Remote surgery support system

Abstract

To provide a remote surgery support system capable of continuing a surgical operation even when a specific situation occurs while an instructing doctor-side operation device has operation authority in remote surgery support.SOLUTION: A remote surgery support system 100 includes: a manipulator arm 11 holding an endoscope 5 and a manipulator arm 12 holding a surgical instrument 6, both arms installed in a first facility B1; a doctor-side operation device 2 installed in the first facility B1, allowing a doctor A1 to operate the manipulator arms 11 and 12; an instructing doctor-side operation device 3 installed in a second facility B2, and allowing an instructing doctor A2 to operate the manipulator arms 11 and 12; and a system control device 17. The system control device 17 is configured to automatically switch the operation authority from the instructing doctor-side operation device 3 to the doctor-side operation device 2 when a specific situation is detected while the instructing doctor-side operation device 3 has the operation authority over the manipulator arms 11 and 12.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a remote surgery support system, and more particularly to a remote surgery support system including a doctor-side operation device and an instructor-side operation device. [Background technology]

[0002] BACKGROUND ART Conventionally, a surgery support system including a doctor-side operation device and a supervising doctor-side operation device is known (see, for example, Patent Document 1).

[0003] The above-mentioned Patent Document 1 discloses a multi-user medical robot system (surgery support system) for training minimally invasive surgical procedures, which includes a trainee-side input device (doctor-side operating device) and a mentor-side input device (supervisor-side operating device). The system of Patent Document 1 allows the mentor-side input device and trainee-side input device to operate a surgical robot, and the mentor-side input device includes a switching device that can switch whether the mentor-side input device or the trainee-side input device operates the surgical robot. In other words, in the system of Patent Document 1, only the mentor-side input device can switch the operating rights of the surgical robot. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] U.S. Patent No. 9,666,101 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the above-mentioned Patent Document 1 does not describe at all remote surgical support in which the mentor input device is located in a facility separate from the trainee input device and surgical robot. Naturally, it also does not describe at all what to do when specific situations arise in remote surgical support, such as a network-related communication interruption or a trainee input device malfunction. In remote surgical support, if the mentor input device (the supervising physician's operating device) has the operating authority when a specific situation arises, it is difficult to continue the surgical operation using the mentor input device. Therefore, in remote surgical support, it is desirable to be able to continue the surgical operation even when the supervising physician's operating device has the operating authority and such specific situation arises.

[0006] This invention has been made to solve the above-mentioned problems, and one object of this invention is to provide a remote surgical support system that allows surgical operations to be continued even if a specific situation arises when the operating device on the supervising surgeon's side has operating rights. [Means for solving the problem]

[0007] A remote surgery support system according to one aspect of the present invention comprises a first manipulator that holds an endoscope and a second manipulator that holds a surgical instrument, both of which are installed in a first facility; a doctor-side operating device that is installed in the first facility and allows the doctor to operate the first and second manipulators; a supervising physician-side operating device that is installed in a second facility different from the first facility and allows the supervising physician to operate the first and second manipulators via an external network; and one or more control devices, wherein the one or more control devices are configured to automatically switch the operating authority from the supervising physician-side operating device to the doctor-side operating device when a specific situation is detected when the supervising physician-side operating device has operating authority for the first and second manipulators.

[0008] As described above, a remote surgery support system according to one aspect of the present invention includes one or more control devices that automatically switch the operation right from the instructor-side operation device to the doctor-side operation device when a specific situation is detected while the instructor-side operation device has the operation right for the first and second manipulators. This allows the operation right to be automatically switched from the instructor-side operation device to the doctor-side operation device when a specific situation occurs, such as a communication interruption caused by an external network or a malfunction of the instructor-side operation device. As a result, in remote surgery support, the surgical operation can be continued even when a specific situation occurs while the instructor-side operation device has the operation right. [Effects of the Invention]

[0009] According to the present invention, in remote surgical support, even if a specific situation occurs when the operating device on the supervising physician side has the operating right, the surgical operation can be continued. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a diagram illustrating the configuration of a remote surgery support system according to an embodiment. [Figure 2] FIG. 1 illustrates a configuration of a surgical robot according to one embodiment. [Figure 3] FIG. 2 is a diagram showing the configuration of a doctor-side operating device (supervising doctor-side operating device) according to one embodiment. [Figure 4] 1 is a block diagram showing the configuration of a remote surgery support system according to one embodiment. [Figure 5] FIG. 1 is a diagram showing a scope-type display device of a remote surgery support system according to an embodiment. [Figure 6] 1 is a block diagram showing a configuration related to a control device of an information sharing device according to an embodiment. [Figure 7] FIG. 10 is a diagram illustrating an example of a display indicating permission or denial of switching of operation rights according to an embodiment. [Figure 8] FIG. 10 is a diagram illustrating automatic switching of an operation right according to an embodiment. [Figure 9]FIG. 10 is a diagram showing an example of a display screen of the remote surgery support system according to one embodiment. [Figure 10] FIG. 10 is a diagram illustrating an example of a notification of automatic switching of an operation right according to an embodiment. [Figure 11] FIG. 10 illustrates an example of a notification of recovery from a communication failure of the operation right according to an embodiment. [Figure 12] 10 is a flowchart illustrating a control process related to automatic switching of an operation right of a remote surgery support system according to an embodiment. [Figure 13] FIG. 10 is a block diagram illustrating a configuration of a remote surgery support system according to a modified example of an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, specific embodiments of the present invention will be described with reference to the accompanying drawings.

[0012] The configuration of a remote surgery support system 100 according to one embodiment will be described with reference to FIGS.

[0013] As shown in FIG. 1, the remote surgery support system 100 includes a surgical robot 1 installed near an operating table 101 on which a patient P is placed, a doctor-side operation device 2 for a doctor A1 to operate the surgical robot 1, and a supervising doctor-side operation device 3 for a supervising doctor A2 to operate the surgical robot 1 via an external network N. The surgical robot 1 and the doctor-side operation device 2 are installed at a first facility B1. The supervising doctor-side operation device 3 is installed at a second facility B2 different from the first facility B1. At the first facility B1, an assistant A3 is placed near the surgical robot 1 as a surgical staff member. In addition, an information sharing device 4 for sharing information with the assistant A3 is installed at the first facility B1.

[0014] As shown in FIG. 2, the surgical robot 1 includes one manipulator arm 11 that holds an endoscope 5 and multiple (three) manipulator arms 12 that hold surgical instruments 6. The endoscope 5 captures images of the surgical site inside the patient P. The surgical instrument 6 has an end effector, such as forceps, attached to its tip. The doctor-side operation device 2 and the supervising doctor-side operation device 3 are provided to operate the manipulator arms 11 and 12. The manipulator arm 11 is an example of a "first manipulator" in the claims. The three manipulator arms 12 are examples of a "second manipulator," a "third manipulator," and a "fourth manipulator," respectively.

[0015] The surgical robot 1 is located in an operating room in the first facility B1. The surgical robot 1 includes a medical cart 13, a positioner 14, and an arm base 15. The surgical robot 1 is configured to be movable by the medical cart 13. The medical cart 13 is provided with a control device 16 that controls the operation of the surgical robot 1. The system control device 17 is located inside the medical cart 13 and controls the entire remote surgery support system 100. Specifically, the system control device 17 communicates with and controls each of the control devices 16, 28, 38, and 43. The system control device 17 and the control device 16 each control the operation of the surgical robot 1 based on commands input to the doctor-side operation device 2 or the supervising doctor-side operation device 3. The control device 16 and the system control device 17 each include a processing unit such as a CPU that executes a program and a storage unit such as a memory in which the program is stored. The system control device 17 is an example of "one or more control devices" in the claims.

