Surgical assistance system, surgical device, and method for controlling surgical assistance system

Abstract

A surgical assistance system includes: a surgical device including a first robot arm that moves a medical instrument, an arm base that supports a base end portion of the first robot arm, and a second robot arm that moves the arm base; and a monitoring control device that monitors whether or not a monitoring point set on the arm base or the second robot arm is within the monitoring area, and changes the monitoring area on the basis of the posture of the second robot arm.

Description

Technical Field

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

[0002] In the past, there is a known surgical assistance system. For example, the specification of U.S. Patent Application Publication No. 2014 / 0249546 discloses a surgical assistance system having a surgical device. The surgical device comprises: a robot arm supporting a robot instrument, a bending support supporting the robot arm, an arm-shaped member supporting the bending support, and a base unit supporting the arm-shaped member and having a plurality of wheels. The arm-shaped member has a plurality of rotational degrees of freedom and can change posture.

[0003] Here, in the surgical assisting system described in the specification of U.S. Patent Application Publication No. 2014 / 0249546, since the posture of the arm-like member can be changed, there is a concern that the surgical device cannot maintain balance and overturns depending on the posture of the arm-like member. Therefore, it is desirable to prevent the surgical device from overturning due to the posture of the arm-like member. Summary of the invention

[0004] The present disclosure provides a surgery assisting system, a surgery assisting system, and a control method of the surgery assisting system that can prevent a surgery device from tipping over due to the posture of a robot arm.

[0005] The surgical assistance system of the first aspect of the present disclosure comprises: a surgical device, including a first robot arm for moving a medical instrument, an arm base for supporting the base end of the first robot arm, and a second robot arm for moving the arm base; and a monitoring control device for monitoring whether a monitoring point set on the arm base or the second robot arm exists in a monitoring area, and changing the monitoring area based on the posture of the second robot arm.

[0006] In the surgical assisting system of the first aspect of the present disclosure, by monitoring whether the monitoring point set on the arm base or the second robot arm exists in the monitoring area, the posture of the second robot arm can be set within the range where the balance can be maintained. As a result, it is possible to avoid the surgical device from tipping over due to the posture of the second robot arm. In addition, the monitoring area is changed based on the posture of the second robot arm, so the second robot arm can take more postures than when the monitoring area is not changed. As a result, it is possible to avoid the surgical device from tipping over due to the posture of the second robot arm, and the second robot arm can take more postures.

[0007] The surgical device of the second aspect of the present disclosure comprises: a first robot arm, which moves the medical instrument; an arm base, which supports the base end of the first robot arm; a second robot arm, which moves the arm base; and a monitoring control unit, which monitors whether a monitoring point set on the arm base or the second robot arm exists in a monitoring area, and changes the monitoring area based on the posture of the second robot arm.

[0008] In the surgical device of the second aspect of the present disclosure, as described above, by monitoring whether the monitoring point set on the arm base or the second robot arm exists in the monitoring area, the posture of the second robot arm can be posed within a range that can maintain balance. As a result, a surgical device that can prevent the surgical device from tipping over due to the posture of the second robot arm can be provided. In addition, the monitoring area is changed based on the posture of the second robot arm, so the second robot arm can assume more postures than when the monitoring area is not changed. As a result, the surgical device can be prevented from tipping over due to the posture of the second robot arm, and the second robot arm can assume more postures.

[0009] The third aspect of the present disclosure provides a control method for a surgical assistance system having a surgical device, wherein the surgical device includes a first robotic arm for moving a medical instrument, an arm base for supporting a base end of the first robotic arm, and a second robotic arm for moving the arm base, wherein the control method for the surgical assistance system includes: monitoring whether a monitoring point set on the arm base or the second robotic arm exists within a monitoring area; and changing the monitoring area based on the posture of the second robotic arm.

[0010] In the control method of the surgical assistance system of the third aspect of the present disclosure, as described above, by monitoring whether the monitoring point set on the arm base or the second robot arm exists in the monitoring area, the posture of the second robot arm can be posed within a range that can maintain balance. As a result, a control method for a surgical assistance system that can prevent the surgical device from tipping over due to the posture of the second robot arm can be provided. In addition, the monitoring area is changed based on the posture of the second robot arm, so the second robot arm can assume more postures than when the monitoring area is not changed. As a result, the surgical device can be prevented from tipping over due to the posture of the second robot arm, and the second robot arm can assume more postures. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

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

[0014] Figure 4 It is a diagram showing the structure of a positioner according to one embodiment.

[0015] Figure 5 It is a diagram showing the structure of a robot arm according to one embodiment.

[0016] Figure 6 It is a diagram showing pliers.

[0017] Figure 7 It is a perspective view showing the structure of an arm operating unit according to one embodiment.

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

[0019] Fig. 9 This is a diagram for explaining the rotational movement of the robot arm.

[0020] Fig.10 It is a figure which shows an endoscope.

[0021] Fig.11 It is a figure which shows the pivot position setting tool.

[0022] Fig.12 It is a diagram showing an operation unit according to one embodiment.

[0023] Fig.13 This is a diagram showing a wrist for the right hand according to one embodiment.

[0024] Fig.14 This is a diagram showing a left-hand wrist according to one embodiment.

[0025] Fig.15 It is a perspective view showing a footrest according to one embodiment.

[0026] Fig.16 A control block diagram of a surgical assistance robot according to an embodiment.

[0027] Fig.17 is a control block diagram of a robot arm according to an embodiment.

[0028] Fig.18 This is a control block diagram of a positioner and a medical cart according to an embodiment.

[0029] Fig.19 This is a control block diagram of an operating unit according to an embodiment.

[0030] Fig. 20 FIG. (1) is a diagram for explaining a monitoring area according to one embodiment.

[0031] Fig.21 FIG. (2) is a diagram for explaining a monitoring area according to one embodiment.

[0032] Fig. 22 FIG. (1) is a diagram for explaining the expansion of a monitoring area according to one embodiment.

[0033] Fig.23 FIG. (2) is a diagram for explaining the expansion of the monitoring area according to one embodiment.

[0034] Fig.24 This is a diagram for explaining a case where the monitoring area is not expanded according to one embodiment.

[0035] Fig.25 This is a diagram for explaining the rotation angle of the arm base according to one embodiment.

[0036] Fig.26 This is a diagram for explaining the inclination angle of the arm base according to one embodiment. DETAILED DESCRIPTION

[0037] (Structure of surgical assistance system)

[0038] The structure of the surgery support system 500 of this embodiment is described. The surgery support system 500 includes a surgery support robot 100, a remote operation device 200, a vision unit 300, and an image processing unit 400. The surgery support robot 100 and the remote operation device 200 are examples of a surgical device and a first operation device, respectively.

[0039] In addition, in this application specification, Figures 5 to 8 As shown, the long side direction of the surgical instrument 1 is referred to as the Z direction. The front end side of the surgical instrument 1 is referred to as the Z1 side, and the base end side of the surgical instrument 1 is referred to as the Z2 side. The direction perpendicular to the Z direction is referred to as the X direction. One side of the X direction is referred to as the X1 side, and the other side is referred to as the X2 side. The direction perpendicular to the Z direction and the X direction is referred to as the Y direction. One side of the Y direction is referred to as the Y1 side, and the other side is referred to as the Y2 side.

[0040] In addition, in this application specification, Figure 3As shown, the left-right direction as viewed by the operator who operates the display unit 22a of the input device 22 is referred to as the Xa direction. The right direction is referred to as the Xa1 direction, and the left direction is referred to as the Xa2 direction. The front-back direction as viewed by the operator who operates the display unit 22a of the input device 22 is referred to as the Ya direction. The front direction is referred to as the Ya1 direction, and the rear direction is referred to as the Ya2 direction. The direction perpendicular to the floor surface on which the surgical assistance robot 100 is arranged is referred to as the Za direction. The upper direction is referred to as the Za1 direction, and the lower direction is referred to as the Za2 direction.

[0041] In addition, in this application specification, Fig.13 and Fig.14 As shown, the direction perpendicular to the floor surface where the remote operation device 200 is arranged is referred to as the Zb direction, the front-back direction of the operator operating the operation unit 110 which is orthogonal to the Zb direction is referred to as the Yb direction, and the direction orthogonal to the Zb direction and the Yb direction is referred to as the Xb direction. In the Zb direction, the upper direction is referred to as the Zb1 direction, and the lower direction is referred to as the Zb2 direction. In the Yb direction, one side is referred to as the Yb1 direction, and the other side is referred to as the Yb2 direction. In the Xb direction, one side is referred to as the Xb1 direction, and the other side is referred to as the Xb2 direction.

