Surgical support system and control method for surgical support system

Abstract

To provide a surgical support system capable of improving the operability of an operation unit.SOLUTION: A surgical support system 500 comprises: a surgical support robot 100 including a robot arm 50 to which a surgical instrument 1 is attached; a remote operation device 200 including an operation unit 110 which accepts operations for the surgical instrument 1, and in which a coordinate system C1 is rotated by a predetermined angle θ relative to an endoscope coordinate system C13 of the surgical support robot 100; a first control device 310 which executes control to move the surgical instrument 1 by the robot arm 50 on the basis of an operation accepted by the operation unit 110; and a touch panel 130 which accepts a change of the predetermined angle θ by an operator.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, a surgical assistance system including a robotic arm to which a surgical instrument is attached has been known. Patent Document 1 discloses a robotic surgery system including a robotic arm and a master control console for operating the robotic arm. The master control console is equipped with a master controller operated by the operator's hand and a viewer into which the operator's head is immersed. The angle of the viewer relative to the horizontal plane is adjustable. In Patent Document 1, the coordinate system of the master controller is automatically adjusted according to the adjusted angle of the viewer. For example, the viewer is adjusted to an angle that allows the operator to look down on the subject, and the coordinate system of the master controller is adjusted according to the angle of the viewer that has been adjusted to the downward angle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] U.S. Patent No. 6,424,885 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in Patent Document 1, the coordinate system of the master controller is automatically adjusted according to the angle of the viewer, which may cause the operability of the master controller to deteriorate depending on the operator. Therefore, it is desired to improve the operability of the master controller.

[0005] The present disclosure provides a surgery assistance system and a control method for a surgery assistance system that can improve the operability of an operation unit. [Means for solving the problem]

[0006] A surgical assistance system according to a first aspect of the present disclosure includes a surgical apparatus including a robotic arm to which a surgical instrument is attached, an operation device including an operation unit that receives operations on the surgical instrument and whose coordinate system is rotated by a predetermined angle relative to the coordinate system of the surgical apparatus, a control device that executes control to move the surgical instrument using the robotic arm based on the operations received by the operation unit, and a reception unit that receives changes to the predetermined angle by the operator.

[0007] In a surgery assistance system according to a first aspect of the present disclosure, the reception unit receives a change of a predetermined angle from an operator. This allows the rotation angle of the coordinate system of the operation unit relative to the coordinate system of the surgical apparatus to be changed, thereby allowing the operator to adjust the coordinate system of the operation unit so that it is easier for the operator to operate the operation unit. As a result, the operability of the operation unit can be improved.

[0008] A control method for a surgical assistance system according to a second aspect of the present disclosure includes accepting a change by an operator to a predetermined angle of the coordinate system of an operating unit, which is rotated by a predetermined angle relative to the coordinate system of a surgical device, changing the coordinate system of the operating unit based on the accepted predetermined angle, accepting an operation by the operating unit on a surgical instrument attached to a robotic arm while the coordinate system of the operating unit is changed, and moving the surgical instrument by the robotic arm based on the accepted operation.

[0009] As described above, a control method for a surgery assistance system according to a second aspect of the present disclosure includes accepting a change in a predetermined angle by an operator and changing a coordinate system of an operation unit based on the accepted predetermined angle. This allows the rotation angle of the coordinate system of the operation unit relative to the coordinate system of the surgical apparatus to be changed, thereby adjusting the coordinate system of the operation unit to make it easier for the operator to operate the operation unit. As a result, a control method for a surgery assistance system that can improve the operability of the operation unit can be provided. [Effects of the Invention]

[0010] According to the surgery assistance system and the control method for the surgery assistance system disclosed herein, the operability of the operation unit can be improved. [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 calculating axis values ​​of each axis. [Figure 20] FIG. 1 illustrates a base coordinate system and a tool coordinate system relative to an endoscope. [Figure 21] FIG. 2 is a diagram illustrating an endoscope coordinate system. [Figure 22] FIG. 2 is a diagram showing a display unit and an endoscope coordinate system. [Figure 23] FIG. 2 is a diagram showing a coordinate system of the operation unit. [Figure 24] FIG. 2 is a diagram showing a coordinate system of an operation unit and an endoscope coordinate system. [Figure 25] FIG. 2 is a diagram showing a coordinate system of an operator and an operation unit. [Figure 26] FIG. 10 is a diagram showing buttons displayed on a touch panel for changing a predetermined angle. [Figure 27] FIG. 10 is a flow chart for explaining a control method of a surgery assistance system according to one embodiment. [Figure 28] FIG. 10 is a diagram for explaining the setting of a virtual plane. DETAILED DESCRIPTION OF THE INVENTION

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

[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 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 an A8 axis as a linear movement 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 a 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, forceps 2b, and a shaft 2c. The instrument 2 and the endoscope 3 are examples of surgical instruments.

