Surgical support system and control method for surgical support system

Abstract

To provide a surgical support system capable of suppressing abrupt changes in the posture of a surgical instrument while maintaining a state in which operations by an operation unit are accepted, even when an operation exceeding a movable range of the surgical instrument is performed.SOLUTION: A surgical support system 500 comprises: a robot arm 50 to which an instrument 2 including a shaft 2d and an end effector 2b connected to a distal end of the shaft 2d via a wrist joint 2c is attached; a remote operation device 200 including an operation unit 110 that accepts operations for the instrument 2; and a first control device 310 that restricts an operation of rotating the shaft 2d in a direction outside the rotational operation range by the operation unit 110 and an operation of bending the end effector 2b relative to the shaft 2d when an operation accepted by the operation unit 110 for the instrument 2 includes an operation that rotates the shaft 2d beyond a rotational operation range of the shaft 2d.SELECTED DRAWING: Figure 19

Description

[Technical Field]

[0001] The present disclosure relates to a surgery assistance system and a control method for a surgery assistance system. [Background technology]

[0002] Conventionally, a surgical assistance system has been known that includes a surgical instrument attached to the tip of a robot arm and an operation unit that accepts operations on the surgical instrument. Patent Document 1 discloses a master-slave manipulator that includes a slave manipulator arm to which a treatment instrument is attached, an operation input device having an operation handle, and a control unit. In Patent Document 1, the treatment instrument is remotely controlled by the operation handle. In Patent Document 1, the treatment instrument is, for example, forceps. Also in Patent Document 1, the control unit monitors the difference between a command value for opening and closing the forceps from the operation handle and the actual opening and closing angle of the forceps. Then, when the difference between the command value for opening and closing the forceps and the actual opening and closing angle of the forceps exceeds a tolerance, the control unit transitions from an interlocking mode in which operation of the treatment instrument via the operation handle is accepted to an interlocking stop mode in which operation of the treatment instrument via the operation handle is not accepted. Furthermore, in Patent Document 1, the control unit detects that the treatment tool has been opened to its maximum opening and closing angle using the operating handle in the interlock stop mode, and then the treatment tool is closed again using the operating handle, and the deviation between the command value for opening and closing the forceps and the actual opening and closing angle of the forceps falls within the allowable value, and then transitions back to the interlock mode. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6000641 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in Patent Document 1, the control unit switches between the interlock stop mode and the interlock mode based on the discrepancy between the command value for opening and closing the forceps from the operating handle and the actual opening and closing angle of the forceps. However, the patent does not mention what to do if the operating handle is operated to exceed the range of motion of the treatment instrument. If the interlock stop mode were to be switched on every time the operating handle exceeded the range of motion of the treatment instrument, the surgery would be interrupted each time, making it difficult to perform the surgery efficiently. On the other hand, if the interlock mode was maintained even when the operating handle exceeded the range of motion of the treatment instrument, the posture of the treatment instrument would not change, but the posture of the operating handle would. In this case, when the operation accepted by the operating handle returns to within the range of motion of the treatment instrument, the posture of the treatment instrument would suddenly change to follow the posture of the operating handle. Therefore, it is desirable to maintain the interlock mode and suppress sudden changes in the posture of the treatment instrument even when the operating handle is operated beyond the range of motion of the treatment instrument.

[0005] This disclosure aims to provide a surgical support system and a control method for a surgical support system that can suppress sudden changes in the posture of a surgical instrument while maintaining a state in which the operating unit can accept operations, even when an operation that attempts to exceed the range of motion of the surgical instrument is performed. [Means for solving the problem]

[0006] A surgical assistance system according to a first aspect of the present disclosure includes a robotic arm to which a surgical instrument including a shaft and a tip instrument connected to the tip of the shaft via a wrist joint is attached; an operating device having an operating unit that accepts operations on the surgical instrument; and a control device that, when the operations on the surgical instrument accepted by the operating unit include an operation to rotate the shaft outside the rotational motion range of the shaft, restricts the operation by the operating unit to rotate the shaft outside the rotational motion range of the shaft and the operation to bend the tip instrument relative to the shaft.

[0007] In a surgery assistance system according to a first aspect of the present disclosure, when an operation on a surgical instrument accepted by the operating unit includes an operation to rotate the shaft outside the rotational range of the shaft, the control device restricts the operation of rotating the shaft outside the rotational range of the shaft and the operation of bending the distal instrument relative to the shaft by the operating unit. This restricts the operation of rotating the shaft outside the rotational range of the shaft and the operation of bending the distal instrument relative to the shaft by the operating unit, even when an operation to rotate the shaft outside the rotational range of the shaft is performed, thereby maintaining the attitude of the operating unit. This prevents the attitudes of the distal instrument and shaft from becoming misaligned with the attitude of the operating unit, thereby maintaining a state in which the attitudes of the distal instrument and shaft and the attitude of the operating unit are aligned. Furthermore, the control device only restricts the operation of rotating the shaft outside the rotational range of the shaft and the operation of bending the distal instrument relative to the shaft by the operating unit, but does not restrict the acceptance of all operations by the operating unit. Therefore, even when an operation that exceeds the range of motion of the surgical instrument is performed, a sudden change in the attitude of the surgical instrument can be suppressed while maintaining a state in which the operating unit can accept operations.

[0008] A control method for a surgical assistance system according to a second aspect of the present disclosure is a control method for a surgical assistance system including a robot arm to which a surgical instrument including a shaft and a tip instrument connected to the tip of the shaft via a wrist joint is attached, and an operating device having an operating unit that accepts operations on the surgical instrument, the method comprising: accepting operations on the surgical instrument by the operating unit; and, when the operations on the surgical instrument accepted by the operating unit include an operation to rotate the shaft outside the rotational motion range of the shaft, restricting, by the operating unit, operations to rotate the shaft outside the rotational motion range and operations to bend the tip instrument relative to the shaft.

[0009] A control method for a surgery assistance system according to a second aspect of the present disclosure includes, as described above, limiting, when an operation on a surgical instrument accepted by the operating unit includes an operation to rotate the shaft outside its rotational range, an operation to rotate the shaft outside its rotational range and an operation to bend the distal instrument relative to the shaft. This limits the operation to rotate the shaft outside its rotational range and an operation to bend the distal instrument relative to the shaft, even when an operation to rotate the shaft outside its rotational range is performed, thereby maintaining the attitude of the operating unit. This prevents the attitudes of the distal instrument and shaft from becoming misaligned with the attitude of the operating unit, thereby maintaining a state in which the attitudes of the distal instrument and shaft and the attitude of the operating unit are aligned. Furthermore, only the operation to rotate the shaft outside its rotational range and an operation to bend the distal instrument relative to the shaft are limited, and this does not limit the acceptance of all operations by the operating unit. Therefore, a control method for a surgical assistance system can be provided that can suppress sudden changes in the posture of a surgical instrument while maintaining a state in which the operating unit can accept operations, even when an operation that attempts to exceed the range of motion of the surgical instrument is performed. [Effects of the Invention]

[0010] According to the present disclosure, even if an operation is performed that attempts to exceed the range of motion of the surgical instrument, a sudden change in the posture of the surgical instrument can be suppressed while maintaining a state in which the operating unit can accept operation. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a diagram illustrating a configuration of a surgery assistance system according to an embodiment. [Figure 2] FIG. 2 is a diagram illustrating a display unit of the medical cart according to one embodiment. [Figure 3] 1 is a diagram showing a configuration of a medical cart according to an embodiment. FIG. [Figure 4] FIG. 1 illustrates a configuration of a robot arm according to an embodiment. [Figure 5]FIG. [Figure 6] FIG. 2 is a perspective view showing a configuration of an arm operating unit according to one embodiment. [Figure 7] FIG. 10 is a diagram for explaining translational movement of a robot arm. [Figure 8] FIG. 10 is a diagram for explaining the rotational movement of the robot arm. [Figure 9] FIG. 1 is a diagram showing an endoscope. [Figure 10] FIG. 10 shows a pivot position setting tool. [Figure 11] FIG. 2 is a diagram illustrating an operation unit according to an embodiment. [Figure 12] FIG. 1 illustrates a right-handed wrist according to one embodiment. [Figure 13] FIG. 1 illustrates a wrist portion for a left hand according to one embodiment. [Figure 14] FIG. 1 is a perspective view of a foot pedal according to one embodiment. [Figure 15] FIG. 1 is a control block diagram of a surgical assistance robot according to one embodiment. [Figure 16] FIG. 2 is a control block diagram of a robot arm according to one embodiment. [Figure 17] FIG. 2 is a control block diagram of a positioner and a medical cart according to one embodiment. [Figure 18] FIG. 2 is a control block diagram of an operation unit according to an embodiment. [Figure 19] FIG. 10 is a control flow diagram of the first control device for an operation of rotating the shaft outside the rotational motion range of the shaft. [Figure 20] FIG. 10 is a diagram showing a state in which indicators indicating the movable range of the robot arm, the movable range of the operation unit, and the current position of the robot arm are displayed on the monitor and the display unit. [Figure 21] 10A and 10B are diagrams showing indicators indicating the movable range of the robot arm, the movable range of the operation unit, and the current position of the robot arm. [Figure 22] FIG. 10 is a diagram showing a state in which a message is displayed indicating that the operation is outside the rotational movement range of the shaft. DETAILED DESCRIPTION OF THE INVENTION

