endoscope 41a is connected to the connection part 42a is also referred to as the configuration position P1. In other words, when the rigid endoscope 41a is connected to the connection part 42a, the relative configuration position of the position where the pivot point 45 is configured with respect to the connection part 42a is also referred to as the configuration position P1.

[0080] like Figure 4 As shown in FIG. 5 , the configuration position P1 is preset at a position on the shaft 43 that is spaced apart from the connection portion 42a by a distance D in the direction toward the patient 50. Here, the shaft 43 is an axis that passes through the connection portion 42a and passes through the center of a cross section in a direction orthogonal to the longitudinal direction of the rigid endoscope 41a connected to the connection portion 42a and extends along the longitudinal direction of the rigid endoscope 41a (see FIG. Figure 4 and Figure 5 ).

[0081] Similarly, the robot arm 13b places a specific portion of the shaft-shaped member of the surgical instrument 41b at a desired position on the patient, and controls the surgical instrument 41b to change its posture with the specific portion placed at the desired position on the patient as the rotation center. Similarly, the robot arm 13c places a specific portion of the shaft-shaped member of the surgical instrument 41c at a desired position on the patient, and controls the surgical instrument 41c to change its posture with the specific portion placed at the desired position on the patient as the rotation center.

[0082] like Figure 1 As shown, the base 14 is connected to a base support portion 15 having a columnar shape extending from the cart portion 16. The base 14 is connected to the base support portion 15 in a manner that allows it to freely rotate relative to the base support portion 15 around the axis 60A. Figure 1 and Fig. 9 As shown by the dotted line in FIG. 8 , the axis 60A is an axis extending in a direction perpendicular to the floor 80 .

[0083] The cart unit 16 is a part that supports the base 14 and the robot arms 13a, 13b, and 13c via the base support unit 15. The operator can move the cart unit 16 by performing a predetermined operation. That is, by moving the cart unit 16, the position of the medical device 10 can be changed.

[0084] like Figure 2 As shown, a first light irradiation unit 30a is provided on the floor side surface 17a of the front side portion 12a. When the pivoting action point 45 is arranged at the desired position 54 on the patient 50, the first light irradiation unit 30a irradiates light toward a preset direction. The preset direction includes a direction from the first light irradiation unit 30a toward the pivoting action point 45 of the rigid endoscope 41a connected to the connecting portion 42a. The first light irradiation unit 30a irradiates light toward the configuration position P1. That is, when the pivoting action point 45 is arranged at the desired position 54 on the patient 50, the first light irradiation unit 30a irradiates light toward the configuration position P1. Moreover, when the pivoting action point 45 has been arranged at the desired position 54, light is irradiated toward the pivoting action point 45 (configuration position P1) arranged at the desired position on the patient 50.

[0085] The first light irradiation unit 30a is composed of a first light source unit 31a and a second light source unit 31b. The first light source unit 31a and the second light source unit 31b are arranged side by side in a direction intersecting with the direction from the base 14 toward the front side 12a. Figure 2 The arrow marked with X indicates.

[0086] The first light source section 31a and the second light source section 31b are configured so that the first optical axis 33a of the first light source section 31a and the second optical axis 33b of the second light source section 31b intersect at a relative position at a predetermined distance from the first light source section 31a and the second light source section 31b. In other words, the first light source section 31a and the second light source section 31b are configured so that the first optical axis 33a and the second optical axis 33b intersect at positions relatively separated from the first light source section 31a and the second light source section 31b by a predetermined distance, respectively.

[0087] like Figure 5 As shown, the first light source unit 31a and the second light source unit 31b are respectively arranged so that the first optical axis 33a and the second optical axis 33b intersect at a position on the axis 43 away from the connecting portion 42a toward the patient 50 side by a distance D. In other words, Figure 5 As shown in FIG. 1 , the first light source section 31 a and the second light source section 31 b are arranged so that the first optical axis 33 a and the second optical axis 33 b intersect at an arrangement position P1 .