[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, for example, forceps 2b are provided at the tip of instrument 2. In addition to forceps 2b, instruments with joints such as scissors, graspers, needle holders, microdissectors, stable appliers, tackers, suction and irrigation tools, snare wires, and clip appliers are provided at the tip of instrument 2. Instruments without joints such as cutting blades, cauterizing probes, irrigators, catheters, and suction orifices are provided at the tip of instrument 2.

[0033] The forceps 2b includes a first support 2d and a second support 2e. The first support 2d supports the base ends of the jaw members 2f and 2g so that they can rotate about the A11 axis. The second support 2e supports the base end of the first support 2d so that they can rotate about the A10 axis. The shaft 2c rotates about the A9 axis. The jaw members 2f and 2g open and close about the A11 axis.

[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 forceps 2b of the instrument 2 serving as the surgical instrument 1 on the A11 axis or the tip of the forceps 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) The remote control device 200 accepts operations for the surgical instrument 1. 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 that allows an operator, such as a doctor, to input commands. The monitor 140 is an example of a display unit.

[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 112 is attached to the other end of link portion 111c so as to be rotatable around an axis A24. 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 portion 111b and link portion 111c are connected by a joint JT23. Arm portion 111 supports wrist portion 112. Arm portion 111L has the same configuration as 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 unit 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 unit 112d is connected to the tip end of link unit 112c and rotates around the A26 axis relative to link unit 112b. The grip unit 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 are 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 section 112d. Cylindrical finger insertion sections 112f are disposed 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 section 112d, and the opening angle between the jaw members 2f and 2g is changed by increasing or decreasing the angle between the pair of grip members 112e. A magnet is disposed on one of the grip members 112e, and a Hall sensor is disposed on the grip section 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 angle detection sensors, a Hall sensor may be disposed on the grip member 112e and a magnet may be disposed on the grip portion 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 disposed on a support bar 160. The touch panel 130 receives settings for the surgery support system 500. The surgery support robot 100 can be operated by the remote control device 200 when a sensor disposed near the monitor 140 detects the operator's head. 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 surgery support robot 100.

[0051] The error reset button 161 is disposed on the support bar 160. The error reset button 161 resets an error in the surgery assistance system 500. The error may be, for example, an error of abnormal deviation.

[0052] (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.

[0053] 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.

[0054] Foot detector 127 detects the feet of the operator operating foot pedal 120. Foot detector 127 is provided for each of switch pedal 122, clutch pedal 123, camera pedal 124, incision pedal 125L, coagulation pedal 126L, and incision pedal 125R, coagulation pedal 126R, and detects a foot in a hover state located above each foot pedal 120. Foot detector 127 is disposed on base 121. Note that the function of foot pedal 120, including camera pedal 124, is not limited to a pedal that is stepped on by the operator's foot as in this embodiment, and may be operated by the operator's hand by providing an input device such as a hand switch in operation unit 110, for example.

[0055] (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 arranged on the cart 210. The display unit 220 displays images captured by the endoscope 3. An error reset button 230 and an alarm unit 240 are arranged on the vision unit 300. The error reset button 230 clears an error in the surgery support system 500. The error is, for example, a deviation abnormality error. The alarm unit 240 issues an error sound.

[0056] (Control system configuration) 15, the surgery support 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 support 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. The second control device 350 is an example of a monitoring control device.

[0057] 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.

[0058] 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.

[0059] 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 over a communication network that allows them to share information with one another. 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, and joystick 22b.

[0060] 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.

[0061] 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 instrument 2, 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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 axis A21. Servo motor SM7b rotates link portion 111b around axis A22. Servo motor SM7c rotates link portion 111c around axis A23. Servo motor SM7d rotates link portion 112a around axis A24. Servo motor SM7e rotates link portion 112b around axis A25. Servo motor SM7f rotates link portion 112c around axis A26. Servo motor SM7g rotates grip portion 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.

[0070] 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 on the rotation axis 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.

