Medical device

Abstract

The present disclosure provides a medical device capable of accurately performing positioning and the like of a medical instrument and a patient. The medical device of the present disclosure configures a pivot action point of a medical instrument at a desired position on a patient's body surface. The medical device has a base, a connecting portion, a front portion, and a supporting portion, wherein the supporting portion is connected to both the base and the front portion, and changes a posture of the medical instrument to a desired posture with the pivot action point as a rotation center, and the front portion has a first light irradiation portion that irradiates light toward a direction set in advance.

Description

Technical Field

[0001] This disclosure relates to a medical device that positions the pivot point of a connected medical instrument at a desired location on the patient's body surface and supports the medical instrument in a desired posture. Background Technology

[0002] Laparoscopic surgery using master-slave surgical robot systems is now widespread. Generally, a surgical robot system includes a patient-side unit located near the patient and an operating unit operated by the surgeon.

[0003] In laparoscopic surgery using this surgical robot system, medical instruments with a slender shaft, such as endoscopes or forceps, are used via a robotic arm connected to the patient's side unit. The anterior portion of the connected medical instrument is inserted into the abdominal cavity through a trocar that penetrates the patient's abdominal wall.

[0004] The surgeon operates the control unit, causing the robotic arm on the patient side and the medical instruments connected to it to perform actions corresponding to the operation, thereby providing the desired treatment to the patient's target area. By changing the posture of the robotic arm according to the surgeon's operation, the position and angle of the medical instruments connected to the robotic arm relative to the patient are also changed.

[0005] Because the medical device, connected to the robotic arm, is inserted into the patient's abdominal cavity via a trocar, its range of motion is limited to a predetermined range. Furthermore, the angle of the medical device relative to the patient is also limited to a predetermined range.

[0006] The aforementioned limitations are caused, for example, by the position of the medical device relative to the placement of the puncture device on the patient, the position of the robotic arm relative to the patient, and the range of motion of the robotic arm.

[0007] Therefore, the robotic arm, the medical instruments connected to the robotic arm, and the trocar must be accurately aligned before surgery. In other words, before starting surgery using the surgical robot system, the relative positions of the medical instruments with respect to the trocar placed on the patient, and the relative positions of the robotic arm with respect to the patient, need to be adjusted to ensure they are in the appropriate positional relationship.

[0008] Generally, in laparoscopic surgery using a surgical robot system, alignment is achieved using a positioning light source. For example, a laser light source is used to illuminate the location where the trocar needs to be placed, thereby aligning the patient and the surgical robot system.

[0009] For example, Patent Document 1 discloses a medical robotic arm system comprising an alignment device for aligning a robotic arm and a trocar, wherein the robotic arm supports surgical instruments such as endoscopes and forceps in a desired posture, and the trocar is used for inserting the surgical instruments. In this medical robotic arm system, the position of the surgical instruments connected to the medical robotic arm system and the angle of the surgical instruments relative to the patient are changed by operating a linkage mechanism located on the front side of the arm component. The alignment device is used to align the fixed point of the linkage mechanism with the position of the trocar. The alignment device is provided with a light source (irradiation unit) that illuminates light onto the fixed point of the linkage mechanism. The operator performing the alignment uses the light irradiated from the light source as a reference to align the fixed point of the linkage mechanism with the position of the trocar.

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

[0011] Existing technical documents

[0012] Patent documents

[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] The problem the invention aims to solve

[0016] In the aforementioned prior art, the light source is positioned far from the surgical instruments, which sometimes makes efficient and accurate alignment difficult. For example, in the technologies disclosed in Patent Documents 1 and 2, the light source is positioned far from the alignment target position to which the light is projected, which may cause part of the linkage mechanism or part of the operator's body to enter between the alignment target position and the light source, potentially blocking the light emanating from the light source. Furthermore, in the technology described in Patent Document 1, since the light source is positioned on the front side of the arm component far from the surgical instruments, even slight movement of the arm component can sometimes cause a significant shift in the position where the light illuminates the alignment target position.

[0017] This disclosure provides an example of a medical device capable of efficiently and accurately aligning a medical device with a patient.

[0018] Problem Solving Methods

[0019] The medical device disclosed herein is a device for positioning the pivot point of a connected medical instrument at a desired location on the patient's body surface. It includes a base; a connecting portion connected to the medical instrument; a front portion having the connecting portion; and a support portion connected to both the base and the front portion. The device rotates the medical instrument to the desired posture around the pivot point as a rotation center. Furthermore, the front portion includes a first light irradiation portion that irradiates light in a predetermined direction when the pivot point is positioned.

[0020] According to the medical device of this disclosure, when the pivot point of the connected medical instrument is positioned at a desired location on the patient's body surface, light is irradiated from the first light irradiation unit in a predetermined direction. Therefore, adjustment operations are easily performed, allowing the pivot point, which serves as the center of rotation, to be positioned at the desired location on the patient when the posture of the medical instrument is changed. Hereinafter, adjusting the posture or position of the medical device or adjusting the patient's position to position a specific part of the medical device at the desired location on the patient is referred to as "patient-medical device alignment" or simply "alignment." According to the medical device of this disclosure, alignment can be performed with reference to the projection position of light from the first light irradiation unit, thus allowing the surgical assistant (hereinafter also referred to as the operator) performing the patient-medical device alignment operation to be easily performed.

