Surgical support system, and control method for surgical support system

Abstract

To provide a surgical support system capable of inhibiting large movement of the field of view of an endoscope.SOLUTION: In a surgical support system 500, upon receiving an operation by an operation unit 110 to move an endoscope 3 by a predetermined distance ΔX, a first control device 310 executes a process of moving a control point set at a virtual position P0, which is offset ahead of the tip of the endoscope 3 along the axial direction of the endoscope 3, by a distance corresponding to the predetermined distance ΔX.SELECTED DRAWING: Figure 23

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, surgical support systems equipped with a robot arm that supports surgical instruments have been known. Patent Document 1 discloses a surgical support system that includes a manipulator that supports surgical instruments and endoscopes, a master control device that operates the manipulator, and a control device that controls the operation of the manipulator. In Patent Document 1, the control device receives an operation input from the master control device and controls the surgical instruments and endoscopes supported by the manipulator to move around a pivot position based on the received operation. The pivot position is the incision site on the patient. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] U.S. Patent No. 8,004,229 Summary of the Invention [Problem to be solved by the invention]

[0004] When the operation of the manipulator is controlled so that the endoscope rotates around a pivot position as a fulcrum, as in Patent Document 1, even a small movement of the manipulator can significantly change the field of view of the endoscope, depending on the pivot position. Furthermore, the pivot position is set at the incision site of the patient, and the endoscope rotates around the incision site as a fulcrum. In particular, when the distance between the tip of the endoscope and the incision site is short, even a small movement of the tip of the endoscope increases the rotation angle of the endoscope around the incision site as a fulcrum, resulting in a sudden and large shift in the field of view of the endoscope. Therefore, it is desirable to suppress large shifts in the field of view of the endoscope.

[0005] The present disclosure provides a surgery assistance system and a method for controlling a surgery assistance system that can suppress large movements of the field of view of an endoscope. [Means for solving the problem]

[0006] A surgery assistance system according to a first aspect of the present disclosure includes a surgical apparatus including a first robot arm that supports an endoscope, an operation device including an operation unit that accepts operations for the endoscope, and a control device that, when an operation to move the endoscope a predetermined distance is accepted by the operation unit, executes processing to move a control point set at a virtual position offset ahead of the tip of the endoscope in the axial direction of the endoscope by a distance corresponding to the predetermined distance. Note that the tip of the endoscope is a broad concept that includes the tip of the endoscope itself and a position near the tip.

[0007] In a surgery assistance system according to a first aspect of the present disclosure, when the control device receives an operation from the operation unit to move the endoscope a predetermined distance, it executes processing to move a control point set at a virtual position offset ahead of the tip of the endoscope in the axial direction of the endoscope a distance corresponding to the predetermined distance. As a result, for example, when the tip of the endoscope moves in an arc around a reference point as a fulcrum, the amount of movement of the tip of the endoscope is smaller when a control point set at a virtual position offset ahead of the tip of the endoscope a distance corresponding to the predetermined distance is moved than when the tip of the endoscope is moved a distance corresponding to the predetermined distance. As a result, it is possible to prevent the field of view of the endoscope from moving significantly.

[0008] A control method for a surgery assistance system according to a second aspect of the present disclosure includes: receiving an operation to move an endoscope supported by a robot arm by an operation unit that receives an operation for moving the endoscope a predetermined distance; and moving a control point set at a virtual position offset ahead of the tip of the endoscope in the axial direction of the endoscope by a distance corresponding to the predetermined distance. Note that the tip of the endoscope is a broad concept that includes the tip of the endoscope itself and a position near the tip.

[0009] A control method for a surgery assistance system according to a second aspect of the present disclosure includes, as described above, moving a control point set at a virtual position offset ahead of the tip of the endoscope in the axial direction of the endoscope by a distance corresponding to a predetermined distance. As a result, when the tip of the endoscope is moved in an arc around a reference point as a fulcrum, for example, the amount of movement of the tip of the endoscope is smaller when a control point set at a virtual position offset ahead of the tip of the endoscope by a distance corresponding to a predetermined distance is moved than when the tip of the endoscope is moved by a distance corresponding to a predetermined distance. As a result, a control method for a surgery assistance system can be provided that can suppress large movements of the field of view of the endoscope. [Effects of the Invention]

[0010] According to the present disclosure, it is possible to prevent the field of view of the endoscope from moving significantly. [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 diagram for explaining a method for setting a pivot position. [Figure 20] FIG. 10 is a diagram for explaining a method for calculating axis values ​​of each axis. [Figure 21] 10A and 10B are diagrams showing pivot positions and tool center points of the instruments and endoscope, respectively. [Figure 22] 10A and 10B are diagrams showing a state in which the distal ends of the instrument and the endoscope have been moved. [Figure 23] FIG. 10 is a diagram showing a state in which a virtual offset position has moved ahead of the tip of the endoscope. [Figure 24] FIG. 2 is a diagram showing a virtual plane set for the endoscope. [Figure 25] FIG. 10 is a flow chart for explaining a control method of a surgery assistance system according to one embodiment. 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, the arm base 40, and the multiple robot arms 50, mainly to prepare for surgery before the procedure. The medical cart 10 includes the operating handle 23.