[0012] (Configuration of surgical support system) The configuration of a surgery assistance system 500 according to this embodiment will be described. The surgery assistance system 500 includes a surgery assistance robot 100, a remote control device 200, a vision unit 300, and an image processing unit 400.

[0013] In this specification, the longitudinal direction of the surgical instrument 1 is defined as the Z direction, as shown in Figure 4. The distal end side of the surgical instrument 1 is defined as the Z1 side, and the proximal end side of the surgical instrument 1 is defined as the Z2 side. The direction perpendicular to the Z direction is defined as the X direction. The direction perpendicular to the Z direction and the X direction is defined as the Y direction.

[0014] As shown in FIG. 1, a surgical support robot 100 is placed in an operating room. A remote control device 200 is placed at a location remote from the surgical support robot 100. The remote control device 200 receives operations on a surgical instrument 1. Specifically, an operator such as a doctor inputs commands to the remote control device 200 to cause the surgical support robot 100 to perform a desired operation. The remote control device 200 transmits the input commands to the surgical support robot 100. The surgical support robot 100 operates based on the received commands. The surgical support robot 100 is placed in an operating room, which is a sterilized sterile field.

[0015] (Configuration of surgical support robot) As shown in Figure 1, the surgical support robot 100 includes a medical cart 10, a cart positioner operating unit 20, a positioner 30, an arm base 40, multiple robot arms 50, and an arm operating unit 60 provided on each robot arm 50.

[0016] As shown in FIG. 3, the cart positioner operating unit 20 is supported by a cart positioner operating support unit 21 at the rear of the medical cart 10, and the medical cart 10 or the positioner 30 is moved by operating the cart positioner operating unit 20. The cart positioner operating unit 20 includes an input device 22 and an operating handle 23. The input device 22 receives operations to move and change the posture of the positioner 30, arm base 40, and multiple robot arms 50, mainly to prepare for surgery before the procedure. The medical cart 10 includes the operating handle 23, a stabilizer 24 shown in FIG. 15, and an electric cylinder 25.

[0017] As shown in Fig. 3, the input device 22 of the medical cart 10 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. As shown in Fig. 2, the display unit 22a displays numbers corresponding to the multiple robot arms 50. The display unit 22a also displays the type of surgical instrument 1 attached to each of the multiple robot arms 50. The display unit 22a displays a check mark CM indicating that a pivot position PP, which will be described later, has been set.

[0018] 3, the joystick 22b is disposed near the display unit 22a of the input device 22 of the medical cart 10. By selecting an operation mode displayed on the display unit 22a and operating the joystick 22b, the positioner 30 is moved three-dimensionally.

[0019] The enable switch 22c is disposed near the joystick 22b. The enable switch 22c permits or prohibits movement of the positioner 30. When the enable switch 22c is pressed down to permit movement of the positioner 30, the positioner 30 is moved by operating the joystick 22b.

[0020] The error reset button 22d resets an error in the surgery support system 500. The error may be, for example, a deviation abnormality error. The speaker 22e is provided as a pair. The pair of speakers 22e is provided near the location of the positioner 30 on the medical cart 10.

[0021] The operating handle 23 is disposed near the display unit 22a. The operating handle 23 has a throttle 23a that is gripped and rotated by an operator such as a nurse or technician to control the movement of the medical cart 10. Specifically, the operating handle 23 is disposed below the input device 22. The medical cart 10 moves forward when the throttle 23a is rotated from the front side to the back side. The medical cart 10 moves backward when the throttle 23a is rotated from the back side to the front side. The speed of the medical cart 10 is changed according to the amount of rotation of the throttle 23a. The operating handle 23 is configured to be rotatable left and right, indicated by the R direction, and the medical cart 10 rotates as the operating handle 23 is rotated.

[0022] An enable switch 23b that permits or prohibits movement of the medical cart 10 is disposed on the operating handle 23. When the enable switch 23b is pressed down to permit movement of the medical cart 10, the medical cart 10 is moved by operating the throttle 23a of the operating handle 23.

[0023] 1, the positioner 30 is, for example, a seven-axis articulated robot. The positioner 30 is placed on a medical cart 10. The positioner 30 adjusts the position of the arm base 40. The positioner 30 moves the position of the arm base 40 three-dimensionally.

[0024] The positioner 30 includes a base portion 31 and a plurality of link portions 32 connected to the base portion 31. The plurality of link portions 32 are connected to each other by joints 33.

[0025] The arm base 40 is attached to the tip of the positioner 30. The base ends of the multiple robot arms 50 are attached to the arm base 40. The multiple robot arms 50 can be folded for storage. The arm base 40 and the multiple robot arms 50 are covered with a sterile drape when in use. The robot arms 50 also support a surgical instrument 1.

[0026] 15, a status indicator 41 and an arm status indicator 42 are arranged on the arm base 40. The status indicator 41 displays the status of the surgery assistance system 500. The arm status indicator 42 displays the status of the robot arm 50.

[0027] 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 configuration as each other.

[0028] As shown in FIG. 4, the robot arm 50 includes an arm section 51, a first link section 52, a second link section 53, and a translational movement mechanism section 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 A8 axis as a linear motion axis. The arm section 51 includes a base section 51a and a link section 51b.

[0029] The arm unit 51 is a seven-axis articulated robot arm. The first link unit 52 is located at the tip of the arm unit 51. The arm operating unit 60, which will be described later, is attached to the second link unit 53. The translational movement mechanism 54 is located between the first link unit 52 and the second link unit 53. A holder 55 that holds the surgical instrument 1 is located on the second link unit 53. The translational movement mechanism 54 translates the holder 55, to which the surgical instrument 1 is attached, between a first position and a second position. The first position is the end position on the Z2 side of the range of movement of the holder 55 by the translational movement mechanism 54 along the A8 axis. The second position is the end position on the Z1 side of the range of movement of the holder 55 by the translational movement mechanism 54 along the A8 axis.

[0030] A surgical instrument 1 is attached to the tip of each of the multiple robot arms 50. The surgical instrument 1 includes, for example, an interchangeable instrument 2, an endoscope 3 shown in FIG. 9 for capturing an image of the surgical site, and a pivot position setting instrument 4 shown in FIG. 10 for setting a pivot position PP. The instrument 2 includes a driven unit 2a, an end effector 2b, a wrist joint 2c shown in FIG. 5, and a shaft 2d. The end effector 2b is connected to the tip of the shaft 2d via the wrist joint 2c. The instrument 2 and the end effector 2b are examples of a surgical instrument and a distal end instrument, respectively.

[0031] 1, an endoscope 3 is attached to the tip of one of the multiple robot arms 50, for example, robot arm 50c, and instruments 2 are attached to the tips of the remaining robot arms 50a, 50b, and 50d. Of the four robot arms 50 arranged adjacent to each other, it is desirable that the endoscope 3 be attached to one of the two robot arms 50b and 50c arranged in the middle.

[0032] (Instrument configuration) 5, an end effector 2b having, for example, jaw members 2g and 2h is attached to the tip of the instrument 2. As the end effector 2b, scissors, graspers, needle holders, microdissectors, stable appliers, tackers, suction and cleaning tools, snare wires, clip appliers, and the like can be used.