[0021] Furthermore, since the first light irradiation unit is located on the front side of the connection portion for connecting to the medical device, alignment is easily performed. In other words, the distance between the desired position on the patient and the first light irradiation unit is short, alignment is easy. Moreover, during alignment, it is less likely that part of the operator's body or support portion will enter between the first light irradiation unit and the patient. That is, during alignment, it is less likely that part of the operator's body or support portion will block the light from the first light irradiation unit. Therefore, the operator can effectively align the patient and the medical device.

[0022] In the above configuration, it is preferable that the first light irradiation unit includes 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 such that the first optical axis of the first light source unit and the 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] Based on the above configuration, accurate alignment of the patient and the medical device can be achieved. In other words, by positioning the patient's desired position at the location where the projected images generated by light from the first light source and the second light source overlap, accurate alignment in the direction of light propagation (light irradiation direction) from the first light irradiation unit can be achieved. For example, if the first and second light sources are configured such that the first and second optical axes intersect at a pivot point, the operator can use the intersection of the first and second optical axes as a reference to accurately align the pivot point to the desired position on the patient. In other words, accurate alignment of the patient's desired position and the medical device in the light irradiation direction of the first light irradiation unit is possible.

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

[0025] Based on the above configuration, alignment can be easily performed by moving the anterior portion away from the base or moving it closer to the base. In other words, when the operator performs alignment by moving the anterior portion away from the base or moving it closer to the base, the operator can easily perform alignment so that the patient's desired position is positioned at the location where the light from the first light source portion and the light from the second light source portion overlap and project.

[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 such that the shape of the projected light is cross-shaped.

[0027] Based on the above configuration, the operator can easily identify the intersection of the first and second optical axes. In other words, the operator can easily perform alignment operations to position the patient at the intersection of the first and second optical axes. For example, when the projection shape of the light from the first light source is cross-shaped, the operator can determine the degree and direction of misalignment by comparing the center position of the cross-shaped image projected from the first light source with the center position of the image projected from the second light source. Similarly, when the projection shape of the light from the second light source is cross-shaped, the operator can determine the degree and direction of misalignment by comparing the center position of the cross-shaped image projected from the second light source with the center position of the image projected from the first light source. Therefore, the operator can easily and accurately perform alignment by aligning the centers of the projection images of each light source. When the projection shape of the light from the first light source and the projection shape of the light from the second light source are both set to a cross shape, the operator can more easily perform accurate alignment by aligning the center of the cross-shaped projection image of the first light source with the center of the cross-shaped projection image of the second light source at the same position.

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

[0029] Based on the above configuration, the light emanating from the second light irradiation unit is projected onto the floor where the trolley unit is located. The operator can easily determine the relationship between the patient's position and the position of the medical device by confirming the position of the light projected onto the floor. Furthermore, the operator can adjust the position of the medical device relative to the patient by moving the trolley unit.

[0030] In the above configuration, it is preferable 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.

[0031] Based on the above configuration, the distance between the first light irradiation section and the second light irradiation section can be kept constant. In other words, the position of the front part of the support section is changed so that the distance between the front part and the base is a predetermined distance. By maintaining the distance between the front part and the base at a predetermined distance, the limitation of the movable range of the support section can be prevented. For example, it can be prevented that the movable range of the support section is unnecessarily limited due to a short distance between the front part and the base.

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

[0033] Based on the above configuration, even if light from the first light irradiation unit is projected onto a portion of the patient's body covered by the patient's blood, the operator can easily identify the position of the projected light. In other words, even if the desired location on the patient's body is covered by blood, the operator can accurately perform the alignment operation between the patient and the medical device. Furthermore, the alignment operation between the patient and the medical device is easy to perform.

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

[0035] Typically, operating room floors are painted green or made of green flooring material. Therefore, when the second illumination unit illuminates green complementary light and / or green contrasting light, the operator can easily identify the light projected onto the green floor. In other words, the operator can accurately align the patient and medical devices. Furthermore, aligning the patient and medical devices is facilitated.

[0036] The effects of the invention

[0037] According to this disclosure, a medical device can be provided that can accurately and easily align a medical device with a patient. Attached Figure Description

[0038] Figure 1 This is an external drawing illustrating the medical device disclosed herein.

[0039] Figure 2 This is a diagram illustrating the first light irradiation section of the medical device of this disclosure.

[0040] Figure 3 This is a diagram illustrating the second light irradiation section of the medical device disclosed herein.

[0041] Figure 4 This is a diagram illustrating the state in which a medical device is connected to the medical apparatus of this disclosure.

[0042] Figure 5 This is a diagram illustrating the relationship between the light irradiated from the first light source and the light irradiated from the second light source in this disclosure.

[0043] Figure 6 This is a diagram illustrating the state of proper alignment.

[0044] Figure 7 This is a diagram illustrating an example of a state where the alignment was not performed properly.

[0045] Figure 8 This is a diagram illustrating an example of other states where the alignment was not performed properly.

[0046] Figure 9 This diagram illustrates the relationship between the first light irradiation section and the second light irradiation section of this disclosure.

