Surgery support robot, surgery support robot control device, and surgery support robot control method

Abstract

To provide a surgery assistance system that can protect a component of an arm joint and can reduce vibrations of the arm.SOLUTION: This surgery system 100 (surgery assistance system) includes: a medical manipulator 1 that has an arm 60 at its tip, to which a medical instrument 4 is to be attached; a remote operator 2 including an operational manipulator arm 21 that accepts the operational input of the medical instrument 4; and a controller 31 that calculates, on the basis of the accepted operation, a movement command value q including a speed command value qr1 and an acceleration command value qr2 in moving the medical instrument 4, and controls the movement of the medical instrument 4 on the basis of the movement command value q. The controller 31 limits the speed command value qr1 within the range of a speed limit value lim1 and limits the acceleration command value qr2 within the range of the acceleration limit value lim2.SELECTED DRAWING: Figure 11

Description

[Technical Field]

[0001] The present invention relates to a surgery assistance system, a control device for a surgery assistance system, and a control method for a surgery assistance system, and more particularly to a surgery assistance system, a control device for a surgery assistance system, and a control method for a surgery assistance system that control the operation of a medical instrument based on an operation received by an operation unit. [Background technology]

[0002] Conventionally, robotic surgical systems have been known that include an arm, a tool (medical instrument) connected to the end of the arm, and an input handle (operation unit). For example, in the robotic surgical system described in Patent Document 1, the movement of the medical instrument is controlled based on the amount of operation received by the operation unit. The medical instrument moves inside the patient's body, which is the surgical site. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2018-505739 Summary of the Invention [Problem to be solved by the invention]

[0004] However, there is still room for improvement in protecting components such as motors included in the arm joints and suppressing arm vibration. For example, when the input handle receives a large amount of operation, the arm moves a large distance per unit time. In this case, the motor provided in the arm joint may rotate at an excessively high speed, potentially damaging the components that make up the motor. Furthermore, the increased arm movement per unit time may cause the arm to vibrate.

[0005] The present invention has been made to solve the above-mentioned problems, and one object of the present invention is to provide a surgical assistance system, a control device for a surgical assistance system, and a control method for a surgical assistance system that are capable of protecting the components that make up the arm joints and suppressing vibration of the arm. [Means for solving the problem]

[0006] In order to achieve the above object, a surgery assistance system according to a first aspect of the present invention is a surgery assistance system comprising: a patient-side device including an arm having a plurality of joints and a medical instrument attached to a tip end thereof; an operator-side device including an operation unit that accepts operations on the medical instrument; and a control unit that calculates a velocity command value and an acceleration command value for operating the medical instrument based on the accepted operations, and controls the operation of the medical instrument based on the velocity command value and the acceleration command value, wherein the control unit calculates a velocity command value before restriction for each axis of the plurality of joints, and limits the velocity command value for each axis within a velocity limit value range so as to prevent the constant relationship between the velocity command values ​​for each axis from being lost, and calculates an acceleration command value before restriction for each axis of the plurality of joints, and limits the acceleration command value for each axis within an acceleration limit value range so as to prevent the constant relationship between the acceleration command values ​​for each axis from being lost.

[0007] In the surgery assistance system according to the first aspect of the present invention, as described above, the control unit limits the velocity command value within the velocity limit value range and limits the acceleration command value within the acceleration limit value range. This limits both the velocity command value and the acceleration command value, even when the operation amount received by the operation unit is relatively large, thereby preventing the arm's movement amount per unit time from increasing. This prevents the motor provided at the arm's joint from rotating at an excessively high speed, thereby protecting components such as the motor that constitute the arm's joint. Furthermore, preventing the arm's movement amount per unit time from increasing can prevent arm vibration caused by an increase in the arm's movement amount per unit time. As a result, the components that constitute the arm's joint can be protected and arm vibration can be suppressed.

[0008] A control device for a surgery support system according to a second aspect of the present invention is a control device for a surgery support system comprising a patient-side device including an arm with a plurality of joints to which a medical instrument is attached at the tip end, and an operator-side device including an operation unit that accepts operations for the medical instrument, and comprises a control unit that calculates a velocity command value and an acceleration command value for operating the medical instrument based on the accepted operations, and controls the operation of the medical instrument based on the velocity command value and the acceleration command value, and the control unit calculates a velocity command value before restriction for each axis of the plurality of joints, and limits the velocity command value for each axis within a velocity limit value range so as to prevent the constant relationship between the velocity command values ​​for each axis from being lost, and calculates an acceleration command value before restriction for each axis of the plurality of joints, and limits the acceleration command value for each axis within the acceleration limit value range so as to prevent the constant relationship between the acceleration command values ​​for each axis from being lost.

[0009] In the control device for a surgery assistance system according to a second aspect of the present invention, as described above, the control unit limits the velocity command value within the velocity limit value range and limits the acceleration command value within the acceleration limit value range. This limits both the velocity command value and the acceleration command value, even when the operation amount received by the operation unit is relatively large, thereby preventing the arm's movement amount per unit time from increasing. This prevents the motor provided at the arm's joint from rotating at an excessively high speed, thereby protecting components such as the motor that constitute the arm's joint. Furthermore, preventing the arm's movement amount per unit time from increasing can prevent arm vibration caused by an increase in the arm's movement amount per unit time. As a result, a control device for a surgery assistance system can be provided that protects the components that constitute the arm's joint and prevents arm vibration.

[0010] A control method for a surgery support system according to a third aspect of the present invention is a control method for a surgery support system comprising a patient-side device including an arm with a medical instrument attached to a tip side and having a plurality of joints, an operator-side device including an operation unit that accepts operations for the medical instrument, and a controller, the control method comprising: a step in which the operation unit accepts operations for the medical instrument; and a step in which the controller calculates a velocity command value and an acceleration command value for operating the medical instrument based on the accepted operation, and controls the operation of the medical instrument based on the velocity command value and the acceleration command value, wherein the step in which the controller controls the operation of the medical instrument based on the velocity command value and the acceleration command value includes a step in which the controller calculates a velocity command value before limitation for each axis of the plurality of joints, and limits the velocity command value for each axis to within a range of the velocity limit value so as to prevent the constant relationship between the velocity command values ​​for each axis from being lost; and a step in which the controller calculates an acceleration command value before limitation for each axis of the plurality of joints, and limits the acceleration command value to within a range of the acceleration limit value so as to prevent the constant relationship between the acceleration command values ​​for each axis from being lost.