[0016] The medical cart 13 is also provided with an input device 18. The input device 18 is configured to receive operations for moving and changing the posture of the manipulator arm 11, the manipulator arm 12, the positioner 14, and the arm base 15, mainly for preparing for surgery before the procedure.

[0017] The positioner 14 is configured by, for example, a seven-axis articulated robot. The positioner 14 is placed on a medical cart 13. The positioner 14 moves the arm base 15. Specifically, the positioner 14 is configured to move the position of the arm base 15 in three dimensions.

[0018] The arm base 15 is attached to the tip of the positioner 14. The arm base 15 has a relatively long rod shape (long shape). The manipulator arm 11 and the manipulator arm 12 are attached at their bases to the arm base 15. The arm base 15, the manipulator arm 11, and the manipulator arm 12 are covered with a sterile drape when in use.

[0019] As shown in FIG. 1, the doctor-side operating device 2 is placed, for example, inside or outside an operating room in the first facility B1. The doctor-side operating device 2 includes a doctor-side operating device main body 2a. As shown in FIG. 3, the doctor-side operating device main body 2a includes an operating handle 21, a foot pedal 22, a touch panel 23, a scope-type display device 24, an armrest 25, a voice communication device 26, a sensor 27, a control device 28, and a support arm 30. The operating handle 21 is an example of a "first operating device" in the claims. The scope-type display device 24 is an example of a "first display device" in the claims. The voice communication device 26 is an example of a "first voice communication device" in the claims. The sensor 27 is an example of a "first sensor" in the claims. The control device 28 is an example of "one or more control devices" in the claims.

[0020] The operating handle 21 constitutes an operating handle for the operator (doctor A1) to input commands. The operating handle 21 is provided so that the operator (doctor A1) can operate the manipulator arms 11 and 12 (endoscope 5 and surgical instrument 6). The operating handle 21 also receives the amount of operation for the manipulator arms 11 and 12 (endoscope 5 and surgical instrument 6). The operating handle 21 includes a pair of operating handles: a left-hand operating handle 21L operated with the left hand of the operator (doctor A1), and a right-hand operating handle 21R operated with the right hand of the operator (doctor A1). The operating handle 21L is used to operate the surgical instrument 6 held by one manipulator arm 12, and the operating handle 21R is used to operate the surgical instrument 6 held by the other manipulator arm 12.

[0021] Furthermore, the operating handle 21 changes (scales) the movement amount of the endoscope 5 and the surgical instrument 6 in accordance with the operation amount received by the operating handle 21. For example, when the magnification of the movement amount is set to 1 / 2, the endoscope 5 and the surgical instrument 6 are controlled to move a distance that is 1 / 2 of the movement distance of the operating handle 21. This allows delicate surgery to be performed accurately.

[0022] The foot pedals 22 include multiple pedals for executing functions related to the endoscope 5 and surgical instrument 6. The multiple pedals include, for example, a coagulation pedal, an incision pedal, a camera pedal, a clutch pedal, and a swap pedal. The multiple pedals are operated by the feet of the operator (doctor A1). When the camera pedal is operated, the operation handle 21 can move the endoscope 5 held by the manipulator arm 11. At this time, the endoscope 5 is operated and moved using both the operation handles 21L and 21R. The touch panel 23 accepts setting operations related to the doctor-side operation device 2. The touch panel 23 is located on the armrest 25. The scope-type display device 24 displays an endoscopic image G1 (see FIG. 9 ) acquired by the endoscope 5. The scope-type display device 24 is an immersive display device that allows only the operator (doctor A1) to view the displayed image. The operator (doctor A1) operates the operation handle 21 and the foot pedals 22 while visually checking the affected area through the scope-type display device 24. The support arm 30 supports the scope-type display device 24 so that the height of the scope-type display device 24 can be adjusted to match the height of the face of an operator such as the doctor A1.

[0023] The armrest 25 is formed in a bar shape, and is configured so that the operator (doctor A1) can rest his / her arm on it when operating the operating handle 21. Also, as shown in Figs. 3 and 4, the armrest 25 is provided with a changeover switch 251. The changeover switch 251 is provided to receive an operation for switching the operation right between the supervising physician side operation device 3 and the doctor side operation device 2, which will be described later. This allows the doctor A1 to easily switch the operation right by operating the changeover switch 251 arranged on the armrest 25 on which he / she places his / her arm. The changeover switch 251 is an example of a "first switching device" in the claims.

[0024] The audio communication device 26 is provided so that the doctor A1 can communicate audio with the supervising doctor A2. As shown in Fig. 5, the audio communication device 26 is disposed in a position where the operator (doctor A1) can audio-communicate with an audio communication device 36 (described later) of the supervising doctor side operation device 3 while looking into the scope-type display device 24. Specifically, the audio communication device 26 is disposed so as to be located near the head of the operator (doctor A1) while looking into the scope-type display device 24. The audio communication device 26 is disposed integrally with the scope-type display device 24, and its height can be adjusted integrally by a support arm 30.

[0025] 4 and 5, the audio communication device 26 includes a microphone 261 and a speaker 262. The microphone 261 accepts audio input. The speaker 262 outputs audio. As shown in FIG. 5, the speaker 262 is disposed in a position close to the ear of the operator (doctor A1) when the operator is looking into the scope-type display device 24. The microphone 261 is disposed in a position close to the mouth of the operator (doctor A1) when the operator is looking into the scope-type display device 24. The microphone 261 and the speaker 262 are disposed integrally with the scope-type display device 24.

[0026] As shown in FIG. 5, the sensor 27 is an optical sensor arranged in a position where it can detect the head of the doctor A1 when the doctor A1 is looking into the scope-type display device 24 (i.e., in a head-in state). Only while the sensor 27 detects the head of the doctor A1, the surgical instrument 6 and the manipulator arm 12 are in a usable state where they can be operated by the operation handle 21. In other words, the sensor 27 detects whether the doctor-side operation device 2 is in a usable state. The sensor 27 also detects whether the doctor A1 has his head in the scope-type display device 24 (the operator is looking into the scope-type display device), as the usable state of the doctor-side operation device 2. The sensor 27 is arranged integrally with the scope-type display device 24. The control device 28 controls the operation of the doctor-side operation device 2. The control device 28 includes a processing unit such as a CPU that executes a program and a storage unit such as a memory in which the program is stored.

[0027] The doctor-side operation device 2 has been described above, but the supervising physician-side operation device 3 has the same structure as the doctor-side operation device 2. That is, as shown in FIG. 4, the supervising physician-side operation device 3 includes a supervising physician-side operation device main body 3a. The supervising physician-side operation device main body 3a includes an operation handle 31, a foot pedal 32, a touch panel 33, a scope-type display device 34, an armrest 35, a voice communication device 36, a sensor 37, a control device 38, and a support arm. The scope-type display device 34 displays an endoscopic image G1 (see FIG. 9) transmitted via an external network N. The doctor-side operation device 2 and the supervising physician-side operation device 3 basically have the same specifications, but the normal mode and remote mode are switched between via the touch panel 23 (33). The operation handle 31 is an example of a "second operation device" in the claims. The scope-type display device 34 is an example of a "second display device" in the claims. The voice communication device 36 is an example of a "second voice communication device" in the claims. Moreover, the sensor 37 is an example of a "second sensor" in the claims. Moreover, the control device 38 is an example of "one or more control devices" in the claims.

[0028] 4, a changeover switch 351 is provided on the armrest 35. The changeover switch 351 is provided to receive an operation for switching the operation right between the supervising physician side operation device 3 and the doctor side operation device 2. This allows the supervising physician A2 to easily switch the operation right by operating the changeover switch 351 arranged on the armrest 35 on which he or she places his or her arm. The changeover switch 351 is an example of the "second switching device" in the claims.