[0047] Explanation of reference numerals in the attached figures

[0048] 1…surgical robot system; 2…operating unit; 3…control unit;

[0049] 10…Patient-side unit (medical device); 12a, 12b, 12c…Anterior part;

[0050] 13a, 13b, 13c…robotic arm; 14…base; 15…base support; 16…trolley section;

[0051] 17a, 17b, 17c… Floor side surfaces; 21a, 21b, 21c… Joints;

[0052] 30…First light irradiation section; 31a…First light source section; 31b…Second light source section;

[0053] 33a…First optical axis; 33b…Second optical axis; 34…Intersection position;

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

[0055] 41b, 41c… Surgical instruments (medical devices); 42a, 42b, 42c… Connecting parts;

[0056] 45…pivot point; 50…patient; 51…abdominal cavity; 52…trocar; 53…through-hole;

[0057] 54…Desired position; 60…Second light irradiation section; 61…Lower side; 80…Floor Detailed Implementation

[0058] The following is for reference Figures 1 to 9 A medical device according to one embodiment of this disclosure will be described. Furthermore, the arrows and diagonal lines indicating direction in the various figures are annotations for ease of understanding the interrelationships of the figures and the shapes of components or parts. Therefore, the technical content shown in this disclosure is not limited to the directions indicated in the figures. Figures marked with diagonal lines do not necessarily represent sectional views.

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

[0060] The operating unit 2 is an operating device operated by the surgeon. The control unit 3 is mainly the part that controls the medical device 10 according to the operations performed on the operating unit 2. The control unit 3 outputs operation signals according to the operations performed on the operating unit 2 and controls the robotic arms 13a, 13b, and 13c.

[0061] The control unit 3 also has the function of switching the operating mode of the medical device 10. The operating modes of the medical device 10 include an operating mode that executes actions according to operating signals, and a setting mode where settings are made by an assistant located near the patient. When the medical device 10 is switched to the setting mode, the assistant (operator) controls the medical device 10 so that the configuration positions of the robotic arms 13a, 13b, and 13c can be manually changed. In other words, the medical device 10 can be controlled so that the configuration positions of the robotic arms 13a, 13b, and 13c can be changed by the assistant applying force to specific parts of the robotic arms 13a, 13b, and 13c without requiring operation of the operating unit 2.

[0062] exist Figure 1 For ease of explanation, the control unit 3 is shown as a separate unit. However, the operation unit 2 may also be configured to have the function of the control unit 3. Alternatively, the medical device 10 may be configured to have the function of the control unit 3. Or, the medical device 10 and the operation unit 2 may each have the function of the control unit 3.

[0063] 1. Explanation of the composition

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

[0065] like Figure 1As shown, the robotic arm 13a is a multi-joint arm composed of columnar arm parts 22a and 24a and joint parts 21a, 23a, and 25a. Arm parts 22a and 24a are connected to each other in a rotatable manner via joint parts 23a disposed therebetween. The base of arm part 24a is connected to the base 14 in a rotatable manner relative to the base 14 via joint parts 25a. The front part 12a is connected to the front of arm part 22a in a rotatable manner relative to arm part 22a via joint parts 21a.

[0066] Actuators (not shown) are respectively provided on joint components 21a, 23a, and 25a. In the robotic arm 13a, each actuator is actuated according to an operation signal from the control unit 3, thereby changing the position of arm components 22a and 24a relative to the base 14. That is, according to the operation signal from the control unit 3, each actuator is actuated, thereby changing the posture of the robotic arm 13a. Specifically, it changes the arrangement position of arm components 22a and 24a, the angle formed between arm components 22a and 24a, and the angles of arm components 22a and 24a relative to the base 14 and the front part 12a. By changing the posture of the robotic arm 13a according to the operation signal from the control unit 3, the front part 12a is moved in the desired direction.

[0067] Robotic arms 13b and 13c have the same structure as robotic arm 13a. For example... Figure 1 As shown, the robotic arm 13b is composed of columnar arm components 22b and 24b, and joint components 21b, 23b, and 25b. The base of the robotic arm 13b is connected to the base 14 via the joint component 25b in a manner that allows it to rotate relative to the base 14. Furthermore, the front portion 12b is connected to the front of the robotic arm 13b via the joint component 21b in a manner that allows it to rotate relative to the arm component 22b.

[0068] Actuators (not shown) are respectively provided on joint components 21b, 23b, and 25b. Similar to robotic arm 13a, in robotic arm 13b, each actuator is actuated according to the operation signal from control unit 3, thereby changing the posture of robotic arm 13b.

[0069] like Figure 1 As shown, the robotic arm 13c is composed of columnar arm components 22c and 24c, and joint components 21c, 23c, and 25c. The base of the robotic arm 13c is connected to the base 14 via the joint component 25c in a manner that allows it to rotate relative to the base 14. Furthermore, the front portion 12c is connected to the front of the robotic arm 13c via the joint component 21c in a manner that allows it to rotate relative to the arm component 22c.