[0011] In the control method for a surgery assistance system according to a third aspect of the present invention, as described above, the step of controlling the operation of the medical instrument based on the velocity command value and the acceleration command value includes the steps of limiting the velocity command value within a velocity limit value range and limiting the acceleration command value within an acceleration limit value range. This limits both the velocity command value and the acceleration command value, even when the operation amount received by the operation unit is relatively large, thereby preventing the arm's movement amount per unit time from increasing. This prevents the motor provided at the arm's joint from rotating at an excessively high speed, thereby protecting components such as the motor that constitute the arm's joint. Furthermore, this prevents the arm's movement amount per unit time from increasing, thereby preventing arm vibration caused by an increase in the arm's movement amount per unit time. As a result, a control method for a surgery assistance system can be provided that protects components that constitute the arm's joint and prevents arm vibration. [Effects of the Invention]

[0012] According to the present invention, as described above, it is possible to protect the components that constitute the joint portion of the arm and suppress vibration of the arm. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a diagram showing the configuration of a surgical operation system according to an embodiment of the present invention. [Figure 2] 1 is a diagram showing a configuration of a medical manipulator according to an embodiment of the present invention. [Figure 3] 1A and 1B are diagrams showing the configuration of an arm of a medical manipulator according to an embodiment of the present invention. [Figure 4] FIG. [Figure 5] 1 is a perspective view showing the configuration of an operation unit of a medical manipulator according to an embodiment of the present invention. FIG. [Figure 6] FIG. 1 is a diagram showing an endoscope. [Figure 7] FIG. 10 is a diagram showing a pivot position teaching tool. [Figure 8] FIG. 10 is a diagram for explaining translational movement of an arm. [Figure 9] FIG. 10 is a diagram illustrating the rotational movement of the arm. [Figure 10] FIG. 2 is a block diagram showing the configuration of a control unit of the medical manipulator according to the embodiment of the present invention. [Figure 11] FIG. 2 is a block diagram showing the configuration of a control unit according to an embodiment of the present invention. [Figure 12] FIG. 10 is an image diagram of a limited speed command value (or acceleration command value) according to a comparative example. [Figure 13] FIG. 10 is an image diagram of a limited velocity command value (or acceleration command value) according to one embodiment of the present invention. [Figure 14] FIG. 4 is a diagram for explaining a gain of feedforward control according to an embodiment of the present invention. [Figure 15] FIG. 1 is a diagram showing target values ​​and current values ​​of a medical device. [Figure 16]FIG. 2 is a diagram showing the target value and the current value of the medical device. [Figure 17] FIG. 1 is a flow chart illustrating a control method for a surgical operation system according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0014] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will now be described with reference to the accompanying drawings.

[0015] The configuration of a surgical system 100 according to this embodiment will be described with reference to FIGS. 1 to 16. The surgical system 100 includes a medical manipulator 1, which is a patient-side device, and a remote control device 2, which is an operator-side device for operating the medical manipulator 1. The medical manipulator 1 includes a medical cart 3 and is configured to be movable. The remote control device 2 is located at a distance from the medical manipulator 1, and the medical manipulator 1 is configured to be remotely controlled by the remote control device 2. The surgeon inputs commands to the remote control device 2 to cause the medical manipulator 1 to perform a desired operation. The remote control device 2 transmits the input commands to the medical manipulator 1. The medical manipulator 1 operates based on the received commands. The medical manipulator 1 is located in an operating room, which is a sterilized sterile field. The surgical system 100 is an example of a "surgery support system" as defined in the claims.

[0016] The remote control device 2 is placed, for example, inside or outside an operating room. The remote control device 2 includes an operating manipulator arm 21, an operating pedal 22, a touch panel 23, a monitor 24, a support arm 25, and a support bar 26. The operating manipulator arm 21 constitutes an operating handle through which the surgeon inputs commands. The operating manipulator arm 21 receives the amount of operation for the medical instrument 4. The monitor 24 is a scope-type display device that displays images captured by an endoscope. The support arm 25 supports the monitor 24 so that its height is aligned with the surgeon's face. The touch panel 23 is attached to the support bar 26. A sensor (not shown) provided near the monitor 24 detects the surgeon's head, enabling the medical manipulator 1 to be operated by the remote control device 2. The surgeon operates the operating manipulator arm 21 and the operating pedal 22 while visually checking the affected area on the monitor 24. This inputs commands to the remote control device 2. A command input to the remote control device 2 is transmitted to the medical manipulator 1. The operating manipulator arm 21 is an example of the "operating section" in the claims.

[0017] The medical cart 3 is provided with a control unit 31 that controls the operation of the medical manipulator 1 and a storage unit 32 that stores programs for controlling the operation of the medical manipulator 1. Based on commands input to the remote control device 2, the control unit 31 of the medical cart 3 controls the operation of the medical manipulator 1. The control unit 31 is an example of a "control device for a surgery support system" in the claims.

[0018] The medical cart 3 is also provided with an input device 33. The input device 33 is configured to receive operations for moving and changing the posture of the positioner 40, the arm base 50, and the multiple arms 60, mainly for preparing for surgery before the procedure.

[0019] The medical manipulator 1 shown in FIGS. 1 and 2 is placed in an operating room. The medical manipulator 1 includes a medical cart 3, a positioner 40, an arm base 50, and a plurality of arms 60. The arm base 50 is attached to the tip of the positioner 40. The arm base 50 has a relatively long rod shape (long shape). The base of each of the plurality of arms 60 is attached to the arm base 50. The plurality of arms 60 are configured to be able to take a folded position (storage position). The arm base 50 and the plurality of arms 60 are used covered with a sterile drape (not shown).

[0020] The positioner 40 is configured, for example, by a seven-axis articulated robot. The positioner 40 is placed on the medical cart 3. The positioner 40 moves the arm base 50. Specifically, the positioner 40 is configured to move the position of the arm base 50 in three dimensions.

[0021] The positioner 40 also includes a base portion 41 and a plurality of link portions 42 connected to the base portion 41. The plurality of link portions 42 are connected to each other by joint portions 43.

[0022] 1, a medical instrument 4 is attached to the tip of each of the multiple arms 60. The medical instrument 4 includes, for example, a replaceable instrument, an endoscope 6 (see FIG. 6), and the like.

[0023] As shown in Fig. 3, the instrument is provided with a driven unit 4a driven by a servo motor M2 provided on a holder 71 of an arm 60. The instrument is also provided with forceps 4b at its tip. The forceps 4b is an example of an "end effector" in the claims.

[0024] 4, the instrument includes a first support 4e that supports the forceps 4b rotatably about a first axis A1, a second support 4f that supports the first support 4e rotatably about a second axis A2, and a shaft 4c connected to the second support 4f. The driven unit 4a, the shaft 4c, the second support 4f, the first support 4e, and the forceps 4b are arranged along the Z direction.