[0088] That is, the first light source unit 31a and the second light source unit 31b are respectively arranged so that when the rigid endoscope 41a is connected to the connecting portion 42a, the first optical axis 33a and the second optical axis 33b intersect at the position where the pivoting point 45 is arranged.

[0089] The first light irradiation unit 30a irradiates laser light of a color complementary to the color of blood, that is, red. That is, the first light source unit 31a and the second light source unit 31b irradiate laser light of a complementary color to red, respectively. Here, complementary colors refer to colors that are located at points opposite to each other with the white point as the center on a straight line passing through the white point on a chromaticity diagram. Alternatively, complementary colors refer to colors that are located at opposite positions on a color wheel. The first light source unit 31a irradiates blue-green laser light that is complementary to red. Similarly, the second light source unit 31b irradiates blue-green laser light that is complementary to red. The first light source unit 31a and the second light source unit 31b may also irradiate laser light of a color other than blue-green, as long as the color has a complementary color relationship with the color of blood. Alternatively, light other than laser light that has a complementary color relationship with the color of blood may be irradiated. The first light source unit 31a may irradiate light of the same color as the second light source unit 31b. The first light source unit 31a may also irradiate light of a different color from the second light source unit 31b, as long as the color of the light has a complementary color relationship with the color of blood.

[0090] The first light source unit 31a and the second light source unit 31b can respectively irradiate light of a color having a contrasting color relationship with the color of blood. Here, "contrasting color" refers to a color that has contrasting properties with a specific color in terms of hue, brightness, and saturation. For example, the first light source unit 31a and the second light source unit 31b can irradiate lasers of contrasting colors known as red, such as cyan, yellow-green, blue, or violet. Alternatively, light of a contrasting color of the color of blood other than laser light can also be irradiated. The first light source unit 31a can irradiate light of the same color as the second light source unit 31b. Alternatively, the first light source unit 31a can also irradiate light of a different color from the second light source unit 31b, as long as the color of the light has a contrasting color relationship with the color of blood.

[0091] The first light source unit 31a is configured so that the shape of the projected light is a cross. Hereinafter, the shape of the projection image of the light from the first light source unit 31a is also referred to as a projection shape 35a. The second light source unit 31b is configured so that the shape of the projected light is a cross. Hereinafter, the shape of the projection image of the light from the second light source unit 31b is also referred to as a projection shape 35b. As long as the operator can recognize the intersection position of the first optical axis 33a of the first light source unit 31a and the second optical axis 33b of the second light source unit 31b, either the projection shape 35a or the projection shape 35b can be configured in a shape other than a cross. Hereinafter, the position where the first optical axis 33a intersects with the second optical axis 33b is also referred to as an intersection position 44.

[0092] For example, the first light source unit 31a may be configured so that its projection shape 35a is a cross, and the second light source unit 31b may be configured so that its projection shape 35b is a shape other than a cross, such as a circle. Alternatively, for example, the second light source unit 31b may be configured so that its projection shape 35b is a cross, and the first light source unit 31a may be configured so that its projection shape 35a is a shape other than a cross, such as a circle. As long as the operator can recognize the shapes of the intersection position 44, the first light source unit 31a and the second light source unit 31b may be configured so that their respective projection shapes 35a and projection shapes 35b are shapes other than a cross.

[0093] A second light irradiation unit 60 (see FIG. 1 ) is provided on the lower side surface 61 of the base 14 facing the floor 80. Figure 1 and Figure 3). The second light irradiation unit 60 is a portion that irradiates magenta laser light toward the floor 80. Here, magenta is a color that is complementary to green. Generally, the floors of operating rooms are mostly made of green floor materials or painted green. That is, the second light irradiation unit 60 irradiates magenta laser light that is complementary to the green floor 80. The second light irradiation unit 60 may be a portion that irradiates laser light of other colors that are known to be complementary to green. Alternatively, it may be an irradiation unit that irradiates light of a color other than laser light that is known to be complementary to green.