[0070] Actuators (not shown) are respectively provided on joint components 21c, 23c, and 25c. Similar to robotic arm 13a, in robotic arm 13c, each actuator is actuated according to an operation signal from control unit 3, thereby changing the posture of robotic arm 13c. Robotic arms 13a, 13b, and 13c are an example of a support portion. The configuration of robotic 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. For example... Figure 4 As shown, a medical device 41a with an axial shape is connected to a connecting portion 42a. A rigid endoscope can be cited as an example of a medical device 41a connected to the connecting portion 42a. Other medical devices with an axial shape besides rigid endoscopes can also be connected to the connecting portion 42a. Hereinafter, the medical device 41a will also be referred to as a rigid endoscope 41a. The rigid endoscope 41a is connected to the connecting portion 42a in such a way that the angle formed between the longitudinal direction of the rigid endoscope 41a and the floor-side surface 17a of the front portion 12a is a predetermined angle. The floor-side surface 17a is the portion (surface) of the front portion 12a facing the floor 80 during use (see reference). 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 for connecting to the medical device 41b. An instrument with an end effector provided on the front side of its shaft-shaped component is connected to the connecting portion 42b. A clamping forceps with a clamping portion provided on the front side of its shaft-shaped component can be cited as an example of the medical device 41b. Hereinafter, the medical device 41b will also be referred to as a surgical instrument 41b. The surgical instrument 41b is connected to the connecting portion 42b in such a way that the angle formed between the extending direction of the shaft-shaped component of the surgical instrument 41b and the floor-side surface 17b is a predetermined angle. The floor-side surface 17b is the portion (surface) of the front side portion 12b facing the floor 80 during use (see reference). Figure 1 ).

[0073] A connecting portion 42c is provided on the front side portion 12c. The connecting portion 42c is a connection adapter for connecting to the medical device 41c. An instrument with an end effector provided on the front side of its shaft-shaped component is connected to the connecting portion 42c. A clamping forceps with a clamping portion provided on the front side of its shaft-shaped component can be cited as an example of the medical device 41c. Hereinafter, the medical device 41c will also be referred to as a surgical instrument 41c. The surgical instrument 41c is connected to the connecting portion 42c in such a way that the angle formed between the extending direction of the shaft-shaped component of the surgical instrument 41c and the floor-side surface 17c is a predetermined angle. The floor-side surface 17c is the portion (surface) of the front side portion 12c facing the floor 80 during use (see reference). Figure 1 ).

[0074] The rigid endoscope 41a and surgical instruments 41b and 41c are examples of medical devices. Examples of medical devices that connect to the connecting parts 42b and 42c include those with an end effector located on the front side of the axial component. The end effector, in addition to clamping forceps, includes electric scalpels, surgical scissors, and suture devices commonly used in laparoscopic surgery.

[0075] The robotic arm 13a operates according to an operation signal, with a specific portion of the rigid endoscope 41a connected to the connecting part 42a positioned at a desired location on the patient 50, so that the rigid endoscope 41a assumes the desired posture. Specifically, the robotic arm 13a operates according to the operation signal to position a specific portion of the rigid endoscope 41a at a desired location on the patient 50's body surface. Hereinafter, this specific portion of the rigid endoscope 41a will also be referred to as the pivot point 45. The desired location on the body surface includes not only a portion of the patient 50's body surface, such as the skin, but also the area inside the through-hole 53 of the trocar 52 used to puncture the patient 50's skin. In other words, the desired location on the body surface includes: the area inside the through-hole 53 of the trocar 52 on the patient 50 corresponding to the body surface, and an area slightly offset inward from the body surface.

[0076] In addition, the robotic arm 13a operates according to the operation signal so that the rigid endoscope 41a is in the desired position relative to the patient 50, wherein the pivot point 45 of the rigid endoscope 41a is positioned at the desired location on the patient 50.

[0077] In other words, the robotic arm 13a positions the pivot point 45 at the desired location on the patient 50, and, using the pivot point 45 at the desired location on the patient 50 as the center of rotation, controls the rigid endoscope 41a to change its posture according to the operation signal. In other words, with the pivot point 45 positioned at the desired location on the patient 50, the robotic arm 13a rotates the rigid endoscope 41a around the pivot point 45 as the center of rotation, and controls the rotation so that the relative angle between the rigid endoscope 41a and the patient 50 becomes the desired angle according to the operation signal.

[0078] Here, as Figure 4 As shown, the pivot point 45 is a part of the rigid endoscope 41a positioned inside the through-hole 53 of the trocar 52 located on the abdomen of the patient 50 when using the rigid endoscope 41a. 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 its length and purpose. Figure 4 As shown, the pivot point 45 is located on the rigid endoscope 41a at a predetermined distance D from the portion of the rigid endoscope 41a connected to the connecting portion 42a. The relative position of the pivot point 45 to the connecting portion 42a, the front portion 12a, etc., can be set based on other portions as long as the relative positional relationship between the pivot point 45 and these portions can be defined.

[0079] In the following text, the relative arrangement position of the pivot point 45 with respect to the connecting part 42a when the rigid endoscope 41a is connected to the connecting part 42a will also be referred to as the arrangement position P1. In other words, when the rigid endoscope 41a is connected to the connecting part 42a, the relative arrangement position of the pivot point 45 with respect to the connecting part 42a will also be referred to as the arrangement position P1.