[0033] The instrument 2 includes a first support member 2e and a second support member 2f. The first support member 2e is attached to a shaft 2d. The second support member 2f is supported by the first support member 2e so as to be rotatable about an A10 axis, and supports the end effector 2b so as to be rotatable about an A11 axis that intersects with the A10 axis. The shaft 2d rotates about an A9 axis. The wrist joint 2c is provided between the second support member 2f and the first support member 2e, with the A10 axis as its rotation axis. The A10 axis and the A11 axis are examples of a first rotation axis and a second rotation axis, respectively.

[0034] (Arm operation unit configuration) 6, the arm operating unit 60 is attached to the robot arm 50 and operates the robot arm 50. Specifically, the arm operating unit 60 is attached to the second link unit 53.

[0035] The arm operating unit 60 includes an enable 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 .

[0036] When the enable switch 61 is pressed, it allows or disallows movement of the robot arm 50 using the joystick 62 and the linear switch 63. When the enable switch 61 is pressed while the arm operating unit 60 is being held by an operator such as a nurse or assistant, movement of the surgical instrument 1 by the robot arm 50 is permitted.

[0037] The joystick 62 is an operating tool for controlling the movement of the surgical instrument 1 by the robot arm 50. The joystick 62 controls the movement direction and movement speed of the robot arm 50. The robot arm 50 moves according to the direction and angle at which the joystick 62 is tilted.

[0038] The linear switch 63 is a switch for moving the surgical instrument 1 in the Z direction, which is the longitudinal direction of the surgical instrument 1. The linear switch 63 includes a linear switch 63a for moving the surgical instrument 1 in the direction of inserting it into the patient P, and a linear switch 63b for moving the surgical instrument 1 in the direction away from the patient P. Both the linear switch 63a and the linear switch 63b are push button switches.

[0039] The mode switching button 64 is a push button switch for switching between a translational movement mode and a rotational movement mode of the surgical instrument 1. As shown in FIG. 7, in the translational movement mode of the robot arm 50, the robot arm 50 is moved so that the tip 1a of the surgical instrument 1 moves on the XY plane. As shown in FIG. 8, in the rotational movement mode of the robot arm 50, when the pivot position PP is not stored in the memory unit 351, the robot arm 50 is rotated around the center of the end effector 2b of the instrument 2 (as the surgical instrument 1) on the A11 axis or the tip of the end effector 2b as a fulcrum. When the pivot position PP is stored in the memory unit 351, the robot arm 50 is moved so that the surgical instrument 1 is rotated around the pivot position PP as a fulcrum. Note that the surgical instrument 1 is rotated with the shaft 1c of the surgical instrument 1 inserted into the trocar T. The mode switching button 64 is located on the Z-direction surface of the arm operating unit 60.

[0040] The mode indicator 65 displays the switched mode. When the mode indicator 65 is lit, it indicates the rotational movement mode, and when it is off, it indicates the translational movement mode. The mode indicator 65 also serves as a pivot position indicator that indicates that the pivot position PP has been set. The mode indicator 65 is located on the surface of the arm operation unit 60 on the Z direction side.

[0041] The pivot button 66 is a push button switch for setting a pivot position PP that serves as a fulcrum for the movement of the surgical instrument 1 attached to the robot arm 50.

[0042] The adjustment button 67 is a button for optimizing the position of the robot arm 50. After setting the pivot position PP for the robot arm 50 to which the endoscope 3 is attached, pressing the adjustment button 67 optimizes the positions of the other robot arms 50 and the arm base 40. The adjustment button 67 is a button different from the enable switch 61.

[0043] (remote control device) As shown in Fig. 1, the remote control device 200 is placed, for example, inside or outside an operating room. The remote control device 200 includes an operation unit 110, a foot pedal 120, a touch panel 130, a monitor 140, a support arm 150, a support bar 160, and an error reset button 161. The operation unit 110 constitutes an operation handle for an operator such as a doctor to input commands. The monitor 140 is an example of a first display unit and a second display device.

[0044] (Operation unit) As shown in FIG. 11 , the operating unit 110 is a handle for operating the surgical instrument 1. The operating unit 110 also receives operations on the surgical instrument 1. When viewed from an operator such as a doctor, the operating unit 110 includes an operating unit 110L located on the left side and operated with the operator's left hand, and an operating unit 110R located on the right side and operated with the operator's right hand. The operating unit 110 includes an arm unit 111 and a wrist unit 112. The operating unit 110R includes an arm unit 111R and a wrist unit 112R. The operating unit 110L also includes an arm unit 111L and a wrist unit 112L.

[0045] The arm unit 111 has joints JT21, JT22, and JT23 shown in Figure 11, and JT24, JT25, JT26, and JT27 shown in Figures 12 and 13. The rotation axes of the joints JT21, JT22, JT23, JT24, JT25, JT26, and JT27 are defined as A21, A22, A23, A24, A25, A26, and A27 axes, respectively.

[0046] (Arm part) As shown in FIG. 11 , the arm 111R has link portions 111a, 111b, and 111c. The upper end of link portion 111a is attached to the remote control device 200 so as to be rotatable around a vertical axis A21. The upper end of link portion 111b is attached to the lower end of link portion 111a so as to be rotatable around a horizontal axis A22. One end of link portion 111c is attached to the lower end of link portion 111b so as to be rotatable around a horizontal axis A23. The wrist portion 112 is attached to the other end of link portion 111c so as to be rotatable around an A24 axis. Link portion 111a is connected to the remote control device 200 by a joint JT21. Link portions 111a and 111b are connected by a joint JT22. Link portions 111b and 111c are connected by a joint JT23. The arm portion 111 supports the wrist portion 112. The arm portion 111L has the same configuration as the arm portion 111R.

[0047] Wrist section 112 includes wrist section 112R, which is operated by the operator's right hand as shown in Fig. 12, and wrist section 112L, which is operated by the operator's left hand as shown in Fig. 13. Fig. 12 shows the reference position of operation section 110R, and Fig. 13 shows the reference position of operation section 110L. Wrist section 112R and wrist section 112L have the same configuration.

[0048] The wrist unit 112 includes link units 112a, 112b, 112c, and a grip support member 112d that is operated by an operator such as a doctor. The base end of link unit 112a is connected to the tip end of the arm unit 111 and rotates around the A24 axis. The base end of link unit 112b is connected to the tip end of link unit 112a and rotates around the A25 axis. The base end of link unit 112c is connected to the tip end of link unit 112b and the grip support member 112d is connected to the tip end of link unit 112c and rotates around the A26 axis relative to link unit 112b. The grip support member 112d rotates around the A27 axis relative to link unit 112c. The link units 112a, 112b, and 112c each have an L-shape. The link portion 112a, the link portion 112b, and the link portion 112c are examples of a first link portion, a second link portion, and a third link portion, respectively.

[0049] The wrist section 112 includes a pair of grip members 112e that can be opened and closed by the operator. The grip members 112e are made of elongated, plate-like lever members, and the proximal ends of each of the pair of grip members 112e are rotatably connected to the proximal end of the grip support member 112d. Cylindrical finger insertion sections 112f are provided on the grip members 112e. The operator inserts their fingers into the pair of finger insertion sections 112f to operate the wrist section 112. The base ends of each of the pair of grip members 112e are connected to the grip support member 112d, and the opening angle between the jaw members 2g and 2h is changed by increasing or decreasing the angle between the pair of grip members 112e. A magnet is provided on one of the grip members 112e, and a Hall sensor is provided on the grip support member 112d. When the operator opens or closes the grip member 112e, the magnet and Hall sensor function as an angle detection sensor, and the Hall sensor outputs the opening angle. As an angle detection sensor, a Hall sensor may be disposed on the grip member 112e and a magnet may be disposed on the grip support member 112d. Alternatively, a magnet or a Hall sensor may be disposed on both of the grip members 112e.