[0029] The audio communication device 36 is provided so that the supervising physician A2 can communicate with the medical doctor A1 via audio. This allows smooth audio communication between the medical doctor A1, who operates the medical doctor-side operation device 2 located at the first facility B1, and the supervising physician A2, who operates the supervising physician-side operation device 3 located at the second facility B2. As shown in FIG. 4, the audio communication device 36 includes a microphone 361 and a speaker 362. The microphone 361 accepts audio input. The speaker 362 outputs audio. The speaker 362 is disposed close to the ear of the operator (supervising physician A2) when the operator is looking into the scope-type display device 34. The microphone 361 is disposed close to the mouth of the operator (supervising physician A2) when the operator is looking into the scope-type display device 34. The microphone 361 and the speaker 362 are disposed integrally with the scope-type display device 34.

[0030] The sensor 37 is an optical sensor arranged in a position where it can detect the head of the supervising physician A2 when the supervising physician A2 is looking into the scope-type display device 34 (i.e., in a head-in state). Only while the sensor 37 detects the head of the supervising physician A2, the surgical instrument 6 and the manipulator arm 12 are in a usable state where they can be operated by the operation handle 31. In other words, the sensor 37 detects whether the supervising physician's operation device 3 is in a usable state. The sensor 37 also detects whether the supervising physician A2 has his head in the scope-type display device 34 as the usable state of the supervising physician's operation device 3.

[0031] As shown in FIGS. 1 and 4, the information sharing device 4 is a movable monitor cart. The information sharing device 4 is located in the first facility B1. The surgical robot 1 (manipulator arm 11, manipulator arm 12) is connected to the dual unit 7 via the information sharing device 4. The information sharing device 4 includes a display device 41 for displaying an endoscopic image G1 (see FIG. 9) acquired by an endoscope 5 (see FIG. 2). The information sharing device 4 also includes an audio communication device 42 for audio communication with the audio communication device 26 of the doctor-side operation device 2 and the audio communication device 36 of the supervising physician-side operation device 3. The information sharing device 4 is located closer to the surgical robot 1 than the doctor-side operation device 2. This allows an assistant A3, who is located near the surgical robot 1 as a surgical staff member, to view the endoscopic image G1 and communicate with the doctor A1 and the supervising physician A2. The audio communication device 42 includes a microphone 421 and a speaker 422. The microphone 421 receives audio input. The speaker 422 outputs sound. The display device 41 is, for example, a flat panel display device. The display device 41 is an example of the "third display device" in the claims. The audio communication device 42 is an example of the "third audio communication device" in the claims.

[0032] The information sharing device 4 also includes a control device 43. The control device 43 performs image processing on the endoscopic image G1. The control device 43 includes a processing unit such as a CPU that executes a program and a storage unit such as a memory in which the program is stored. The control device 43 generates a GUI (graphical user interface) to be superimposed on the endoscopic image G1. For example, the control device 43 generates GUIs such as the type of surgical instrument 6, the operation state of the endoscope 5, the operation state of the surgical instrument 6, and the operation state of the foot pedal 22, and superimposes them on the endoscopic image G1. The control device 43 also generates GUIs for information regarding operation rights for the supervising physician-side operation device 3 and the physician-side operation device 2, which will be described later, and superimposes them on the endoscopic image G1. The control device 43 is an example of "one or more control devices" and "GUI generation control device" in the claims.

[0033] The control device 43 displays the same image on the scope-type display device 24, the scope-type display device 34, and the display device 41. That is, the same endoscopic image G1 is displayed on each of the scope-type display device 24, the scope-type display device 34, and the display device 41.

[0034] As shown in FIGS. 4 and 6, a dual unit 7, a network device 51, and a remote unit 61 are installed in the first facility B1. The dual unit 7 is an example of a "connection unit" in the claims. The network device 51 is an example of a "first network device" in the claims. The remote unit 61 is an example of a "first remote unit" in the claims.

[0035] The dual unit 7 is provided to connect multiple operation devices (doctor-side operation device 2, supervising physician-side operation device 3) to one information sharing device 4 installed in the first facility B1. The remote unit 61 and the doctor-side operation device 2 are connected to the dual unit 7. The surgical robot 1 (manipulator arm 11, manipulator arm 12) is also connected to the dual unit 7 via the control device 43 of the information sharing device 4. The dual unit 7 also has multiple physical interfaces (terminals) for connection to multiple operation devices.

[0036] The network device 51 communicates via an external network N. The network device 51 has a processing unit 511 and a communication unit 512. The network device 51 is connected to a remote unit 61 and the external network N. The network device 51 and the remote unit 61 are connected to each other by wire, for example, so that they can communicate with each other.

[0037] The remote unit 61 is connected to the network device 51 and converts communication data into a format that can be communicated via the external network N. The remote unit 61 also processes events caused by the state of the external network N. Events caused by the state of the external network N include, for example, changes in communication delay time, loss of communication data, and synchronization loss of communication data. The remote unit 61 has a processing unit 611 and a communication unit 612. The processing unit 611 of the remote unit 61 converts communication data between the surgical robot 1 and the operation devices (the doctor-side operation device 2 and the supervising physician-side operation device 3) into data that can be communicated via the external network N. The communication data between the surgical robot 1 and the operation devices (the doctor-side operation device 2 and the supervising physician-side operation device 3) includes, for example, information on the operation system, video system, audio system, power supply system, and electrocautery system. The processing unit 611 of the remote unit 61 also reduces the size of relatively large data, such as video data, before transmitting it, and restores the reduced-size data upon receiving it. Furthermore, when a data delay occurs due to communication influence, the remote unit 61 adjusts the waiting time for waiting for the arrival of the data for a certain period of time.

[0038] 4 and 6, a network device 52 and a remote unit 62 are installed in the second facility B2. The network device 52 is an example of a "second network device" in the claims. The remote unit 62 is an example of a "second remote unit" in the claims.

[0039] The network device 51 communicates via an external network N. The network device 52 has a processing unit 521 and a communication unit 522. The network device 52 is connected to a remote unit 62 and the external network N. The network device 52 and the remote unit 62 are connected to each other by wire, for example, so that they can communicate with each other.

[0040] The remote unit 62 is connected to the network device 52 and converts communication data into a format that can be communicated via the external network N. The remote unit 62 also processes events caused by the state of the external network N. Events caused by the state of the external network N include, for example, changes in communication delay time, loss of communication data, and synchronization loss of communication data. The remote unit 62 has a processing unit 621 and a communication unit 622. The processing unit 621 of the remote unit 62 converts communication data between the supervising physician's operation device 3 and the surgical robot 1 into data that can be communicated via the external network N. The processing unit 621 of the remote unit 62 also reduces the size of relatively large data, such as video data, before transmitting it, and restores the reduced data upon receiving it. The remote unit 62 also adjusts the wait time for the arrival of data if a data delay occurs due to communication issues.

[0041] Furthermore, the external network N is a redundant network. As a result, if communication is interrupted or deteriorated on the main line of the external network N, it is possible to switch to the redundant line of the external network N and continue communication with the supervising physician side operation device 3. For example, a LAN line, an optical line, a wireless line, etc. are used as the main line and the redundant line.

[0042] Here, in this embodiment, the operating rights are switched between the doctor-side operating device 2 installed at the first facility B1 and the supervising doctor-side operating device 3 installed at the second facility B2, and the surgical robot 1 (manipulator arm 11, manipulator arm 12) installed at the first facility B1 is operated by either operating device.

[0043] Furthermore, the changeover switch 251 of the doctor-side operation device 2 accepts operation by doctor A1 and outputs a first command to switch the operation right between the supervising doctor-side operation device 3 and the doctor-side operation device 2. Furthermore, the changeover switch 351 of the supervising doctor-side operation device 3 accepts operation by supervising doctor A2 and outputs a second command to switch the operation right between the doctor-side operation device 2 and the supervising doctor-side operation device 3. This makes it possible to switch the operation right to operate the surgical robot 1 (manipulator arm 11, manipulator arm 12) on both the doctor-side operation device 2 and the supervising doctor-side operation device 3.