[0025] The forceps 4b are attached to the first support 4e so as to rotate about the rotation axis R1 of the first axis A1. The second support 4f supports the first support 4e rotatably about the second axis A2. That is, the first support 4e is attached to the second support 4f so as to rotate about the rotation axis R2 of the second axis A2. The tip end (Z1 direction side) of the first support 4e has a U-shape. A tool center point (TCP1, clevis) is set in the center of the tip end of the U-shape of the first support 4e in the direction of the rotation axis R1.

[0026] As shown in FIG. 6, the TCP2 of the endoscope 6 is set at the tip of the endoscope 6.

[0027] Next, the configuration of the arm 60 will be described in detail.

[0028] 3, the arm 60 includes an arm section 61 (a base section 62, a link section 63, and a joint section 64) and a translational movement mechanism section 70 provided at the tip of the arm section 61. The arm 60 is configured to move the tip side of the arm 60 three-dimensionally relative to the base side (arm base 50) of the arm 60. The multiple arms 60 have similar configurations.

[0029] The translational movement mechanism 70 is provided on the distal end side of the arm 61, and has the medical instrument 4 attached thereto. The translational movement mechanism 70 translates the medical instrument 4 in the direction of insertion into the patient P. The translational movement mechanism 70 is configured to translate the medical instrument 4 relative to the arm 61. Specifically, the translational movement mechanism 70 is provided with a holder 71 that holds the medical instrument 4. The holder 71 houses a servo motor M2 (see FIG. 10). The servo motor M2 is configured to rotate a rotating body provided in the driven unit 4a of the medical instrument 4. The rotation of the rotating body of the driven unit 4a operates the forceps 4b.

[0030] The arm unit 61 is composed of a seven-axis articulated robot arm. The arm unit 61 also includes a base unit 62 for attaching the arm unit 61 to the arm base 50, and a plurality of link units 63 connected to the base unit 62. The plurality of link units 63 are connected to each other by joint units 64.

[0031] The translational movement mechanism 70 is configured to translate the holder 71 along the Z direction, thereby translating the medical instrument 4 attached to the holder 71 along the Z direction (the direction in which the shaft 4c extends). Specifically, the translational movement mechanism 70 includes a base-end link portion 72 connected to the tip of the arm portion 61, a tip-end link portion 73, and a connecting link portion 74 provided between the base-end link portion 72 and the tip-end link portion 73. The holder 71 is provided on the tip-end link portion 73.

[0032] The connecting link portion 74 of the translational movement mechanism 70 is configured as a speed-doubling mechanism that moves the distal link portion 73 along the Z direction relative to the proximal link portion 72. The distal link portion 73 is moved along the Z direction relative to the proximal link portion 72, thereby causing the medical instrument 4 provided on the holder 71 to translate along the Z direction. The distal end of the arm portion 61 is connected to the proximal link portion 72 so as to rotate the proximal link portion 72 about an axis in the X direction perpendicular to the Z direction.

[0033] 5, the medical manipulator 1 is attached to the arm 60 and includes an operation unit 80 for operating the arm 60. The operation unit 80 includes an enable switch 81, a joystick 82, and a switch unit 83. The enable switch 81 permits or prohibits movement of the arm 60 by the joystick 82 and the switch unit 83. When an operator (such as a nurse or an assistant) holds and presses the operation unit 80, the enable switch 81 enters a state in which movement of the medical instrument 4 by the arm 60 is permitted.

[0034] The switch unit 83 also includes a switch unit 83a that moves the medical instrument 4 in the direction along the longitudinal direction of the medical instrument 4 toward the direction in which the medical instrument 4 is inserted into the patient P, and a switch unit 83b that moves the medical instrument 4 in the direction opposite to the direction in which the medical instrument 4 is inserted into the patient P. Both the switch unit 83a and the switch unit 83b are configured as push button switches.

[0035] 5, the operation unit 80 also includes a pivot button 85 that teaches a pivot position PP, which serves as a fulcrum (see FIG. 9) for the movement of the medical instrument 4 attached to the arm 60. The pivot button 85 is provided on a surface 80b of the operation unit 80 adjacent to the enable switch 81. When the tip of the endoscope 6 (see FIG. 6) or the pivot position teaching instrument 7 (FIG. 7) 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 pivot button 85 is pressed to teach the pivot position PP, which is then stored in the memory unit 32. Note that when teaching the pivot position PP, the pivot position PP is set as a single point (coordinates), and teaching the pivot position PP does not set the direction of the medical instrument 4.

[0036] As shown in FIG. 1 , an endoscope 6 is attached to one arm 60 (for example, arm 60b) of the multiple arms 60, and medical instruments 4 other than the endoscope 6 are attached to the remaining arms 60 (for example, arms 60a, 60c, and 60d). Specifically, during surgery, an endoscope 6 is attached to one arm 60 of the four arms 60, and medical instruments 4 other than the endoscope 6 (such as forceps 4b) are attached to three of the arms 60. A pivot position PP is taught to the arm 60 to which the endoscope 6 is attached, with the endoscope 6 attached. Furthermore, a pivot position PP is taught to the arm 60 to which the medical instrument 4 other than the endoscope 6 is attached, with the pivot position teaching instrument 7 attached. The endoscope 6 is attached to one of the two arms 60 (arms 60b and 60c) located in the center of the four arms 60 arranged adjacent to each other. That is, the pivot position PP is set individually for each of the multiple arms 60.

[0037] 5, an adjustment button 86 for optimizing the position of the arm 60 is provided on the surface 80b of the operation unit 80. After the pivot position PP for the arm 60 to which the endoscope 6 is attached is taught, the adjustment button 86 is pressed to optimize the position of the other arm 60 (arm base 50).

[0038] 5, the operation unit 80 also includes a mode switching button 84 for switching between a mode for translational movement (see FIG. 8) and a mode for rotational movement (see FIG. 9) of the medical instrument 4 attached to the arm 60. A mode indicator 84a is provided near the mode switching button 84. The mode indicator 84a displays the switched mode. Specifically, the mode indicator 84a is turned on (rotational movement mode) or off (translational movement mode) to display the current mode (translational movement mode or rotational movement mode).

[0039] The mode indicator 84a also serves as a pivot position indicator that indicates that the pivot position PP has been taught.

[0040] As shown in Fig. 8, in the mode in which the arm 60 is translated, the arm 60 is moved so that the tip 4d of the medical instrument 4 moves on the XY plane. Also, as shown in Fig. 9, in the mode in which the arm 60 is rotated, when the pivot position PP has not been taught, the arm 60 is moved so that the medical instrument 4 rotates around the forceps 4b, and when the pivot position PP has been taught, the arm 60 is moved so that the medical instrument 4 rotates around the pivot position PP as a fulcrum. Note that the medical instrument 4 is rotated with the shaft 4c of the medical instrument 4 inserted into the trocar T.