[0042] like Figure 1 As shown, the surgical assistance robot 100 is arranged in an operating room. The remote operation device 200 is arranged at a position separated from the surgical assistance robot 100. The remote operation device 200 receives an operation on the surgical instrument 1. Specifically, an operator such as a physician inputs an instruction to the remote operation device 200 for causing the surgical assistance robot 100 to perform a desired action. The remote operation device 200 sends the input instruction to the surgical assistance robot 100. The surgical assistance robot 100 acts based on the received instruction. The surgical assistance robot 100 is arranged in an operating room which is a sterilized sterilization area. The surgical instrument 1 is an example of a medical instrument.

[0043] (Structure of surgical assistance robot)

[0044] like Figure 1 As shown, the surgical support robot 100 includes a medical trolley 10, a trolley positioner operation unit 20, a positioner 30, an arm base 40, a plurality of robot arms 50, and an arm operation unit 60 provided in each robot arm 50. The positioner 30 is an example of a second robot arm. The robot arm 50 is an example of a first robot arm.

[0045] like Figure 3As shown, the trolley positioner operating unit 20 is supported by the trolley positioner operating support unit 21 at the rear of the medical trolley 10. By operating the trolley positioner operating unit 20, the medical trolley 10 or the positioner 30 is moved. The trolley positioner operating unit 20 includes an input device 22 and an operating handle 23. The input device 22 is mainly used to prepare for surgery before the operation is performed, and receives operations for moving and changing the posture of the positioner 30, the arm base 40, and the plurality of robot arms 50. The trolley positioner operating unit 20 includes an operating handle 23, Fig.16 The stabilizer 24 and the electric cylinder 25 are shown. The carriage positioner operating unit 20 is an example of a second operating device.

[0046] like Figure 3 As shown, the input device 22 of the trolley positioner operating unit 20 includes a display unit 22a, a joystick 22b, an enable switch 22c, an error reset button 22d, and a speaker 22e. The display unit 22a is, for example, a liquid crystal panel. Figure 2 As shown, the display unit 22a displays the numbers corresponding to the plurality of robot arms 50. In addition, the display unit 22a displays the type of surgical instrument 1 attached to each of the plurality of robot arms 50. The display unit 22a displays a check mark CM indicating that the pivot position PP described later has been set.

[0047] like Figure 3 As shown, the joystick 22b is arranged near the display unit 22a of the input device 22 of the carriage positioner operation unit 20. The joystick 22b is provided to operate the positioner 30. The positioner 30 is moved three-dimensionally by selecting an operation mode displayed on the display unit 22a and operating the joystick 22b.

[0048] The enabling switch 22c is arranged near the joystick 22b of the carriage positioner operating unit 20. The enabling switch 22c allows or does not allow the movement of the positioner 30. When the joystick 22b is operated while the enabling switch 22c is pressed and the movement of the positioner 30 is allowed, the positioner 30 moves.

[0049] The error reset button 22d cancels an error of the surgery support system 500. The error is, for example, an error of deviation abnormality. A pair of speakers 22e is arranged. The pair of speakers 22e is arranged near the position where the positioner 30 is arranged in the medical cart 10.

[0050] In addition, the operating handle 23 is arranged near the display part 22a of the trolley positioner operating part 20. Moreover, the operating handle 23 is held by an operator such as a nurse or a technician and has a throttle 23a for operating the movement of the medical trolley 10 by turning. Specifically, the operating handle 23 is arranged below the input device 22. Moreover, the medical trolley 10 moves forward by turning the throttle 23a from the near front side to the deep side. In addition, the medical trolley 10 moves backward by turning the throttle 23a from the deep side to the near front side. In addition, the speed of the medical trolley 10 changes according to the amount of rotation of the throttle 23a. In addition, the operating handle 23 is configured to be able to rotate left and right as shown by the R direction, and the medical trolley 10 rotates together with the rotation of the operating handle 23.

[0051] The operating handle 23 of the trolley positioner operating unit 20 is provided with an enabling switch 23b for allowing or not allowing movement of the medical trolley 10. The accelerator 23a of the operating handle 23 is operated while the enabling switch 23b is pressed to allow movement of the medical trolley 10, so that the medical trolley 10 moves.

[0052] like Figure 1 As shown, the positioner 30 is constituted by, for example, a 7-axis multi-joint robot. The positioner 30 is disposed on the medical trolley 10. The positioner 30 adjusts the position and posture of the arm base 40. The positioner 30 moves the arm base 40 three-dimensionally.

[0053] like Figure 4 As shown, the positioner 30 includes a base portion 31, a plurality of link portions 32a, 32b, 32c, 32d, 32e, 32f and 32g, and a plurality of joints JT1a, JT2a, JT3a, JT4a, JT5a, JT6a and JT7a.

[0054] The joints JT1a, JT2a, JT3a, JT4a, JT5a, JT6a and JT7a have A1a, A2a, A3a, A4a, A5a, A6a and A7a axes as their respective rotation axes. The joint JT1a rotates the link portion 32a around the A1a axis extending vertically relative to the base portion 31. The joint JT2a rotates the link portion 32b around the A2a axis in a direction orthogonal to the extension direction of the A1a axis relative to the link portion 32a. The joint JT3a rotates the link portion 32c around the A3a axis in a direction parallel to the extension direction of the A2a axis relative to the link portion 32b.

[0055] The joint JT4a rotates the link portion 32d relative to the link portion 32c around the A4a axis in the direction perpendicular to the extension direction of the A3a axis. The joint JT5a rotates the link portion 32e relative to the link portion 32d around the A5a axis in the direction perpendicular to the extension direction of the A4a axis. The joint JT6a rotates the link portion 32f relative to the link portion 32e around the A6a axis in the direction perpendicular to the extension direction of the A5a axis. The joint JT7a rotates the link portion 32g relative to the link portion 32f around the A7a axis in the direction intersecting the extension direction of the A6a axis.

[0056] like Figure 1 As shown, the arm base 40 is mounted on the front end of the positioner 30. Specifically, the arm base 40 is mounted on the connecting rod portion 32g of the positioner 30. For the multiple robot arms 50, the base end of each robot arm 50 is mounted on the arm base 40. The multiple robot arms 50 can be placed in a folded storage posture. The arm base 40 and the multiple robot arms 50 are used while being covered by a sterilization curtain. In addition, the robot arm 50 supports the surgical instrument 1.

[0057] The arm base 40 is provided with Fig.16 The state indicator 41 and the arm state indicator 42 are shown. The state indicator 41 displays the state of the surgery assisting system 500 . The arm state indicator 42 displays the state of the robot arm 50 .

[0058] A plurality of robot arms 50 are provided. Specifically, four robot arms 50a, 50b, 50c, and 50d are provided. The robot arms 50a, 50b, 50c, and 50d have the same structure as each other.

[0059] like Figure 5 As shown, the robot arm 50 includes an arm portion 51, a first link portion 52, a second link portion 53, and a translational movement mechanism portion 54. The robot arm 50 has joints JT1, JT2, JT3, JT4, JT5, JT6, JT7, and JT8. The joints JT1, JT2, JT3, JT4, JT5, JT6, and JT7 have A1, A2, A3, A4, A5, A6, and A7 axes as rotation axes, respectively. JT8 has an A8 axis as a direct-acting axis. The axes A1 to A7 are the rotation axes of the joints JT1 to JT7 of the arm portion 51, respectively. In addition, the A7 axis is the rotation axis of the first link portion 52. The A8 axis is the direct-acting axis by which the translational movement mechanism portion 54 moves the second link portion 53 relative to the first link portion 52 along the Z direction. The arm portion 51 includes a base portion 51a and a link portion 51b.