[0044] The changeover switch 251 is, for example, a hardware switch provided in the armrest 25. The changeover switch 351 is, for example, a hardware switch provided in the armrest .

[0045] Furthermore, when the supervising physician-side operating device 3 has the operating authority, the control device 43 switches the operating authority from the supervising physician-side operating device 3 to the doctor-side operating device 2 based on a first command output from the changeover switch 251. Furthermore, when the doctor-side operating device 2 has the operating authority, the control device 43 switches the operating authority from the doctor-side operating device 2 to the supervising physician-side operating device 3 based on a second command output from the changeover switch 351. This allows the operating authority to be switched even from an operating device that does not have the operating authority, making it possible to smoothly switch the operating authority between the supervising physician-side operating device 3 and the doctor-side operating device 2.

[0046] Furthermore, when the supervising physician-side operating device 3 has the operating right, the control device 43 switches the operating right from the supervising physician-side operating device 3 to the doctor-side operating device 2 based on the second command output from the changeover switch 351. Furthermore, when the doctor-side operating device 2 has the operating right, the control device 43 switches the operating right from the doctor-side operating device 2 to the supervising physician-side operating device 3 based on the first command output from the changeover switch 251. This makes it possible, when necessary, to switch the operating right to the other party's operating device by operating the operating device that has the operating right.

[0047] 7, when the doctor-side operating device 2 has the operating right, the control device 43 displays on the scope-type display device 24 of the doctor-side operating device 2 whether to permit or deny the switching of the operating right in response to the second command output from the changeover switch 351 of the supervising doctor-side operating device 3. When the control device 43 receives an input permitting the switching, it switches the operating right from the doctor-side operating device 2 to the supervising doctor-side operating device 3, and when it receives an input denying the switching, it does not switch the operating right.

[0048] 7, when the supervising physician-side operating device 3 has the operating right, the control device 43 displays on the scope-type display device 34 of the supervising physician-side operating device 3 whether to permit or deny the switching of the operating right in response to the first command output from the changeover switch 251 of the doctor-side operating device 2. When the control device 43 receives an input permitting the switching, it switches the operating right from the supervising physician-side operating device 3 to the doctor-side operating device 2, and when it receives an input denying the switching, it does not switch the operating right. As a result, the operating right cannot be switched unless the switching is permitted by the operating device having the operating right, and therefore it is possible to prevent the operating right from being unintentionally switched from the operating device that is performing the operation.

[0049] In another embodiment, when the supervising physician-side operating device 3 has the operating right and the sensor 37 has not detected that the supervising physician-side operating device 3 is in use, the system control device 17 switches the operating right to the doctor-side operating device 2 in response to a first command output from the changeover switch 251. When the doctor-side operating device 2 has the operating right and the sensor 27 has not detected that the doctor-side operating device 2 is in use, the system control device 17 switches the operating right to the supervising physician-side operating device 3 in response to a second command output from the changeover switch 351. This allows the operating right to be switched from the operating device that does not have the operating right when the operating device that has the operating right is not in use, making it possible to switch the operating right safely and smoothly.

[0050] In other words, the system control device 17 does not switch the operation authority when the doctor-side operation device 2 has the operation authority, the sensor 27 detects that the doctor-side operation device 2 is in use, and the second command is output from the changeover switch 351. Also, the system control device 17 does not switch the operation authority when the supervising physician-side operation device 3 has the operation authority, the sensor 37 detects that the supervising physician-side operation device 3 is in use, and the first command is output from the changeover switch 251.

[0051] Furthermore, when the doctor-side operating device 2 has the operating right, the system control device 17 switches the operating right from the doctor-side operating device 2 to the supervising doctor-side operating device 3 based on the first command output from the changeover switch 251, regardless of the detection result of the sensor 37 as to whether the supervising doctor-side operating device 3 is in use. Furthermore, when the supervising doctor-side operating device 3 has the operating right, the system control device 17 is configured to switch the operating right from the supervising doctor-side operating device 3 to the doctor-side operating device 2 based on the second command output from the changeover switch 351, regardless of the detection result of the sensor 27 as to whether the doctor-side operating device 2 is in use. This allows the operating right to be switched smoothly from the operating device side that has the operating right.

[0052] Furthermore, when the operation right is switched from the supervising physician-side operation device 3 to the doctor-side operation device 2, or when the operation right is switched from the doctor-side operation device 2 to the supervising physician-side operation device 3, the system control device 17 notifies the supervising physician-side operation device 3 and the doctor-side operation device 2 of the operation right switching. For example, the control device 43 linked with the system control device 17 causes the scope-type display device 24 of the doctor-side operation device 2 and the scope-type display device 34 of the supervising physician-side operation device 3 to display a message indicating that the operation right is being switched. The system control device 17 also causes the speaker 262 of the doctor-side operation device 2 and the speaker 362 of the supervising physician-side operation device 3 to issue an audio notification indicating that the operation right is being switched. This allows the doctor A1 and the supervising physician A2 to easily recognize that the operation right is being switched. The control devices 28 and 38 linked with the system control device 17 also vibrate the operation handle 21 of the doctor-side operation device 2 and the operation handle 31 of the supervising physician-side operation device 3 to notify that the operation right is being switched. This allows the doctor A1 and the supervising doctor A2 to easily recognize the change of the operating authority.

[0053] Furthermore, the control devices 16 and 28 are configured to start operating the manipulator arm 12 with the operating handle 21 in response to the operating handle 21 receiving a predetermined operation when the sensor 27 detects that the doctor-side operating device 2 is in use after the operating right is switched from the supervising physician-side operating device 3 to the doctor-side operating device 2. Furthermore, the control devices 16 and 38 are configured to start operating the manipulator arm 12 with the operating handle 31 in response to the operating handle 31 receiving a predetermined operation when the sensor 37 detects that the supervising physician-side operating device 3 is in use after the operating right is switched from the doctor-side operating device 2 to the supervising physician-side operating device 3. As a result, after the operating right is switched, the manipulator arm 12 can be operated by the operating device having the operating right when the device is in use and a predetermined operation has been performed, so that operation can be started after the side having the operating right is ready. The specified operation accepted by the operating handle 21 or 31 is an operation for adjusting the posture of the operating handle 21 or 31 to the posture of the surgical instrument 6, such as a matching grip operation such as an operation of moving the fingers together or an operation of rotating the wrist.

[0054] Furthermore, when the doctor-side operating device 2 has the operating authority, the system control device 17 controls the operating handle 31 of the supervising doctor-side operating device 3 to be operable, but prevents the surgical robot 1 (manipulator arm 11, manipulator arm 12) from being operated by the operation of the operating handle 31. Furthermore, when the supervising doctor-side operating device 3 has the operating authority, the system control device 17 controls the operating handle 21 of the doctor-side operating device 2 to be operable, but prevents the surgical robot 1 (manipulator arm 11, manipulator arm 12) from being operated by the operation of the operating handle 21. As a result, the surgical robot 1 (manipulator arm 11, manipulator arm 12) cannot be operated from an operating device that does not have the operating authority, and therefore, it is possible to more reliably prevent the surgical robot 1 (manipulator arm 11, manipulator arm 12) from being operated against the intention of the operator who has the operating authority. Furthermore, when the supervising physician's operating device 3 has the operating authority, the operating handle 21 of the physician's operating device 2 can be operated, so the physician can move the operating handle 21 in accordance with the movement of the surgical instrument 6 displayed on the scope-type display device 24.