[0017] As shown in Fig. 3, the input device 22 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. 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.

[0031] As shown in Fig. 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. The endoscope 3 is preferably attached to one of the two central robot arms 50b and 50c of the four robot arms 50 arranged adjacent to each other. The robot arms 50a, 50b, and 50d are examples of second robot arms. The robot arm 50c is an example of a first robot arm.

[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 second rotation axis and a first 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) 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 that allows an operator, such as a doctor, to input commands.

[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 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 by the operator's left hand, and an operating unit 110R located on the right side and operated by the operator's right hand. The operating unit 110 includes an arm 111 and a wrist 112. The operating unit 110R includes an arm 111R and a wrist 112R. The operating unit 110L includes an arm 111L and a wrist 112L. The operating units 110R and 110L are examples of a right-handed operating unit and a left-handed operating unit, respectively.

[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 112a 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.

[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 also has 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 mounted 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.

[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) 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.

[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, and positioner control section 330 are serially connected via wiring 360 through a communication network that allows them to share information with each other. 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 of the servo motor SM5 and increase the torque. The operating handle 23 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, 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 medical cart 10 moves forward and backward by driving the front wheels, and the rear wheels are steered by turning the operating handle 23, 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 is pressed down. Furthermore, the brake BRK of each joint 33 of the positioner 30 is always on, and the brake BRK is released only while the enable switch 22c 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. Servo control units 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 control units to detect the rotation angles of the servo motors. The servo motors, servo control units, and encoders are provided in operation unit 110L and operation unit 110R, respectively.

[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 performs an operation to rotate the grip support member 112d of the operation unit 110 around the A27 axis shown in Figures 12 and 13, the shaft 2d of the instrument 2 rotates around the A9 axis shown in Figure 5. Furthermore, when the operator performs an operation to rotate the joints JT24, JT25, and JT26 of the operation unit 110 shown in Figures 12 and 13, the end effector 2b bends around the A10 axis or A11 axis shown in Figure 5.

[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] (Pivot position setting) Setting of the pivot position PP will now be described. As shown in FIG. 19 , when the arm operating unit 60 operates the robot arm 50, the tip of the endoscope 3 attached to the tip of the robot arm 50 is moved to a position corresponding to the insertion position of the trocar T inserted into the body surface S of the patient P. Then, when the pivot button 66 is operated in this state, the second control device 350 stores the pivot position PP2 of the endoscope 3 in the memory unit 351. Similarly, when the tip of the pivot position setting device 4 attached to the tip of the robot arm 50 is moved to a position corresponding to the insertion position of the trocar T inserted into the body surface S of the patient P, the second control device 350 stores the pivot position PP1 of the instrument 2 in the memory unit 351. Note that operating the pivot button 66 means that the pivot button 66 is pressed. Note that the pivot positions PP1 and PP2 are collectively referred to as pivot positions PP.

[0073] (Control operation of first control device) The control of the first control device 310 when the operation unit 110 receives an operation from the operator will be described.

[0074] As shown in FIG. 20 , the first control device 310 pre-sets an operation unit matrix for the operation unit 110. The operation unit matrix is ​​a homogeneous transformation matrix consisting of a 4×4 matrix. The operation unit matrix represents the result of a forward kinematics calculation for the position and orientation of the operation unit 110. The operation unit matrix is ​​set based on the coordinate system C1 of the operation unit 110 shown in FIG. 24. Next, an operation by the operator is accepted by the operation unit 110. As a result, a target matrix corresponding to the accepted operation is generated. The target matrix is ​​also a homogeneous transformation matrix. The target matrix represents target values ​​for the position and orientation of the surgical instrument 1. The target matrix is ​​set based on the coordinate system of the surgical support robot 100. The coordinate system of the surgical support robot 100 is, for example, an endoscope coordinate system. The homogeneous transformation matrix includes a translation component for the translation of the surgical instrument 1 and a rotation component for the rotation of the surgical instrument 1. Specifically, the first control device 310 calculates the difference between the current position of the surgical instrument 1 and the target position accepted by the operation unit 110. The position corresponds to the translational movement component of the homogeneous transformation matrix. The first control device 310 calculates the difference between the current orientation of the surgical instrument 1 and the target orientation accepted by the operation unit 110. The orientation corresponds to the rotational component of the homogeneous transformation matrix. The first control device 310 calculates the target matrix based on the calculated difference value. Next, the first control device 310 performs inverse kinematics calculation on the updated homogeneous transformation matrix. The first control device 310 calculates the axis values ​​of the joint axes and linear axes for the robot arm 50 and the surgical instrument 1 through the inverse kinematics calculation. As a result, the position and orientation of the robot arm 50 and the surgical instrument 1 are changed to conform to the accepted operation.