[0060] The arm portion 51 is composed of a 7-axis multi-joint robot arm. The first link portion 52 is arranged at the front end of the arm portion 51. The arm operating portion 60 described later is installed on the second link portion 53. The translational movement mechanism portion 54 is arranged between the first link portion 52 and the second link portion 53. A holder 55 for holding the surgical instrument 1 is arranged on the second link portion 53. The translational movement mechanism portion 54 translates the holder 55 on which the surgical instrument 1 is installed between a first position and a second position. The first position is the position of the end portion on the Z2 direction side in the range in which the translational movement mechanism portion 54 moves the holder 55 along the A8 axis. The second position is the position of the end portion on the Z1 direction side in the range in which the translational movement mechanism portion 54 moves the holder 55 along the A8 axis.

[0061] Each of the plurality of robot arms 50 is provided to support a surgical instrument 1. A surgical instrument 1 is mounted at the front end of each of the plurality of robot arms 50. The surgical instrument 1 includes, for example, a replaceable instrument 2, a Fig.10 The endoscope 3 shown, and the device for setting the pivot position PP Fig.11 The pivot position setting device 4 shown, etc. The instrument 2 includes a driven unit 2a, a forceps 2b, and a rod 2c.

[0062] like Figure 1 As shown, an endoscope 3 is mounted on the front end of one of the plurality of robot arms 50, for example, the robot arm 50c, and an instrument 2 is mounted on the front ends of the remaining robot arms, for example, the robot arms 50a, 50b, and 50d. The endoscope 3 is preferably mounted on any one of the two robot arms 50b and 50c arranged in the center of the four robot arms 50 arranged adjacent to each other.

[0063] (Structure of the device)

[0064] like Figure 6 As shown, for example, forceps 2b are provided at the front end of the instrument 2. In addition to the forceps 2b, scissors, graspers, needle holders, micro-dissectors, staplers, fixators, suction cleaning tools, snare wires, and clip applicators are arranged at the front end of the instrument 2 as jointed instruments. A cutting knife, a cauterization probe, a washer, a catheter, and a suction port are arranged at the front end of the instrument 2 as non-jointed instruments.

[0065] The forceps 2b includes a first support body 2d and a second support body 2e. The first support body 2d supports the base end side of the jaw member 2f and the jaw member 2g so that they can rotate around the A11 axis. The second support body 2e supports the base end side of the first support body 2d so that they can rotate around the A10 axis. The rod 2c rotates around the A9 axis. The jaw member 2f and the jaw member 2g open and close around the A11 axis.

[0066] (Structure of the arm operating unit)

[0067] like Figure 7 As shown, the arm operation part 60 is mounted on the robot arm 50 to operate the robot arm 50. Specifically, the arm operation part 60 is mounted on the second link part 53.

[0068] The arm operating portion 60 includes an enabling switch 61 , a joystick 62 , a linear switch 63 , a mode switching button 64 , a mode indicator 65 , a pivot button 66 , and an adjustment button 67 .

[0069] The enable switch 61 is pressed to allow or not allow the robot arm 50 to move via the joystick 62 and the linear switch 63. When an operator such as a nurse or an assistant holds the arm operating unit 60 and presses the enable switch 61, movement of the surgical instrument 1 via the robot arm 50 is allowed.

[0070] The joystick 62 is an operating member for operating the movement of the surgical instrument 1 by the robot arm 50. The joystick 62 operates the movement direction and movement speed of the robot arm 50. The robot arm 50 moves according to the direction and angle in which the joystick 62 is pushed.

[0071] The linear switch 63 is a switch for moving the surgical instrument 1 in the long side direction of the surgical instrument 1, that is, the Z direction. The linear switch 63 includes a linear switch 63a for moving the surgical instrument 1 in the direction of insertion into the patient P, and a linear switch 63b for moving the surgical instrument 1 in the direction of separation from the patient P. The linear switch 63a and the linear switch 63b are both composed of push button switches.

[0072] The mode switching button 64 is a button switch for switching between a mode for translating the surgical instrument 1 and a mode for rotating the surgical instrument 1. Figure 8 As shown, in the mode of making the robot arm 50 move in translation, the robot arm 50 moves in such a way that the front end 1a of the surgical instrument 1 moves on the XY plane. Fig. 9 As shown, in the mode of rotating the robot arm 50, the robot arm 50 moves as follows: when the pivot position PP is not stored in the storage unit 351, the robot arm 50 rotates and moves with the center of the A11 axis of the forceps 2b of the instrument 2 as the surgical instrument 1 as the fulcrum, and when the pivot position PP is stored in the storage unit 351, the surgical instrument 1 rotates and moves with the pivot position PP as the fulcrum. In addition, the surgical instrument 1 rotates and moves in a state where the shaft 1c of the surgical instrument 1 is inserted into the trocar T. The mode switching button 64 is arranged on the surface of the arm operating unit 60 on the Z direction side.

[0073] The mode indicator 65 displays the switched mode. The mode indicator 65 is lit to indicate the rotational movement mode, and is off to indicate the translational movement mode. In addition, the mode indicator 65 also serves as a pivot position indicator that displays the set pivot position PP. The mode indicator 65 is arranged on the surface of the arm operating unit 60 on the Z direction side.

[0074] The pivot button 66 is a push button switch for setting a pivot position PP serving as a fulcrum for movement of the surgical instrument 1 attached to the robot arm 50 .

[0075] The adjustment button 67 is a button for optimizing the position of the robot arm 50. After the pivot position PP is set for the robot arm 50 to which the endoscope 3 is mounted, the positions of the other robot arms 50 and the arm base 40 are optimized by pressing the adjustment button 67. The adjustment button 67 is a button different from the enable switch 61.

[0076] (Remote control device)

[0077] like Figure 1 As shown, the remote operation device 200 is, for example, arranged in an operating room or outside an operating room. The remote operation device 200 includes an operation unit 110, a foot pedal 120, a touch panel 130, a monitor 140, a support arm 150, a support rod 160, and an error reset button 161. The operation unit 110 constitutes an operation handle for an operator such as a physician to input instructions.

[0078] (Operation Department)

[0079] like Fig.12 As shown, the operating part 110 is a handle for operating the surgical instrument 1. In addition, the operating part 110 receives the operation of the surgical instrument 1 by the operator. The operating part 110 includes: an operating part 110L arranged on the left side from the perspective of the operator such as a physician and operated by the left hand of the operator, and an operating part 110R arranged on the right side from the perspective of the operator such as a physician and operated by the right hand of the operator. The operating part 110 includes an arm 111 and a wrist 112. In addition, the operating part 110R includes an arm 111R and a wrist 112R. In addition, the operating part 110L includes an arm 111L and a wrist 112L.

[0080] like Fig.12 , Fig.13 as well as Fig.14 As shown, the operation unit 110 has joints JT21, JT22, JT23, JT24, JT25, JT26, and JT27. The rotation axes of the joints JT21, JT22, JT23, JT24, JT25, JT26, and JT27 are axes A21, A22, A23, A24, A25, A26, and A27, respectively.

[0081] (Arm)

[0082] The arm 111 includes a link 111a, a link 111b, and a link 111c. The upper end of the link 111a is mounted on the remote control device 200 so as to be rotatable around an axis line A21 along the vertical direction. The upper end of the link 111b is mounted on the lower end of the link 111a so as to be rotatable around an axis line A22 along the horizontal direction. One end of the link 111c is mounted on the lower end of the link 111b so as to be rotatable around an axis line A23 along the horizontal direction. The wrist 112 is mounted on the other end of the link 111c so as to be rotatable around an axis line A24. The link 111a is connected to the remote control device 200 via a joint JT21. The link 111a and the link 111b are connected by a joint JT22. The link 111b and the link 111c are connected by a joint JT23. The arm portion 111 supports the wrist portion 112 .

[0083] The wrist 112 includes Fig.13 The wrist 112R shown is operated by the operator's right hand, and Fig.14 Wrist 112L is shown being operated by the operator's left hand. Fig.13 represents the reference posture of the operating unit 110R, Fig.14 110L shows a reference posture of the operation unit 110L. The structure of the wrist 112R is the same as that of the wrist 112L.

[0084] The wrist portion 112 includes a link portion 112a, a link portion 112b, a link portion 112c, and a handle portion 112d for a doctor or other operator to hold and operate. The link portion 112a rotates around the A24 axis. The link portion 112b is installed relative to the link portion 112a so as to be rotatable around the A25 axis. The link portion 112c is installed relative to the link portion 112b so as to be rotatable around the A26 axis. The handle portion 112d is installed relative to the link portion 112c so as to be rotatable around the A27 axis. The link portion 112a, the link portion 112b, and the link portion 112c each have an L shape.