[0041] 10, the arm 60 is provided with a plurality of servo motors M1, an encoder E1, and a reducer (not shown) so as to correspond to the plurality of joints 64 of the arm section 61. The encoder E1 is configured to detect the rotation angle of the servo motor M1. The reducer is configured to reduce the rotation speed of the servo motor M1 to increase the torque.

[0042] 10, the translational movement mechanism 70 is provided with a servo motor M2 for rotating a rotor provided in the driven unit 4a of the medical instrument 4, a servo motor M3 for translationally moving the medical instrument 4, encoders E2 and E3, and a reducer (not shown). The encoders E2 and E3 are configured to detect the rotation angles of the servo motors M2 and M3, respectively. The reducers are configured to decelerate the rotation of the servo motors M2 and M3 to increase the torque.

[0043] The positioner 40 is also provided with a plurality of servo motors M4, an encoder E4, and a reducer (not shown) to correspond to the plurality of joints 43 of the positioner 40. The encoder E4 is configured to detect the rotation angle of the servo motor M4. The reducer is configured to reduce the rotation speed of the servo motor M4 to increase the torque.

[0044] The medical cart 3 is also provided with a servo motor M5, an encoder E5, and a reducer (not shown) that drive each of a plurality of front wheels (not shown) of the medical cart 3. The encoder E5 is configured to detect the rotation angle of the servo motor M5. The reducer is configured to decelerate the rotation of the servo motor M5 to increase the torque.

[0045] The control unit 31 of the medical cart 3 includes an arm control unit 31a that controls the movement of the multiple arms 60 based on commands, and a positioner control unit 31b that controls the movement of the positioner 40 and the drive of the front wheels (not shown) of the medical cart 3 based on commands. A servo control unit C1 that controls a servo motor M1 that drives the arm 60 is electrically connected to the arm control unit 31a. An encoder E1 that detects the rotation angle of the servo motor M1 is also electrically connected to the servo control unit C1.

[0046] The arm control unit 31a is also electrically connected to a servo control unit C2 for controlling a servo motor M2 for driving the medical instrument 4. The servo control unit C2 is also electrically connected to an encoder E2 for detecting the rotation angle of the servo motor M2. The arm control unit 31a is also electrically connected to a servo control unit C3 for controlling a servo motor M3 for translationally moving the translational movement mechanism 70. The servo control unit C3 is also electrically connected to an encoder E3 for detecting the rotation angle of the servo motor M3.

[0047] Then, the operation command input to the remote operation device 2 is input to the arm control unit 31a. The arm control unit 31a generates a position command based on the input operation command and the rotation angle detected by the encoder E1 (E2, E3), and outputs the position command to the servo control unit C1 (C2, C2). The servo control unit C1 (C2, C3) generates a torque command based on the position command input from the arm control unit 31a and the rotation angle detected by the encoder E1 (E2, E3), and outputs the torque command to the servo motor M1 (M2, M3). As a result, the arm 60 is moved in accordance with the operation command input to the remote operation device 2.

[0048] Specifically, in this embodiment, as shown in FIG. 11, the control unit 31 controls the operation (input position command value x r ) based on the speed command value q when operating the medical device 4 r1 and acceleration command value q r2 Calculate the speed command value q r1 and acceleration command value q r2 The control unit 31 controls the operation of the medical instrument 4 based on the speed command value q r1 (The correction command value dq r If ' is not 0, the correction command value dq r ' is added to the speed command value q r3 ) is limited within the range of the speed limit value lim1, and the acceleration command value q r2 (See below for details.) lim1 -q1) is not 0, then q r2 +(q lim1 -q1)×K vp ) is limited to within the range of the acceleration limit value lim2.

[0049] In detail, the control unit 31 controls the operation (input position command value x r ) is converted (inversely transformed) using inverse kinematics to obtain the motion command value q r and calculates the operation command value q r By differentiatingr1 Then, the control unit 31 calculates the speed command value q r1 (Specifically, the correction command value dq r ' is added to the speed command value q r3 ) is limited to within a range of a speed limit value lim1. Note that the speed limit value lim1 is determined in advance, for example, according to the specifications of the servo motor M1.

[0050] Furthermore, the control unit 31 controls the speed command value q to be limited within the range of the speed limit value lim1. lim1 By differentiating the acceleration command value q r2 Furthermore, the control unit 31 feeds back a speed command value q1 (to be described later) to calculate a speed command value q1 limited within the range of a speed limit value lim1. lim1 The control unit 31 subtracts the subtracted value (q lim1 -q1) to gain K vp and multiply it by ((q lim1 -q1)×K vp ) is the acceleration command value q r2 Then, the control unit 31 calculates the value (q r2 +(q lim1 -q1)×K vp ) is limited to within the range of the acceleration limit value lim2.

[0051] Then, the control unit 31 calculates the acceleration command value q that is limited to the range of the acceleration limit value lim2. lim2 The control unit 31 integrates the speed command value q1 to calculate the speed command value q1. Furthermore, the control unit 31 integrates the speed command value q1 to calculate the operation command value q.

[0052] The control unit 31 controls each axis of the arm 60.

[0053] In this embodiment, the control unit 31 also calculates the speed command value q r1 and acceleration command value q r2 is calculated for each axis of the joints 64. Then, the control unit 31 calculates the velocity command value q of the axis that is most restricted among the axes of the joints 64. r1 and acceleration command value q r2Based on this, the speed command value q of the other axis r1 and acceleration command value q r2 Limit.

[0054] Specifically, in this embodiment, the control unit 31 calculates the velocity command value q r1 The speed command value q of the other axes is determined by the speed limit value lim1. r1 is divided to obtain the speed command value q of the other axis. r1 Specifically, the maximum speeding rate α1 is calculated based on the following equation 1.

number

[0055] Then, the limited speed command value q is calculated by the following equation 2. lim1i Calculate.

number

[0056] In this embodiment, the acceleration command value q calculated for each axis of the plurality of joints 64 is r2 The acceleration command value q of the other axes is determined by the acceleration exceedance rate of the axis with the largest acceleration exceedance rate relative to the acceleration limit value lim2. r2 is divided to obtain the acceleration command value q of the other axis.r2 Specifically, the maximum acceleration exceedance rate α2 is calculated based on the following equation 3.

number

[0057] Then, the limited acceleration command value q is calculated by the following equation 4. lim2i Calculate.

number

[0058] Next, referring to Figs. 12 and 13, the speed command value q r1 The following explains the concept of the limit. r2 The same can be said for the image of restrictions.