[0050] As shown in FIG. 1 , the monitor 140 is a scope-type display device for displaying an image captured by the endoscope 3. The monitor 140 is also provided with an alarm unit 141. The alarm unit 141 issues an error sound. The support arm 150 supports the monitor 140 so that the height of the monitor 140 is at the same height as the face of an operator such as a doctor. The touch panel 130 is provided on a support bar 160. The surgical support robot 100 can be operated by the remote control device 200 by detecting the operator's head with a sensor provided near the monitor 140. The operator operates the operation unit 110 and the foot pedal 120 while visually checking the affected area on the monitor 140. This inputs commands to the remote control device 200. The commands input to the remote control device 200 are transmitted to the surgical support robot 100. The monitor 140 is an example of a first display unit and a second display unit.

[0051] (foot pedal) As shown in FIG. 14 , a plurality of foot pedals 120 are provided to perform functions related to the surgical instrument 1. The plurality of foot pedals 120 are arranged on a base 121. The foot pedals 120 include 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 feet. The incision pedals 125 include a incision pedal 125R for the right robot arm 50 and a incision pedal 125L for the left robot arm 50. The coagulation pedals 126 include a coagulation pedal 126R for the right robot arm 50 and a coagulation pedal 126L for the left robot arm 50.

[0052] The switching pedal 122 switches the robot arm 50 operated by the operation unit 110. The clutch pedal 123 performs a clutch operation that temporarily disconnects the operational connection between the robot arm 50 and the operation unit 110. While the clutch pedal 123 is depressed by the operator, the operation by the operation unit 110 is not transmitted to the robot arm 50. Furthermore, while the operator is depressing the camera pedal 124, the operation unit 110 can operate the robot arm 50 to which the endoscope 3 is attached. While the operator is depressing the incision pedal 125 or the coagulation pedal 126, the electrosurgical device is activated.

[0053] (Vision unit and image processing unit) As shown in Fig. 1, the vision unit 300 and the image processing unit 400 are placed on a cart 210. The image processing unit 400 processes images captured by the endoscope 3. A display unit 220 is disposed on the cart 210. The image captured by the endoscope 3 is displayed on the display unit 220. The display unit 220 is an example of a first display unit and a second display unit.

[0054] (Control system configuration) 15, the surgery assistance system 500 includes a first control device 310, an arm control device 320, a positioner control device 330, an operation control device 340, and a second control device 350. The surgery assistance system 500 also includes a memory unit 311 connected to the first control device 310 and a memory unit 351 connected to the second control device 350. The first control device 310 is an example of a control device.

[0055] The first control device 310 is disposed inside the medical cart 10 so as to communicate with the arm control device 320 and the positioner control device 330, and controls the entire surgery support system 500. Specifically, the first control device 310 communicates with and controls each of the arm control device 320, the positioner control device 330, and the operation control device 340. The first control device 310, the arm control device 320, the positioner control device 330, and the operation control device 340 are connected via a LAN or the like. The first control device 310 is disposed inside the medical cart 10.

[0056] An arm control unit 320 is provided 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 provided inside the medical cart 10.

[0057] As shown in Fig. 15, the input device 22 is connected to the first control device 310 via a LAN or the like. The status indicator 41, arm status indicator 42, operating handle 23, throttle 23a, joystick 22b, stabilizer 24, and electric cylinder 25 are serially connected to the positioner control unit 330 via a communication network that allows them to share information with each other via wiring 360. Note that Fig. 15 shows the status indicator 41, arm status indicator 42, and the like as if they were all connected to one wiring 360, but in reality, a wiring 360 is provided for each of the status indicator 41, arm status indicator 42, operating handle 23, throttle 23a, joystick 22b, stabilizer 24, and electric cylinder 25.

[0058] As shown in FIG. 16, the arm 51 is provided with a plurality of servo motors SM1, an encoder EN1, and a reducer 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 cart 10, a servo control unit SC1 for controlling the servo motor SM1 is disposed adjacent to the arm control unit 320. The servo control unit SC1 is electrically connected to the encoder EN1 for detecting the rotation angle of the servo motor SM1.

[0059] The second link section 53 is provided with a servo motor SM2 for rotating a driven member disposed in the driven unit 2a of the surgical instrument 1, an encoder EN2, and a reducer. The encoder EN2 detects the rotation angle of the servo motor SM2. The reducer reduces the rotation speed of the servo motor SM2 to increase the torque. The medical cart 10 is also provided with a servo control section SC2 for controlling the servo motor SM2 that drives the surgical instrument 1. The servo control section SC2 is electrically connected to an encoder EN2 for detecting the rotation angle of the servo motor SM2. Note that multiple servo motors SM2, encoders EN2, and servo control sections SC2 are provided.

[0060] The translational movement mechanism 54 is provided with a servo motor SM3 for translating the surgical instrument 1, an encoder EN3, and a reducer. 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. The medical cart 10 also has a servo control unit SC3 for controlling the servo motor SM3 for translating the surgical instrument 1. The encoder EN3 for detecting the rotation angle of the servo motor SM3 is electrically connected to the servo control unit SC3.

[0061] The first control device 310 generates command values ​​that command the positions of the servo motors SM1, SM2, and SM3 based on the operation received by the remote operation device 200, and drives the servo motors SM1, SM2, and SM3 based on the command values. The first control device 310 then detects a deviation abnormality error when the difference between the command values ​​and the positions of the servo motors SM1, SM2, and SM3 detected by the sensors exceeds an allowable range.

[0062] 17, the positioner 30 is provided with a plurality of servo motors SM4, an encoder EN4, and a reducer so as to correspond to a plurality of joints 33 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 speed of the servo motor SM4 to increase the torque.

[0063] The medical cart 10 is equipped with wheels, including front wheels as drive wheels and rear wheels steered by the operating handle 23. The rear wheels are located closer to the operating handle 23 than the front wheels. The medical cart 10 also includes a servo motor SM5 that drives each of the front wheels of the medical cart 10, an encoder EN5, a reducer, and a brake BRK. The reducer is configured to reduce the rotation speed of the servo motor SM5 and increase the torque. The operating handle 23 of the medical cart 10 is also provided with a potentiometer P1, as shown in FIG. 3, and the servo motor SM5 of the front wheels is driven based on the rotation angle detected by the potentiometer P1 in response to the twist of the throttle 23a. The rear wheels of the medical cart 10 are dual-wheel type, and are steered based on the left and right rotation of the operating handle 23. 3 is disposed on the rotation shaft of the operating handle 23 of the medical cart 10, and a servomotor SM6, an encoder EN6, and a reducer are disposed on the rear wheels of the medical cart 10. The reducer is configured to reduce the rotation speed of the servomotor SM6 and increase the torque. The servomotor SM6 is driven based on the rotation angle detected by the potentiometer P2 in response to the left and right rotation of the operating handle 23. In other words, steering of the rear wheels by the left and right rotation of the operating handle 23 is configured to be power-assisted by the servomotor SM6.

[0064] The front wheels of the medical cart 10 are driven to move forward and backward, and the rear wheels are steered by rotating the operating handle 23 of the medical cart 10, causing the medical cart 10 to rotate left and right.

[0065] As shown in FIG. 17, the medical cart 10 is provided with a servo control unit SC4 for controlling a servo motor SM4 that moves the positioner 30. An encoder EN4 for detecting the rotation angle of the servo motor SM4 is electrically connected to the servo control unit SC4. The medical cart 10 is also provided with a servo control unit SC5 for controlling a servo motor SM5 that drives the front wheels of the medical cart 10. An encoder EN5 for detecting the rotation angle of the servo motor SM5 is electrically connected to the servo control unit SC5. The medical cart 10 is also provided with a servo control unit SC6 for controlling a servo motor SM6 that power-assists the steering of the rear wheels of the medical cart 10. An encoder EN6 for detecting the rotation angle of the servo motor SM6 is electrically connected to the servo control unit SC6.