[0075] (Control action of the first control device on the instrument) First, as shown in FIG. 21 , it is assumed that the end effector 2b at the tip of the instrument 2 is located within the field of view of the endoscope 3. Next, as shown in FIG. 22 , in this embodiment, when the first control device 310 receives an operation from the operation unit 110 to move the instrument 2 a predetermined distance ΔX, the first control device 310 executes processing to move a control point set at the tip of the instrument 2 a distance corresponding to the predetermined distance ΔX. Specifically, when the first control device 310 receives an operation from the operation unit 110 to move the instrument 2 a predetermined distance ΔX, the first control device 310 executes processing to move the control point set at the tip of the instrument 2 a distance corresponding to the predetermined distance ΔX, centered around pivot position PP1, which serves as the fulcrum for the movement of the instrument 2. Note that the tip of the instrument 2 refers to the distance from the wrist joint 2c of the instrument 2 to the tip of the end effector 2b. In other words, the tip of the instrument 2 refers to the distance from the A10 axis to the tip of the end effector 2b. The distance corresponding to the predetermined distance ΔX refers to the distance obtained by scaling the predetermined distance ΔX, which will be described later. FIG. 22 illustrates a case where the scaling magnitude is 1, and the distance corresponding to the predetermined distance ΔX = the predetermined distance ΔX. Specifically, when the first control device 310 receives an instruction from the operation unit 110 to move the instrument 2 by the predetermined distance ΔX, the first control device 310 executes a process to move the tool center point TCP1, which is set on the rotation axis of the end effector 2b, by the predetermined distance ΔX, with the pivot position PP1 as the fulcrum. Here, the tool center point is a control point that is the target of operational control of the instrument 2 or the endoscope 3, and can be set at any position inside or on the surface of the instrument 2 or the endoscope 3. For example, in instrument 2, the control point may be set at, but is not limited to, the tip of end effector 2b, the intersection of the longitudinal axis of shaft 2d and the A10 axis, or the intersection of the longitudinal axis of shaft 2d and the A11 axis. In Figure 5, tool center point TCP1 is set at the intersection of the longitudinal axis of shaft 2d and the A11 axis.Furthermore, when the first control device 310 receives an operation to move the instrument 2 from the operation unit 110, it scales the received operation amount and executes a process to actually move the instrument 2. Note that scaling means that the amount of movement of the instrument 2 becomes smaller than the amount of movement of the operation unit 110 by the operator. For example, the amount of movement of the instrument 2 is set to be one-third of the amount of movement when the operator moves the operation unit 110. The magnitude of the scaling may be a fixed value or may be changeable by the operator. The magnitude of the scaling is, for example, between 1.5:1 and 3:1. The scaling is also executed when generating a target matrix from the above operation unit matrix.

[0076] In this embodiment, an operation to move the instrument 2 is accepted by one of the operation units 110R and 110L. As described above, for example, the instrument 2 is attached to the robot arms 50a, 50b, and 50d. As described above, the switching pedal 122 of the foot pedal 120 switches the robot arm 50 operated by the operation unit 110. This switches the robot arm 50 operated by each of the operation units 110R and 110L. Then, an operation for one robot arm 50 is accepted by one of the operation units 110R and 110L, and the instrument 2 attached to one robot arm 50 is moved.

[0077] (Control operation of first control device on endoscope) As shown in FIG. 22 , when an operation to move the endoscope 3 a predetermined distance ΔX is received by the operation unit 110, if the tool center point TCP2 set at the tip of the endoscope 3 is moved a distance corresponding to the predetermined distance ΔX, the tip of the endoscope 3 will move a relatively large distance. As a result, the end effector 2b at the tip of the instrument 2 will be outside the field of view of the endoscope 3. Therefore, in this embodiment, as shown in FIG. 23 , when an operation to move the endoscope 3 a predetermined distance ΔX is received by the operation unit 110, the first control device 310 executes processing to move a control point set at a virtual position P0 offset ahead of the tip of the endoscope 3 in the axial direction of the endoscope 3 by a distance corresponding to the predetermined distance ΔX. Note that in this embodiment, the robot arm 50c can rotate the endoscope 3 around the longitudinal axis of the endoscope 3, and the control point set at the virtual position P0 is set on the longitudinal axis of the endoscope 3. The virtual position P0 is a position spaced apart from the tip of the endoscope 3. Furthermore, when the first control device 310 receives an operation from the operation unit 110 to move the endoscope 3 a predetermined distance ΔX, the first control device 310 executes processing to move a control point set at a virtual position P0 a distance corresponding to the predetermined distance ΔX, centered on a pivot position PP2 that serves as a fulcrum for the movement of the endoscope 3. Note that the distance corresponding to the predetermined distance ΔX refers to a distance obtained by scaling the predetermined distance ΔX, which will be described later. Also, FIG. 23 illustrates a case where the scaling magnitude is 1 and the distance corresponding to the predetermined distance ΔX = the predetermined distance ΔX. In detail, when the first control device 310 receives an operation from the operation unit 110 to move the endoscope 3 a predetermined distance ΔX, the first control device 310 executes processing to move a tool center point TCP2 set on the endoscope 3 a predetermined distance ΔX, centered on the pivot position PP2. Note that the tool center point TCP2 of the endoscope 3 is set at, for example, the intersection of the axis of the shaft 3 a of the endoscope 3 and the end face of the endoscope 3, but is not limited thereto.