[0059] FIG. 12 shows the speed command value q r1 12 is an image diagram showing the limitation of the speed command value of the two axes (J1 axis and J2 axis) of the arm unit 61 as an example. Specifically, FIG. 12 shows the speed command value q of the J1 axis before being limited. r11 (thin dotted line) and the speed command value q of the J1 axis after being limited lim11 (thin solid line) and the speed command value q of the J2 axis before it is limited r12 (thick dotted line) and the speed command value q of the J2 axis after being limited lim12 (thick solid line). The speed limit value of the J1 axis is lim 11 The speed limit value of the J2 axis is lim 12 As shown in Fig. 12, the speed command value q of the J1 axisr11 However, the speed limit value lim 11 Within the range (-lim 11 more than lim 11 The speed command value q of the J2 axis is also limited to r12 However, the speed limit value lim 12 Within the range (-lim 12 more than lim 12 In this way, the speed command value q r11 and q r12 When limiting individually, the speed command value q after limiting lim11 and the speed command value q lim12 is the speed command value q before limiting r11 and the speed command value q before limiting r12 The relationship between them will be disrupted.

[0060] For example, the speed command value q before limiting r11 and the speed command value q r12 are 10 and 8, respectively. 11 and the speed limit value lim 12 If is 2, the speed command value q after limiting is lim11 and the speed command value q lim12 Both are 2. That is, the speed command value q before limiting r11 and the speed command value q r12 The ratio of the speed command value q after the limit is 10:8. lim11 and the speed command value q lim12 The ratio is 2:2. This causes the inconvenience of the pivot position PP being shifted.

[0061] FIG. 13 shows the speed command value q r1 In FIG. 13, the speed command value q of the J1 axis is limited based on the above formulas 1 and 2. r11 and the speed command value q of the J2 axis r12 For example, in the period t1, the speed command value q of the J1 axis is r11 The overspeed rate of the J1 axis increases, and the speed command value q of the J2 axis r12This limits the speed command value q after limiting. lim12 However, it is not a constant value as shown in Fig. 12, but changes smoothly so as to gradually decrease. For example, in the period t2, the speed command value q r12 The overspeed rate of the J2 axis increases, and the speed command value q of the J1 axis r11 This limits the speed command value q after limiting. lim11 is not a constant value as shown in FIG. 12, but changes smoothly to gradually decrease. In this way, based on the above formulas 1 and 2, the speed command value q r11 and q r12 When limiting, the speed command value q before limiting r11 and the speed command value q r12 A certain relationship is maintained between

[0062] For example, the speed command value q before limiting r11 and the speed command value q r12 are 10 and 8, respectively. 11 and the speed limit value lim 12 If α1 is 2, the overspeed rate of the J1 axis is 5 (= 10 / 2), and the overspeed rate of the J1 axis is 4 (= 8 / 2), and based on the above formula 1, α1 is 5. Then, based on the above formula 2, the speed command value q after limiting is lim11 and the speed command value q after limiting lim12 The ratio between the left and right axes is 2:8 / 5, and the ratio before the restriction (10:8) is maintained. This suppresses the deviation of the pivot position PP.

[0063] In this embodiment, as shown in FIG. 11, the control unit 31 controls the speed command value q lim1 and the acceleration command value q limited within the range of the acceleration limit value lim2 lim2 Then, the control unit 31 calculates a movement command value q based on the calculated movement command value q. The control unit 31 then calculates a correction command value dq r ' is calculated.

[0064] Specifically, in this embodiment, the operating manipulator arm 21 receives an input position command value x r The control unit 31 then receives the calculated motion command value q as feedback. The control unit 31 then performs a forward kinematics transformation (forward transformation) on the fed-back motion command value q to calculate a forward kinematics transformed command value x. The control unit 31 also receives the input position command value x r and x calculated using the command value x after forward kinematic transformation r By performing a transformation (inverse transformation) using inverse kinematics on ', the command value q after inverse kinematics transformation is r Then, the control unit 31 calculates the operation command value q and the inverse kinematics transformed command value q r ', the correction command value dq that corrects the deviation of the pivot position PP r ' is calculated.

[0065] In detail, the control unit 31 calculates the inverse kinematics transformed command value q based on the following formula 5: r ' is calculated.

number

[0066] Then, the control unit 31 calculates the inverse kinematics transformed command value q r The operation command value q is subtracted from '. The gain K p By multiplying this, the correction command value dq that corrects the deviation of the pivot position PP is obtained. r ' is calculated.

[0067] In this embodiment, the control unit 31 calculates the correction command value dq r The speed command value q' before limiting it to within the range of the speed limit value lim1 r1 Add to.

[0068] In this embodiment, the control unit 31 also calculates the speed command value q r1 The feedforward control gain K F Then, the control unit 31 multiplies the speed command value q based on the difference (distance L) between the target value, which is the value of the position to which the medical instrument 4 is to be moved, and the current value, which is the value of the current position of the medical instrument 4. r1 The feedforward control gain K is set to increase the contribution of the feedback control relative to the contribution of the feedforward control to F The distance L between the target value and the current value is, for example, the distance L between the target position value on the base side (the tip side of the arm portion 61) of the medical instrument 4 and the current position value. Note that the distance L may be the distance between the target axis value and the current axis value.

[0069] Specifically, in this embodiment, as shown in FIG. 14, the gain K F decreases linearly as the difference between the target value and the current value (distance L, see Figure 15) increases. For example, when the difference between the target value and the current value (distance L) is less than L1, the gain K F is set to 1. Also, when the distance L exceeds L2, the gain K F is set to K (a value smaller than 1). When the distance L is between L1 and L2, the gain K F is linearly interpolated between K and 1 depending on the distance L.

[0070] As shown in Fig. 16, the pivot position PP does not deviate when the medical instrument 4 moves from a target value (t), which is a target position value, to a target value (t+1) by feedforward control. Note that t and t+1 represent time. On the other hand, the speed command value q r1 and acceleration command value q r2 By limiting the input position command value x r Therefore, if each axis is moved by the same amount by feedforward control at the current position (current value (t)), a deviation in the pivot position PP occurs. Therefore, the gain K of the feedforward control is set according to the size of the distance L. FBy reducing the contribution of the feedforward control, the deviation of the pivot position PP is suppressed.

[0071] 10, the control unit 31 (arm control unit 31a) is configured to operate the arm 60 based on an input signal from a joystick 82 of the operation unit 80. Specifically, the arm control unit 31a generates a position command based on the input signal (operation command) input from the joystick 82 and the rotation angle detected by the encoder E1, and outputs the position command to the servo control unit C1. The servo control unit C1 generates a torque command based on the position command input from the arm control unit 31a and the rotation angle detected by the encoder E1, and outputs the torque command to the servo motor M1. As a result, the arm 60 is moved in accordance with the operation command input to the joystick 82.