[0066] As shown in FIGS. 16 and 17 , brakes BRK are mounted on the joints JT1, JT2, JT3, JT4, JT5, JT6, and JT7 of the arm unit 51 and on the joint 33 of the positioner 30. Brakes BRK are also mounted on the front wheels of the medical cart 10, the arm base 40, and the translational movement mechanism 54. Control signals are transmitted unidirectionally from the arm control unit 320 to the brakes BRK mounted on the joints JT1, JT2, JT3, JT4, JT5, JT6, and JT7 of the arm unit 51 and on the translational movement mechanism 54. The control signals are signals that turn the brakes BRK on and off. The signal that turns the brakes BRK on includes a signal that keeps the brakes BRK engaged. The same applies to control signals sent from the positioner control unit 330 to the brakes BRK mounted on the joints 33 of the positioner 30 and on the arm base 40. At startup, all brakes BRK on the arm base 40, arm unit 51, and translational movement mechanism 54 are released, and the servo motor SM is driven to resist gravity, thereby maintaining 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 on the arm base 40, arm unit 51, and translational movement mechanism 54 are turned on. When the error in the surgery support system 500 is resolved, the brakes BRK on the arm base 40, arm unit 51, and translational movement mechanism 54 are turned off. A shutdown operation of the surgery support system 500 turns on the brakes BRK on the arm base 40, arm unit 51, and translational movement mechanism 54. In addition, the brakes BRK on the front wheels of the medical cart 10 are always turned on, and are released only while the enable switch 23b of the medical cart 10 is pressed down. Furthermore, the brakes BRK of each joint 33 of the positioner 30 are always on, and the brakes BRK are released only while the enable switch 22c of the medical cart 10 is pressed.

[0067] As shown in FIG. 18, servo motors SM7a, SM7b, SM7c, SM7d, SM7e, SM7f, and SM7g are disposed at joints JT21, JT22, JT23, JT24, JT25, JT26, and JT27 of the operation unit 110, respectively. Servo motor SM7a rotates link portion 111a around the A21 axis. Servo motor SM7b rotates link portion 111b around the A22 axis. Servo motor SM7c rotates link portion 111c around the A23 axis. Servo motor SM7d rotates link portion 112a around the A24 axis. Servo motor SM7e rotates link portion 112b around the A25 axis. Servo motor SM7f rotates link portion 112c around the A26 axis. Servo motor SM7g rotates grip support member 112d around axis A27. Axes A24, A25, and A26 are examples of the fourth, fifth, and sixth rotation axes, respectively. Axes A27 are an example of the third rotation axis. Servo controllers SC7a, SC7b, SC7c, SC7d, SC7e, SC7f, and SC7g are provided to control the servo motors. Encoders EN7a, EN7b, EN7c, EN7d, EN7e, EN7f, and EN7g are electrically connected to the servo controllers to detect the rotation angles of the servo motors. The servo motors, servo controllers, and encoders are provided in operation unit 110L and operation unit 110R, respectively. Servo motor SM7d, servo motor SM7e, and servo motor SM7f are examples of the first link motor, second link motor, and third link motor, respectively. The servo motor SM7g is an example of a motor for a grip support member.

[0068] The first control device 310 controls each servo motor via the operation control section 340 to generate a torque that cancels out the gravitational torque generated in the rotation shaft of each servo motor according to the attitude of the operation unit 110. This enables the operator to operate the operation unit 110 with a relatively small force.

[0069] Furthermore, when the operator rotates the grip support member 112d around the A27 axis of the operation unit 110 shown in FIGS. 12 and 13, the shaft 2d of the instrument 2 rotates around the A9 axis shown in FIG. 5. When the operator rotates the joints JT24, JT25, and JT26 of the operation unit 110 shown in FIGS. 12 and 13, the end effector 2b bends around the A10 axis or the A11 axis shown in FIG. 5. The shaft 2d has a rotational range around the A9 axis. The rotational range is defined, for example, as a rotatable angle from +A° to −A°. The rotational range of the shaft 2d includes a mechanical rotational range determined based on the mechanism constituting the shaft 2d and a rotational range defined in software pre-installed in the surgery assistance system 500. In this embodiment, the software-defined rotational range of the shaft 2d is smaller than the mechanical rotational range.

[0070] Operation control unit 340 is arranged on the main body of remote control device 200. Operation control unit 340 controls operation unit 110. As shown in Fig. 15, operation control unit 340 is arranged to correspond to operation unit 110L for the left hand and operation unit 110R for the right hand.

[0071] 15, the vision unit 300 and the image processing unit 400 are connected to a first control device 310 via a LAN or the like. The display unit 220 is connected to the vision unit 300.

[0072] (Control of shaft rotation outside its operating range) Next, with reference to FIG. 19, the control of the first control device 310 in a case where the operation on the instrument 2 received by the operation unit 110 includes an operation to rotate the shaft 2d outside the rotational movement range of the shaft 2d will be described.

[0073] In step S1, the first control device 310 starts accepting an operation for the instrument 2 from the operation unit 110. Here, in this embodiment, as shown in FIG. 20 , the monitor 140 of the remote operation device 200 and the display unit 220 arranged on the cart 210 display an indicator M indicating a movable range M1 of the robot arm 50, a movable range M2 of the operation unit 110 relative to the movable range M1 of the robot arm 50, and a current position M3 of the robot arm 50. The indicator M is displayed for each of the operation unit 110L for the left hand and the operation unit 110R for the right hand. For example, in the example shown in FIG. 21 , the horizontal length of the movable range M2 of the operation unit 110 is shorter than the horizontal length of the movable range M1 of the robot arm 50, indicating that the movable range M2 of the operation unit 110 is shorter than the movable range M1 of the robot arm 50. The current position M3 of the robot arm 50 has, for example, an inverted triangle shape, and the position indicated by the inverted triangle shape represents the current position M3 of the robot arm 50.

[0074] In step S2, the operator performs an operation to rotate the grip support member 112d around the A27 axis of the operating unit 110 shown in Figure 12 or Figure 13, and the first control device 310 accepts an operation to rotate the shaft 2d of the instrument 2 around the A9 axis shown in Figure 5.

[0075] In step S3, in this embodiment, the first control device 310 determines whether the operation on the instrument 2 received by the operation unit 110 includes an operation to rotate the shaft 2d outside of the rotational motion range of the shaft 2d. Specifically, the first control device 310 determines whether the operation on the instrument 2 received by the grip support member 112d of the operation unit 110 includes an operation to rotate the shaft 2d outside of the rotational motion range of the shaft 2d. Note that in this embodiment, the rotational motion range used as the basis for the determination by the first control device 310 is a software-defined rotational motion range that is smaller than the mechanical rotational motion range of the shaft 2d. Furthermore, the operation to rotate the shaft 2d received by the grip support member 112d of the operation unit 110 is an operation to rotate the grip support member 112d around the A27 axis. For example, if the rotational angle is defined as +A° to -A°, and the operator attempts to rotate the grip support member 112d around the A27 axis to rotate the shaft 2d to an angle beyond the angle range of +A° to -A°, the first control device 310 will judge yes in step S3.

[0076] If the answer is yes in step S3, in this embodiment, in step S4, the first control device 310 restricts the operation of the operation unit 110 to rotate the shaft 2d in a direction outside its rotational movement range and to bend the end effector 2b relative to the shaft 2d. Specifically, if the operation on the instrument 2 includes an operation to rotate the shaft 2d outside its rotational movement range, the first control device 310 controls the servo motor SM7g to stop the rotation of the grip support member 112d. For example, if the allowable rotation angle of the shaft 2d is set to +A° to −A° and the operator attempts to rotate the grip support member 112d around the A27 axis to rotate the shaft 2d to an angle greater than +A°, the first control device 310 transmits a command to the servo control unit SC7g to keep the rotation angle of the shaft 2d at +A°. As a result, even if the operator attempts to rotate the grip support member 112d so as to rotate the shaft 2d in a direction greater than +A°, a relatively large load is applied to the grip support member 112d, making it difficult for the grip support member 112d to rotate. In other words, if the operator attempts to rotate the grip support member 112d so as to rotate the shaft 2d in a direction greater than +A°, the servo motor SM7g generates a force that returns the grip support member 112d to an angle of +A°, making it difficult for the grip support member 112d to rotate. On the other hand, if the operator rotates the grip support member 112d so as to rotate the shaft 2d in a direction less than +A°, the load applied to the grip support member 112d is small, and the operator can easily rotate the grip support member 112d.