[0078] 23, when the first control device 310 receives an operation to move the endoscope 3 a predetermined distance ΔX via the operation unit 110, the first control device 310 executes a process of moving the endoscope 3 by a distance ΔX1 corresponding to the predetermined distance ΔX based on the relational expression ΔX1=ΔX×L1 / (L1+L2), where ΔX is the predetermined distance ΔX, ΔX1 is the distance corresponding to the predetermined distance ΔX, L1 is the distance from the pivot position PP2 to the tip of the endoscope 3, and L2 is the distance from the tip of the endoscope 3 to a virtual position P0. That is, based on the relational expression, the tip of the endoscope 3 moves a distance ΔX1 that is smaller than the distance ΔX. The relational expression is also used when generating a target matrix from the above-described operation unit matrix. The virtual position P0 is a fixed position. That is, the distance L2 from the tip of the endoscope 3 to the virtual position P0 is a fixed value. L2 is, for example, 20 mm or more and 80 mm or less, and preferably 50 mm. The virtual position P0 is a position determined based on the distance from the tip of the endoscope 3 to the tip of the instrument 2, and by using the virtual position P0 as the control point of the endoscope 3, the difference in the amount of movement between the endoscope 3 and the instrument 2 perceived by the operator can be reduced.

[0079] Furthermore, in this embodiment, when the first control device 310 receives an operation to move the endoscope 3 from the operation unit 110, it executes a process of scaling the received operation amount by the same amount as when moving the instrument 2, and actually moving the endoscope 3. For example, as described above, if the movement amount of the instrument 2 is set to be one-third of the movement amount by which the operator moves the operation unit 110, the movement amount of the endoscope 3 is also set to be one-third of the movement amount by which the operator moves the operation unit 110. In this case, the distance ΔX1 described above becomes the distance ΔX1 / 3. The magnitude of the scaling of the endoscope 3 may also be a fixed value or may be changeable by the operator. The scaling is also executed when generating a target matrix from the above operation unit matrix.

[0080] In this embodiment, an operation to move the endoscope 3 is accepted by both the operation unit 110R and the operation unit 110L. Specifically, while the operator is pressing down on the camera pedal 124 of the foot pedal 120 shown in FIG. 14, the operation unit 110 can operate the robot arm 50 to which the endoscope 3 is attached. More specifically, as shown in FIG. 24, the first control device 310 defines a virtual plane SF based on the coordinate system C1 of the operation unit 110. The virtual plane SF is set as follows. The gimbal points GP of the operation units 110R and 110L are defined as GPR and GPL, respectively. The gimbal point GP is the point where the A25 axis, the A26 axis, and the A27 axis shown in FIGS. 12 and 13 intersect. The midpoint of the line segment connecting the gimbal point GPR of the operation unit 110R and the gimbal point GPL of the operation unit 110L is defined as CP. CP1 is a point whose Y coordinate is the same as that of the midpoint CP and whose X and Z coordinates are the same as those of the midpoint between the midpoint CP and the gimbal point GPR. A straight line passing through the midpoint CP and point CP1 is defined as the diameter, and point CP2 is defined as the intersection of a circle CL on the same Y coordinate as the midpoint CP and point CP1 and a line perpendicular to the line connecting the midpoint CP and point CP1. A virtual plane SF is a plane that includes CP, CP1, and CP2. The first control device 310 then defines the movement amount of the virtual plane SF between the previous control cycle and the current control cycle as the movement amount of the tip of the endoscope 3.

[0081] (Method for controlling a surgical assistance system) Next, a control method for the surgery assistance system 500 will be described.

[0082] 25, in step S1, the first control device 310 determines whether the camera pedal 124 of the foot pedal 120 is depressed by the operator. If the answer is no in step S1, in step S2, the operation unit 110 accepts an operation on the instrument 2 supported by the robot arm 50. In step S3, if the first control device 310 accepts an operation from the operation unit 110 to move the instrument 2 a predetermined distance ΔX, the first control device 310 moves a control point set at the tip of the instrument 2 a distance corresponding to the predetermined distance ΔX.