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

[0081] Similarly, robotic arm 13b positions a specific part of the axial component of surgical instrument 41b at a desired location on the patient, and controls the rotation of the surgical instrument 41b around this specific part at the desired location on the patient to change its posture. Likewise, robotic arm 13c positions a specific part of the axial component of surgical instrument 41c at a desired location on the patient, and controls the rotation of the surgical instrument 41c around this specific part at the desired location on the patient to change its posture.

[0082] like Figure 1 As shown, the base 14 is connected to the base support 15, which has a columnar shape extending from the trolley portion 16. The base 14 is connected to the base support 15 in a manner that allows it to rotate freely relative to the base support 15 about axis 60A. Figure 1 and Figure 9 As shown by the dashed line, axis 60A is an axis that extends in a direction orthogonal to the floor 80.

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

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

[0085] The first light irradiation unit 30 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 in a direction intersecting the direction from the base 14 toward the front side portion 12a. The direction from the base 14 toward the front side portion 12a is... Figure 2 The arrow marked with an X in the middle indicates...

[0086] The first light source unit 31a and the second light source unit 31b are configured such that 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 intersect at a relative position at a predetermined distance from the first light source unit 31a and the second light source unit 31b. In other words, the first light source unit 31a and the second light source unit 31b are configured such that the first optical axis 33a and the second optical axis 33b intersect at a position at which they are respectively separated from the first light source unit 31a and the second light source unit 31b by a predetermined distance.

[0087] like Figure 5 As shown, the first light source portion 31a and the second light source portion 31b are respectively arranged such that the first optical axis 33a and the second optical axis 33b intersect at a position on the axis 43 at a distance D away from the connecting portion 42a toward the patient 50. In other words, as Figure 5 As shown, the first light source unit 31a and the second light source unit 31b are configured such that the first optical axis 33a and the second optical axis 33b intersect at the configuration position P1.

[0088] In other words, the first light source unit 31a and the second light source unit 31b are respectively configured such that, when the rigid endoscope 41a is connected to the connecting part 42a, the first optical axis 33a and the second optical axis 33b intersect at the position where the pivot point 45 is configured.

[0089] The first light irradiation unit 30 irradiates a laser with a color complementary to the color of blood, i.e., red. Specifically, the first light source unit 31a and the second light source unit 31b irradiate lasers with colors complementary to red. Here, complementary colors refer to colors located opposite each other on a straight line passing through a white point on a colorimetric diagram. Alternatively, complementary colors refer to colors located opposite each other on a color wheel. The first light source unit 31a irradiates a blue-green laser with a color complementary to red. Similarly, the second light source unit 31b irradiates a blue-green laser with a color complementary to red. The first light source unit 31a and the second light source unit 31b can also irradiate lasers of colors other than blue-green, as long as those colors are complementary to the color of blood. Alternatively, they can irradiate light other than laser light that is complementary to the color of blood. The first light source unit 31a can irradiate light of the same color as the second light source unit 31b. The first light source unit 31a can also irradiate light of a different color than the second light source unit 31b, as long as that color is complementary to the color of blood.

[0090] The first light source unit 31a and the second light source unit 31b can each illuminate light of a color that is a contrasting color to the color of blood. Here, "contrasting color" refers to a color that contrasts 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 illuminate laser light, such as blue-green, yellow-green, blue, or blue-violet, which are known to be contrasting colors to red. Alternatively, they can illuminate light of a color that is a contrasting color to the color of blood other than laser light. The first light source unit 31a can illuminate light of the same color as the second light source unit 31b. Alternatively, the first light source unit 31a can also illuminate light of a different color than the second light source unit 31b, as long as the color of that light is a contrasting color to the color of blood.

[0091] The first light source unit 31a is configured such that the projected light has a cross shape. Hereinafter, the shape of the projected image of the light from the first light source unit 31a will also be referred to as projection shape 35a. The second light source unit 31b is configured such that the projected light has a cross shape. Hereinafter, the shape of the projected image of the light from the second light source unit 31b will also be referred to as projection shape 35b. Either projection shape 35a or projection shape 35b can be configured in any shape other than a cross shape, as long as the operator can identify 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. Hereinafter, the position where the first optical axis 33a and the second optical axis 33b intersect will also be referred to as intersection position 44.

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

[0093] A second light irradiation part 60 is provided on the lower side 61 of the base 14 facing the floor 80 (see reference). Figure 1 and Figure 3The second light irradiation unit 60 is the part that irradiates a reddish-purple laser toward the floor 80. Here, reddish-purple is a color that is complementary to green. Generally, operating room floors are made of green flooring material or painted green. That is, the second light irradiation unit 60 irradiates a reddish-purple laser that is complementary to the green floor 80. The second light irradiation unit 60 could also be a part that irradiates a laser of another color known to be complementary to green. Alternatively, it could 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 light of a color known to be a contrasting color to green. For example, the second light irradiation unit 60 may be a portion that irradiates light of a color such as reddish-purple or red. Alternatively, the second light irradiation unit 60 may be an irradiation unit that irradiates light of a color other than laser light, known to be a contrasting color to green.

[0095] The second light irradiation unit 60 is disposed on an axis 60A that passes through the rotation center of the base 14 and is orthogonal to the floor 80 (see reference). Figure 1 , Figure 3 In other words, the second light irradiation unit 60 is positioned directly below the rotation center of the base 14.