[0077] Furthermore, in this embodiment, if the answer to step S3 is yes, then in step S4, the operation of bending the end effector 2b relative to the shaft 2d by the link portion 112a, the link portion 112b, and the link portion 112c is restricted. The operation of bending the end effector 2b relative to the shaft 2d includes an operation of rotating the second support member 2f about the A10 axis and an operation of rotating the end effector 2b about the A11 axis. Specifically, if the operation on the instrument 2 received by the operation unit 110 includes an operation of rotating the shaft 2d outside the rotational movement range of the shaft 2d, the first control device 310 restricts the rotation of the link portion 112a about the A24 axis, the rotation of the link portion 112b about the A25 axis, and the rotation of the link portion 112c about the A26 axis. In detail, when the operation on the instrument 2 accepted by the operation unit 110 includes an operation to rotate the shaft 2d outside the rotational motion range of the shaft 2d, the first control unit 310 controls the servo motors SM7d, SM7e, and SM7f to stop the rotation of the link units 112a, 112b, and 112c. For example, if the answer is yes in step S3, the first control unit 310 transmits to the servo control units SC7d, SC7e, and SC7f commands to keep the rotation angles of the link units 112a, 112b, and 112c at the angles at the time when the answer was yes in step S3. As a result, even if the operator attempts to rotate link portion 112a, link portion 112b, and link portion 112c, a relatively large load is applied to link portion 112a, link portion 112b, and link portion 112c, making it difficult for link portion 112a, link portion 112b, and link portion 112c to rotate. In other words, if the answer is yes in step S3, servo motor SM7d, servo motor SM7e, and servo motor SM7f generate forces that return the link portions to the angles they had at the time when the answer was yes in step S3, making it difficult for link portion 112a, link portion 112b, and link portion 112c to rotate.

[0078] Note that even in step S4, where the operation on the instrument 2 accepted by the operation unit 110 includes an operation to rotate the shaft 2d outside the rotational movement range of the shaft 2d, the operation on the arm portion 111 of the operation unit 110 continues to be accepted. In addition, the operation of opening and closing the jaw members 2g and 2h of the instrument 2 by opening and closing the grip member 112e of the operation unit 110 is accepted.

[0079] 21, if the answer is yes in step S3, the current position M3 of the robot arm 50 shown on the monitor 140 of the remote control device 200 and the display unit 220 disposed on the cart 210 has moved to the end of the movable range M2 of the operation unit 110. By viewing the monitor 140 or the display unit 220, the operator can visually confirm that the limit of the movable range M2 of the operation unit 110 has been reached.

[0080] 22, in step S5, if the operation on the instrument 2 received by the operation unit 110 includes an operation to rotate the shaft 2d outside its rotational motion range, the monitor 140 of the remote operation device 200 and the display unit 220 disposed on the cart 210 display a message indicating that the operation on the operation unit 110 is an operation to rotate the shaft 2d outside its rotational motion range. For example, the first control device 310 executes a process to display a message indicating that the operation on the operation unit 110 is an operation to rotate the shaft 2d outside its rotational motion range on the monitor 140 of the remote operation device 200 and the display unit 220 disposed on the cart 210.

[0081] If the answer is no in step S3, the process returns to step S1. The operations from step S1 to step S5 are repeated while the operation by operation unit 110 is being accepted.

[0082] [Effects of this embodiment] When an operation on the instrument 2 received by the operation unit 110 includes an operation to rotate the shaft 2d outside the rotational motion range of the shaft 2d, the first control device 310 restricts the operation of rotating the shaft 2d outside the rotational motion range and the operation of bending the end effector 2b relative to the shaft 2d by the operation unit 110. As a result, even when an operation to rotate the shaft 2d outside the rotational motion range of the shaft 2d is performed, the operation of rotating the shaft 2d outside the rotational motion range and the operation of bending the end effector 2b relative to the shaft 2d by the operation unit 110 are restricted, thereby maintaining the attitude of the operation unit 110. Therefore, the attitudes of the end effector 2b and the shaft 2d and the attitude of the operation unit 110 are prevented from becoming misaligned, and the state in which the attitudes of the end effector 2b and the shaft 2d and the attitude of the operation unit 110 are aligned is maintained. Furthermore, the first control device 310 only restricts the operation of rotating the shaft 2d in a direction outside the rotational movement range and the operation of bending the end effector 2b relative to the shaft 2d by the operation unit 110, but does not restrict the acceptance of all operations by the operation unit 110. Therefore, even if an operation that attempts to exceed the movable range of the instrument 2 is performed, it is possible to suppress a sudden change in the attitude of the instrument 2 while maintaining a state in which the operation by the operation unit 110 is accepted.

[0083] The rotational motion range of the shaft 2d is a rotational motion range defined in software that is smaller than the mechanical rotational motion range of the shaft 2d, which prevents the shaft 2d from moving beyond the mechanical rotational motion range, thereby preventing mechanical failure of the instrument 2.

[0084] The instrument 2 includes a first support member 2e attached to the shaft 2d, and a second support member 2f supported by the first support member 2e so as to be rotatable about the A10 axis and supporting the end effector 2b so as to be rotatable about an A11 axis that intersects with the A10 axis. Operations for bending the end effector 2b relative to the shaft 2d include an operation for rotating the second support member 2f about the A10 axis and an operation for rotating the end effector 2b about the A11 axis. As a result, when an operation on the instrument 2 received by the operation unit 110 includes an operation for rotating the shaft 2d outside the rotational movement range of the shaft 2d, the rotation of the second support member 2f about the A10 axis and the rotation of the end effector 2b about the A11 axis can be limited.

[0085] The operation unit 110 includes a grip support member 112d that rotatably supports one end of a grip member 112e operated by the operator's fingers and rotates about an A27 axis parallel to the longitudinal direction of the grip support member 112e to receive an operation to rotate the shaft 2d. The operation to rotate the shaft 2d of the instrument 2 is received by rotating the grip support member 112d about the A27 axis. This limits the operation of turning the grip support member 112d outside the rotational movement range of the shaft 2d, thereby preventing the rotation angle of the grip support member 112d from becoming mismatched with the rotation angle of the shaft 2d.

[0086] The operation unit 110 includes a servo motor SM7g that rotates the grip support member 112d around the A27 axis. When an operation on the instrument 2 includes an operation that rotates the shaft 2d outside the rotational range of the shaft 2d, the first control device 310 controls the servo motor SM7g to stop the rotation of the grip support member 112d. This makes it possible to stop the rotation of the grip support member 112d using the pre-installed servo motor SM7g, without having to separately install a dedicated brake or the like for stopping the rotation of the grip support member 112d. As a result, the configuration of the surgery assistance system 500 can be prevented from becoming complicated.

[0087] The operation unit 110 includes an arm unit 111 and a wrist unit 112. The wrist unit 112 includes a link unit 112a whose base end is connected to the tip end of the arm unit 111 and rotates around the A24 axis, a link unit 112b whose base end is connected to the tip end of the link unit 112a and rotates around the A25 axis, and a link unit 112c whose base end is connected to the tip end of the link unit 112b and whose tip end is connected to a grip support member 112d and rotates around the A26 axis. When an operation on the instrument 2 includes an operation to rotate the shaft 2d outside its rotational movement range, the first control device 310 restricts the rotation of the link unit 112a about the A24 axis, the rotation of the link unit 112b about the A25 axis, and the rotation of the link unit 112c about the A26 axis. This limits the rotation of the link portions 112a, 112b, and 112c, thereby preventing the positions of the link portions 112a, 112b, and 112c from becoming misaligned with the position of the instrument 2.

[0088] The wrist unit 112 includes a servo motor SM7d that rotates the link unit 112a around the A24 axis, a servo motor SM7e that rotates the link unit 112b around the A25 axis, and a servo motor SM7f that rotates the link unit 112c around the A26 axis. When an operation on the instrument 2 includes an operation that rotates the shaft 2d outside of its rotational range, the first control device 310 controls the servo motors SM7d, SM7e, and SM7f to stop the rotation of the link units 112a, 112b, and 112c. This allows the rotation of the grip support member 112d to be stopped by the pre-installed servo motors SM7d, SM7e, and SM7f, without the need for a separate dedicated brake or the like for stopping the rotation of the link units 112a, 112b, and 112c. As a result, the configuration of the surgery assistance system 500 can be prevented from becoming complicated.