[0071] As shown in FIG. 15 , the first control device 310 controls the robot arm 50 based on an operation received by the arm operation unit 60. For example, the first control device 310 controls the robot arm 50 based on an operation received by the joystick 62 of the arm operation unit 60. Specifically, the arm control unit 320 outputs an input signal input from the joystick 62 to the first control device 310. The first control device 310 generates a position command based on the received input signal and a rotation angle detected by the encoder EN1, and outputs the position command to the servo control unit SC1 via the arm control unit 320. The servo control unit SC1 generates a current command based on the position command input from the arm control unit 320 and the rotation angle detected by the encoder EN1, and outputs the current command to the servo motor SM1. As a result, the robot arm 50 moves in accordance with the operation command input to the joystick 62.

[0072] The first control device 310 controls the robot arm 50 based on an input signal from the linear switch 63 of the arm operation unit 60. Specifically, the arm control unit 320 outputs the input signal input from the linear switch 63 to the first control device 310. The first control device 310 generates a position command based on the received input signal and the rotation angle detected by the encoder EN1 or EN3, and outputs the position command to the servo control unit SC1 or SC3 via the arm control unit 320. The servo control unit SC1 or SC3 generates a current command based on the position command input from the arm control unit 320 and the rotation angle detected by the encoder EN1 or EN3, and outputs the current command to the servo motor SM1 or SM3. As a result, the robot arm 50 moves in accordance with the operation command input to the linear switch 63.

[0073] The positioner control unit 330 is disposed in the medical cart 10. The positioner control unit 330 controls the positioner 30 and the medical cart 10. A servo motor SM4, an encoder EN4, and a reducer are disposed in the positioner 30 so as to correspond to the multiple joints 33 of the positioner 30. A servo control unit SC4 that controls the servo motor SM4 of the positioner 30 is disposed in the medical cart 10. The medical cart 10 is disposed with servo motors SM5 and SM6 that drive the multiple front wheels of the medical cart 10, encoders EN5 and EN6, reducers, servo control units SC5 and SC6, and a brake BRK.

[0074] 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.

[0075] 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.

[0076] (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.

[0077] As shown in FIG. 19 , 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. The coordinate system C1 of the operation unit 110 will be described later. 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 homogeneous transformation matrix includes a translational component for the translational movement of the surgical instrument 1 and a rotational 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 posture of the surgical instrument 1 and the target posture accepted by the operation unit 110. The posture 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 posture of the robot arm 50 and the surgical instrument 1 are changed to conform to the accepted operation.

[0078] (Coordinate system of the surgical support system) The coordinate systems set in the surgery support system 500 will be described. First, the coordinate system of the surgery support robot 100 will be described. As shown in FIGS. 20 and 21, the coordinate system of the surgery support robot 100 includes a base coordinate system C11, a tool coordinate system C12, and an endoscope coordinate system C13. The three axes of the base coordinate system C11 are the Xa-axis, the Ya-axis, and the Za-axis. The three axes of the tool coordinate system C12 are the Xb-axis, the Yb-axis, and the Zb-axis. The three axes of the endoscope coordinate system C13 are the Xc-axis, the Yc-axis, and the Zc-axis. The origin of the base coordinate system C11 is the intersection of the rotation axis of the base end of the positioner 30 and the mounting surface of the medical cart 10 mounted on the positioner 30. The origin of the tool coordinate system C12 is set to the clevis position of the forceps 2b when the surgical instrument 1 is an instrument 2, and set to the tip position of the endoscope 3 when the surgical instrument 1 is an endoscope 3. The Zb axis of the tool coordinate system C12 is aligned with the extension direction of the shaft 2c of the instrument 2 or the shaft 3c of the endoscope 3. The endoscope coordinate system C13 is obtained by rotating the tool coordinate system C12 by 180 degrees around the Zb axis. When the surgical instrument 1 is an endoscope 3, the field of view of the endoscope 3 may intersect with the extension direction of the shaft 3c of the endoscope 3, as shown in FIG. 21. In this case, the endoscope coordinate system C13 is obtained by rotating the tool coordinate system C12 by 180 degrees around the Zb axis and further rotating it around the Xb axis by the intersection angle of the field of view of the endoscope 3.

[0079] 22 displays an image captured by the endoscope 3 on the display unit 220 of the cart 210. The image displayed on the display unit 220 is based on the endoscope coordinate system C13 of the endoscope 3. In this embodiment, the image captured by the endoscope 3 is also displayed on the monitor 140 of the remote control device 200. The image displayed on the monitor 140 is based on the endoscope coordinate system C13 of the endoscope 3.