[0055] Furthermore, when the doctor-side operation device 2 has the operation right and the sensor 27 does not detect that the doctor-side operation device 2 is in use, the system control device 17 and the control device 28 control the operation of the operation handle 21 so that the surgical robot 1 (manipulator arm 11, manipulator arm 12) does not operate, and when the sensor 27 detects that the doctor-side operation device 2 is in use, the system control device 17 and the control device 38 control the operation of the operation handle 31 so that the surgical robot 1 (manipulator arm 11, manipulator arm 12) does not operate, and when the sensor 37 detects that the doctor-side operation device 3 is in use, the system control device 17 and the control device 38 control the operation of the operation handle 31 so that the surgical robot 1 (manipulator arm 11, manipulator arm 12) does not operate, and when the sensor 37 detects that the doctor-side operation device 3 is in use, the system control device 17 and the control device 38 control the operation of the operation handle 31 so that the surgical robot 1 (manipulator arm 11, manipulator arm 12) does not operate.

[0056] 8, in this embodiment, if a specific situation is detected when the supervising physician-side operating device 3 has the operating right for the surgical robot 1 (manipulator arm 11, manipulator arm 12), the system control device 17 automatically switches the operating right from the supervising physician-side operating device 3 to the doctor-side operating device 2. This makes it possible to automatically switch the operating right from the supervising physician-side operating device 3 to the doctor-side operating device 2 when a specific situation occurs, such as a communication interruption caused by the external network N or a malfunction of the supervising physician-side operating device 3. As a result, in remote surgical support, the surgical operation can be continued even if a specific situation occurs when the supervising physician-side operating device 3 has the operating right.

[0057] Furthermore, if a specific situation is detected while the doctor-side operating device 2 has the operating right, the system control device 17 will not switch the operating right from the doctor-side operating device 2 to the supervising doctor-side operating device 3. As a result, even if a specific situation is detected, the operating right will not be switched from the doctor-side operating device 2 to the supervising doctor-side operating device 3, and the surgical operation can be continued using the doctor-side operating device 2.

[0058] The specific situations are when a communication failure of a predetermined magnitude or more occurs, when a failure occurs in a device required for operating the supervising physician-side operation device 3, or when a cybersecurity-related problem occurs. As a result, even when a communication failure of a predetermined magnitude or more occurs, when a failure occurs in a device required for operating the supervising physician-side operation device 3, or when a cybersecurity-related problem occurs, the surgical operation can be continued using the doctor-side operation device 2.

[0059] A communication failure longer than a predetermined level may occur, for example, when a communication delay longer than a predetermined level occurs, when communication fluctuation longer than a predetermined level occurs, or when a momentary interruption longer than a predetermined level occurs. When a communication delay longer than a predetermined level occurs, the time allowed for the communication delay is set as a communication delay threshold, and the communication delay is detected by determining whether it is equal to or greater than the communication delay threshold. For example, since the communication time between the supervising physician's operation device 3 and the surgical robot 1 excluding the communication time between the network device 52 and the network device 51 is substantially constant, the time obtained by excluding the communication time between the network device 52 and the network device 51 from the allowable video delay time of the remote surgery support system 100 is set as the communication delay threshold.

[0060] When a communication fluctuation of a predetermined level or more occurs, for example, a time allowed for communication fluctuation is set as a communication fluctuation threshold, and the communication fluctuation is detected by determining whether the communication fluctuation is equal to or greater than the communication fluctuation threshold.Furthermore, when a communication fluctuation of a predetermined level or more occurs, for example, the communication fluctuation is detected by determining whether the buffer usage count of data stored in a buffer for absorbing communication fluctuation is equal to or greater than a buffer usage count threshold.

[0061] When a momentary interruption of a predetermined length or more occurs, it is detected by, for example, setting a value that allows for the loss of consecutive data as a momentary interruption threshold and determining whether the number of missing data items in the momentary interruption is equal to or exceeds the momentary interruption threshold. For example, when one or a certain number of identifiers such as sequence numbers assigned to packets are missing, a momentary interruption of a predetermined length or more is detected. Note that when the external network N is a redundant network, even when switching from the main line to the redundant line, a momentary interruption of a predetermined length or more is detected when consecutive data items are missing.

[0062] Furthermore, a communication failure of a predetermined magnitude or greater may occur, for example, when the remote unit 61 on the first facility B1 side detects that communication on the second facility B2 side has been interrupted. When the remote unit 61 on the first facility B1 side detects that communication on the second facility B2 side has been interrupted, an error is output from the remote unit 61. Therefore, when the remote unit 61 on the first facility B1 side detects that communication on the second facility B2 side has been interrupted, this is detected by determining whether or not an error has been received from the remote unit 61.

[0063] Furthermore, when a failure occurs in the equipment (scope-type display device 34, audio communication device 36, etc.) required to operate the supervising physician side operation device 3, for example, an error is detected in the equipment required to operate the supervising physician side operation device 3. When a failure occurs in the equipment required to operate the supervising physician side operation device 3, an error is output from the supervising physician side operation device 3. Therefore, when a failure occurs in the equipment required to operate the supervising physician side operation device 3, it is detected by determining whether or not an error has been received from the supervising physician side operation device 3.

[0064] Furthermore, when the operation right is automatically switched from the supervising physician-side operation device 3 to the physician-side operation device 2, the system control device 17 notifies the physician-side operation device 2 of the automatic switching of the operation right. This notification of the automatic switching of the operation right allows the physician A1 to easily recognize that the operation right will be automatically switched. The control device 43, which is linked to the system control device 17, displays the automatic switching of the operation right on the scope-type display device 24 of the physician-side operation device 2 and the display device 41 of the information sharing device 4. This allows not only the physician A1 but also the assistant A3 to easily recognize that the operation right will be automatically switched. As shown in FIGS. 9 and 10 , the control device 43 displays an endoscopic image G1 on which a GUI indicating that the operation right will be automatically switched is superimposed, on the scope-type display device 24 of the physician-side operation device 2 and the display device 41 of the information sharing device 4. The GUI indicating that the operation right will be automatically switched is displayed, for example, in an area GA on the upper right side of the screen of the scope-type display device 24 and the display device 41. Furthermore, the control device 28, which cooperates with the system control device 17, displays a message on the touch panel 23 of the doctor-side operation device 2 indicating that the operation right will be automatically switched. The message (display) indicating that the operation right will be automatically switched may be, for example, "The operation right has been switched to the doctor-side operation device" or "Communication with the supervising doctor-side operation device has been cut off." The system control device 17 may also notify the automatic switching of the operation right by audio from the speaker 262 of the doctor-side operation device 2 and the speaker 422 of the information sharing device 4.

[0065] In this embodiment, when the system control device 17 recovers from the communication failure, it notifies the doctor-side operation device 2 and the supervising doctor-side operation device 3 of the recovery from the communication failure. This allows the doctors A1 and A2 to easily recognize the recovery from the communication failure. The control device 43, which is linked to the system control device 17, displays the recovery from the communication failure on the scope-type display device 24 of the doctor-side operation device 2, the scope-type display device 34 of the supervising doctor-side operation device 3, and the display device 41 of the information sharing device 4. This allows not only the doctors A1 and A2 but also the assistant A3 to easily recognize the recovery from the communication failure. As shown in FIGS. 9 and 11 , the control device 43 displays an endoscopic image G1 on which a GUI indicating the recovery from the communication failure is superimposed, on the scope-type display device 24 of the doctor-side operation device 2, the scope-type display device 34 of the supervising doctor-side operation device 3, and the display device 41 of the information sharing device 4. A GUI indicating recovery from the communication failure is displayed in the area GA on the upper right side of the screen of the scope-type display device 24, the scope-type display device 34, and the display device 41. Furthermore, the control devices 28 and 38, linked with the system control device 17, display a message indicating recovery from the communication failure on the touch panel 23 of the doctor-side operation device 2 and the touch panel 33 of the supervising physician-side operation device 3. The message indicating recovery from the communication failure (display message) may be, for example, "Communication has resumed" or "Operation rights can be switched." Note that, once recovery from the communication failure has occurred, operation on the supervising physician-side operation device 3 becomes possible again. Furthermore, the system control device 17 may cause the speaker 262 of the doctor-side operation device 2, the speaker 362 of the supervising physician-side operation device 3, and the speaker 422 of the information sharing device 4 to issue an audio notification indicating recovery from the communication failure.