[0089] When an operation on the instrument 2 accepted by the operation unit 110 includes an operation to rotate the shaft 2d outside the rotational movement range of the shaft 2d, the monitor 140 of the remote operation device 200 and the display unit 220 disposed on the cart 210 display a message indicating that the operation on the operation unit 110 is an operation to rotate the shaft 2d outside the rotational movement range of the shaft 2d. This allows the operator to easily recognize by visually checking the message that the operation on the operation unit 110 is an operation to rotate the shaft 2d outside the rotational movement range of the shaft 2d.

[0090] The monitor 140 of the remote control device 200 and the display unit 220 arranged on the cart 210 display an indicator M indicating the movable range M1 of the robot arm 50, the movable range M2 of the operating unit 110 relative to the movable range M1 of the robot arm 50, and the current position M3 of the robot arm 50. This allows the operator to easily recognize whether the operation of the operating unit 110 has reached the limit of the rotational movement range of the shaft 2d by visually checking the current position M3 of the robot arm 50.

[0091] [Variations] It should be noted that the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present disclosure is defined by the claims, not by the description of the above embodiments, and further includes all modifications and variations within the meaning and scope of the claims.

[0092] In the above embodiment, an example has been shown in which two operation units 110 for operating two robot arms 50 are arranged in the remote control device 200, but the present disclosure is not limited to this. In the present disclosure, only one operation unit 110 for operating one robot arm 50 may be arranged in the remote control device 200.

[0093] In the above embodiment, an example has been shown in which the first control device 310 disposed on the medical cart 10 is applied as the control device of the present disclosure, but the present disclosure is not limited to this. In the present disclosure, a control device other than the first control device 310 may be applied as the control device of the present disclosure.

[0094] In the above embodiment, an example was shown in which the rotational motion range of the shaft 2d defined by software is smaller than the mechanical rotational motion range, but the present disclosure is not limited to this. In the present disclosure, the rotational motion range of the shaft 2d defined by software may be the same as the mechanical rotational motion range.

[0095] In the above embodiment, an example has been shown in which an operation to rotate the shaft 2d is received by the grip support member 112d of the operation unit 110, but the present disclosure is not limited to this. In the present disclosure, an operation to rotate the shaft 2d may be received by a configuration other than the grip support member 112d.

[0096] In the above embodiment, an example was shown in which the driving force of the servo motor SM7g acts to stop the rotation of the grip support member 112d, but the present disclosure is not limited to this. In the present disclosure, a brake for stopping the rotation of the servo motor SM7g may be provided on the servo motor SM7g.

[0097] In the above embodiment, when an operation on the instrument 2 accepted by the operating unit 110 includes an operation to rotate the shaft 2d outside its rotational movement range, the first control unit 310 controls the link units 112a, 112b, and 112c of the wrist unit 112 to stop the rotation. However, the present disclosure is not limited to this. For example, the first control unit 310 may control the link units 112a, 112b, and 112c of the wrist unit 112 to increase the resistance to the operation to rotate them. That is, while the link units 112a, 112b, and 112c are still rotatable, the resistance to the operation outside the rotational movement range of the shaft 2d is greater than the resistance to the operation within the rotational movement range of the shaft 2d. Furthermore, it may be possible to select between control to stop the rotation and control to increase the resistance for each axis of the wrist unit 112.

[0098] In the above embodiment, an example has been shown in which operations on the arm portion 111 of the operation unit 110 are continuously accepted even when the operations on the instrument 2 accepted by the operation unit 110 include an operation to rotate the shaft 2d outside the rotational movement range of the shaft 2d, but the present disclosure is not limited to this. In the present disclosure, when the operations on the instrument 2 accepted by the operation unit 110 include an operation to rotate the shaft 2d outside the rotational movement range of the shaft 2d, control may be performed to stop the rotation of the link portions 111a, 111b, and 111c of the arm portion 111.

[0099] In the above embodiment, an example has been shown in which the operation unit 110 includes seven axes A21 to A27, but the present disclosure is not limited to this. In the present disclosure, the operation unit 110 may have a number of axes other than seven. Also, an example has been shown in which the wrist unit 112 of the operation unit 110 includes four axes A24 to A27, but the present disclosure is not limited to this. In the present disclosure, the number of axes of the wrist unit 112 may be other than four, such as three or five.

[0100] In the above embodiment, an example was shown in which the wrist section 112 of the operation section 110 has a gimbal structure in which the A24 axis, the A26 axis, the A25 axis, and the A27 axis are orthogonal to each other, but the present disclosure is not limited to this. In the present disclosure, the wrist section 112 does not have to have a gimbal structure. In other words, the axes of the wrist section 112 do not have to be orthogonal to each other.

[0101] In the above embodiment, an example was shown in which operations using the three link portions 112a, 112b, and 112c were restricted when an operation on the instrument 2 accepted by the operating unit 110 included an operation that rotates the shaft 2d outside the rotational movement range of the shaft 2d, but the present disclosure is not limited to this. In the present disclosure, operations using a number of link portions other than three may be restricted.

[0102] In the above embodiment, an example has been shown in which the driving forces of servo motor SM7d, servo motor SM7e, and servo motor SM7f act to stop the rotation of each of link portion 112a, link portion 112b, and link portion 112c, but the present disclosure is not limited to this. In the present disclosure, brakes for stopping the rotation of link portion 112a, link portion 112b, and link portion 112c may be provided in each of link portion 112a, link portion 112b, and link portion 112c.

[0103] In the above embodiment, an example was shown in which a message indicating that an operation on the operation unit 110 is an operation outside the rotational movement range of the shaft 2d is displayed on the monitor 140 of the remote control device 200 and on the display unit 220 disposed on the cart 210, but the present disclosure is not limited to this. In the present disclosure, the above message may be displayed on only one of the monitor 140 and the display unit 220.

[0104] In the above embodiment, the indicators M representing the movable range M1 of the robot arm 50, the movable range M2 of the operation unit 110, and the current position M3 of the robot arm 50 are displayed on the monitor 140 of the remote control device 200 and the display unit 220 disposed on the cart 210. However, the present disclosure is not limited to this. In the present disclosure, the indicators M may be displayed on only one of the monitor 140 and the display unit 220.

[0105] In addition, although the above embodiment has shown an example in which four robot arms 50 are provided, the present disclosure is not limited to this. In the present disclosure, the number of robot arms 50 may be any other number as long as there is at least one or more.

[0106] In the above embodiment, the arm unit 51 and the positioner 30 are configured as a seven-axis articulated robot, but the present disclosure is not limited to this. For example, the arm unit 51 and the positioner 30 may be configured as an articulated robot with an axis configuration other than a seven-axis articulated robot. An example of an axis configuration other than a seven-axis articulated robot is a six-axis or eight-axis robot.

[0107] In the above embodiment, the surgical support robot 100 includes the medical cart 10, the positioner 30, and the arm base 40, but the present disclosure is not limited to this. For example, the medical cart 10, the positioner 30, and the arm base 40 are not necessarily required, and the surgical support robot 100 may be configured with only the robot arm 50.

[0108] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, special-purpose processors, integrated circuits, application-specific integrated circuits (ASICs), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuitry. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. Where the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or processor.

[0109] [Aspect] It will be appreciated by those skilled in the art that the exemplary embodiments described above are examples of the following aspects.

[0110] (Aspect 1) a robot arm to which a surgical instrument including a shaft and a distal end instrument connected to the distal end of the shaft via a wrist joint is attached; an operating device including an operating unit that accepts operations on the surgical instrument; A surgical support system comprising: a control device that, when an operation on the surgical instrument accepted by the operating unit includes an operation to rotate the shaft outside the rotational motion range of the shaft, limits the operation of the operating unit to rotate the shaft outside the rotational motion range of the shaft and the operation of bending the distal instrument relative to the shaft.

[0111] (Aspect 2) A surgical assistance system as described in aspect 1, wherein the rotational motion range of the shaft is a software-defined rotational motion range that is smaller than the mechanical rotational motion range of the shaft.

[0112] (Aspect 3) The surgical instrument comprises a first support member attached to the shaft, and a second support member rotatably supported by the first support member around a first rotation axis and rotatably supporting the distal instrument around a second rotation axis intersecting the first rotation axis, A surgical support system as described in aspect 1 or aspect 2, wherein the operation of bending the distal instrument relative to the shaft includes an operation of rotating the second support member around the first rotation axis and an operation of rotating the distal instrument around the second rotation axis.