[0085] The wrist 112 includes a pair of handle parts 112e opened and closed by the operator. The handle part 112e is composed of a slender plate-shaped rod part, and the proximal end of each of the pair of handle parts 112e is rotatably connected to the proximal end of the handle part 112d. A cylindrical finger insertion part 112f is arranged on the handle part 112e. The operator inserts a finger into the pair of finger insertion parts 112f to operate the wrist 112. The base ends of each of the pair of handle parts 112e are connected to the handle part 112d, and the opening angle of the jaw part 2f and the jaw part 2g is changed by increasing or decreasing the angle between the pair of handle parts 112e. A magnet is arranged on one side of the handle part 112e, and a Hall sensor is arranged on the handle part 112d. If the operator opens and closes the handle part 112e, the magnet and the Hall sensor function as an angle detection sensor, and the Hall sensor outputs the opening angle. In addition, as an angle detection sensor, a Hall sensor can also be arranged on the handle part 112e, and a magnet can be arranged on the handle part 112d. In addition, magnets or Hall sensors may be provided on the two handle parts 112e as angle detection sensors.

[0086] The intersection of the multiple rotation axes of the operating part 110 is also called the universal joint GP. Specifically, the universal joint GP is the point where the A24 axis, the A25 axis, the A26 axis, and the A27 axis intersect. The universal joint GP is located in the handle portion 112d for mounting a pair of handle components 112e. The universal joint GP exists independently in the operating part 110L and the operating part 110R. The universal joint of the operating part 110R is denoted as GPR. The universal joint of the operating part 110L is denoted as GPL.

[0087] In the reference posture, the A24 axis and the A26 axis of the operating unit 110 are along the Zb direction. The A25 axis is along the Xb direction. The A27 axis is along the Yb direction. Fig.13 As shown, in the reference posture, the link portion 112a and the link portion 112b of the wrist portion 112R are arranged along the Xb-Zb plane and are arranged on the Xb1 side relative to the A27 axis. In the reference posture, the link portion 112c is arranged along the Yb-Zb plane. In the reference posture, the handle portion 112d is arranged along the A27 axis.

[0088] In the reference posture, the link portion 112a and the link portion 112b of the wrist portion 112L are arranged along the Xb-Zb plane and are arranged on the Xb2 side relative to the A27 axis. In the reference posture, the link portion 112c is arranged along the Yb-Zb plane. In the reference posture, the handle portion 112d is arranged along the A27 axis.

[0089] like Figure 1As shown, the monitor 140 is an endoscope-type display device for displaying an image acquired by the endoscope 3. In addition, a reporting unit 141 is arranged on the monitor 140. The reporting unit 141 reports an error sound. The support arm 150 supports the monitor 140 in a manner that matches the height of the monitor 140 with the height of the face of an operator such as a physician. The touch panel 130 is arranged on the support rod 160. By detecting the operator's head using a sensor provided near the monitor 140, the surgical assistance robot 100 can be operated with the aid of the remote operation device 200. The operator operates the operation unit 110 and the foot pedal 120 while confirming the affected part through the monitor 140. Thus, a command is input to the remote operation device 200. The command input to the remote operation device 200 is sent to the surgical assistance robot 100.

[0090] The error reset button 161 is disposed on the support rod 160. The error reset button 161 cancels an error in the surgery support system 500. The error is, for example, an error of deviation abnormality.

[0091] (Foot pedal)

[0092] like Fig.15 As shown, a plurality of foot pedals 120 are provided so as to perform functions related to the surgical instrument 1. In addition, a plurality of foot pedals 120 are arranged on the base portion 121. The foot pedal 120 includes a switching pedal 122, a clutch pedal 123, a camera pedal 124, an incision pedal 125, a coagulation pedal 126, and a foot detector 127. The switching pedal 122, the clutch pedal 123, the camera pedal 124, the incision pedal 125, and the coagulation pedal 126 are operated by the operator's foot. In addition, the incision pedal 125 includes an incision pedal 125R for the right robot arm 50 and an incision pedal 125L for the left robot arm 50. In addition, the coagulation pedal 126 includes a coagulation pedal 126R for the right robot arm 50 and a coagulation pedal 126L for the left robot arm 50.

[0093] The switching pedal 122 switches the robot arm 50 operated by the operating unit 110. The clutch pedal 123 performs a clutch operation to temporarily disconnect the operation connection between the robot arm 50 and the operating unit 110. While the clutch pedal 123 is pressed by the operator, the operation of the operating unit 110 is not transmitted to the robot arm 50. In addition, while the camera pedal 124 is pressed by the operator, the robot arm 50 on which the endoscope 3 is mounted can be operated by the operating unit 110. While the incision pedal 125 or the coagulation pedal 126 is pressed by the operator, the electrosurgical device is activated.

[0094] The foot detector 127 detects the foot of the operator who operates the foot pedal 120. The foot detector 127 is provided for each of the switching pedal 122, the clutch pedal 123, the camera pedal 124, the cutting pedal 125L and the solidification pedal 126L, and the cutting pedal 125R and the solidification pedal 126R, and detects the foot in a hovering state above each foot pedal 120. The foot detector 127 is arranged on the base 121. In addition, the function of the foot pedal 120 including the camera pedal 124 is not limited to the pedal stepped on by the operator as in the present embodiment, and for example, the operator may operate it manually by providing an input device such as a manual switch on the operation unit 110.

[0095] (Vision Unit and Image Processing Unit)

[0096] like Figure 1 As shown, the visual unit 300 and the image processing unit 400 are placed on the cart 210. The image processing unit 400 processes the image captured by the endoscope 3. The cart 210 is provided with a display unit 220. The image captured by the endoscope 3 is displayed on the display unit 220. The visual unit 300 is provided with an error reset button 230 and a reporting unit 240. The error reset button 230 cancels the error of the surgery support system 500. The error is, for example, an error of deviation abnormality. The reporting unit 240 reports an error sound.

[0097] (Structure of control system)

[0098] like Fig.16 As shown, the surgery support system 500 includes a first control device 310, an arm control unit 320, a positioner control unit 330, an operation control unit 340, a second control device 350, and a monitoring control device 360. In addition, the surgery support system 500 includes a storage unit 311 connected to the first control device 310 and a storage unit 351 connected to the second control device 350. The monitoring control device 360 ​​is an example of a monitoring control unit.

[0099] The first control device 310 is configured to communicate with the arm control unit 320 and the positioner control unit 330 inside the medical cart 10 to control the entire surgery support system 500. Specifically, the first control device 310 communicates with each of the arm control unit 320, the positioner control unit 330, and the operation control unit 340 to perform control. The first control device 310, the arm control unit 320, the positioner control unit 330, and the operation control unit 340 are connected via a LAN or the like. The first control device 310 is configured inside the medical cart 10.

[0100] The arm control unit 320 is disposed for each of the plurality of robot arms 50. That is, a plurality of arm control units 320 corresponding to the number of the plurality of robot arms 50 are disposed inside the medical cart 10.

[0101] The input device 22 is connected to the first control device 310 via a LAN or the like. The state indicator 41, the arm state indicator 42, the operating handle 23, the throttle 23a, the joystick 22b, the stabilizer 24, the electric cylinder 25, and the positioner control unit 330 are connected in serial communication via a wiring 370 using a communication network that can share information with each other. Fig.16 In the figure, the status indicator 41, the arm status indicator 42, etc. are all connected to a wiring 370, but in fact, wiring 370 is respectively configured for the status indicator 41, the arm status indicator 42, the operating handle 23, the throttle 23a, the joystick 22b, the stabilizer 24 and the electric cylinder 25.

[0102] like Fig.17 As shown, a plurality of servo motors SM1, encoders EN1, and reducers are provided in the arm 51 in a manner corresponding to each of the joints JT1, JT2, JT3, JT4, JT5, JT6, and JT7. The encoder EN1 detects the rotation angle of the servo motor SM1. The reducer decelerates the rotation of the servo motor SM1 to increase the torque. Inside the medical trolley 10, a servo control unit SC1 for controlling the servo motor SM1 is arranged adjacent to the arm control unit 320. In addition, the servo control unit SC1 is electrically connected to the encoder EN1 for detecting the rotation angle of the servo motor SM1.