[0083] If the answer is yes in step S1, in step S4, the operation unit 110 accepts an operation on the endoscope 3 supported by the robot arm 50. In step S5, when the first control device 310 accepts an operation from the operation unit 110 to move the endoscope 3 by a predetermined distance ΔX, the first control device 310 moves a virtual position P0 that is offset ahead of the tip of the endoscope 3 in the axial direction of the endoscope 3 by a distance corresponding to the predetermined distance ΔX. Note that the operations from step S1 to S5 are always executed while the surgery assistance system 500 is in a state where it can accept an operation from the operation unit 110.

[0084] [Effects of this embodiment] When the first control device 310 receives an operation from the operation unit 110 to move the endoscope 3 a predetermined distance ΔX, it executes processing to move a control point set at a virtual position P0 offset ahead of the tip of the endoscope 3 in the axial direction of the endoscope 3 by a distance corresponding to the predetermined distance ΔX. As a result, for example, in a case where the tip of the endoscope 3 moves in an arc with a reference point as a fulcrum, the amount of movement of the tip of the endoscope 3 is smaller when the control point set at a virtual position P0 offset ahead of the tip of the endoscope 3 by a distance corresponding to the predetermined distance ΔX is moved than when the tip of the endoscope 3 is moved by a distance corresponding to the predetermined distance ΔX. As a result, it is possible to prevent the field of view of the endoscope 3 from moving significantly.

[0085] When the first control device 310 receives an operation from the operation unit 110 to move the endoscope 3 a predetermined distance ΔX, it executes processing to move a control point set at a virtual position P0 a distance corresponding to the predetermined distance ΔX, with pivot position PP2, which serves as a fulcrum for the movement of the endoscope 3, as the fulcrum. As a result, the amount of movement of the tip of the endoscope 3 is smaller when a virtual position P0, which is offset ahead of the tip of the endoscope 3, is moved a distance corresponding to the predetermined distance ΔX, with pivot position PP2 as the fulcrum, than when the tip of the endoscope 3 is moved a distance corresponding to the predetermined distance ΔX, with pivot position PP2 as the fulcrum. As a result, even when the endoscope 3 moves with pivot position PP2 as the fulcrum, it is possible to prevent the field of view of the endoscope 3 from moving significantly.

[0086] The robot arm 50c can rotate the endoscope 3 around the longitudinal axis of the endoscope 3, and the control point set at the virtual position P0 is set on the longitudinal axis. This makes it easier to set the control point, unlike when the control point set at the virtual position P0 is set at a position deviated from the longitudinal axis.

[0087] When the first control device 310 receives an operation from the operation unit 110 to move the endoscope 3 a predetermined distance ΔX, the first control device 310 executes processing to move the endoscope 3 by the distance ΔX1 corresponding to the predetermined distance ΔX, where ΔX is the predetermined distance, ΔX1 is the distance corresponding to the predetermined distance ΔX, L1 is the distance from the pivot position PP2 to the tip of the endoscope 3, and L2 is the distance from the tip of the endoscope 3 to a virtual position P0, based on the relational expression ΔX1=ΔX×L1 / (L1+L2). As a result, the first control device 310 can easily calculate the distance ΔX1 corresponding to the predetermined distance ΔX based on the relational expression, and can easily move a virtual position P0 that is offset further ahead than the tip of the endoscope 3.

[0088] When the first control device 310 receives an operation from the operation unit 110 to move the instrument 2 a predetermined distance ΔX, it executes processing to move the control point set at the tip of the instrument 2 a distance corresponding to the predetermined distance ΔX. As a result, even when the operation unit 110 receives an operation to move the endoscope 3 and the instrument 2 the same distance, the movement distance of the tip of the endoscope 3 is smaller than the movement distance of the control point set at the tip of the instrument 2, so it is possible to prevent the instrument 2 from moving out of the field of view of the endoscope 3 due to the tip of the endoscope 3 moving in the same way as the control point set at the tip of the instrument 2.

[0089] When the first control device 310 receives an operation from the operation unit 110 to move the instrument 2 a predetermined distance ΔX, the first control device 310 executes processing to move a control point set at the tip of the instrument 2 a distance corresponding to the predetermined distance ΔX, with the pivot position PP1 serving as the fulcrum for the movement of the instrument 2 as the fulcrum. This makes it possible to prevent the instrument 2 from moving out of the field of view of the endoscope 3 even when the instrument 2 moves with the pivot position PP1 as the fulcrum.