[0080] Next, the coordinate system C1 of the operation unit 110 will be described. As shown in FIG. 23, the point where the A24 axis, the A25 axis, the A26 axis, and the A27 axis of the operation unit 110 intersect is called the gimbal point GP. The origin of the coordinate system C1 of the operation unit 110 is the gimbal point GP. The coordinate system C1 of the operation unit 110 is set separately for the operation unit 110R for the right hand and the operation unit 110L for the left hand. Furthermore, the three axes of the coordinate system C1 of the operation unit 110 are defined as the Xd axis, the Yd axis, and the Zd axis.

[0081] In this embodiment, as shown in FIG. 24 , the coordinate system C1 of the operation unit 110 is rotated by a predetermined angle θ with respect to the coordinate system of the surgery support robot 100. Specifically, the coordinate system C1 of the operation unit 110 is the same as the endoscope coordinate system C13 rotated 180 degrees around the Zc axis and −90 degrees + a predetermined angle θ around the Xc axis. That is, compared to the endoscope coordinate system C13 indicated by the dotted arrow in FIG. 24 , the Xd axis of the coordinate system C1 of the operation unit 110 and the Xc axis of the endoscope coordinate system C13 have opposite positive and negative directions. Furthermore, the Z axis d of the coordinate system C1 of the operation unit 110 is rotated by a predetermined angle θ around the Xc axis with respect to the Zc axis of the endoscope coordinate system C13. Furthermore, the Xd axis of the coordinate system C1 of the operation unit 110 is aligned with the left-right direction of the operator operating the remote operation device 200. The Yd axis of the coordinate system C1 of the operation unit 110 is aligned with the front-to-rear direction of the operator operating the remote control device 200. The endoscope coordinate system C13 is an example of a coordinate system of a surgical device.

[0082] 25, in this embodiment, the predetermined angle θ is an angle obtained by rotating the predetermined angle θ of the coordinate system C1 of the operation unit 110 in a direction away from the operator with respect to a line L perpendicular to the surface on which the remote operation device 200 is placed. In other words, the coordinate system C1 of the operation unit 110 is rotated by the predetermined angle θ toward the back side rather than the front side as viewed from the operator.

[0083] In this embodiment, as shown in FIG. 23, the touch panel 130 of the remote control device 200 accepts changes to a predetermined angle θ. The predetermined angle θ can be changed, for example, within a range of 0 degrees to 50 degrees. The touch panel 130 is disposed on the support bar 160. The touch panel 130 is disposed in a position corresponding to the position between the right-hand operation unit 110R and the left-hand operation unit 110L. In other words, the touch panel 130 is disposed in front of the operator. The touch panel 130 is an example of a reception unit.

[0084] In this embodiment, as shown in FIG. 26 , touch panel 130 accepts changes to the predetermined angle θ in fixed angle increments. For example, buttons 131 for changing the predetermined angle θ are arranged on touch panel 130. Buttons 131 include button 131a for increasing the predetermined angle θ and button 131b for decreasing the predetermined angle θ. Each time button 131a is pressed once, the predetermined angle θ increases by, for example, one degree. Also, each time button 131b is pressed once, the predetermined angle θ decreases by, for example, one degree. Also, a changeable range of the predetermined angle θ may be defined. In this case, changes to the predetermined angle θ are accepted within the changeable range.

[0085] In this embodiment, the storage unit 311 shown in FIG. 15 stores the predetermined angle θ accepted for each operator. The first control device 310 reads out the predetermined angle θ accepted for each operator stored in the storage unit 311, and sets the coordinate system C1 of the operation unit 110 based on the read-out predetermined angle θ. For example, when the operator operates the touch panel 130, an identifier such as an ID or name for identifying the operator is registered. Then, after the operator operates the touch panel 130 to change the predetermined angle θ, the changed predetermined angle θ is stored in the storage unit 311 in association with the identifier. Then, when the operator operates the touch panel 130 to select an identifier, the first control device 310 reads out the predetermined angle θ associated with the identifier from the storage unit 311, and sets the coordinate system C1 of the operation unit 110 based on the read-out predetermined angle θ.

[0086] 23 , the rotation angle of the monitor 140 of the remote control device 200 is adjusted around an axis A that is aligned with the left-right direction of the operator operating the remote control device 200. Specifically, the operator manually rotates the monitor 140 around the axis A relative to the support arm 150. The touch panel 130 of the remote control device 200 then accepts a change in the predetermined angle θ independently of the adjustment of the rotation angle of the monitor 140. That is, the rotation angle of the monitor 140 and the predetermined angle θ are not linked to each other but are adjusted independently of each other. Therefore, it is possible to change the predetermined angle θ so that the rotation angle of the monitor 140 and the predetermined angle θ are equal, or it is also possible to change the predetermined angle θ so that the rotation angle of the monitor 140 and the predetermined angle θ are different.