[0103] The second connecting rod portion 53 is provided with a servo motor SM2, an encoder EN2 and a reducer for rotating a driven component arranged in the driven unit 2a of the surgical instrument 1. The encoder EN2 detects the rotation angle of the servo motor SM2. The reducer decelerates the rotation of the servo motor SM2 to increase the torque. In addition, the medical trolley 10 is provided with a servo control unit SC2 for controlling the servo motor SM2 driving the surgical instrument 1. The servo control unit SC2 is electrically connected to the encoder EN2 for detecting the rotation angle of the servo motor SM2. In addition, a plurality of servo motors SM2, encoders EN2 and servo control units SC2 are respectively provided.

[0104] The translation mechanism 54 is provided with a servo motor SM3, an encoder EN3, and a reducer for translationally moving the surgical instrument 1. The encoder EN3 detects the rotation angle of the servo motor SM3. The reducer decelerates the rotation of the servo motor SM3 to increase the torque. In addition, the medical trolley 10 is provided with a servo control unit SC3 for controlling the servo motor SM3 for translationally moving the surgical instrument 1. The servo control unit SC3 is electrically connected to the encoder EN3 for detecting the rotation angle of the servo motor SM3.

[0105] The first control device 310 generates a command value indicating the position of the servo motors SM1, SM2, and SM3 based on the operation received by the remote control device 200, and drives the servo motors SM1, SM2, and SM3 based on the command value. In addition, the first control device 310 detects a deviation abnormality error when the deviation between the command value and the position of the servo motors SM1, SM2, and SM3 detected by the sensor exceeds an allowable range.

[0106] like Fig.18 As shown, the positioner 30 is provided with a plurality of servo motors SM4, an encoder EN4, and a reducer in a manner corresponding to the plurality of joints JT1a, JT2a, JT3a, JT4a, JT5a, JT6a, and JT7a of the positioner 30. The encoder EN4 is configured to detect the rotation angle of the servo motor SM4. The reducer is configured to reduce the rotation of the servo motor SM4 and increase the torque.

[0107] The medical trolley 10 has wheels, including a front wheel as a driving wheel and a rear wheel steered by an operating handle 23. In addition, the rear wheel is arranged on the side closer to the operating handle 23 than the front wheel. In addition, the medical trolley 10 is provided with a servo motor SM5, an encoder EN5, a speed reducer and a brake BRK for driving each of the plurality of front wheels of the medical trolley 10. The speed reducer is configured to reduce the rotation of the servo motor SM5 and increase the torque. In addition, the operating handle 23 of the medical trolley 10 is provided with a Figure 3 The potentiometer P1 shown in the figure drives the servo motor SM5 of the front wheel based on the rotation angle detected by the potentiometer P1 according to the twisting of the throttle 23a. In addition, the rear wheels of the medical trolley 10 are double-wheeled, and the rear wheels are steered based on the left and right rotation of the operating handle 23. In addition, the operating handle 23 of the medical trolley 10 is provided with a Figure 3The potentiometer P2 shown in the figure is provided with a servo motor SM6, an encoder EN6 and a reducer at the rear wheel of the medical trolley 10. The reducer is configured to reduce the rotation of the servo motor SM6 and increase the torque. The servo motor SM6 is driven based on the rotation angle detected by the potentiometer P2 according to the left and right rotation of the operating handle 23. That is, the steering operation of the rear wheel performed by the left and right rotation of the operating handle 23 is configured to be powered by the servo motor SM6.

[0108] The medical trolley 10 moves in the front-rear direction by driving the front wheels. In addition, the rear wheels are steered by turning the operating handle 23 of the medical trolley 10, so that the medical trolley 10 turns in the left-right direction.

[0109] like Fig.18 As shown, the medical trolley 10 is provided with a servo control unit SC4 for controlling the servo motor SM4 for moving the positioner 30. In addition, the servo control unit SC4 is electrically connected to an encoder EN4 for detecting the rotation angle of the servo motor SM4. In addition, the medical trolley 10 is provided with a servo control unit SC5 for controlling the servo motor SM5 for driving the front wheels of the medical trolley 10. The servo control unit SC5 is electrically connected to an encoder EN5 for detecting the rotation angle of the servo motor SM5. The medical trolley 10 is provided with a servo control unit SC6 for controlling the servo motor SM6 for power-assisted steering of the rear wheels of the medical trolley 10. The servo control unit SC6 is electrically connected to an encoder EN6 for detecting the rotation angle of the servo motor SM6.

[0110] like Fig.17 and Fig.18As shown, each of the joints JT1, JT2, JT3, JT4, JT5, JT6 and JT7 of the arm 51 and the joints JT1a, JT2a, JT3a, JT4a, JT5a, JT6a and JT7a of the positioner 30 is equipped with a brake BRK. In addition, the front wheel of the medical trolley 10, the arm base 40 and the translational movement mechanism 54 are also equipped with a brake BRK. The arm control unit 320 sends a control signal to each brake BRK mounted on the joints JT1, JT2, JT3, JT4, JT5, JT6 and JT7 of the arm 51 and the translational movement mechanism 54 in a unidirectional manner. The control signal is a signal to turn the brake BRK on and off. The signal to turn on the brake BRK includes a signal to keep the brake BRK in an active state. The same is true for the control signals sent from the positioner control unit 330 to the joints JT1a, JT2a, JT3a, JT4a, JT5a, JT6a, and JT7a mounted on the positioner 30 and the brakes BRK of the arm base 40. The arm base 40, the arm 51, and the translational movement mechanism 54 release all brakes BRK at startup, and drive the servo motor SM in a manner counteracting gravity to maintain the posture of the robot arm 50 and the posture of the arm base 40. When an error occurs in the surgery support system 500, the brakes BRK mounted on the arm base 40, the arm 51, and the translational movement mechanism 54 are turned on. If the error of the surgery support system 500 is resolved, the brakes BRK mounted on the arm base 40, the arm 51, and the translational movement mechanism 54 are turned off. By the shutdown operation of the surgery support system 500, the brakes BRK mounted on the arm base 40, the arm 51, and the translational movement mechanism 54 are turned on. In addition, the brake BRK is always on for the front wheels of the medical cart 10, and is released only while the enabling switch 23b of the medical cart 10 is pressed. In addition, the brake BRK is always on for the joints JT1a, JT2a, JT3a, JT4a, JT5a, JT6a, and JT7a of the positioner 30, and is released only while the enabling switch 22c of the medical cart 10 is pressed.

[0111] like Fig.19As shown, servo motors SM7a, SM7b, SM7c, SM7d, SM7e, SM7f and SM7g are respectively arranged at joints JT21, JT22, JT23, JT24, JT25, JT26 and JT27 of the operating part 110. Servo control units SC7a, SC7b, SC7c, SC7d, SC7e, SC7f and SC7g are arranged for controlling each servo motor. Encoders EN7a, EN7b, EN7c, EN7d, EN7e, EN7f and EN7g for detecting the rotation angle of each servo motor are electrically connected to each servo control unit. In addition, each servo motor, each servo control unit and each encoder are respectively arranged at the operating part 110L and the operating part 110R. The servo motors SM7a, SM7b, SM7c, SM7d, SM7e, SM7f and SM7g are arranged to assist the operator's operation. The servo motors SM7a, SM7b, SM7c, SM7d, SM7e, SM7f, and SM7g are examples of a driving unit.

[0112] The operation control unit 340 controls each servomotor so as to generate torque that cancels out the gravity torque generated on the rotation axis of each servomotor according to the posture of the operation unit 110. Thus, the operator can operate the operation unit 110 with relatively small force.

[0113] like Fig.16 As shown, the first control device 310 controls the robot arm 50 based on the operation received by the arm operating unit 60. For example, the first control device 310 controls the robot arm 50 based on the operation received by the joystick 62 of the arm operating unit 60. Specifically, the arm control unit 320 outputs the input signal input from the joystick 62 to the first control device 310. The first control device 310 generates a position command based on the received input signal and the rotation angle detected by the encoder EN1, and outputs the position command to the servo control unit SC1 via the arm control unit 320. The servo control unit SC1 generates a current command based on the position command input from the arm control unit 320 and the rotation angle detected by the encoder EN1, and outputs the current command to the servo motor SM1. As a result, the robot arm 50 moves in a manner in accordance with the action command input to the joystick 62.