[0094] Alternatively, the second light irradiation unit 60 may be a portion that irradiates a laser of a color known to have a contrasting color relationship with green. For example, the second light irradiation unit 60 may be a portion that irradiates light of a color such as magenta or red. Alternatively, the second light irradiation unit 60 may be an irradiation unit that irradiates light of a color other than laser that is known to be a contrasting color with green.

[0095] The second light irradiation unit 60 is provided on an axis 60A passing through the rotation center of the base 14 and perpendicular to the floor 80 (see Figure 1 , Figure 3 ). In other words, the second light irradiation unit 60 is arranged directly below the rotation center of the base 14 .

[0096] In order to properly ensure the movable range of the robot arm 13a, the control unit 3 controls the robot arm 13a so that the distance between the second light irradiation unit 60 and the first light irradiation unit 30a in the horizontal direction becomes a predetermined distance. Fig. 9 As shown, the control unit 3 controls to change the position of the front side portion 12a so that the distance between the axis 60A and the axis 37 becomes a predetermined distance d. The axis 37 passes between the first light source portion 31a and the second light source portion 31b and extends in a direction perpendicular to the floor 80.

[0097] That is, the control unit 3 controls the robot arm 13 a to operate according to the operation signal while maintaining the distance in the horizontal direction between the second light irradiation unit 60 and the first light irradiation unit 30 a at the predetermined distance d.

[0098] 2. Instructions for setting method

[0099] Hereinafter, the setting of the medical device 10 performed before starting the laparoscopic surgical operation using the surgical robot system 1 will be described. Specifically, the setting of the robot arm 13a to which the rigid endoscope 41a is to be connected will be described.

[0100] When the medical device 10 is installed, first, the patient 50 and the medical device 10 are aligned in a state where the rigid endoscope 41a is not connected to the connection portion 42a. The operator performs a predetermined operation on the cart portion 16 to move the medical device 10 and place it near the patient 50. When the medical device 10 is placed near the patient 50, the operator places the medical device 10 at a desired position while checking the projection position of the light from the second light irradiation portion 60 onto the floor 80.

[0101] For example, the operator generally moves the cart unit 16 so that the patient 50 and the medical device 10 maintain a desired distance while checking the distance between the projection position of the light from the second light irradiation unit 60 onto the floor 80 and the unillustrated hospital bed on which the patient 50 is placed. Alternatively, in the case where a mark for positioning is pre-set on the floor 80, the operator moves the cart unit 16 so that the light from the second light irradiation unit 60 is projected onto the mark. As described above, the robot arm 13a is controlled to move the front side portion 12a so that the distance between the second light irradiation unit 60 and the first light irradiation unit 30a becomes the predetermined distance d, so the operator adjusts the distance between the patient 50 and the medical device 10 in consideration of the predetermined distance d.

[0102] After performing the predetermined operation and switching the medical device 10 to the setting mode, the operator aligns the patient and the medical device. Specifically, the arm parts 22a, 24a and the front side part 12a are held, and the positioning is performed by manually changing the posture of the robot arm 13a or adjusting the position of the patient 50 so that the light from the first light irradiation part 30a is projected onto the surface of the desired position 54 on the patient 50. The desired position 54 is the part where the puncture device 52 is to be arranged on the abdomen of the patient 50 for surgery. Alternatively, the desired position 54 is the part where the puncture device 52 is arranged on the patient 50 when the puncture device 52 is already arranged on the patient 50. The desired position 54 includes an area inside the through hole 53 of the puncture device 52 arranged on the patient 50 that corresponds to the body surface of the patient 50.

[0103] When adjusting the position of the front side portion 12a and the position of the patient 50, as shown in FIG. Figure 6As shown in the figure, the position of the front side portion 12a and the position of the patient 50 are adjusted so that the projection shape 35a of the light of the first light source portion 31a and the projection shape 35b of the light of the second light source portion 31b are overlapped and projected on the surface of the desired position 54. That is, the operator performs the alignment in such a way that the intersection position 34 of the first optical axis 33a and the second optical axis 33b is projected on the surface of the desired position 54. The operator adjusts the position of the front side portion 12a or adjusts the position of the patient 50 so that the center part of the cross shape of the overlapped projection shapes 35a and 35b is projected on the surface of the desired position 54 on the patient.