[0072] The control unit 31 (arm control unit 31a) is configured to operate the arm 60 based on an input signal from a switch unit 83 of the operation unit 80. Specifically, the arm control unit 31a generates a position command based on the input signal (operation command) input from the switch unit 83 and the rotation angle detected by the encoder E1 or E3, and outputs the position command to the servo control unit C1 or C3. The servo control unit C1 or C3 generates a torque command based on the position command input from the arm control unit 31a and the rotation angle detected by the encoder E1 or E3, and outputs the torque command to the servo motor M1 or M3. As a result, the arm 60 is moved in accordance with the operation command input to the switch unit 83.

[0073] 10, the positioner control unit 31b is electrically connected to a servo control unit C4 for controlling a servo motor M4 that moves the positioner 40. The servo control unit C4 is also electrically connected to an encoder E4 for detecting the rotation angle of the servo motor M4. The positioner control unit 31b is also electrically connected to a servo control unit C5 for controlling a servo motor M5 that drives the front wheels (not shown) of the medical cart 3. The servo control unit C5 is also electrically connected to an encoder E5 for detecting the rotation angle of the servo motor M5.

[0074] Furthermore, an operation command related to setting a standby position or the like is input from the input device 33 to the positioner control unit 31b. The positioner control unit 31b generates a position command based on the operation command input from the input device 33 and the rotation angle detected by the encoder E4, and outputs the position command to the servo control unit C4. The servo control unit C4 generates a torque command based on the position command input from the positioner control unit 31b and the rotation angle detected by the encoder E4, and outputs the torque command to the servo motor M4. This causes the positioner 40 to move in accordance with the operation command input to the input device 33. Similarly, the positioner control unit 31b moves the medical cart 3 based on the operation command from the input device 33.

[0075] (Method for controlling a surgical operation system) Next, a control method for the surgical operation system 100 will be described with reference to FIG.

[0076] First, in step S1, the control unit 31 accepts an operation on the medical instrument 4.

[0077] Next, in step S2, the control unit 31 determines a speed command value q for operating the medical instrument 4 based on the received operation. r1 Calculate.

[0078] Next, in step S3, the control unit 31 calculates the calculated speed command value q r1The feedforward control gain K F Multiply by.

[0079] Next, in step S4, the control unit 31 calculates the gain K F The speed command value q multiplied by r1 is limited to within the speed limit value lim1.

[0080] Next, in step S5, the control unit 31 calculates the speed command value q that is limited within the range of the speed limit value lim1. lim1 By differentiating the acceleration command value q r2 and calculates the acceleration command value q r2 is limited to within the range of the acceleration limit value lim2.

[0081] Next, in step S6, the control unit 31 calculates the speed command value q that is limited within the range of the speed limit value lim1. lim1 and the acceleration command value q limited within the range of the acceleration limit value lim2. lim2 and controls the operation of the medical instrument 4 based on the operation command value q.

[0082] Next, in step S7, the control unit 31 feeds back the calculated operation command value q. Then, the control unit 31 calculates the feedback operation command value q and the input position command value x r Based on this, the correction command value dq is used to correct the deviation of the pivot position PP. r The control unit 31 calculates the calculated correction command value dq r ' is the speed command value q before being limited within the range of the speed limit value lim1. r1 Add to.

[0083] The operations of steps S1 to S7 described above are always performed while the arm 60 is in operation, and are performed for each of the multiple arms 60.

[0084] [Effects of this embodiment] In this embodiment, the following effects can be obtained.

[0085] (Effects of surgical robots and medical manipulators) In this embodiment, as described above, the control unit 31 controls the speed command value q r1 is limited within the range of the speed limit value lim1, and the acceleration command value q r2 is limited to within the range of the acceleration limit value lim2. As a result, even if the operation amount received by the operating manipulator arm 21 is relatively large, the velocity command value q r1 and acceleration command value q r2 Since both of these are limited, the amount of movement of the arm 60 per unit time is prevented from increasing. As a result, the servo motor M1 provided in the joint 64 of the arm 60 is prevented from rotating at an excessively high speed, making it possible to protect the components that configure the joint 64 of the arm 60, such as the servo motor M1. Furthermore, since the amount of movement of the arm 60 per unit time is prevented from increasing, vibration of the arm 60 caused by an increase in the amount of movement of the arm 60 per unit time can be suppressed. As a result, it is possible to protect the components that configure the joint 64 of the arm 60 and suppress vibration of the arm 60.

[0086] In this embodiment, as described above, the arm 60 has a plurality of joints 64, and the control unit 31 controls the speed command value q r1 and acceleration command value q r2 is calculated for each axis of the plurality of joints 64, and the velocity command value q r1 and acceleration command value q r2 The speed command value q of the axis with the largest amount of restriction r1 and acceleration command value q r2 Based on the limiting rate of the speed command value q of other axes r1 and acceleration command value q r2 In the surgical operation system 100, a pivot position PP is set as a fulcrum for the rotational movement of the medical instrument 4, and the velocity command value q for each axis is set as r1 and acceleration command value q r2 is set so as not to shift the pivot position PP. In other words, the speed command value q for each axis r1maintain a constant relationship, and the acceleration command value q for each axis r2 However, the velocity command value q r1 and acceleration command value q r2 When the speed command value q for each axis is limited, r1 The constant relationship between the axes and the acceleration command value q r2 Therefore, as mentioned above, the speed command value q of the axis with the largest limit is r1 and acceleration command value q r2 Based on the limiting rate of the speed command value q of other axes r1 and acceleration command value q r2 By limiting the speed command value q for each axis, r1 The constant relationship between the axes and the acceleration command value q r2 Since the constant relationship is prevented from being broken, it is possible to protect the parts that make up the joint portion 64 of the arm 60 and to suppress vibration of the arm 60, while also preventing the pivot position PP from shifting.

[0087] In this embodiment, as described above, the control unit 31 calculates the velocity command value q r1 The speed command value q of the other axes is determined by the speed limit value lim1 of the axis with the largest speed limit value α1. r1 is divided to obtain the speed command value q for each axis of the other axes. r1 and the acceleration command value q calculated for each axis of the plurality of joints 64 is r2 The acceleration command value q of the other axes is determined by the acceleration exceedance rate α2 of the axis with the largest acceleration exceedance rate α2 for the acceleration limit value lim2. r2 is divided to obtain the acceleration command value q of the other axis. r2 As a result, the speed command value q of the other axes is limited by the speed overrun rate α1 of the axis with the largest speed overrun rate α1. r1 is divided, the speed command value q for each axis is r1 While maintaining a constant relationship between the axes, the speed command value q r1In addition, the acceleration command value q of the other axes is limited by the acceleration exceedance rate α2 of the axis with the largest acceleration exceedance rate α2 relative to the acceleration limit value lim2. r2 is divided, the acceleration command value q for each axis is r2 While maintaining a constant relationship between the axes, the acceleration command value q r2 can be limited.