[0066] Referring to FIG. 12, a control process relating to automatic switching of the operation right executed by the system control device 17 of the remote surgery support system 100 of this embodiment will be described based on a flowchart.

[0067] As shown in Fig. 12, in step S1, it is determined whether or not a specific situation has been detected. If it is determined that a specific situation has not been detected, the control process is terminated. On the other hand, if it is determined that a specific situation has been detected, the process proceeds to step S2.

[0068] Then, in step S2, it is determined whether the supervising physician side operation device 3 has the operation authority. If it is determined that the supervising physician side operation device 3 does not have the operation authority, the control process is terminated. In this case, since the doctor side operation device 2 has the operation authority, the operation authority is not switched from the doctor side operation device 2 to the supervising physician side operation device 3. If it is determined that the supervising physician side operation device 3 has the operation authority, the process proceeds to step S3.

[0069] Then, in step S3, the operation right is automatically switched from the supervising physician side operation device 3 to the physician side operation device 2. Then, the control process is ended.

[0070] [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.

[0071] For example, in the above embodiment, the doctor-side operation device and the supervising doctor-side operation device each include a selector switch (switching device), but the present invention is not limited to this. In the present invention, only the supervising doctor-side operation device may include a switching device. For example, in a modified example shown in FIG. 13 , the supervising doctor-side operation device 3 includes a selector switch 351 that receives an operation from the supervising doctor A2 and outputs a command to switch the operation authority between the doctor-side operation device 2 and the supervising doctor-side operation device 3. When the doctor-side operation device 2 has the operation authority, the control device 43 switches the operation authority from the doctor-side operation device 2 to the supervising doctor-side operation device 3 based on the command output from the selector switch 351. Furthermore, when the supervising doctor-side operation device 3 has the operation authority, the system control device 17 switches the operation authority from the supervising doctor-side operation device 3 to the doctor-side operation device 2 based on the command output from the selector switch 351. This allows the supervising doctor A2 to easily switch the operation authority in both cases, where the doctor-side operation device 2 has the operation authority and where the supervising doctor-side operation device 3 has the operation authority. 13, the doctor-side operating device 2 does not have a switching device for switching the operating authority. This eliminates the need to provide a switching device in the doctor-side operating device 2, thereby simplifying the structure of the doctor-side operating device 2. The switching switch 351 is an example of the "supervising doctor-side switching device" in the claims.

[0072] In the above embodiment, the specific situation is, for example, when a communication failure of a predetermined level or more occurs, when a failure occurs in a device required for operating the operating device on the supervising physician side, or when a cybersecurity-related problem occurs, but the present invention is not limited to this. For example, the specific situation may be other than when a communication failure of a predetermined level or more occurs, when a failure occurs in a device required for operating the operating device on the supervising physician side, or when a cybersecurity-related problem occurs.

[0073] In the above embodiment, the first and second switching devices of the present invention are provided as selector switches, but the present invention is not limited to this. For example, the first and second switching devices of the present invention may be foot pedals or other devices other than selector switches. Furthermore, the operating authority may be switched by voice recognition. Furthermore, the selector switches may be provided on the surgical robot 1 or the information sharing device 4 so that they can be operated by someone other than the doctor or supervising physician, and the switching operation may be performed by someone other than the doctor or supervising physician.

[0074] In the above embodiment, the changeover switch is a hard switch provided on the armrest, but the present invention is not limited to this. For example, the changeover switch may be a switch displayed on a touch panel.

[0075] In addition, in the above embodiment, an example was shown in which the control processing of the present invention is performed by a plurality of control devices, but the present invention is not limited to this. For example, the control processing of the present invention may be performed by a single control device.

[0076] In the above embodiment, the first display device and the second display device of the present invention are provided as scope-type display devices, but the present invention is not limited to this. For example, the first display device and the second display device of the present invention may be provided as flat panel display devices other than scope-type display devices.

[0077] In the above embodiment, an example was shown in which sensors for detecting the head of a doctor or supervising physician are provided as the first and second sensors of the present invention, but the present invention is not limited to this. For example, a gaze detection sensor for detecting the gaze of a doctor or supervising physician may be provided as the first and second sensors of the present invention, or a sensor for detecting that a doctor or supervising physician is touching a predetermined position on the operating handle may be provided.

[0078] In the above embodiment, the first and second audio communication devices of the present invention are provided as audio communication devices integrally arranged with the scope-type display device, but the present invention is not limited to this. For example, the first and second audio communication devices of the present invention may be audio communication devices separate from the scope-type display device. Also, the first and second audio communication devices may not be provided.

[0079] In the above embodiment, an example in which an audio communication device is provided in the information sharing device is shown, but the present invention is not limited to this. For example, an audio communication device may be provided in the surgical robot instead of the audio communication device in the information sharing device.

[0080] In the above embodiment, the surgical robot is provided with four manipulator arms as the first, second, third, and fourth manipulators of the present invention, but the present invention is not limited to this. For example, the first, second, third, and fourth manipulators may be provided independently of each other.

[0081] In the above embodiment, the supervising physician side operation device 3 is installed in the second facility B2, but the present invention is not limited to this. In the present invention, the doctor side operation device and the surgical robot may be installed in the second facility B2, and when normal mode is selected in the mode selection, the doctor side operation device of the second facility B2 may operate the surgical robot of the second facility B2, and when remote mode is selected in the mode selection, the doctor side operation device of the second facility B2 may function as the supervising physician side operation device, and the doctor side operation device of the second facility B2 may operate the surgical robot of the first facility B1.

[0082] [Aspect] It will be appreciated by those skilled in the art that the exemplary embodiments described above are examples of the following aspects.

[0083] (Item 1) a first manipulator for holding an endoscope and a second manipulator for holding a surgical instrument, both of which are installed in a first facility; a doctor-side operation device that is installed in the first facility and allows a doctor to operate the first and second manipulators; an operating device on the side of a supervising physician, the operating device being installed in a second facility different from the first facility and allowing the supervising physician to operate the first and second manipulators via an external network; one or more control devices; a remote surgery support system, wherein the one or more control devices are configured to automatically switch the operating authority from the supervising physician side operating device to the doctor side operating device when a specific situation is detected while the supervising physician side operating device has the operating authority of the first and second manipulators.

[0084] (Item 2) The remote surgery support system described in Item 1, wherein the specific situation is when a communication failure of a predetermined level or more occurs, when a failure occurs in equipment necessary for operating the supervising physician's operating device, or when a cybersecurity-related problem occurs.

[0085] (Item 3) Item 3. The remote surgery support system according to item 2, wherein the one or more control devices are configured to notify the physician-side operation device and the supervising physician-side operation device of recovery from the communication failure when the communication failure has been recovered.

[0086] (Item 4) The remote surgery support system described in any one of items 1 to 3, wherein the one or more control devices are configured to notify the doctor-side operating device of the automatic switching of operating rights when the operating rights are automatically switched from the supervising doctor-side operating device to the doctor-side operating device.

[0087] (Item 5) The remote surgery support system described in any one of items 1 to 4, wherein the one or more control devices are configured not to switch the operating authority from the doctor-side operating device to the supervising physician-side operating device when the specific situation is detected while the doctor-side operating device has the operating authority.