[0104] When the desired position 54 is arranged on the side closer to the front side portion 12a than the intersection position 34, as shown in FIG. Figure 7 As shown in FIG. 1 , the projection shape 35a and the projection shape 35b are projected at different positions separated from each other. That is, when the desired position 54 is arranged on the side closer to the front side portion 12a than the arrangement position P1, as shown in FIG. Figure 7 As shown, the projected shape 35a and the projected shape 35b are projected at different positions separated from each other.

[0105] In the above case, the operator adjusts the position of the front side portion 12a and the position of the patient 50, respectively, so that the relative distance between the front side portion 12a and the desired position 54 becomes larger. Specifically, the relative distance between the front side portion 12a and the desired position 54 is adjusted by adjusting the position of the front side portion 12a so as to be located away from the patient or lowering the height of the bed (not shown).

[0106] In addition, when the desired position 54 is arranged on the side farther from the front side portion 12a than the intersection position 34, as shown in FIG. Figure 8 As shown in FIG. 1 , the projection shape 35a and the projection shape 35b are projected at different positions separated from each other. That is, when the desired position 54 is arranged on a side farther from the front side portion 12a than the arrangement position P1, as shown in FIG. Figure 7 As shown, the projected shape 35a and the projected shape 35b are projected at different positions separated from each other.

[0107] In the above case, the operator adjusts the position of the front side portion 12a and the position of the patient 50, respectively, so that the relative distance between the front side portion 12a and the desired position 54 becomes smaller. Specifically, the relative distance between the front side portion 12a and the desired position 54 is adjusted by adjusting the position of the front side portion 12a so as to be located closer to the patient, or by raising the height of a hospital bed not shown. That is, by projecting the projection shape 35a and the projection shape 35b onto the desired position 54, the configuration position P1 and the desired position 54 can be accurately aligned in the height direction. In other words, the configuration position P1 and the desired position 54 can be accurately aligned in the irradiation direction of the light of the first light irradiation unit 30a. Here, the irradiation direction of the light of the first light irradiation unit 30a can be said to be the direction extending from the axis 38 that passes through the intersection position 34 and is orthogonal to the floor side surface 17a on the plane including the first optical axis 33a and the second optical axis 33b (refer to Figure 6 , 7 and 8).

[0108] After setting the robot arm 13a, the puncture device 52 is placed on the patient at the desired position 54. Specifically, the operator cuts the center portion of the cross shape of the projection shapes 35a and 35b overlapped and projected onto the desired position 54, and inserts the puncture device 52 into the abdomen of the patient 50 that has been cut open.

[0109] The trocar 52 is a medical instrument used in laparoscopic surgery or the like, and is used to provide a through hole 53 at a desired site on the patient 50 , the through hole 53 penetrating the abdominal wall from the skin side and leading to the abdominal cavity 51 .

[0110] After the puncture device 52 is placed on the patient 50, the rigid endoscope 41a is connected to the connecting portion 42a. Figure 4 As shown, the rigid endoscope 41a is connected to the connecting portion 42a in a state where the front side of the rigid endoscope 41a is inserted into the abdominal cavity 51 via the through hole 53 of the trocar 52. When the rigid endoscope 41a is connected to the connecting portion 42a, the position of the front side portion 12a is adjusted so that the through hole 53 is in a state where it is arranged at the desired position 54, and then the rigid endoscope 41a is connected, wherein the projection shape 35a and the projection shape 35b are overlapped and projected at the desired position 54. When the rigid endoscope 41a is connected to the connecting portion 42a, the pivot point 45 of the rigid endoscope 41a is in a state where it is arranged inside the through hole 53. That is, the pivot point 45 is in a state where it is arranged at the desired position 54.