[0088] In this embodiment, as described above, the control unit 31 controls the speed command value q lim1 and the acceleration command value q limited within the range of the acceleration limit value lim2 lim2 and calculating a correction command value dq for correcting a deviation of the pivot position PP, which is the fulcrum for the rotational movement of the medical instrument 4, based on the calculated operation command value q. r ' is calculated. This gives the speed command value q r1 and acceleration command value q r2 Even if the pivot position PP shifts due to the limitation of r By correcting the operation command value q by ', it is possible to correct the deviation of the pivot position PP for each axis.

[0089] In this embodiment, as described above, the control unit 31 calculates the correction command value dq r The speed command value q' before limiting it to within the range of the speed limit value lim1 r1 This allows the speed command value q to be calculated while taking into account the deviation of the pivot position PP. r1 can be limited.

[0090] In this embodiment, as described above, the control unit 31 feeds back the calculated operation command value q, and calculates the feedback operation command value q (specifically, x based on the operation command value q). r By performing a transformation using inverse kinematics on the r ' is calculated, and the command value q r Based on ', the correction command value dq r ' is calculated. This gives the speed command value qr1 and acceleration command value q r2 Even if the position of the medical instrument 4 deviates from the target position due to the limitation of , the positional deviation of the medical instrument 4 can be suppressed by feeding back the calculated operation command value q.

[0091] In this embodiment, as described above, the operating manipulator arm 21 receives the input position command value x r The control unit 31 receives the calculated operation command value q, feeds back the calculated operation command value q, performs forward kinematics transformation on the fed back operation command value q, calculates a forward kinematics transformed command value x, and outputs the input position command value x r By performing inverse kinematics transformation on the command value x after forward kinematics transformation, the command value q after inverse kinematics transformation is r ' is calculated, and the motion command value q and the command value after inverse kinematics transformation q r Based on ', the correction command value dq r As a result, the motion command value q representing the displacement of the joint 64 of the arm 60 is converted into the position of the arm 60 (medical instrument 4) by conversion using forward kinematics, and therefore the input position command value x r and the motion command value q converted into the position of the arm 60, the input position command value x r and the motion command value q. In addition, the motion command value q and the command value after inverse kinematic transformation q r ' and the correction command value dq r By calculating ', the deviation of the pivot position PP can be further suppressed.

[0092] In this embodiment, as described above, the control unit 31 calculates the speed command value q r1 The feedforward control gain K F and calculates a speed command value q based on the difference (distance L) between the target value, which is the value of the target position of the movement of the medical tool 4, and the current value, which is the value of the current position of the medical tool 4. r1The feedforward control gain K is set to increase the contribution of the feedback control relative to the contribution of the feedforward control to F Here, the pivot position PP does not deviate due to the feedforward control at the target position of the movement of the medical instrument 4, but if the target value and the current value are separated, the pivot position PP deviates due to the feedforward control at the current position. Therefore, as described above, the velocity command value q r1 The feedforward control gain K is set to increase the contribution of the feedback control relative to the contribution of the feedforward control to F By setting the above formula, the contribution of feedback control becomes greater than that of feedforward control, thereby suppressing positional deviation of the medical instrument 4. This makes it possible to further suppress deviation of the pivot position PP.

[0093] In this embodiment, as described above, the gain K F becomes smaller as the difference (distance L) between the target value and the current value becomes larger. Here, as the difference (distance L) between the target value and the current value becomes larger, the deviation of the pivot position PP becomes larger. Therefore, as described above, as the difference (distance L) between the target value and the current value becomes larger, the gain K F By reducing the value, it is possible to effectively suppress deviation of the pivot position PP even when the difference (distance L) between the target value and the current value becomes large.

[0094] In this embodiment, as described above, the gain K F decreases linearly as the difference (distance L) between the target value and the current value increases.

[0095] (Effects of surgical system control methods) In this embodiment, as described above, the speed command value q r1 and acceleration command value q r2 The step of controlling the operation of the medical device 4 based on the speed command value q r1 Step to limit the speed to the range of the speed limit value lim1, and step to limit the acceleration command value qr2 The present invention also includes a step of limiting the velocity command value q to within the range of the acceleration limit value lim2. This allows the velocity command value q to be r1 and acceleration command value q r2 Since both of the above are limited, the movement amount of the arm 60 per unit time is prevented from increasing. As a result, the servo motor M1 provided in the joint 64 of the arm 60 is prevented from rotating at an excessively high speed, making it possible to protect the components that configure the joint 64 of the arm 60, such as the servo motor M1. Furthermore, since the movement amount of the arm 60 per unit time is prevented from increasing, vibration of the arm 60 caused by an increase in the movement amount of the arm 60 per unit time can be suppressed. As a result, it is possible to provide a control unit 31 for the surgical system 100 that can protect the components that configure the joint 64 of the arm 60 and suppress vibration of the arm 60.

[0096] [Variations] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims rather than the above description of the embodiments, and further includes all modifications (variations) within the meaning and scope of the claims.

[0097] For example, in the above embodiment, an example was shown in which the control unit 31 was provided in the medical manipulator 1, but the present invention is not limited to this. For example, the control unit 31 may be provided in the remote control device 2. Furthermore, for example, the control unit 31 may be provided separately from the medical manipulator 1 and the remote control device 2.

[0098] In the above embodiment, the speed command value q of the axis that is most restricted among the axes of the multiple joints 64 is r1 and acceleration command value q r2 Based on the limiting rate of the speed command value q of other axes r1 and acceleration command value q r2However, the present invention is not limited to this. For example, if the speed command value q of an axis other than the axis with the largest amount of restriction (such as the axis with the second largest restriction rate) is r1 and acceleration command value q r2 The speed command value q of other axes is set based on the limit rate of r1 and acceleration command value q r2 may be restricted.

[0099] In the above embodiment, the calculated speed command value q r1 However, the present invention is not limited to this. For example, the present invention may be configured not to perform feedforward control.

[0100] In the above embodiment, the gain of the feedforward control decreases linearly, but the present invention is not limited to this. For example, the gain of the feedforward control may decrease exponentially.

[0101] In addition, in the above embodiment, an example in which four arms 60 are provided is shown, but the present invention is not limited to this. In the present invention, the number of arms 60 may be any other number as long as there is at least one or more.

[0102] In the above embodiment, the arm unit 61 and the positioner 40 are configured as a seven-axis articulated robot, but the present invention is not limited to this. For example, the arm unit 61 and the positioner 40 may be configured as an articulated robot with an axis configuration other than a seven-axis articulated robot (for example, six axes or eight axes).