[0087] (Method for controlling a surgical assistance system) Next, a control method for the surgery assistance system 500 will be described.

[0088] As shown in Fig. 27, in step S1, the surgery support system 500 is launched. Here, the coordinate system C1 of the operation unit 110 is rotated by a predetermined angle θ with respect to the coordinate system of the surgery support robot 100, and the predetermined angle θ is a predetermined value. The predetermined value is, for example, 15 degrees and is stored in the memory unit 311. The first control device 310 reads out the predetermined value stored in the memory unit 311 and sets the coordinate system C1 of the operation unit 110.

[0089] In step S2, the operator operates the touch panel 130, and the first control device 310 accepts an operation by the operator to change the predetermined angle θ.

[0090] In step S3, the first control device 310 changes the coordinate system C1 of the operation unit 110 based on the received operation of the predetermined angle θ.

[0091] In step S4, the first control device 310 accepts an operation by the operating unit 110 on the surgical instrument 1 attached to the robot arm 50, with the coordinate system C1 of the operating unit 110 changed. The operation of the operating unit 110 is performed by the operator.

[0092] Here, the operation for moving the endoscope 3 will be described. While the operator is stepping on the camera pedal 124 of the foot pedal 120 shown in FIG. 14, the robot arm 50 to which the endoscope 3 is attached can be operated by the operation unit 110. The endoscope 3 is moved by the operator operating both the operation unit 110R for the right hand and the operation unit 110L for the left hand. Specifically, as shown in FIG. 28, the first control device 310 defines a virtual plane SF based on the coordinate system C1 of the operation unit 110. The method for setting the virtual plane SF is as follows. The gimbal points GP of the operation unit 110R and the operation unit 110L are defined as GPR and GPL, respectively. 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 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. When the predetermined angle θ of the coordinate system C1 of the operation unit 110 is changed, both the virtual plane SF and the rotation angle around the Xd axis are also changed. The first control device 310 then determines the movement amount of the midpoint CP between the previous control cycle and the current control cycle as the movement amount of the tip of the endoscope 3. Specifically, the first control device 310 adds the movement amount of the midpoint CP to a simultaneous transformation matrix representing the position of the endoscope 3 in the previous control cycle to calculate a simultaneous transformation matrix that serves as a target for the position of the endoscope 3 in the current control cycle. 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.

[0093] The operation for moving the instrument 2 will now be described. The operator can operate the robot arm 50 to which the instrument 2 is attached by operating either the right-hand operation unit 110R or the left-hand operation unit 110L. The first control device 310 adds the amount of movement of the tip of the instrument 2 to the simultaneous transformation matrix representing the tip position of the instrument 2 in the previous control cycle, and calculates a simultaneous transformation matrix that serves as a target for the position of the instrument 2 in the current control cycle. The first control device 310 performs inverse kinematics calculations 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 inverse kinematics calculations. When the instrument 2 is moved, the coordinate system C1 of the operating unit 110 is the same as when the endoscope 3 is moved, being the same coordinate system as the endoscope coordinate system C13 rotated 180 degrees around the Zc axis and rotated -90 degrees + a predetermined angle θ around the Xc axis.

[0094] In step S5, the first control device 310 moves the surgical instrument 1 by the robot arm 50 based on the received operation. Note that, until the change of the predetermined angle θ is executed again, the operation of step S5 continues based on the coordinate system C1 of the operation unit 110 after the predetermined angle θ has been changed.

[0095] In this embodiment, the second control device 350 monitors the command values ​​of the first control device 310 for the robot arm 50 and the surgical instrument 1 and the actual axis values ​​of the robot arm 50 and the surgical instrument 1. Specifically, during the operation period of step S5, the second control device 350 monitors the command values ​​of the first control device 310 and the actual axis values ​​of the robot arm 50 and the surgical instrument 1 transmitted from the encoders E1, E2, and E3. The axis values ​​are the rotation angles of the servo motors SM for the joint axes and linear axes. If the difference between the command values ​​of the first control device 310 and the actual axis values ​​of the robot arm 50 and the surgical instrument 1 exceeds a predetermined threshold, the second control device 350 executes control to issue a warning. For example, an alarm sound is emitted from the speaker 22e of the medical cart 10 shown in FIG. 3.