[0114] The first control device 310 controls the robot arm 50 based on the input signal from the linear switch 63 of the arm operation unit 60. Specifically, the arm control unit 320 outputs the input signal input from the linear switch 63 to the first control device 310. The first control device 310 generates a position command based on the received input signal and the rotation angle detected by the encoder EN1 or EN3, and outputs the position command to the servo control unit SC1 or SC3 via the arm control unit 320. The servo control unit SC1 or SC3 generates a current command based on the position command input from the arm control unit 320 and the rotation angle detected by the encoder EN1 or EN3, and outputs the current command to the servo motor SM1 or SM3. As a result, the robot arm 50 moves in a manner in accordance with the action command input to the linear switch 63.

[0115] The positioner control unit 330 is disposed on the medical trolley 10. The positioner control unit 330 controls the positioner 30 and the medical trolley 10. The positioner 30 is provided with a servo motor SM4, an encoder EN4, and a speed reducer in correspondence with the plurality of joints JT1a, JT2a, JT3a, JT4a, JT5a, JT6a, and JT7a of the positioner 30. The servo control unit SC4 that controls the servo motor SM4 of the positioner 30 is disposed on the medical trolley 10. The medical trolley 10 is provided with servo motors SM5 and SM6 that drive each of the plurality of front wheels of the medical trolley 10, encoders EN5 and EN6, speed reducers, servo control units SC5 and SC6, and brakes BRK.

[0116] The operation control unit 340 is disposed in the main body of the remote operation device 200. The operation control unit 340 controls the operation unit 110. Fig.16 As shown, the operation control unit 340 is arranged to correspond to each of the operation unit 110L for the left hand and the operation unit 110R for the right hand. The operation unit 110 is provided with a servo motor SM, an encoder EN, and a speed reducer in a manner corresponding to the plurality of joints JT21 to JT27 of the operation unit 110. The servo control unit SC for controlling the servo motor SM of the operation unit 110 is arranged adjacent to the operation control unit 340 in the main body of the remote operation device 200.

[0117] like Fig.16 As shown, the visual unit 300 and the image processing unit 400 are connected to the first control device 310 via a LAN or the like. The display unit 220 is connected to the visual unit 300 .

[0118] The monitoring control device 360 ​​is disposed in the surgery support robot 100 . In addition, the monitoring control device 360 ​​may be disposed in the remote operation device 200 , or may be disposed independently of the surgery support robot 100 and the remote operation device 200 .

[0119] like Fig. 20 and Fig.21 As shown, for example, when the posture of the positioner 30 is set before performing surgery, the monitoring control device 360 ​​monitors whether the monitoring point PO set in the positioner 30 exists in the monitoring area AR. When the monitoring control device 360 ​​determines that the monitoring point PO exists outside the monitoring area AR, it stops the positioner 30 via the positioner control unit 330. In this way, the monitoring control device 360 ​​prevents the surgical support robot 100 from tipping over. The monitoring point PO and the monitoring area AR are set to prevent the surgical support robot 100 from tipping over.

[0120] The monitoring point PO is set at the front end side of the positioner 30. Specifically, the monitoring point PO is set at the portion of the link portion 32f on the extension line of the A7a axis. The monitoring control device 360 ​​obtains the position of the monitoring point PO based on the rotation angles of the plurality of joints JT1a, JT2a, JT3a, JT4a, JT5a, JT6a, and JT7a of the positioner 30.

[0121] The monitoring area AR is set based on the tipping safety rate. The tipping safety rate indicates the difficulty of tipping over of the surgical assistance robot 100 at each position within the movable range of the monitoring point PO. The greater the tipping safety rate, the less likely the surgical assistance robot 100 is to tip over. The monitoring area AR is set to include only areas with tipping safety rates greater than a specified value and not include areas with tipping safety rates less than the specified value. The tipping safety rate is the value obtained by dividing the absolute value of the tipping moment of the surgical assistance robot 100 by the absolute value of the tipping moment generated by the external force used as a reference. The tipping moment of the surgical assistance robot 100 is determined by the center of gravity position, weight, and position of each wheel of the surgical assistance robot 100. As an example, the monitoring area AR is set to include only areas with a tipping safety rate greater than 2. In addition, as an example, the external force used as a reference is an external force such as a 150N horizontal force applied at a height of 1.5m from the floor.

[0122] The monitoring area AR is a three-dimensional area. Specifically, the monitoring area AR is a cubic area. The monitoring area AR extends in three directions: the Xa direction, the Ya direction, and the Za direction. The center of the monitoring area AR in the Xa direction is arranged near the center of the medical trolley 10 in the Xa direction so that the positioner 30 can assume the same posture in both the Xa1 direction and the Xa2 direction. In addition, the monitoring area AR is arranged at a position closer to the Ya1 direction side and the Za1 direction side than the base portion 31.

[0123] Here, in this embodiment, if Fig. 22 and Fig.23As shown, the monitoring control device 360 ​​changes the monitoring area AR based on the posture of the positioner 30. Specifically, the monitoring control device 360 ​​expands the monitoring area AR based on the posture of the positioner 30. The monitoring control device 360 ​​expands the monitoring area AR in the Xa direction. In addition, the monitoring control device 360 ​​expands the monitoring area AR in a manner that includes only areas with a tipping safety rate greater than a specified value and does not include areas with a tipping safety rate less than the specified value.

[0124] In addition, in the present embodiment, the monitoring control device 360 ​​expands the monitoring area AR according to the rotation angle θ1 of the arm base 40 around the vertical axis based on the posture of the positioner 30. Fig.25 As shown, the rotation angle θ1 of the arm base 40 around the vertical axis is the rotation angle of the arm base 40 around the axis in the Za direction relative to the reference posture of the arm base 40. The monitoring control device 360 ​​obtains the rotation angle θ1 of the arm base 40 around the vertical axis based on the rotation angles of the plurality of joints JT1a, JT2a, JT3a, JT4a, JT5a, JT6a, and JT7a of the positioner 30.

[0125] In addition, in this embodiment, if Fig.24 As shown, the monitoring control device 360 ​​does not expand the monitoring area AR when the rotation angle θ1 of the arm base 40 around the vertical axis is larger than the first threshold. Fig. 22 and Fig.23 As shown, the monitoring control device 360 ​​expands the monitoring area AR when the rotation angle θ1 of the arm base 40 around the vertical axis is equal to or smaller than the first threshold. The first threshold is not particularly limited, and is, for example, 45 degrees.

[0126] In addition, in the present embodiment, the monitoring control device 360 ​​expands the monitoring area AR in the direction corresponding to the rotation of the joint JT7a on the front end side connected to the arm base 40 among the plurality of joints JT1a, JT2a, JT3a, JT4a, JT5a, JT6a, and JT7a. Specifically, the monitoring control device 360 ​​expands the monitoring area AR to one side when the joint JT7a on the front end side rotates to one side, and expands the monitoring area AR to the other side when the joint JT7a on the front end side rotates to the other side. More specifically, when the rotation angle of the joint JT7a on the front end side is less than 0, the monitoring control device 360 ​​assumes that the joint JT7a on the front end side rotates to one side, and expands the monitoring area AR to the Xa2 direction side. In addition, when the rotation angle of the joint JT7a on the front end side is greater than 0, the monitoring control device 360 ​​assumes that the joint JT7a on the front end side rotates to the other side, and expands the monitoring area AR to the Xa1 direction side.

[0127] like Fig. 22As shown in FIG. 1 , when the rotation angle θ1 of the arm base 40 around the vertical axis is less than the first threshold value and the rotation angle of the joint JT7a on the front end side is less than 0, the positioner 30 assumes a posture extending toward the Xa2 direction. Therefore, the monitoring control device 360 ​​expands the monitoring area AR toward the Xa2 direction within a range that includes only areas with a tipping safety rate greater than a specified value and does not include areas with a tipping safety rate less than a specified value. In addition, as Fig.23 As shown, when the rotation angle θ1 of the arm base 40 around the vertical axis is less than the first threshold value and the rotation angle of the joint JT7a on the front end side is greater than 0, the positioner 30 assumes a posture extending toward the Xa1 direction side. Therefore, the monitoring control device 360 ​​expands the monitoring area AR toward the Xa1 direction side within a range that includes only the area with a tipping safety rate greater than a specified value and does not include the area with a tipping safety rate less than the specified value. In the above case, the monitoring control device 360 ​​monitors whether the monitoring point PO exists in the expanded monitoring area AR.