[0096] To ensure the appropriate range of motion of the robotic arm 13a, the control unit 3 controls the robotic arm 13a so that the horizontal distance between the second light irradiation unit 60 and the first light irradiation unit 30 is a predetermined distance. Specifically, as follows... Figure 9 As shown, the control unit 3 controls the change in position of the front part 12a so that the distance between axis 60A and axis 37 becomes a predetermined distance d. Axis 37 is an axis that passes between the first light source part 31a and the second light source part 31b and extends in a direction orthogonal to the floor 80.

[0097] In other words, the control unit 3 controls the movement of the robotic arm 13a by maintaining the horizontal distance between the second light irradiation unit 60 and the first light irradiation unit 30 at a predetermined distance d, in accordance with the operation signal.

[0098] 2. Instructions for setting up

[0099] The following describes the setup of the medical device 10 before initiating laparoscopic surgery using the surgical robot system 1. Specifically, the setup of the robotic arm 13a to be connected to the rigid endoscope 41a will be described.

[0100] When setting up the medical device 10, firstly, the patient 50 and the medical device 10 are aligned with the rigid endoscope 41a not connected to the connecting part 42a. The operator performs a predetermined operation on the trolley part 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 confirms the projection position of the light from the second light irradiation part 60 onto the floor 80 while placing the medical device 10 at the desired position.

[0101] For example, while confirming the distance between the projection position of the light from the second light irradiation unit 60 onto the floor 80 and the unshown hospital bed on which the patient 50 is placed, the operator generally moves the trolley unit 16 to maintain the desired distance between the patient 50 and the medical device 10. Alternatively, if there are pre-set positioning marks on the floor 80, the operator moves the trolley unit 16 so that the light from the second light irradiation unit 60 is projected onto those marks. As described above, the operator controls the robotic arm 13a to move the front part 12a so that the distance between the second light irradiation unit 60 and the first light irradiation unit 30 becomes a predetermined distance d, and thus adjusts the distance between the patient 50 and the medical device 10 with reference to 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, while holding the arm components 22a, 24a and the front part 12a, alignment is achieved by manually changing the posture of the robotic arm 13a or adjusting the position of the patient 50, so that light from the first light irradiation unit 30 is projected onto the surface of the desired location 54 on the patient 50. The desired location 54 is the part on the abdomen of the patient 50 where the trocar 52 is positioned for surgery. Alternatively, the desired location 54 is the part on the patient 50 where the trocar 52 is already positioned. The desired location 54 includes the area inside the through-hole 53 of the trocar 52 positioned on the patient 50 that corresponds to the surface of the patient 50.

[0103] When adjusting the position of the anterior lateral 12a and the patient's 50, such as Figure 6As shown, the positions of the front portion 12a and the patient 50 are adjusted so that the projection shapes 35a and 35b of the light from the first light source 31a and the second light source 31b overlap and are projected onto the surface of the desired position 54. That is, the operator aligns the light source in such a way that the intersection point 34 of the first optical axis 33a and the second optical axis 33b is projected onto the surface of the desired position 54. The operator adjusts the position of the front portion 12a or the position of the patient 50 so that the central portion of the cross shape of the overlapping projection shapes 35a and 35b is projected onto the surface of the desired position 54 on the patient.

[0104] When the desired position 54 is positioned on the side closer to the front side 12a than the intersecting position 34, such as Figure 7 As shown, projection shapes 35a and 35b are projected at different, separate locations. That is, when the desired position 54 is positioned closer to the front side 12a than the position P1, as... Figure 7 As shown, projection shape 35a and projection shape 35b are projected at different positions that are separate from each other.

[0105] In the above situation, the operator adjusts the position of the anterior part 12a and the position of the patient 50 respectively, so that the relative distance between the anterior part 12a and the desired position 54 increases. Specifically, the relative distance between the anterior part 12a and the desired position 54 is adjusted by adjusting the position of the anterior part 12a to be located away from the patient, or by lowering the height of the bed (not shown).

[0106] Furthermore, when the desired position 54 is positioned on a side further away from the front side 12a than the intersecting position 34, such as Figure 8 As shown, projection shapes 35a and 35b are projected at different, separate locations. That is, when the desired position 54 is positioned on a side further away from the front side 12a than the configuration position P1, as... Figure 8 As shown, projection shape 35a and projection shape 35b are projected at different positions that are separate from each other.

[0107] In the above situation, the operator adjusts the position of the front part 12a and the position of the patient 50 respectively to reduce the relative distance between the front part 12a and the desired position 54. Specifically, the relative distance between the front part 12a and the desired position 54 is adjusted by adjusting the position of the front part 12a to be closer to the patient, or by raising the height of the bed (not shown). That is, by projecting the projection shapes 35a and 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 light irradiation direction of the first light irradiation unit 30. Here, the light irradiation direction of the first light irradiation unit 30 can be said to be the direction extending through the intersection position 34 and orthogonal to the floor side surface 17a on the plane including the first optical axis 33a and the second optical axis 33b (see reference). Figure 6 , 7 and 8).

[0108] After setting up the robotic arm 13a, the trocar 52 is positioned at the desired location 54 on the patient. Specifically, the surgeon cuts open the central portion of the cross shape of the overlapping projections 35a and 35b onto the desired location 54 and inserts the trocar 52 into the already cut abdomen of the patient 50.