[0113] (Aspect 4) the operating unit includes a grip support member that rotatably supports one end of a grip member operated by an operator's finger, rotates around a third rotation axis parallel to the longitudinal direction of the grip support member, and receives an operation to rotate the shaft; A surgical support system described in any one of aspects 1 to 3, wherein the operation of rotating the shaft is accepted by rotating the grip support member around the third rotation axis.

[0114] (Aspect 5) the operation unit includes a grip support member motor that rotates the grip member around the third rotation axis, A surgical support system as described in aspect 4, wherein the control device controls the motor for the grip support member to stop the rotation of the grip support member when the operation on the surgical instrument includes an operation to rotate the shaft outside the rotational range of the shaft.

[0115] (Aspect 6) the operating unit includes an arm unit and a wrist unit, The list section a first link portion whose base end is connected to the tip end of the arm portion and which rotates around a fourth rotation axis; a second link portion whose base end is connected to the tip end of the first link portion and which rotates around a fifth rotation axis; a third link portion having a base end connected to a tip end of the second link portion and a tip end to which the grip support member is connected, the third link portion rotating around a sixth rotation axis; A surgical support system as described in aspect 4 or aspect 5, wherein the control device limits the rotation of the first link section around the fourth rotation axis, the rotation of the second link section around the fifth rotation axis, and the rotation of the third link section around the sixth rotation axis when the operation on the surgical instrument received by the operating unit includes an operation to rotate the shaft outside the rotational range of the shaft.

[0116] (Aspect 7) The list section a first link motor that rotates the first link portion around the fourth rotation shaft; a second link motor that rotates the second link unit around the fifth rotation shaft; a third link motor that rotates the third link unit around the sixth rotation shaft, The surgical support system described in aspect 6, wherein the control device controls the first link motor, the second link motor, and the third link motor so as to stop the rotation of the first link unit, the second link unit, and the third link unit when the operation on the surgical instrument received by the operating unit includes an operation to rotate the shaft outside the rotational range of the shaft.

[0117] (Aspect 8) A surgical support system as described in any one of aspects 1 to 7, comprising a first display unit that, when an operation on the surgical instrument accepted by the operation unit includes an operation to rotate the shaft outside the rotational motion range of the shaft, displays a message indicating that the operation on the operation unit is an operation to rotate the shaft outside the rotational motion range of the shaft.

[0118] (Aspect 9) A surgical support system according to any one of aspects 1 to 8, further comprising a second display unit that displays signs indicating the movable range of the robot arm, the movable range of the operation unit relative to the movable range of the robot arm, and the current position of the robot arm.

[0119] (Aspect 10) A control method for a surgery assistance system including a robot arm to which a surgical instrument including a shaft and a distal end instrument connected to a distal end of the shaft via a wrist joint is attached, and an operation device including an operation unit that receives operations on the surgical instrument, Accepting an operation on the surgical instrument by the operation unit; A control method for a surgical assistance system, comprising: when an operation on the surgical instrument accepted by the operating unit includes an operation to rotate the shaft outside the rotational movement range of the shaft, restricting the operation of the operating unit to rotate the shaft outside the rotational movement range of the shaft and the operation to bend the distal instrument relative to the shaft. [Explanation of symbols]

[0120] 2. Instruments (surgical instruments) 2b End effector (tip tool) 2c Wrist joint 2d shaft 2e First support member 2f Second support member 50 Robot Arm 110 Operation section 111 Arm 112 List Section 112a Link part (first link part) 112b Link part (second link part) 112c Link part (third link part) 112d Grip support member 112e Grip material 140 Monitor (1st display, 2nd display) 200 Remote control device (operation device) 220 Display section (1st display section, 2nd display section) 310 First control device (control device) 500 Surgical Support System A10 axis (first rotation axis) A11 axis (second rotation axis) A24 axis (4th rotation axis) A25 axis (5th rotation axis) A26 axis (6th rotation axis) A27 axis (third rotation axis) SM7d servo motor (first link motor) SM7e Servo Motor (Second Link Motor) SM7f Servo motor (3rd link motor) SM7g servo motor (motor for grip support member) M sign M1 Robot Arm Movement Range M2 Operation range Current position of the M3 robot arm

Claims

1. a robot arm to which a surgical instrument including a shaft and a distal end instrument connected to the distal end of the shaft via a wrist joint is attached; an operating device including an operating unit that accepts operations on the surgical instrument; A surgical support system comprising: a control device that, when an operation on the surgical instrument accepted by the operating unit includes an operation to rotate the shaft outside the rotational motion range of the shaft, limits the operation of the operating unit to rotate the shaft outside the rotational motion range of the shaft and the operation of bending the distal instrument relative to the shaft.

2. The surgical assistance system according to claim 1 , wherein the rotational motion range of the shaft is a software-defined rotational motion range that is smaller than the mechanical rotational motion range of the shaft.

3. The surgical instrument comprises a first support member attached to the shaft, and a second support member rotatably supported by the first support member about a first rotation axis and rotatably supporting the distal end instrument about a second rotation axis intersecting the first rotation axis, 2. The surgical assistance system according to claim 1, wherein the operation of bending the distal instrument relative to the shaft includes an operation of rotating the second support member around the first rotation axis and an operation of rotating the distal instrument around the second rotation axis.

4. the operating unit includes a grip support member that rotatably supports one end of a grip member operated by a finger of an operator, rotates around a third rotation axis parallel to the longitudinal direction of the grip support member, and receives an operation to rotate the shaft; The surgery assistance system according to claim 1 , wherein the operation of rotating the shaft is received by rotating the grip support member around the third rotation axis.

5. the operation unit includes a grip support member motor that rotates the grip member around the third rotation axis, The surgical support system of claim 4, wherein the control device controls the motor for the grip support member to stop the rotation of the grip support member when an operation on the surgical instrument includes an operation to rotate the shaft outside the rotational range of the shaft.

6. the operating unit includes an arm unit and a wrist unit, The list section a first link portion having a base end connected to a tip end of the arm portion and configured to rotate around a fourth rotation axis; a second link portion having a base end connected to a tip end of the first link portion and configured to rotate around a fifth rotation axis; a third link portion having a base end connected to a tip end of the second link portion and a tip end to which the grip support member is connected, the third link portion rotating around a sixth rotation axis, 5. The surgical support system of claim 4, wherein the control device limits the rotation of the first link unit about the fourth rotation axis, the rotation of the second link unit about the fifth rotation axis, and the rotation of the third link unit about the sixth rotation axis when the operation on the surgical instrument received by the operating unit includes an operation to rotate the shaft outside the rotational movement range of the shaft.

7. The list section a first link motor that rotates the first link unit around the fourth rotation shaft; a second link motor that rotates the second link unit around the fifth rotation axis; a third link motor that rotates the third link unit around the sixth rotation axis, 7. The surgical support system of claim 6, wherein the control device controls the first link motor, the second link motor, and the third link motor to stop the rotation of the first link unit, the second link unit, and the third link unit when the operation on the surgical instrument received by the operating unit includes an operation to rotate the shaft outside of the shaft's rotational motion range.

8. 2. The surgical support system of claim 1, further comprising a first display unit that, when an operation on the surgical instrument accepted by the operating unit includes an operation to rotate the shaft outside of the shaft's rotational motion range, displays a message indicating that the operation on the operating unit is an operation outside the shaft's rotational motion range.

9. 2. The surgical assistance system according to claim 1, further comprising a second display unit on which signs are displayed that represent the movable range of the robot arm, the movable range of the operation unit relative to the movable range of the robot arm, and the current position of the robot arm.

10. A control method for a surgery assistance system including a robot arm to which a surgical instrument including a shaft and a distal end instrument connected to a distal end of the shaft via a wrist joint is attached, and an operation device including an operation unit that receives operations on the surgical instrument, Accepting an operation on the surgical instrument by the operation unit; A control method for a surgical assistance system, comprising: when an operation on the surgical instrument accepted by the operating unit includes an operation to rotate the shaft outside the rotational movement range of the shaft, restricting the operation of the operating unit to rotate the shaft outside the rotational movement range of the shaft and the operation to bend the distal instrument relative to the shaft.

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