[0090] The instrument 2 includes an end effector 2b, a first support member 2e that supports the end effector 2b rotatably about the A11 axis, a second support member 2f that supports the first support member 2e rotatably about the A10 axis, and a shaft 2d that supports the second support member 2f. The control point is set at the tip of the end effector 2b, the intersection of the longitudinal axis of the shaft 2d and the A11 axis, or the intersection of the longitudinal axis of the shaft 2d and the A10 axis. As a result, when an operation to move the instrument 2 a predetermined distance ΔX is received via the operation unit 110, the vicinity of the tip of the end effector 2b moves a distance corresponding to the predetermined distance ΔX, allowing the operator to operate the instrument 2 without any discomfort.

[0091] When the first control device 310 receives an operation to move the instrument 2 via the operation unit 110, it scales the received amount of operation and executes processing to actually move the instrument 2. When the first control device 310 receives an operation to move the endoscope 3 via the operation unit 110, it scales the received amount of operation by the same amount as when moving the instrument 2 and executes processing to actually move the endoscope 3. Here, when the instrument 2 and the endoscope 3 are moved in the forward / backward direction relative to the operator, even if the scale differs between the instrument 2 and the endoscope 3, the instrument 2 moves in the direction of the field of view of the endoscope 3, so the instrument 2 does not fall out of the field of view of the endoscope 3. On the other hand, when the instrument 2 and the endoscope 3 are moved in the left / right direction or the up / down direction relative to the operator, the scale differs between the instrument 2 and the endoscope 3, so the instrument 2 may fall out of the field of view of the endoscope 3. Therefore, by making the scale of the instrument 2 and the endoscope 3 the same, it is possible to prevent the instrument 2 from moving out of the field of view of the endoscope 3.

[0092] The operation unit 110 includes an operation unit 110R that is operated with the operator's right hand and an operation unit 110L that is operated with the operator's left hand. An operation to move the instrument 2 is accepted by one of the operation units 110R and 110L, and an operation to move the endoscope 3 is accepted by both the operation units 110R and 110L. This makes it possible to prevent the operator from confusing and operating the instrument 2 and the endoscope 3, since the operation to move the instrument 2 and the operation to move the endoscope 3 are different.

[0093] [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.

[0094] In the above embodiment, an example has been shown in which the instrument 2 moves around a pivot position PP1 that is set by pressing the pivot button 66, and the endoscope 3 moves around a pivot position PP2 that is set by pressing the pivot button 66, but the present disclosure is not limited to this. For example, the instrument 2 and the endoscope 3 may move around a pivot point that is mechanically predetermined based on the structure of the instrument 2 and the endoscope 3.

[0095] In the above embodiment, an example has been described in which the tool center point TCP1 of the instrument 2 is set on the A11 axis, which is the rotation axis of the end effector 2b, but the present disclosure is not limited to this. For example, the tool center point TCP1 of the instrument 2 may be set at the tip of the end effector 2b. Furthermore, an example has been described in which the tool center point TCP2 of the endoscope 3 is set at the tip of the endoscope 3, but the present disclosure is not limited to this. For example, the tool center point TCP2 of the endoscope 3 may be set at a position closer to the base end than the tip of the endoscope 3.

[0096] In the above embodiment, an example was shown in which the tip of the endoscope 3 was moved based on the relational expression ΔX1=ΔX×L1 / (L1+L2), but the present disclosure is not limited to this. For example, the tip of the endoscope 3 may be moved based on a relational expression other than the above relational expression or a table in which ΔX1 corresponds to ΔX.

[0097] In the above embodiment, when an operation to move the instrument 2 or the endoscope 3 is received, an example is shown in which the received operation amount is scaled and the instrument 2 or the endoscope 3 is actually moved, but the present disclosure is not limited to this. For example, when an operation to move the instrument 2 or the endoscope 3 is received, the instrument 2 or the endoscope 3 may be moved a distance equal to the received operation amount without scaling.

[0098] In the above embodiment, the virtual position P0 is a fixed position, and the distance L2 from the tip of the endoscope 3 to the virtual position P0 is a fixed value. However, the present disclosure is not limited to this. For example, the distance L2 from the tip of the endoscope 3 to the virtual position P0 may be set based on the distance between the tip of the endoscope 3 and a control point set at the tip of the instrument 2. For example, the distance L2 may be set so that it increases as the distance between the tip of the endoscope 3 and the control point set at the tip of the instrument 2 increases. In this way, by setting the distance L2 based on the distance between the tip of the endoscope 3 and the control point set at the tip of the instrument 2, the distance from the tip of the endoscope 3 to the virtual position P0 can be set in accordance with the distance between the tip of the endoscope 3 and the control point set at the tip of the instrument 2. Therefore, regardless of the distance between the tip of the endoscope 3 and the control point set at the tip of the instrument 2, it is possible to prevent the instrument 2 from falling out of the field of view of the endoscope 3.