[0109] The trocar 52 is a medical device used for laparoscopic surgery and the like, and is used to create a through hole 53 at the desired site on the patient 50, which penetrates the abdominal wall from the skin side and leads to the abdominal cavity 51.

[0110] After the trocar 52 is positioned on the patient 50, the rigid endoscope 41a is connected to the connector 42a. (As...) Figure 4 As shown, with the rigid endoscope 41a inserted into the abdominal cavity 51 via the through-hole 53 of the trocar 52 at its anterior side, the rigid endoscope 41a is connected to the connecting part 42a. When connecting the rigid endoscope 41a to the connecting part 42a, the position of the anterior part 12a is adjusted so that the through-hole 53 is positioned at the desired location 54. Then, the rigid endoscope 41a is connected, wherein the projection shapes 35a and 35b overlap and are projected onto the desired location 54. When the rigid endoscope 41a is connected to the connecting part 42a, the pivot point 45 of the rigid endoscope 41a is positioned inside the through-hole 53. That is, the pivot point 45 is positioned at the desired location 54.

[0111] 4. Instructions during the surgical procedure

[0112] When the surgical operator operates the operating unit 2, the robotic arm 13a moves in accordance with the operation signal from the control unit 3. For example, when the surgical operator performs a prescribed operation on the operating unit 2, the robotic arm 13a moves in accordance with the operation signal, thereby changing the posture of the rigid endoscope 41a.

[0113] For example, when the surgeon 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 of the rigid endoscope 41a faces the desired direction. That is, by operating the robotic arm 13a according to the operation signal, the rigid endoscope 41a rotates around the pivot point 45 as the center of rotation, thereby placing the front of the rigid endoscope 41a in a state where the front 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 surgeon.

[0114] According to the medical device 10 configured as described above, during alignment, light is irradiated from the first light irradiation unit 30 in a predetermined direction. Therefore, alignment of the patient 50 and the medical device 10 is easy. More specifically, when the rigid endoscope 41a is connected to the connecting part 42a, light is irradiated from the first light irradiation unit 30 towards the placement position P1 where the pivot point 45 is located. Therefore, alignment of the patient 50 and the medical device 10 is easy, so that the pivot point 45 (placement position P1) and the desired position 54 on the patient are in the same position.

[0115] Furthermore, the first light irradiation unit 30 is disposed on the front portion 12a where the connecting portion 42a is provided. That is, the first light irradiation unit 30 is positioned near the rigid endoscope 41a to which it is connected. Therefore, alignment of the patient 50 and the medical device 10 is facilitated. Furthermore, since the first light irradiation unit 30 is disposed on the front portion 12a, it is less likely that a portion of the robotic arm 13a will enter between the first light irradiation unit 30 and the desired position 54 during alignment, thus preventing the light from the first light irradiation unit 30 from being blocked. Furthermore, it is less likely that a portion of the operator's (assistant's) body will enter between the first light irradiation unit 30 and the desired position 54, thus preventing the light from the first light irradiation unit 30 from being blocked. Moreover, since the first light irradiation unit 30 is disposed on the front portion 12a near the desired position 54, even if the position of the robotic arm 13a is changed, the irradiation position of the light from the first light irradiation unit 30 will not shift significantly. Furthermore, even if the irradiation position of the light from the first light irradiation unit 30 shifts, the positional shift can be easily corrected by adjusting only the position of the front part 12a. In other words, alignment of the patient and the medical device can be performed easily and efficiently. Moreover, accurate alignment is possible.

[0116] By enabling accurate alignment, unnecessary strain on the patient can be suppressed when changing the position of the rigid endoscope 41a. This prevents the portion of the rigid endoscope 41a positioned inside the through-hole 53 of the trocar 52 from shifting when changing its position due to inaccurate alignment, thus avoiding unnecessary strain on the patient.

[0117] Furthermore, the first light irradiation unit 30 is composed of a first light source unit 31a and a second light source unit 31b. Moreover, the first light source unit 31a and the second light source unit 31b are arranged such 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 unit 31a and the second light source unit 31b. In other words, the first light source unit 31a and the second light source unit 31b are arranged such that the first optical axis 33a and the second optical axis 33b intersect at a position at a predetermined distance relative to the first light source unit 31a and the second light source unit 31b, respectively. Therefore, accurate alignment in the light irradiation direction (height direction) of the first light irradiation unit 30 can be easily achieved. Furthermore, for example, by arranging the first light source 31a and the second light source 31b such that the first optical axis 33a and the second optical axis 33b intersect at the arrangement position P1, it is easy to accurately align the desired position 54 and the pivot point 45 on the patient 50 in the illumination direction (height direction) of the light from the first light irradiation unit 30.

[0118] The first light source portion 31a and the second light source portion 31b are arranged in a direction intersecting the direction from the base 14 toward the front portion 12a. Therefore, for example, when the operator performs alignment by moving the front portion 12a away from or toward the base 14, the alignment operation is easy to perform. In other words, when the position of the front portion 12a is adjusted by moving it closer to or away from the base 14, the alignment operation is easy to perform so that the projection shape 35a and the projection shape 35b overlap and are projected onto the desired position 54.