[0128] On the other hand, Fig.24 As shown in FIG. 1 , when the rotation angle θ1 of the arm base 40 about the vertical axis is larger than the first threshold value, the positioner 30 assumes a posture extending toward the Ya1 direction. Fig.24 In the example shown, the rotation angle of the joint JT7a on the front end side is smaller than 0, but if the monitoring area AR is expanded toward the Xa2 direction side based on the rotation angle of the joint JT7a on the front end side, the expanded monitoring area AR includes an area with a rollover safety factor smaller than a specified value. Therefore, the monitoring control device 360 ​​does not expand the monitoring area AR when the rotation angle θ1 of the arm base 40 around the vertical axis is larger than the first threshold value.

[0129] In addition, in the present embodiment, the monitoring control device 360 ​​determines that the monitoring point PO exists outside the monitoring area AR when the tilt angle θ2 of the arm base 40 relative to the horizontal based on the posture of the positioner 30 is greater than the second threshold. Fig.26 As shown, the inclination angle θ2 of the arm base 40 relative to the horizontal is the rotation angle of the arm base 40 around the axis of the horizontal direction relative to the reference posture of the arm base 40. The monitoring control device 360 ​​obtains the inclination angle θ2 of the arm base 40 relative to the horizontal based on the rotation angles of the plurality of joints JT1a, JT2a, JT3a, JT4a, JT5a, JT6a, and JT7a of the positioner 30. In addition, the second threshold value is not particularly limited, and is, for example, 90 degrees. In addition, when the inclination angle θ2 of the arm base 40 relative to the horizontal is smaller than the second threshold value, the monitoring control device 360 ​​monitors whether the monitoring point PO exists in the monitoring area AR as usual.

[0130] [Effects of this embodiment]

[0131] In the present embodiment, as described above, by monitoring whether the monitoring point PO set on the arm base 40 or the positioner 30 is present in the monitoring area AR, the positioner 30 can be positioned within a range where balance can be maintained. As a result, the surgical support robot 100 can be prevented from tipping over due to the posture of the positioner 30. In addition, the monitoring area AR is changed based on the posture of the positioner 30, so the positioner 30 can be positioned in more postures than when the monitoring area AR is not changed. As a result, the surgical support robot 100 can be prevented from tipping over due to the posture of the positioner 30, and the positioner 30 can be positioned in more postures.

[0132] In addition, in the present embodiment, as described above, the monitoring control device 360 ​​expands the monitoring area AR based on the posture of the positioner 30. As a result, the positioner 30 can be positioned so that the monitoring point PO exists in the expanded monitoring area AR. As a result, the positioner 30 can be positioned in more postures according to the amount of expansion of the monitoring area AR. In addition, a wide range of motion can be ensured.

[0133] In addition, in the present embodiment, as described above, the monitoring control device 360 ​​expands the monitoring area AR according to the rotation angle θ1 of the arm base 40 around the vertical axis based on the posture of the positioner 30. As a result, when it is better to expand the monitoring area AR based on the rotation angle θ1 of the arm base 40 around the vertical axis, the monitoring area AR can be expanded. In addition, when it is better not to expand the monitoring area AR based on the rotation angle θ1 of the arm base 40 around the vertical axis, the monitoring area AR can be not expanded. As a result of the above, the monitoring area AR can be appropriately expanded based on the rotation angle θ1 of the arm base 40 around the vertical axis.

[0134] In addition, in the present embodiment, as described above, the monitoring control device 360 ​​does not expand the monitoring area AR when the rotation angle θ1 of the arm base 40 around the vertical axis is larger than the first threshold, and expands the monitoring area AR when the rotation angle θ1 of the arm base 40 around the vertical axis is less than the first threshold. Thus, the monitoring area AR can be easily expanded or moved using the rotation angle θ1 of the arm base 40 around the vertical axis and the first threshold.

[0135] In addition, in the present embodiment, as described above, the positioner 30 includes a plurality of joints JT1a, JT2a, JT3a, JT4a, JT5a, JT6a, and JT7a, and the monitoring control device 360 ​​expands the monitoring area AR in a direction corresponding to the rotation of the joint JT7a on the front end side connected to the arm base 40 among the plurality of joints JT1a, JT2a, JT3a, JT4a, JT5a, JT6a, and JT7a. Thus, the monitoring area AR can be expanded or moved in an appropriate direction by using the rotation of the joint JT7a on the front end side corresponding to the direction of expanding the monitoring area AR.

[0136] In addition, in the present embodiment, as described above, the monitoring control device 360 ​​expands the monitoring area AR to one side when the joint JT7a on the distal end side rotates to one side, and expands the monitoring area AR to the other side when the joint JT7a on the distal end side rotates to the other side. Thus, by utilizing the fact that the rotation direction of the joint JT7a on the distal end side corresponds to the direction in which the monitoring area AR is expanded, the monitoring area AR can be easily expanded in an appropriate direction.

[0137] In addition, in the present embodiment, as described above, the monitoring control device 360 ​​determines that the monitoring point PO exists outside the monitoring area AR when the tilt angle θ2 of the arm base 40 relative to the horizontal based on the posture of the positioner 30 is greater than the second threshold value. Thus, in an abnormal situation such as when the arm base 40 is turned over and the arm base 40 is rotated excessively with respect to the normal state where the robot arm 50 exists on the lower side, it can be determined that the monitoring point PO exists outside the monitoring area AR.

[0138] In addition, in the present embodiment, as described above, the surgery support system 500 includes the remote operation device 200 for operating the robot arm 50 . Thus, the robot arm 50 can be easily operated by the remote operation device 200 .

[0139] In addition, in the present embodiment, as described above, the surgery support system 500 includes the carriage positioner operating unit 20 for operating the positioner 30. Thus, the positioner 30 can be easily operated by the carriage positioner operating unit 20. In addition, when the positioner 30 is operated by the carriage positioner operating unit 20 to change the posture of the positioner 30, it is possible to monitor whether the monitoring point PO exists in the monitoring area AR, so that the surgery support robot 100 can be prevented from tipping over due to the posture of the positioner 30.

[0140] In addition, in the present embodiment, as described above, the monitoring area AR is a three-dimensional area. Therefore, compared with the case where the monitoring area AR is a flat area, the positioner 30 can assume more postures. In addition, when the positioner 30 can assume more postures, it is particularly effective to prevent the surgical support robot 100 from tipping over due to the posture of the positioner 30.

[0141] [Modifications]

[0142] The embodiments disclosed this time should be considered in all respects as illustrative rather than restrictive. The scope of the present disclosure is indicated by the claims rather than the description of the embodiments described above, and includes all changes or modifications within the meaning and scope equivalent to the claims.

[0143] For example, in the above embodiment, an example is shown in which the monitoring point PO is set on the positioner 30 , but the present disclosure is not limited thereto. For example, the monitoring point PO may also be set on the arm base 40 .

[0144] In addition, in the above-mentioned embodiment, an example of expanding the monitoring area AR based on the posture of the positioner 30 is shown, but the present disclosure is not limited to this. For example, the monitoring area AR may be moved based on the posture of the positioner 30. In this case, the monitoring area AR may be moved to one side when the joint JT7a on the front end side rotates to one side, and the monitoring area AR may be moved to the other side when the joint JT7a on the front end side rotates to the other side.

[0145] In the above embodiment, an example of expanding the monitoring area AR in the Xa direction is shown, but the present disclosure is not limited thereto. For example, the monitoring area AR may be expanded or moved in directions other than the Xa direction, such as the Ya direction and the Za direction.

[0146] In the above embodiment, an example in which the monitoring area AR is a cubic area is shown, but the present disclosure is not limited thereto. For example, the monitoring area AR may be an area in a shape other than a cubic shape, such as a sphere.

[0147] In the above embodiment, the carriage positioner operating unit 20 is provided as the second operating device of the present disclosure, but the present disclosure is not limited thereto. A dedicated operating device for operating the positioner 30 may be provided as the second operating device of the present disclosure.