[0099] In the above embodiment, an example has been described in which an operation to move the instrument 2 is accepted by one of the operation units 110R and 110L, but the present disclosure is not limited to this. For example, an operation to move the instrument 2 may be accepted by both the operation unit 110R and the operation unit 110L. Also, in the above embodiment, an example has been described in which an operation to move the endoscope 3 is accepted by both the operation unit 110R and the operation unit 110L, but the present disclosure is not limited to this. For example, an operation to move the endoscope 3 may be accepted by one of the operation unit 110R and the operation unit 110L.

[0100] 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.

[0101] Furthermore, in the above embodiment, an example in which four robot arms 50 are provided is shown, but the present disclosure is not limited to this. In the present disclosure, the number of robot arms 50 may be other than four.

[0102] 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.

[0103] 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.

[0104] Furthermore, in the above embodiment, an example was shown in which, when the first control device 310 receives an operation from the operation unit 110 to move the endoscope 3 a predetermined distance ΔX, the first control device 310 executes processing to move the tool center point TCP2, which serves as a control point set at a virtual position P0 offset ahead of the tip of the endoscope 3 in the axial direction of the endoscope 3, a distance corresponding to the predetermined distance ΔX. However, the present disclosure is not limited to this. For example, the tool center point TCP2 may be set at the tip of the endoscope 3, and the tool center point TCP2 may be moved so that the virtual position P0 offset from the tool center point TCP2 moves a distance corresponding to the predetermined distance ΔX. In other words, the tool center point TCP2 moves a distance smaller than the distance corresponding to the predetermined distance ΔX, while the virtual position P0 moves a distance corresponding to the predetermined distance ΔX.

[0105] 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.

[0106] [Aspect] It will be appreciated by those skilled in the art that the exemplary embodiments described above are examples of the following aspects.

[0107] (Aspect 1) a surgical device including a first robotic arm supporting an endoscope; an operation device including an operation unit that accepts operations on the endoscope; a control device that, when receiving an operation to move the endoscope a predetermined distance from the operation unit, executes a process to move a control point set at a virtual position offset ahead of the tip of the endoscope in the axial direction of the endoscope a distance corresponding to the predetermined distance.

[0108] (Aspect 2) The surgical support system described in aspect 1, wherein when the control device receives an operation to move the endoscope the predetermined distance via the operation unit, it executes a process to move a control point set at the virtual position a distance corresponding to the predetermined distance, using a pivot position that serves as a fulcrum for the movement of the endoscope.

[0109] (Aspect 3) the first robot arm is capable of rotating the endoscope around the endoscope longitudinal axis; A surgical support system as described in aspect 2, wherein the control point set at the virtual position is set on the longitudinal axis.

[0110] (Aspect 4) The control device A surgical support system according to aspect 2 or aspect 3, wherein when the operation unit receives an operation to move the endoscope the predetermined distance, the predetermined distance is defined as ΔX, the distance corresponding to the predetermined distance is defined as ΔX1, the distance from the pivot position to the tip of the endoscope is defined as L1, and the distance from the tip of the endoscope to the virtual position is defined as L2, and a process of moving the endoscope the distance ΔX1 corresponding to the predetermined distance is executed based on the relational equation ΔX1 = ΔX × L1 / (L1 + L2).

[0111] (Aspect 5) the surgical device includes a second robotic arm supporting an instrument; the operation unit accepts an operation on the instrument, A surgical assistance system according to any one of aspects 1 to 4, wherein when the control device receives an operation from the operation unit to move the instrument by the predetermined distance, the control device executes a process to move a control point set at the tip of the instrument by a distance corresponding to the predetermined distance.

[0112] (Aspect 6) The control device A surgical support system as described in aspect 5, which, when receiving an operation by the operation unit to move the instrument to the predetermined distance, executes a process to move the control point a distance corresponding to the predetermined distance, using a pivot position that serves as a fulcrum for the movement of the instrument.

[0113] (Aspect 7) the instrument includes an end effector, a first support member that supports the end effector rotatably around a first rotation axis, a second support member that supports the first support member rotatably around a second rotation axis, and a shaft that supports the second support member; A surgical support system described in aspect 5 or aspect 6, wherein the control point is set at the tip of the end effector, the intersection of the longitudinal axis of the shaft and the first rotation axis, or the intersection of the longitudinal axis of the shaft and the second rotation axis.

[0114] (Aspect 8) The control device when an operation to move the instrument is received by the operation unit, scaling the received operation amount and executing a process to actually move the instrument; A surgical support system described in any one of aspects 5 to 7, wherein when an operation to move the endoscope is received by the operation unit, the received operation amount is scaled by the same amount as when moving the instrument, and a process is performed to actually move the endoscope.

[0115] (Aspect 9) A surgical support system described in any one of aspects 5 to 8, wherein the distance of the virtual position from the tip of the endoscope is set based on the distance between the control point of the instrument and the tip of the endoscope.