[0119] The first light source unit 31a and the second light source unit 31b are configured such that at least one of the projection shapes 35a and 35b is cross-shaped. Therefore, even without precise alignment, the operator can easily identify the degree of misalignment between the position of the intersecting position 34 and the desired position 54, using the cross-shaped projection image as a reference. This facilitates the alignment of the patient 50 and the medical device 10. Furthermore, by configuring the first light source unit 31a and the second light source unit 31b such that both the projection shapes 35a and 35b are cross-shaped, the degree of misalignment between the position of the intersecting position 34 and the desired position 54 can be identified more easily. In other words, the operator can more easily align the patient 50 and the medical device 10.

[0120] The medical device 10 includes a movable trolley section 16. Therefore, the medical device 10 can be moved to a desired position. Furthermore, the configuration position of the medical device 10 relative to the patient 50 can be adjusted.

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

[0122] The robotic arm 13a moves its front portion 12a so that the distance between the first light irradiation section 30 and the second light irradiation section 60 becomes a predetermined distance. Therefore, the robotic arm 13a and the patient 50 can be aligned while ensuring the movable area of ​​the robotic arm 13a.

[0123] The first light source 31a irradiates a complementary red light and / or a contrasting red light. That is, the first light source 31a and the second light source 31b irradiate complementary red light and / or contrasting red light, respectively. The trocar 52 is positioned on the patient's abdomen through the incision tissue. Therefore, the patient's blood is often present at the location where the light from the first light source 31a is projected. Since blood is red, the operator performing the alignment can easily identify the complementary and contrasting red light. Therefore, the operator can easily align the robotic arm 13a with the patient.

[0124] The second light irradiation unit 60 irradiates green complementary light and / or green contrasting light. The operating room floor for laparoscopic surgery is typically green. Therefore, when the green complementary light and / or green contrasting light from the second light irradiation unit 60 is projected, the operator performing the alignment can easily identify the light projected onto the green floor 80 from the second light irradiation unit 60. That is, the operator can easily align the patient 50 and the medical device 10.

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

[0126] For example, the first light irradiation section 30 can be provided on the front portion 12b. This allows a trocar 52 for inserting the surgical instrument 41b to be positioned appropriately. Similarly, the first light irradiation section 30 can be provided on the front portion 12c.

[0127] Furthermore, this disclosure is not limited to the above-described embodiments as long as it conforms to the spirit of the disclosure. Therefore, it can be a structure composed of at least two of the above-described embodiments, or it can be a structure that eliminates any one of the constituent elements illustrated in the above-described embodiments, or it can be a structure that eliminates any one of the constituent elements described by the numerals in the above-described embodiments.

[0128] This disclosure may be provided by, for example, the following projects.

[0129] (Project 1)

[0130] A medical device that positions the pivot point of a connected medical instrument at a desired location on a patient's body surface, characterized in that it comprises:

[0131] Base;

[0132] The connecting part is connected to the medical device;

[0133] The front side portion, the front side portion having the connecting portion; and

[0134] The support portion is connected to both the base and the front portion, and rotates around the pivot point to change the posture of the medical device to the desired posture.

[0135] The front part is provided with a first light irradiation unit, which irradiates light in a predetermined direction when the pivot point is configured.

[0136] (Project 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 and the second light source are configured such that the first optical axis of the first light source and the second optical axis of the second light source intersect at a relative position at a predetermined distance from the first light source and the second light source.

[0140] (Project 3)

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

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

[0143] (Project 4)

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

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

[0146] (Project 5)

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

[0148] The medical device also includes a trolley section on which the base is mounted, and the trolley section is movable.

[0149] The base includes a second light irradiation section, which irradiates light toward the floor where the trolley is disposed.

[0150] (Project 6)

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

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

[0153] (Project 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 contrasting color light.

[0156] (Project 8)

[0157] The medical device according to any one of items 5 to 7 is characterized in that the second light irradiation unit irradiates green complementary color light and / or green contrasting color light.

Claims

1. A medical device that positions the pivot point of a connected medical instrument at a desired location on a patient's body surface, characterized in that it comprises: Base; The connecting part is connected to the medical device; The front side portion, the front side portion having the connecting portion; and The support portion is connected to both the base and the front portion, and rotates around the pivot point to change the posture of the medical device to the desired posture. The support portion is a multi-joint arm connected to multiple columnar arm components. The base side of the support portion is connected to the base portion. The front side portion is connected to the front side portion of the support portion. The front portion includes a first light irradiation unit, which irradiates light in a predetermined direction when the pivot point is positioned. The first light irradiation part is disposed on the front side portion and, when in use, on the floor side surface of the front side portion facing the floor.

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 and the second light source are configured such that the first optical axis of the first light source and the second optical axis of the second light source intersect at a relative position at a predetermined distance from the first light source and the second light source.

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

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

5. The medical device according to any one of claims 1 to 4, characterized in that, The medical device includes a trolley section, on which the base is mounted, and the trolley section is movable. The base includes a second light irradiation section, which irradiates light toward the floor where the trolley is disposed.

6. The medical device according to claim 5, characterized in that, The support portion changes the position of the front 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 contrasting 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 contrasting color light.

Images