[0148] In the above embodiment, the monitoring area AR is expanded based on the rotation angle θ1 of the arm base 40 around the vertical axis, but the present disclosure is not limited thereto. For example, the monitoring area AR may not be expanded based on the rotation angle θ1 of the arm base 40 around the vertical axis.

[0149] In the above embodiment, the monitoring area AR is expanded in the direction corresponding to the rotation of the distal joint JT7a, but the present disclosure is not limited thereto. For example, the monitoring area AR may not be expanded in the direction corresponding to the rotation of the distal joint JT7a.

[0150] In addition, in the above embodiment, an example is shown in which four robot arms 50 are provided, but the present disclosure is not limited thereto. In the present disclosure, the number of robot arms 50 may be any other number as long as at least one is provided.

[0151] In addition, in the above embodiment, an example is shown in which the arm 51 and the positioner 30 are composed of a 7-axis multi-joint robot, but the present disclosure is not limited to this. For example, the arm 51 and the positioner 30 may also be composed of a multi-joint robot or the like having an axis structure other than the 7-axis multi-joint robot. The axis structure other than the 7-axis multi-joint robot is, for example, a 6-axis or 8-axis.

[0152] The functions of the elements disclosed in this specification can be performed using circuits or processing circuits including general-purpose processors, special-purpose processors, integrated circuits, ASICs (Application Specific Integrated Circuits), existing circuits, and / or combinations thereof that are constructed or programmed to perform the disclosed functions. The processor includes transistors and other circuits, so it is considered a processing circuit or circuit. In the present disclosure, a circuit, unit or mechanism is hardware that performs the listed functions or hardware that is programmed to perform the listed functions. The hardware may be the hardware disclosed in this specification, or it may be other known hardware that is programmed or constructed to perform the listed functions. In the case where the hardware is a processor that is considered to be a type of circuit, the circuit, mechanism or unit is a combination of hardware and software, and the software is used to constitute the hardware and / or processor.

[0153] [form]

[0154] Those skilled in the art will understand that the above-mentioned exemplary embodiments are specific examples of the following aspects.

[0155] (Form 1)

[0156] A surgical assistance system, comprising:

[0157] A surgical device comprising a first robot arm for moving a medical instrument, an arm base for supporting a base end portion of the first robot arm, and a second robot arm for moving the arm base; and

[0158] The monitoring control device monitors whether a monitoring point set on the arm base or the second robot arm is within a monitoring area, and changes the monitoring area based on a posture of the second robot arm.

[0159] (Form 2)

[0160] A surgical assisting system according to form 1, wherein:

[0161] The monitoring control device expands or moves the monitoring area based on the posture of the second robot arm.

[0162] (Form 3)

[0163] A surgical assisting system according to form 2, wherein:

[0164] The monitoring control device expands or moves the monitoring area according to a rotation angle of the arm base around a vertical axis based on a posture of the second robot arm.

[0165] (Form 4)

[0166] A surgical assisting system according to form 3, wherein:

[0167] The monitoring control device does not expand or move the monitoring area when the rotation angle of the arm base around the vertical axis is larger than the first threshold, and expands or moves the monitoring area when the rotation angle of the arm base around the vertical axis is less than the first threshold.

[0168] (Form 5)

[0169] The surgical assisting system according to form 2 or 3, wherein:

[0170] The second robot arm comprises a plurality of joints.

[0171] The monitoring control device expands or moves the monitoring area in a direction corresponding to the rotation of a joint on the front end side connected to the arm base among the plurality of joints.

[0172] (Form 6)

[0173] A surgical assisting system according to form 5, wherein:

[0174] The monitoring control device expands or moves the monitoring area to one side when the joint on the front end side rotates to one side, and expands or moves the monitoring area to the other side when the joint on the front end side rotates to the other side.

[0175] (Form 7)

[0176] A surgical support system according to any one of aspects 1 to 6, wherein:

[0177] The monitoring control device determines that the monitoring point exists outside the monitoring area when an inclination angle of the arm base with respect to a horizontal direction based on a posture of the second robot arm is equal to or larger than a second threshold value.

[0178] (Form 8)

[0179] A surgical support system according to any one of aspects 1 to 7, wherein:

[0180] A first operating device for operating the first robot arm is further provided.

[0181] (Form 9)

[0182] A surgical support system according to any one of aspects 1 to 8, wherein:

[0183] A second operating device for operating the second robot arm is also provided.

[0184] (Form 10)

[0185] A surgical support system according to any one of aspects 1 to 9, wherein:

[0186] The monitoring area is a three-dimensional area.

[0187] (Form 11)

[0188] A surgical device comprising:

[0189] a first robotic arm to move the medical device;

[0190] An arm base supporting a base end portion of the first robot arm;

[0191] a second robotic arm to move the arm base; and

[0192] The monitoring control unit monitors whether a monitoring point set on the arm base or the second robot arm is within a monitoring area, and changes the monitoring area based on a posture of the second robot arm.

[0193] (Form 12)

[0194] A control method for a surgery assisting system is a control method for a surgery assisting system having a surgery device, wherein the surgery device includes a first robot arm for moving a medical instrument, an arm base for supporting a base end portion of the first robot arm, and a second robot arm for moving the arm base.

[0195] The control method of the above-mentioned surgical assistance system comprises:

[0196] monitoring whether a monitoring point set at the arm base or the second robot arm exists in a monitoring area; and

[0197] The monitoring area is changed based on the posture of the second robot arm.

Claims

1. A surgical assistance system, characterized in that: have: A surgical device including a first robot arm for moving a medical instrument, an arm base for supporting a base end portion of the first robot arm, and a second robot arm for moving the arm base; and The monitoring control device monitors whether a monitoring point set at the arm base or the second robot arm is present in a monitoring area, and changes the monitoring area based on a posture of the second robot arm.

2. The surgical assistance system according to claim 1, characterized in that: The monitoring control device expands or moves the monitoring area based on the posture of the second robot arm.

3. The surgical assistance system according to claim 2, characterized in that: The monitoring control device expands or moves the monitoring area according to a rotation angle of the arm base around a vertical axis based on the posture of the second robot arm.

4. The surgical assistance system according to claim 3, characterized in that: The monitoring control device does not expand or move the monitoring area when the rotation angle of the arm base around the vertical axis is larger than the first threshold, and expands or moves the monitoring area when the rotation angle of the arm base around the vertical axis is less than the first threshold.

5. The surgical assisting system according to claim 2 or 3, characterized in that: The second robot arm includes a plurality of joints, The monitoring control device expands or moves the monitoring area in a direction corresponding to the rotation of a joint on the front end side connected to the arm base among the plurality of joints.

6. The surgical assisting system according to claim 5, characterized in that: The monitoring control device expands or moves the monitoring area to one side when the joint on the distal end side rotates to one side, and expands or moves the monitoring area to the other side when the joint on the distal end side rotates to the other side.

7. The surgical assisting system according to any one of claims 1 to 4, characterized in that: The monitoring control device determines that the monitoring point exists outside the monitoring area when the tilt angle of the arm base with respect to the horizontal based on the posture of the second robot arm is equal to or larger than a second threshold.

8. The surgical assisting system according to any one of claims 1 to 4, characterized in that: A first operating device for operating the first robot arm is also provided.

9. The surgical assisting system according to any one of claims 1 to 4, characterized in that: A second operating device for operating the second robot arm is also provided.

10. The surgical assisting system according to any one of claims 1 to 4, characterized in that: The monitoring area is a three-dimensional area.

11. A surgical device, characterized in that: have: a first robotic arm to move the medical device; an arm base supporting a base end portion of the first robot arm; a second robotic arm to move the arm base; as well as The monitoring control unit monitors whether a monitoring point set at the arm base or the second robot arm is present in a monitoring area, and changes the monitoring area based on a posture of the second robot arm.

12. A method for controlling a surgery assisting system, the method comprising: providing a surgery assisting system having a surgery device, the surgery device comprising a first robot arm for moving a medical instrument, an arm base for supporting a base end portion of the first robot arm, and a second robot arm for moving the arm base. The control method of a surgery assisting system is characterized by comprising: monitoring whether a monitoring point set at the arm base or the second robot arm exists in a monitoring area; and The monitoring area is changed based on the posture of the second robot arm.

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