[0116] (Aspect 10) The operation unit includes: a right-hand operation unit operated by the operator's right hand; a left-hand operation unit operated by the operator's left hand, an operation to move the instrument is received by one of the right-hand operation unit and the left-hand operation unit; A surgical support system according to any one of aspects 5 to 9, wherein the operation to move the endoscope is accepted by both the right-hand operation unit and the left-hand operation unit.

[0117] (Aspect 11) receiving an operation to move the endoscope by a predetermined distance by an operation unit that receives an operation for the endoscope supported by the robot arm; and moving a control point set at a virtual position offset ahead of the tip of the endoscope in the axial direction of the endoscope by a distance corresponding to the predetermined distance. [Explanation of symbols]

[0118] 2 Instruments 2b End effector 2d shaft 2e First support member 2f Second support member 3 Endoscopy 50a, 50b, 50d Robot arm (second robot arm) 50c Robot Arm (1st Robot Arm) 100 Surgical support robot (surgical device) 110 Operation section 110L operation unit (left hand operation unit) 110R operation section (right hand operation section) 200 Remote control device (operation device) 310 First control device (control device) 500 Surgical Support System A10 axis: Second rotation axis A11 axis: 1st rotation axis P0 Virtual position PP1 Instrument pivot position PP2 Endoscope pivot position Tool center point of TCP1 instrument TCP2 Endoscope Tool Center Point ΔX given distance

Claims

1. a surgical device including a first robotic arm supporting an endoscope; an operation device including an operation unit that accepts operations on the endoscope; a control device that, when receiving an operation to move the endoscope a predetermined distance from the operation unit, executes a process to move a control point set at a virtual position offset ahead of the tip of the endoscope in the axial direction of the endoscope a distance corresponding to the predetermined distance.

2. 2. The surgical support system according to claim 1, wherein when the control device receives an operation to move the endoscope by the operation unit, the control device executes a process to move a control point set at the virtual position by a distance corresponding to the predetermined distance, using a pivot position that serves as a fulcrum for the movement of the endoscope as a fulcrum.

3. the first robot arm is capable of rotating the endoscope around the endoscope longitudinal axis, The surgery support system according to claim 2 , wherein the control point set at the virtual position is set on the longitudinal axis.

4. The control device 3. The surgical support system according to claim 2, wherein, when an operation to move the endoscope the predetermined distance is received by the operation unit, the predetermined distance is defined as ΔX, a distance corresponding to the predetermined distance is defined as ΔX1, a distance from the pivot position to the tip of the endoscope is defined as L1, and a distance from the tip of the endoscope to the virtual position is defined as L2, and a process of moving the endoscope the distance ΔX1 corresponding to the predetermined distance is executed based on the relational expression ΔX1 = ΔX × L1 / (L1 + L2).

5. the surgical device includes a second robotic arm supporting an instrument; the operation unit accepts an operation on the instrument, 2. The surgical assistance system according to claim 1, wherein, when the control device receives an operation by the operation unit to move the instrument by the predetermined distance, the control device executes a process to move a control point set at the tip of the instrument by a distance corresponding to the predetermined distance.

6. The control device 6. The surgical assistance system according to claim 5, wherein, when an operation to move the instrument by the predetermined distance is received by the operation unit, a process is executed to move the control point a distance corresponding to the predetermined distance, using a pivot position that serves as a fulcrum for movement of the instrument.

7. the instrument includes an end effector, a first support member that supports the end effector rotatably around a first rotation axis, a second support member that supports the first support member rotatably around a second rotation axis, and a shaft that supports the second support member; The surgical support system according to claim 5, wherein the control point is set at the tip of the end effector, the intersection of the longitudinal axis of the shaft and the first rotation axis, or the intersection of the longitudinal axis of the shaft and the second rotation axis.

8. The control device when an operation to move the instrument is received by the operation unit, scaling the received operation amount and executing a process to actually move the instrument; The surgical support system of claim 5, wherein when an operation to move the endoscope is received by the operation unit, the received operation amount is scaled by the same amount as when the instrument is moved, and a process is performed to actually move the endoscope.

9. The surgery assistance system according to claim 5 , wherein the distance of the virtual position from the tip of the endoscope is set based on the distance between the control point of the instrument and the tip of the endoscope.

10. The operation unit includes: a right-hand operation unit operated by the operator's right hand; a left-hand operation unit operated by the operator's left hand, an operation to move the instrument is received by one of the right-hand operation unit and the left-hand operation unit; The surgery assistance system according to claim 5 , wherein an operation to move the endoscope is accepted by both the right-hand operation unit and the left-hand operation unit.

11. receiving an operation to move the endoscope by a predetermined distance by an operation unit that receives an operation for the endoscope supported by the robot arm; a control point set at a virtual position offset ahead of the tip of the endoscope in the axial direction of the endoscope, the control point being moved a distance corresponding to the predetermined distance.

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