[0103] In the above embodiment, the medical manipulator 1 includes the medical cart 3, the positioner 40, and the arm base 50, but the present invention is not limited to this. For example, the medical cart 3, the positioner 40, and the arm base 50 are not necessarily required, and the medical manipulator 1 may be configured with only the arm 60.

[0104] 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. [Explanation of symbols]

[0105] 1. Medical manipulator (patient side device) 2 Remote control device (operator side device) 4 Medical equipment 21 Manipulator arm for operation (operation unit) 31 Control unit (control device) 60 Arm 64 Joints 100 Surgical operation system (surgical support system) dq r ' Correction command value K F Feedforward control gain lim1 speed limit lim2 acceleration limit value q Operation command value q r1 Speed ​​command value q r2 Acceleration command value q r ' Command value after inverse kinematics transformation PP pivot position x Command value after forward kinematics transformation x r Input position command value α1 Overspeed rate α2 acceleration excess rate

Claims

1. An arm having a medical instrument attached to its tip end and having multiple joints; a control unit that calculates a speed command value for operating the medical instrument based on the operation and controls the operation of the medical instrument based on the speed command value, The control unit A surgical support robot that calculates the speed command value before limitation for each axis of the plurality of joints, and limits the speed command value for each axis to within a range of speed limit values ​​so as to prevent the constant relationship between the speed command values ​​for each axis from being disrupted.

2. The surgical support robot according to claim 1, The control unit A surgical support robot that limits the speed command value of each axis by dividing the speed command value of each axis by the largest speed exceedance rate among the speed exceedance rates for each axis obtained by dividing the calculated speed command value for each axis before limiting by the speed limit value for each axis.

3. The surgical support robot according to claim 1 or 2, The control unit calculating an operation command value based on the speed command value limited within the range of the speed limit value; The surgical support robot calculates a correction command value for correcting a deviation in a pivot position that serves as a fulcrum for the rotational movement of the medical instrument based on the calculated operation command value.

4. The surgical support robot according to claim 3, The control unit adds the correction command value to the speed command value before being limited to within the range of the speed limit value.

5. The surgical support robot according to claim 3 or 4, The control unit feeding back the calculated operation command value; performing a forward kinematics transformation on the fed-back motion command value to calculate a command value after forward kinematics transformation; calculating a command value after inverse kinematics transformation by performing an inverse kinematics transformation on the input position command value for the medical instrument and the command value after forward kinematics transformation; The surgical support robot calculates the corrected command value based on the operation command value and the command value after inverse kinematics transformation.

6. The surgical support robot according to claim 5, The control unit multiplying the calculated speed command value by a gain of feedforward control; A surgical support robot that sets a gain of the feedforward control based on the difference between a target value, which is the value of the position to which the medical instrument is to be moved, and a current value, which is the value of the current position of the medical instrument, so as to increase the contribution of the feedback control to the velocity command value relative to the contribution of the feedforward control.

7. The surgical support robot according to claim 6, The surgical support robot, wherein the gain decreases as the difference between the target value and the current value increases.

8. The surgical support robot according to claim 7, The surgical support robot, wherein the gain decreases linearly as the difference between the target value and the current value increases.

9. An arm having a medical instrument attached to its tip end and having multiple joints; a control unit that calculates an acceleration command value for operating the medical instrument based on the operation and controls the operation of the medical instrument based on the acceleration command value; Equipped with The control unit A surgical support robot that calculates the acceleration command value before restriction for each axis of the plurality of joints, and restricts the acceleration command value for each axis to within a range of acceleration limit values ​​so as to prevent the constant relationship between the acceleration command values ​​for each axis from being disrupted.

10. A surgical support robot as described in claim 9, The control unit A surgical support robot that limits the acceleration command value of each axis by dividing the acceleration command value of each axis by the largest acceleration exceedance rate among the acceleration exceedance rates for each axis obtained by dividing the calculated acceleration command value for each axis before limiting by the acceleration limit value for each axis.

11. A surgical support robot according to claim 9 or 10, The control unit calculating an operation command value based on the acceleration command value limited within the range of the acceleration limit value; The surgical support robot calculates a correction command value for correcting a deviation in a pivot position that serves as a fulcrum for the rotational movement of the medical instrument based on the calculated operation command value.

12. A control device for a surgical assistance robot having an arm with a plurality of joints to which a medical instrument is attached at the tip side, a control unit that calculates a speed command value for operating the medical instrument based on the operation and controls the operation of the medical instrument based on the speed command value; The control unit A control device for a surgical support robot that calculates the speed command value before limitation for each axis of the plurality of joints, and limits the speed command value for each axis within a range of speed limit values ​​so as to prevent the constant relationship between the speed command values ​​for each axis from being disrupted.

13. A control device for a surgical support robot having an arm with multiple joints to which a medical instrument is attached at the tip end, a control unit that calculates an acceleration command value for operating the medical instrument based on the operation and controls the operation of the medical instrument based on the acceleration command value; The control unit A control device for a surgical support robot that calculates the acceleration command value before restriction for each axis of the multiple joints, and limits the acceleration command value for each axis within a range of acceleration limit values ​​so as to prevent the constant relationship between the acceleration command values ​​for each axis from being disrupted.

14. A method for controlling a surgical assistance robot including an arm having a plurality of joints and a medical instrument attached to a distal end thereof, an operation unit that receives operations on the medical instrument, and a control unit, a step in which the operation unit receives an operation on the medical instrument; the control unit calculating a speed command value for operating the medical instrument based on the operation, and controlling the operation of the medical instrument based on the speed command value; Equipped with a step of the control unit controlling the operation of the medical instrument based on the speed command value, the step of the control unit calculating the speed command value before limitation for each axis of the plurality of joints, and limiting the speed command value for each axis within a range of speed limit values ​​so as to prevent the constant relationship between the speed command values ​​for each axis from being disrupted.

15. A method for controlling a surgical support robot comprising: an arm having a medical instrument attached to a tip end thereof and having a plurality of joints; an operation unit that receives operations on the medical instrument; and a control unit, a step in which the operation unit receives an operation on the medical instrument; the control unit calculating an acceleration command value for operating the medical instrument based on the operation, and controlling the operation of the medical instrument based on the acceleration command value; Equipped with A method for controlling a surgical support robot, wherein the step of the control unit controlling the operation of the medical instrument based on the acceleration command value includes a step of the control unit calculating the acceleration command value before restriction for each axis of the plurality of joints, and restricting the acceleration command value to within a range of acceleration limit values ​​so as to prevent the constant relationship between the acceleration command values ​​for each axis from being disrupted.

Images