[0088] (Item 6) 6. The remote surgery support system according to any one of items 1 to 5, wherein the external network is a redundant network.

[0089] (Item 7) The doctor-side operating device includes a first switching device that receives an operation by the doctor and outputs a first command to switch operation rights between the doctor-side operating device and the supervising doctor-side operating device, the supervising physician side operation device includes a second switching device that receives an operation of the supervising physician and outputs a second command for switching operation rights between the physician side operation device and the supervising physician side operation device, The one or more control devices When the doctor-side operating device has the operating right, the operating right is switched from the doctor-side operating device to the supervising doctor-side operating device based on the second command output from the second switching device, A remote surgery support system as described in any one of items 1 to 6, configured to switch the operation authority from the supervising physician side operation device to the doctor side operation device based on the first command output from the first switching device when the supervising physician side operation device has the operation authority.

[0090] (Item 8) The one or more control devices When the doctor-side operating device has the operating right, a display indicating whether to permit or deny switching of the operating right is displayed on a first display device provided on the doctor-side operating device in response to the second command output from the second switching device, and when an input permitting the switching is received, the operating right is switched from the doctor-side operating device to the supervising doctor-side operating device, and when an input denying the switching is received, the operating right is not switched; Item 8. The remote surgery support system according to item 7, wherein, when the supervising physician side operating device has the operating authority, a display indicating whether to permit or deny the switching of operating authority is displayed on a second display device provided on the supervising physician side operating device in response to the first command output from the first switching device, and when an input permitting the switching is received, the operating authority is switched from the supervising physician side operating device to the doctor side operating device, and when an input denying the switching is received, the switching of operating authority is not performed.

[0091] (Item 9) the doctor-side operating device includes a first sensor that detects whether the doctor-side operating device is in use; the operating device on the supervising physician side includes a second sensor that detects whether the operating device on the supervising physician side is in use; The one or more control devices When the doctor-side operating device has the operating authority and the first sensor does not detect that the device is in use, the operating authority is switched from the doctor-side operating device to the supervising doctor-side operating device based on the second command output from the second switching device, Item 8. The remote surgery support system according to item 7, wherein, when the supervising physician side operating device has operating authority and the second sensor does not detect that the device is in use, the operating authority is switched from the supervising physician side operating device to the doctor side operating device based on the first command output from the first switching device.

[0092] (Item 10) the doctor-side operating device further includes a first display device for displaying an endoscopic image acquired by the endoscope; the operating device on the supervising physician side further includes a second display device for displaying the endoscopic image transmitted via the external network, the first display device is an immersive display device; the first sensor is configured to detect whether a doctor has his head in the first display device as a usage state of the doctor-side operation device, the second display device is an immersive display device; Item 10. The remote surgery support system according to item 9, wherein the second sensor is configured to detect whether the supervising surgeon has his / her head in the second display device as the usage status of the supervising surgeon's operating device.

[0093] (Item 11) the supervising physician side operation device includes a supervising physician side switching device that receives an operation of the supervising physician and outputs a command to switch operation rights between the physician side operation device and the supervising physician side operation device, The one or more control devices When the doctor-side operating device has the operation right, the operation right is switched from the doctor-side operating device to the supervising doctor-side operating device based on a command output from the supervising doctor-side switching device, A remote surgery support system as described in any one of items 1 to 6, configured to switch the operation authority from the supervising physician side operation device to the doctor side operation device based on a command output from the supervising physician side switching device when the supervising physician side operation device has the operation authority.

[0094] (Item 12) Item 12. The remote surgery support system according to item 11, wherein the doctor-side operation device does not include a switching device for switching operation rights.

[0095] (Item 13) the doctor-side operating device includes a first display device for displaying an endoscopic image acquired by the endoscope, a first sensor for detecting whether the doctor-side operating device is in use, and a first operating device for the doctor to operate the first or second manipulator, the supervising physician side operation device includes a second display device for displaying the endoscopic image transmitted via the external network, a second sensor for detecting whether the supervising physician side operation device is in use, and a second operation device for the supervising physician to operate the second manipulator, The one or more control devices after the operation right is switched from the supervising physician-side operation device to the physician-side operation device, when the first sensor detects that the device is in use, the first operation device starts operating the second manipulator in response to receiving a predetermined operation from the first operation device, 13. The remote surgery support system according to any one of items 1 to 12, wherein, after the operating authority is switched from the doctor-side operating device to the supervising doctor-side operating device, if the second sensor detects that the device is in use, the remote surgery support system is configured to start operating the second manipulator by the second operating device in response to the second operating device receiving a predetermined operation.

[0096] (Item 14) the doctor-side operating device includes a first display device for displaying an endoscopic image acquired by the endoscope, and a first voice communication device for the doctor to communicate with the supervising doctor by voice, The remote surgery support system according to any one of items 1 to 13, wherein the supervising physician side operation device is provided with a second display device for displaying the endoscopic image transmitted via the external network, and a second audio communication device for audio communication with the first audio communication device.

[0097] (Item 15) an information sharing device that is disposed in the first facility, includes a third display device and a third voice communication device, and is disposed closer to the first and second manipulators than the doctor-side operation device; the third display device is configured to display the endoscopic image acquired by the endoscope, Item 15. The remote surgical support system of item 14, wherein the third audio communication device is configured to perform audio communication with the first and second audio communication devices.

[0098] (Item 16) Both are installed in the first facility and further include a third manipulator for holding a surgical instrument and a fourth manipulator for holding a surgical instrument; the doctor-side operating device is configured to operate the first to fourth manipulators, 16. The remote surgery support system according to any one of items 1 to 15, wherein the supervising physician side operation device is configured to operate the first to fourth manipulators via the external network.

[0099] (Item 17) Item 17. The remote surgery support system according to item 16, further comprising a surgical robot installed in the first facility and equipped with the first to fourth manipulators.

[0100] (Item 18) a first network device installed in the first facility; a first remote unit installed at the first facility and connected to the first network device, the first remote unit converting communication data into a format that can be communicated over the network; a connection unit that is installed in the first facility and to which the first remote unit, the doctor-side operation device, and the first and second manipulators are connected; a second network device installed in the second facility and communicating with the first network device via the external network; The remote surgery support system according to any one of items 1 to 17, further comprising: a second remote unit that is installed in the second facility, connected to the supervising physician side operation device and the second network device, and converts communication data into a format that can be communicated via a network.

[0101] (Item 19) the one or more control devices include a GUI generation control device that is installed in the first facility and generates a GUI to be superimposed on the endoscopic image acquired by the endoscope, Item 19. The remote surgical support system according to item 18, wherein the first and second manipulators are connected to the connection unit via the GUI generation control device. [Explanation of symbols]

[0102] 1: Surgical robot, 2: Doctor's operation device, 3: Supervising doctor's operation device, 4: Information sharing device, 5: Endoscope, 6: Surgical instrument, 7: Dual unit (connection unit), 11: Manipulator arm (first manipulator), 12: Manipulator arm (second manipulator, third manipulator, fourth manipulator), 16: Control device (one or more control devices), 17: System control device (one or more control devices), 21: Operation handle (first operation device), 24: Scope-type display device (first display device), 26: Audio communication device (first audio communication device), 27: Sensor (first sensor), 28: Control device (one or more control devices), 31: Operation handle (second operation device), 34: Scope-type display device (second display device), 36: audio communication device (second audio communication device), 37: sensor (second sensor), 38: control device (one or more control devices), 41: display device (third display device), 42: audio communication device (third audio communication device), 43: control device (one or more control devices, GUI generation control device), 51: network device (first network device), 52: network device (second network device), 61: remote unit (first remote unit), 62: remote unit (second remote unit), 100: remote surgery support system, 251: changeover switch (first changeover device), 351: changeover switch (second changeover device, supervising physician side changeover device), A1: doctor, A2: supervising physician, B1: first facility, B2: second facility, N: external network

Claims

1. a first manipulator for holding an endoscope and a second manipulator for holding a surgical instrument, both of which are installed in a first facility; a doctor-side operation device that is installed in the first facility and allows a doctor to operate the first and second manipulators; an operating device on the supervising physician side that is installed in a second facility different from the first facility and that allows the supervising physician to operate the first and second manipulators via an external network; one or more control devices; The one or more control devices are configured to automatically switch the operating authority from the supervising physician side operating device to the doctor side operating device when a specific situation is detected while the supervising physician side operating device has the operating authority for the first and second manipulators.