[0096] [Effects of this embodiment] The touch panel 130 accepts a change of a predetermined angle θ by the operator. This allows the rotation angle of the coordinate system C1 of the operation unit 110 relative to the coordinate system of the surgery support robot 100 to be changed, and therefore the operator can adjust the coordinate system C1 of the operation unit 110 to make it easier for the operator to operate the operation unit 110. As a result, the operability of the operation unit 110 can be improved.

[0097] The predetermined angle θ of the coordinate system C1 of the operation unit 110 is an angle rotated in a direction away from the operator from a line L perpendicular to the surface on which the remote control device 200 is placed. As a result, since the operator operates the operation unit 110 while looking down during surgery, the angle of the coordinate system C1 of the operation unit 110 can be adjusted in the direction in which the operator looks down.

[0098] The touch panel 130, which is arranged on the remote control device 200 and accepts settings for the surgery assistance system 500, accepts changes to the predetermined angle θ. As a result, changes to the predetermined angle θ are accepted by the touch panel 130 that is arranged on the remote control device 200 in advance, and therefore, unlike when a separate touch panel 130 is arranged to accept changes to the predetermined angle θ, the configuration of the surgery assistance system 500 can be prevented from becoming complicated.

[0099] The touch panel 130 accepts changes to the predetermined angle θ in constant angle increments. As a result, the range of change in the predetermined angle θ is constant, so that it is possible to prevent the degree of change in the predetermined angle θ from varying depending on a single operation by the operator.

[0100] The surgical instrument 1 includes an endoscope 3. The surgery assistance system 500 includes a monitor 140 and a display unit 220 on which an image captured by the endoscope 3 is displayed in accordance with an endoscope coordinate system C13. This allows the operator operating the remote control device 200 to appropriately adjust the coordinate system C1 of the operation unit 110 so that the operator can easily operate the operation unit 110 while visually checking the image captured by the endoscope 3 displayed on the monitor 140. Furthermore, an assistant other than the operator operating the remote control device 200 can visually check, on the display unit 220, the same image captured by the endoscope 3 that the operator is viewing via the monitor 140.

[0101] The surgery assistance system 500 includes a storage unit 311 that stores the predetermined angle θ accepted for each operator. The first control device 310 reads out the predetermined angle θ accepted for each operator stored in the storage unit 311, and sets the coordinate system C1 of the operation unit 110 based on the read predetermined angle θ. This eliminates the need for the operator to change the predetermined angle θ every time the surgery assistance system 500 is started up, thereby eliminating the need for the operator to change the predetermined angle θ.

[0102] The surgical instrument 1 includes an endoscope 3. The remote control device 200 includes a monitor 140 on which an image captured by the endoscope 3 is displayed and on which the operator's head is immersed. The rotation angle of the monitor 140 is adjusted around an Xd axis that aligns with the left-right direction of the operator operating the remote control device 200, and the touch panel 130 accepts changes to the predetermined angle θ independently of adjustments to the rotation angle of the monitor 140. This allows the predetermined angle θ to be changed to a desired angle so that each operator can more easily operate the operation unit 110 than if the predetermined angle θ of the coordinate system C1 of the operation unit 110 were automatically changed in conjunction with changes to the rotation angle of the monitor 140.

[0103] The second control device 350 monitors the command values ​​of the first control device 310 for the robot arm 50 and the surgical instrument 1 and the actual axis values ​​of the robot arm 50 and the surgical instrument 1. The second control device 350 executes control to issue a warning when the difference between the command values ​​of the first control device 310 and the actual axis values ​​of the robot arm 50 and the surgical instrument 1 exceeds a predetermined threshold. This prevents the operator from continuing the operation in a state where the command values ​​of the first control device 310 and the actual axis values ​​of the robot arm 50 and the surgical instrument 1 are misaligned, even if the predetermined angle θ of the coordinate system C1 of the operation unit 110 is changed.

[0104] [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.

[0105] In the above embodiment, an example was shown in which the predetermined angle θ of the coordinate system C1 of the operation unit 110 is an angle rotated in a direction away from the operator from the line L perpendicular to the surface on which the remote control device 200 is placed, but the present disclosure is not limited to this. In the present disclosure, the predetermined angle θ of the coordinate system C1 of the operation unit 110 may be an angle rotated in a direction closer to the operator from the line L perpendicular to the surface on which the remote control device 200 is placed.

[0106] In the above embodiment, an example has been described in which a change in the predetermined angle θ is accepted by the touch panel 130 of the remote control device 200, but the present disclosure is not limited to this. For example, a change in the predetermined angle θ may be accepted by an input device other than the touch panel 130, such as a keyboard.