[0111] 4. Instructions during the surgery

[0112] When the operator operates the operation unit 2, the robot arm 13a operates according to the operation signal from the control unit 3. For example, when the operator performs a predetermined operation on the operation unit 2, the robot arm 13a operates according to the operation signal to change the posture of the rigid endoscope 41a.

[0113] For example, when the operator operates the operating unit 2 to change the field of view of the rigid endoscope 41a, the posture of the rigid endoscope 41a is changed so that the front side of the rigid endoscope 41a faces the desired direction. That is, by operating the robot arm 13a according to the operation signal, the rigid endoscope 41a rotates with the pivot point 45 as the rotation center, so that the front side of the rigid endoscope 41a faces the desired direction. In other words, the field of view of the rigid endoscope 41a changes in a certain direction according to the operation of the operator.

[0114] According to the medical device 10 of the above configuration, when alignment is performed, light is irradiated from the first light irradiation unit 30a toward a preset direction. Therefore, it is easy to perform alignment operation between the patient 50 and the medical device 10. More specifically, when the rigid endoscope 41a is connected to the connection unit 42a, light is irradiated from the first light irradiation unit 30a toward the configuration position P1 where the pivot point 45 is configured. Therefore, it is easy to perform alignment operation between the patient 50 and the medical device 10 so that the pivot point 45 (configuration position P1) and the desired position 54 on the patient are at the same position.

[0115] In addition, the first light irradiation unit 30a is provided on the front side portion 12a provided with the connection portion 42a. That is, the first light irradiation unit 30a is arranged near the rigid endoscope 41a connected thereto. Therefore, it is easy to perform the alignment operation between the patient 50 and the medical device 10. In addition, since the first light irradiation unit 30a is provided on the front side portion 12a, when the operator performs alignment, it is not easy for a part of the robot arm 13a to enter between the first light irradiation unit 30a and the desired position 54, thereby blocking the light from the first light irradiation unit 30a. In addition, it is not easy for a part of the body of the operator (assistant) performing alignment to enter between the first light irradiation unit 30a and the desired position 54, thereby blocking the light from the first light irradiation unit 30a. In addition, since the first light irradiation unit 30a is provided on the front side portion 12a located near the desired position 54, even if the configuration position of the robot arm 13a is changed, the irradiation position of the light from the first light irradiation unit 30a will not be greatly shifted. Furthermore, even if the irradiation position of the light from the first light irradiation unit 30a is offset, the positional offset can be easily corrected by only correcting the position of the front side portion 12a. In other words, the patient and the medical device can be easily and efficiently aligned. Furthermore, alignment can be performed accurately.

[0116] By enabling accurate positioning, it is possible to suppress unnecessary burdens on the patient when the position of the rigid endoscope 41a is changed. Thus, it is possible to suppress the following situation, that is, due to inaccurate positioning, when the posture of the rigid endoscope 41a is changed, the part of the rigid endoscope 41a disposed inside the through hole 53 of the puncture device 52 moves, thereby causing unnecessary burdens on the patient.

[0117] In addition, the first light irradiation section 30a is composed of the first light source section 31a and the second light source section 31b. Moreover, the first light source section 31a and the second light source section 31b are configured so that the first optical axis 33a and the second optical axis 33b intersect at a relative position at a predetermined distance from the first light source section 31a and the second light source section 31b. In other words, the first light source section 31a and the second light source section 31b are configured so that the first optical axis 33a and the second optical axis 33b intersect at positions that are relatively separated from the first light source section 31a and the second light source section 31b by a predetermined distance. Therefore, it is easy to accurately align the light of the first light irradiation section 30a in the irradiation direction (height direction). In addition, for example, by configuring the first light source unit 31a and the second light source unit 31b in such a manner that the first optical axis 33a and the second optical axis 33b intersect at the configuration position P1, it is possible to easily accurately align the desired position 54 and the pivot action point 45 on the patient 50 in the irradiation direction (height direction) of the light of the first light irradiation unit 30a.