2. The remote surgery support system of claim 1, wherein the specific situation is when a communication failure of a predetermined level or more occurs, when a failure occurs in equipment necessary for operating the supervising physician's operating device, or when a cybersecurity-related problem occurs.

3. 3. The remote surgery support system according to claim 2, wherein the one or more control devices are configured to notify the physician side operation device and the supervising physician side operation device of recovery from the communication failure when the communication failure is recovered.

4. The remote surgery support system of claim 1, wherein the one or more control devices are configured to notify the doctor-side operating device of the automatic switching of operating rights when the operating rights are automatically switched from the supervising doctor-side operating device to the doctor-side operating device.

5. The remote surgery support system of claim 1, wherein the one or more control devices are configured not to switch operating authority from the doctor-side operating device to the supervising physician-side operating device when the specific situation is detected while the doctor-side operating device has operating authority.

6. The remote surgical support system according to claim 1 , wherein the external network is a redundant network.

7. The doctor-side operating device includes a first switching device that receives an operation by the doctor and outputs a first command to switch operation rights between the doctor-side operating device and the supervising doctor-side operating device, the supervising physician-side operating device includes a second switching device that receives an operation of the supervising physician and outputs a second command for switching operation rights between the physician-side operating device and the supervising physician-side operating device, The one or more control devices When the doctor-side operating device has the operating right, the operating right is switched from the doctor-side operating device to the supervising doctor-side operating device based on the second command output from the second switching device, 2. The remote surgery support system according to claim 1, wherein, when the supervising physician side operating device has operating authority, the operating authority is switched from the supervising physician side operating device to the doctor side operating device based on the first command output from the first switching device.

8. The one or more control devices When the doctor-side operating device has the operating right, a display indicating whether to permit or deny switching of the operating right is displayed on a first display device provided on the doctor-side operating device in response to the second command output from the second switching device, and when an input permitting the switching is received, the operating right is switched from the doctor-side operating device to the supervising doctor-side operating device, and when an input denying the switching is received, the operating right is not switched, 8. The remote surgery support system according to claim 7, wherein, when the supervising physician side operating device has the operating right, a display indicating whether to permit or deny switching of the operating right is displayed on a second display device provided on the supervising physician side operating device in response to the first command output from the first switching device, and when an input permitting the switching is received, the operating right is switched from the supervising physician side operating device to the doctor side operating device, and when an input denying the switching is received, the operating right is not switched.

9. the doctor-side operating device includes a first sensor that detects whether the doctor-side operating device is in use; the operating device on the supervising physician side includes a second sensor that detects whether the operating device on the supervising physician side is in use; The one or more control devices When the doctor-side operating device has the operating right and the first sensor does not detect that the device is in use, the operating right is switched from the doctor-side operating device to the supervising doctor-side operating device based on the second command output from the second switching device, 8. The remote surgery support system according to claim 7, wherein when the supervising physician side operating device has operating authority and the second sensor does not detect that the device is in use, the operating authority is switched from the supervising physician side operating device to the doctor side operating device based on the first command output from the first switching device.

10. the doctor-side operation device further includes a first display device for displaying an endoscopic image acquired by the endoscope, the supervising physician side operation device further includes a second display device for displaying the endoscopic image transmitted via the external network, the first display device is an immersive display device; the first sensor is configured to detect whether a doctor is holding his / her head in the first display device as a usage state of the doctor-side operation device, the second display device is an immersive display device; 10. The remote surgery support system according to claim 9, wherein the second sensor is configured to detect whether or not the supervising surgeon has his / her head in the second display device as the usage status of the supervising surgeon's operation device.

11. the supervising physician side operation device includes a supervising physician side switching device that receives an operation of the supervising physician and outputs a command to switch operation rights between the physician side operation device and the supervising physician side operation device, The one or more control devices When the doctor-side operating device has the operation right, the operation right is switched from the doctor-side operating device to the supervising doctor-side operating device based on a command output from the supervising doctor-side switching device, The remote surgery support system according to claim 1, wherein when the supervising physician side operating device has operating authority, the operating authority is switched from the supervising physician side operating device to the doctor side operating device based on a command output from the supervising physician side switching device.

12. The remote surgery support system according to claim 11 , wherein the doctor-side operation device does not include a switching device for switching operation rights.

13. the doctor-side operating device includes a first display device for displaying an endoscopic image acquired by the endoscope, a first sensor for detecting whether the doctor-side operating device is in use, and a first operating device for the doctor to operate the first or second manipulator, the supervising physician side operation device includes a second display device for displaying the endoscopic image transmitted via the external network, a second sensor for detecting whether the supervising physician side operation device is in use, and a second operation device for the supervising physician to operate the second manipulator, The one or more control devices after the operation right is switched from the supervising physician-side operation device to the physician-side operation device, when the first sensor detects that the device is in use, the first operation device starts operating the second manipulator in response to receiving a predetermined operation from the first operation device, 2. The remote surgery support system according to claim 1, wherein, after operation authority is switched from the doctor-side operation device to the supervising doctor-side operation device, if the second sensor detects that the device is in use, the second operation device starts operating the second manipulator in response to receiving a predetermined operation from the second operation device.

14. the doctor-side operating device includes a first display device for displaying an endoscopic image acquired by the endoscope, and a first voice communication device for the doctor to communicate with the supervising doctor by voice, 2. The remote surgery support system according to claim 1, wherein the supervising physician side operation device comprises a second display device for displaying the endoscopic image transmitted via the external network, and a second audio communication device for audio communication with the first audio communication device.

15. an information sharing device that is disposed in the first facility, includes a third display device and a third voice communication device, and is disposed closer to the first and second manipulators than the doctor-side operation device; the third display device is configured to display the endoscopic image acquired by the endoscope, The remote surgical assistance system according to claim 14 , wherein the third audio communication device is configured to perform audio communication with the first and second audio communication devices.

16. Both are installed in the first facility and further include a third manipulator for holding a surgical instrument and a fourth manipulator for holding a surgical instrument; the doctor-side operating device is configured to operate the first to fourth manipulators, 2. The remote surgery support system according to claim 1, wherein the supervising physician side operation device is configured to operate the first to fourth manipulators via the external network.

17. The remote surgical support system according to claim 16, further comprising a surgical robot installed in the first facility and equipped with the first to fourth manipulators.

18. a first network device installed in the first facility; a first remote unit installed at the first facility and connected to the first network device, the first remote unit converting communication data into a format that can be communicated via the external network; a connection unit that is installed in the first facility and to which the first remote unit, the doctor-side operation device, and the first and second manipulators are connected; a second network device that is installed in the second facility and communicates with the first network device via the external network; 2. The remote surgery support system of claim 1, further comprising: a second remote unit installed in the second facility, connected to the supervising physician's operating device and the second network device, and configured to convert communication data into a format that can be communicated via the external network.

19. the one or more control devices include a GUI generation control device that is installed in the first facility and generates a GUI to be superimposed on an endoscopic image acquired by the endoscope, The remote surgical support system according to claim 18, wherein the first and second manipulators are connected to the connection unit via the GUI generation control device.

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