[0107] In the above embodiment, an example has been shown in which the touch panel 130 accepts changes to the predetermined angle θ in fixed angle increments, but the present disclosure is not limited to this. For example, the accepting unit that accepts changes to the predetermined angle θ may be a rotary dial or slide switch, and changes to the predetermined angle θ may be accepted as a continuous value rather than in fixed angle increments.

[0108] In the above embodiment, an example was shown in which the coordinate system C1 of the operation unit 110 is rotated by a predetermined angle θ with respect to the endoscope coordinate system C13, but the present disclosure is not limited to this. For example, the coordinate system C1 of the operation unit 110 may be rotated by a predetermined angle θ with respect to a coordinate system of the surgery support robot 100 other than the endoscope coordinate system C13.

[0109] In the above embodiment, an example has been shown in which the coordinate system C1 of the operation unit 110 is set based on the predetermined angle θ accepted for each operator and stored in the storage unit 311. However, the present disclosure is not limited to this. For example, the changed predetermined angle θ does not have to be stored in the storage unit 311.

[0110] In the above embodiment, an example was shown in which the second control device 350 monitors the command value of the first control device 310 and the actual axis values ​​of the robot arm 50 and the surgical instrument 1, and executes control to issue a warning when the difference between the command value and the axis values ​​of the first control device 310 exceeds a predetermined threshold, but the present disclosure is not limited to this. For example, the first control device 310 itself may monitor the command value of the first control device 310 and the actual axis values ​​of the robot arm 50 and the surgical instrument 1, and execute control to issue a warning when the difference between the command value and the axis values ​​of the first control device 310 exceeds a predetermined threshold.

[0111] 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.

[0112] 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.

[0113] In the above embodiment, an example has been described in which the touch panel 130 of the remote control device 200 accepts a change in the predetermined angle θ independently of an adjustment of the rotation angle of the monitor 140. However, the present disclosure is not limited to this. In the present disclosure, the predetermined angle θ may be changed in conjunction with the rotation of the monitor 140. The touch panel 130 may then accept a further change to the predetermined angle θ that has been changed in conjunction with the rotation of the monitor 140. This allows the predetermined angle θ to be automatically changed in conjunction with the rotation of the monitor 140, thereby reducing the operator's effort. Furthermore, the touch panel 130 can fine-tune the predetermined angle θ that has been changed in conjunction with the rotation of the monitor 140.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] 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.

[0118] [Aspect] It will be appreciated by those skilled in the art that the exemplary embodiments described above are examples of the following aspects.

[0119] (Aspect 1) a surgical device including a robotic arm to which a surgical instrument is attached; an operating device including an operating unit that receives an operation on the surgical instrument and has a coordinate system rotated by a predetermined angle with respect to the coordinate system of the surgical device; a control device that controls the robot arm to move the surgical instrument based on the operation received by the operation unit; A surgery assistance system comprising: a reception unit that receives a change in the predetermined angle by an operator.

[0120] (Aspect 2) A surgical support system according to aspect 1, wherein the predetermined angle is an angle rotated in a direction away from the operator from a line perpendicular to a surface on which the operating device is placed.

[0121] (Aspect 3) The surgery support system according to aspect 1 or aspect 2, wherein the reception unit is disposed on the operation device and includes a touch panel that receives settings for the surgery support system.

[0122] (Aspect 4) The surgery support system according to any one of aspects 1 to 3, wherein the accepting unit accepts changes to the predetermined angle in fixed angle increments.

[0123] (Aspect 5) the surgical instrument includes an endoscope; A surgical assistance system according to any one of aspects 1 to 4, further comprising a display unit that displays an image captured by the endoscope in accordance with the coordinate system of the surgical device.

[0124] (Aspect 6) a storage unit that stores the predetermined angle received for each operator, The control device reading out the predetermined angle accepted for each operator stored in the storage unit; The surgery support system according to any one of aspects 1 to 5, wherein a coordinate system of the operation unit is set based on the read-out predetermined angle.

[0125] (Aspect 7) the surgical instrument includes an endoscope; the operation device includes a monitor on which an image captured by the endoscope is displayed and into which the operator's head is immersed; a rotation angle of the monitor is adjusted around an axis along a left-right direction of the operator operating the operation device; The surgery support system according to any one of aspects 1 to 6, wherein the reception unit receives a change to the predetermined angle independently of an adjustment of the rotation angle of the monitor.