[0118] The first light source section 31a and the second light source section 31b are arranged side by side in a direction intersecting the direction from the base 14 toward the front side section 12a. Therefore, when the operator performs alignment by, for example, moving the front side section 12a away from the base 14 or moving the front side section 12a toward the base 14, the operator can easily perform the alignment operation. That is, when the position of the front side section 12a is adjusted by moving it closer to or farther from the base 14, the alignment operation is easy to perform so that the projection shape 35a and the projection shape 35b are overlapped and projected at the desired position 54.

[0119] The first light source unit 31a and the second light source unit 31b are configured so that at least one of the projection shape 35a and the projection shape 35b is in the shape of a cross. Therefore, in the case where accurate alignment is not performed, the operator can easily identify the degree of misalignment between the position of the intersection position 34 and the position of the desired position 54 based on the cross-shaped projection image. Therefore, the operator can easily perform the alignment operation between the patient 50 and the medical device 10. In addition, by configuring the first light source unit 31a and the second light source unit 31b so that the projection shape 35a and the projection shape 35b are both in the shape of a cross, it is easier to identify the degree of misalignment between the position of the intersection position 34 and the position of the desired position 54. In other words, the operator can more easily perform the alignment operation between the patient 50 and the medical device 10.

[0120] The medical device 10 includes a movable cart unit 16. Therefore, the medical device 10 can be moved to a desired position. In addition, the placement position of the medical device 10 relative to the patient 50 can also be adjusted.

[0121] Furthermore, a second light irradiation unit 60 is provided on the lower side surface 61 of the base 14. By checking the light from the second light irradiation unit 60 projected onto the floor 80, the distance between the medical device 10 and the patient 50 can be easily grasped. In other words, the operation of placing the medical device 10 near the patient 50 is easy.

[0122] The robot arm 13a moves the position of the front side portion 12a so that the distance between the first light irradiation unit 30a and the second light irradiation unit 60 becomes a predetermined distance. Therefore, the robot arm 13a and the patient 50 can be aligned while ensuring the movable range of the robot arm 13a.

[0123] The first light source unit 31a irradiates red complementary color light and / or red contrast color light. That is, the first light source unit 31a and the second light source unit 31b irradiate red complementary color light and / or red contrast color light respectively. The puncture device 52 is set on the patient's abdomen through the incision tissue. Therefore, the patient's blood is often present at the position where the light of the first light source unit 31a is projected. Since blood is red, it is easy for the operator who performs alignment to identify the red complementary color light and the contrast color light. Therefore, the operator can easily align the robot arm 13a and the patient.

[0124] The second light irradiation unit 60 irradiates green complementary color light and / or green contrast color light. Generally, the floor of an operating room where laparoscopic surgery is performed is often green. Therefore, when the green complementary color light and / or green contrast color light from the second light irradiation unit 60 is projected, the operator who performs alignment can easily recognize the light from the second light irradiation unit 60 projected onto the green floor 80. That is, the operator can easily align the patient 50 and the medical device 10.

[0125] The technical scope of the present disclosure is not limited to the above-described embodiments, and various modifications can be made without departing from the gist of the present disclosure.

[0126] For example, the first light irradiation unit 30a may be provided on the front side portion 12b. Thus, the puncture device 52 for inserting the surgical instrument 41b can be provided at an appropriate position. Similarly, the first light irradiation unit 30a may be provided on the front side portion 12c.

[0127] In addition, the present disclosure is not limited to the above-mentioned embodiments as long as it complies with the disclosed purport of the above-mentioned embodiments. Therefore, it can be a structure composed of at least two of the above-mentioned multiple embodiments, or it can be a structure in which any one of the constituent elements illustrated in the above-mentioned embodiments is abolished, or it can be a structure in which any one of the constituent elements illustrated in the above-mentioned embodiments is abolished.

[0128] The present disclosure can be provided by, for example, the following items.