[0126] (Aspect 8) the surgical instrument includes an endoscope; the operation device includes a monitor on which an image captured by the endoscope is displayed and into which the operator's head is immersed; a rotation angle of the monitor is adjusted around an axis along a left-right direction of the operator operating the operation device; The predetermined angle is changed in conjunction with the rotation of the monitor, The surgical support system according to any one of aspects 1 to 7, wherein the reception unit receives further changes to the predetermined angle that has been changed in conjunction with the rotation of the monitor.

[0127] (Aspect 9) a monitoring control device that monitors command values ​​of the control device for the robot arm and the surgical instrument and actual axis values ​​of the robot arm and the surgical instrument; A surgical support system described in any one of aspects 1 to 8, wherein the monitoring control device executes control to issue an alert when the difference between the command value of the control device and the axis value exceeds a predetermined threshold.

[0128] (Aspect 10) receiving an operation by an operator to change a coordinate system of the operation unit, which is rotated by a predetermined angle with respect to a coordinate system of the surgical device; changing the rotation of the coordinate system of the operation unit by the predetermined angle based on the received operation for changing the predetermined angle; receiving an operation by the operation unit on a surgical instrument attached to a robot arm in a state in which the coordinate system of the operation unit has been changed; and moving the surgical instrument by the robot arm based on the received operation. [Explanation of symbols]

[0129] 1 surgical instruments 2. Instruments (surgical instruments) 3 Endoscope (surgical instrument) 50 Robot Arm 100 Surgical support robot (surgical device) 110 Operation section 130 Touch panel (reception area) 140 Monitor (display) 200 Remote control device (operation device) 220 Display section 310 First control device (control device) 311 Storage section 350 Second control device (monitoring control device) 500 Surgical Support System C1 Control coordinate system C13 Endoscope coordinate system (surgical device coordinate system) L A line perpendicular to the surface on which the control device is placed θ given angle

Claims

1. a surgical device including a robotic arm to which a surgical instrument is attached; an operating device including an operating unit that receives an operation on the surgical instrument and has a coordinate system rotated by a predetermined angle with respect to the coordinate system of the surgical device; a control device that controls the robot arm to move the surgical instrument based on the operation received by the operation unit; A surgery assistance system comprising: a reception unit that receives a change in the predetermined angle by an operator.

2. The surgery assistance system according to claim 1 , wherein the predetermined angle is an angle rotated in a direction away from the operator from a line perpendicular to a surface on which the operation device is placed.

3. The surgery assistance system according to claim 1 , wherein the reception unit is disposed on the operation device and includes a touch panel that receives settings for the surgery assistance system.

4. The surgery assistance system according to claim 1 , wherein the accepting unit accepts changes to the predetermined angle in constant angle increments.

5. the surgical instrument includes an endoscope; The surgery assistance system according to claim 1 , further comprising a display unit that displays the image captured by the endoscope in accordance with the coordinate system of the surgery device.

6. a storage unit that stores the predetermined angle received for each operator, The control device reading out the predetermined angle accepted for each operator stored in the storage unit; The surgery support system according to claim 1 , wherein a coordinate system of the operation unit is set based on the read-out predetermined angle.

7. the surgical instrument includes an endoscope; the operation device includes a monitor on which an image captured by the endoscope is displayed and into which the operator's head is immersed; a rotation angle of the monitor is adjusted around an axis along a left-right direction of the operator operating the operation device; The surgery assistance system according to claim 1 , wherein the reception unit receives a request to change the predetermined angle independently of an adjustment of a rotation angle of the monitor.

8. the surgical instrument includes an endoscope; the operation device includes a monitor on which an image captured by the endoscope is displayed and into which the operator's head is immersed; a rotation angle of the monitor is adjusted around an axis along a left-right direction of the operator operating the operation device; The predetermined angle is changed in conjunction with the rotation of the monitor, The surgery assistance system according to claim 1 , wherein the reception unit receives a further change to the predetermined angle that has been changed in conjunction with the rotation of the monitor.

9. a monitoring control device that monitors command values ​​of the control device for the robot arm and the surgical instrument and actual axis values ​​of the robot arm and the surgical instrument; The surgery support system according to claim 1 , wherein the monitoring control device executes control to issue a warning when a difference between a command value of the control device and the axis value exceeds a predetermined threshold value.

10. receiving an operation by an operator to change a coordinate system of the operation unit, which is rotated by a predetermined angle with respect to a coordinate system of the surgical device; changing the rotation of the coordinate system of the operation unit by the predetermined angle based on the received operation for changing the predetermined angle; receiving an operation by the operation unit on a surgical instrument attached to a robot arm in a state in which the coordinate system of the operation unit has been changed; and moving the surgical instrument by the robot arm based on the received operation.

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