[0129] (Item 1)

[0130] A medical device that arranges a pivot point of a connected medical device at a desired position on a patient's body surface, the medical device comprising:

[0131] base;

[0132] A connecting portion, the connecting portion being connected to the medical device;

[0133] a front side portion, the front side portion comprising the connecting portion; and

[0134] a supporting portion connected to both the base portion and the front side portion and configured to change the posture of the medical device to a desired posture with the pivoting action point as a rotation center, and

[0135] The front side portion includes a first light irradiation portion configured to irradiate light in a predetermined direction when the pivoting operation point is arranged.

[0136] (Item 2)

[0137] The medical device according to item 1 is characterized in that

[0138] The first light irradiation unit includes a first light source unit and a second light source unit.

[0139] The first light source section and the second light source section are arranged such that a first optical axis of the first light source section and a second optical axis of the second light source section intersect at relative positions at a predetermined distance from the first light source section and the second light source section.

[0140] (Item 3)

[0141] The medical device according to item 2 is characterized in that

[0142] The first light source section and the second light source section are arranged side by side in a direction intersecting a direction from the base section toward the front side section.

[0143] (Item 4)

[0144] The medical device according to item 2 or 3, characterized in that

[0145] At least one of the first light source unit and the second light source unit is configured so that the shape of the projected light is a cross.

[0146] (Item 5)

[0147] The medical device according to any one of items 1 to 4, characterized in that

[0148] The medical device further includes a cart portion, on which the base portion is mounted, and the cart portion is movable.

[0149] The base portion includes a second light irradiation portion configured to irradiate light toward a floor on which the cart portion is arranged.

[0150] (Item 6)

[0151] The medical device according to item 5 is characterized in that

[0152] The support portion changes the position of the front side portion so that the distance between the first light irradiation portion and the second light irradiation portion becomes a predetermined distance.

[0153] (Item 7)

[0154] The medical device according to any one of items 1 to 6, characterized in that

[0155] The first light irradiation unit irradiates red complementary color light and / or red contrast color light.

[0156] (Item 8)

[0157] The medical device according to any one of items 5 to 7, characterized in that

[0158] The second light irradiation unit irradiates green complementary color light and / or green contrast color light.

Claims

1. A medical device, wherein a pivot point of a connected medical device is arranged at a desired position on a patient's body surface, the medical device comprising: base; A connecting portion, the connecting portion being connected to the medical device; a front side portion, the front side portion comprising the connecting portion; and a supporting portion connected to both the base portion and the front side portion and configured to change the posture of the medical device to a desired posture with the pivoting action point as a rotation center, and The front side portion includes a first light irradiation portion configured to irradiate light in a predetermined direction when the pivoting operation point is arranged.

2. The medical device according to claim 1, characterized in that: The first light irradiation unit includes a first light source unit and a second light source unit. The first light source section and the second light source section are arranged such that a first optical axis of the first light source section and a second optical axis of the second light source section intersect at relative positions at a predetermined distance from the first light source section and the second light source section.

3. The medical device according to claim 2, characterized in that: The first light source section and the second light source section are arranged side by side in a direction intersecting a direction from the base section toward the front side section.

4. The medical device according to claim 2, characterized in that: At least one of the first light source unit and the second light source unit is configured so that the shape of the projected light is a cross.

5. The medical device according to any one of claims 1 to 4, characterized in that: The medical device further includes a cart portion, on which the base portion is mounted, and the cart portion is movable. The base portion includes a second light irradiation portion configured to irradiate light toward a floor on which the cart portion is arranged.

6. The medical device according to claim 5, characterized in that: The support portion changes the position of the front side portion so that the distance between the first light irradiation portion and the second light irradiation portion becomes a predetermined distance.

7. The medical device according to claim 1 or 2, characterized in that: The first light irradiation unit irradiates red complementary color light and / or red contrast color light.

8. The medical device according to claim 5, characterized in that: The second light irradiation unit irradiates green complementary color light and / or green contrast color light.

Images