Robotic surgery system

Abstract

To provide a robotic surgery system capable of supplying electrical energy to an electrosurgical instrument even when an electrosurgical unit that cannot exchange device information with the robotic surgery system is arranged.SOLUTION: In a robotic surgery system 500, a first control device 310 acquires tool information of an instrument 201 from a memory 201b when the instrument 201 is mounted on a robot arm 50, and a third control device 300 is configured to transmit a signal to a switch element SW1 while a cutting pedal 125 or a coagulation pedal 126 is being operated. The switch element SW1 is configured to turn on a supply line L1 while receiving the signal from the third control device 300.SELECTED DRAWING: Figure 15

Description

[Technical Field]

[0001] The present invention relates to a robotic surgical system. [Background technology]

[0002] Conventionally, robotic surgery systems equipped with a robotic arm to which an electrosurgical instrument is attached have been known. Patent Document 1 discloses a robotic surgery system equipped with a robotic arm, an electrosurgical instrument attached to the robotic arm, multiple electrosurgical units that supply electrical energy to the electrosurgical instrument, and an input device for operating the electrosurgical instrument. In Patent Document 1, the robotic surgery system reads tool information for the electrosurgical instrument from a memory unit of one of multiple types of electrosurgical instruments attached to the robotic arm, and also reads device information from each of the multiple electrosurgical units. The robotic surgery system then automatically assigns an appropriate electrosurgical unit from the multiple electrosurgical units to the electrosurgical instrument attached to the robotic arm. This allows the electrosurgical instrument to be operated using the input device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] U.S. Patent No. 8,423,182 Summary of the Invention [Problem to be solved by the invention]

[0004] In the robotic surgery system of Patent Document 1, the robotic surgery system reads out device information from each of the multiple electrosurgical units, while the robotic surgery system reads out device information from the electrosurgical units that are not originally included in the robotic surgery system. but When the robotic surgical system is installed, it is not possible to exchange device information between the robotic surgical system and the electrosurgical unit. Using this electrosurgical unit electrosurgical instruments Supplying electrical energy toTherefore, we are developing a robotic surgery system. Between Electrosurgical unit unable to exchange device information but Even when deployed, electrosurgical instruments Electric energy of supply Therefore, a robotic surgery system that can perform this function is desired.

[0005] The present invention has been made to solve the above-mentioned problems, and one object of the present invention is to provide a robotic surgery system and Between Electrosurgical unit unable to exchange device information but Even when deployed, electrosurgical instruments Supplying electrical energy to The present invention aims to provide a robotic surgery system that can perform the above-mentioned operations. [Means for solving the problem]

[0006] A robotic surgery system according to a first aspect of the present invention includes a first electrosurgical instrument having a first end effector, a first memory storing first tool information, and a first switch element; a first robotic arm to which the first electrosurgical instrument is detachably attached; and a first electrosurgical unit that supplies first electric energy to the first electrosurgical instrument. Perform the operation to activate the first electrosurgical instrument a first input unit; one or more a control device, wherein the first switch element is configured to turn on / off a first supply line that supplies first electrical energy to the first end effector; one or more The control device acquires first tool information from the first memory when the first electrosurgical instrument is attached to the first robot arm, and controls the first switch element to operate while the first input unit is being operated. No. 1 The first switch element is configured to transmit a signal from the control device. No. 1 The first supply line is configured to be turned on while the signal is received.

[0007] As described above, the robotic surgery system according to the first aspect of the present invention comprises: one or moreThe control device acquires first tool information from the first memory when the first electrosurgical instrument is attached to the first robot arm, and controls the first switch element to operate while the first input unit is being operated. No. 1 configured to transmit a signal, the first switch element one or more From the control device No. 1 The first supply line is turned on while the signal is received. one or more The first supply line is turned on by the first switch element based on the first tool information of the first electrosurgical instrument acquired by the control device, and a first electrosurgical unit for supplying a first electrical energy; and of Between The first electrosurgical unit supplies the first electric energy to the first end effector through the first supply line even if the device information is not exchanged. Therefore, the first electrosurgical unit is not capable of exchanging device information with the robotic surgical system. but Even if deployed, the first electrosurgical instrument Supplying electrical energy to It is possible.

[0008] A robotic surgery system according to a second aspect of the present invention comprises a first electrosurgical unit that supplies first electrical energy to a first electrosurgical instrument having a first end effector, a first memory that stores first tool information, and a switch element; a first robotic arm to which a second electrosurgical instrument having a second end effector and a second memory that stores second tool information is detachably attached; a second robotic arm to which a third electrosurgical instrument having a third end effector and a third memory that stores third tool information is detachably attached; and a second electrosurgical unit that supplies second electrical energy to the second electrosurgical instrument and supplies third electrical energy to the third electrosurgical instrument; Operate to activate the second electrosurgical instrument First input section and performing an operation to activate the third electrosurgical instrument. A second input unit; one or more a control device; one or morethe controller is configured to transmit a first signal to the second electrosurgical unit while the first input is operated and to transmit a second signal to the second electrosurgical unit while the second input is operated, the second electrosurgical unit being configured to supply second electrical energy to a second end effector of the second electrosurgical instrument while receiving the first signal and to supply third electrical energy to a third end effector of the third electrosurgical instrument while receiving the second signal; one or more The control device is configured to, when the first electrosurgical instrument is attached to the first robot arm instead of the second electrosurgical instrument, retrieve first tool information from the first memory and send a third signal to the switch element while the first input unit is operated, the switch element being configured to turn on / off a supply line that supplies the first electrical energy to the first end effector and to turn on the supply line while receiving the third signal.

[0009] As described above, a robotic surgery system according to a second aspect of the present invention includes: one or more The control device is configured to, when the first electrosurgical instrument is attached to the first robot arm instead of the second electrosurgical instrument, retrieve first tool information from the first memory, and transmit a third signal to the switch element while the first input unit is being operated, the switch element being configured to turn on / off a supply line that supplies the first electric energy to the first end effector, and to turn on the supply line while receiving the third signal. one or more The first supply line is turned on by the first switch element based on the first tool information of the first electrosurgical instrument acquired by the control device, and a first electrosurgical unit for supplying a first electrical energy; and of Between The first electrosurgical unit supplies the first electric energy to the first end effector through the first supply line even if the device information is not exchanged. Therefore, the first electrosurgical unit is not capable of exchanging device information with the robotic surgical system. but Even if deployed, the first electrosurgical instrument Electric energy of supply It is possible. [Effects of the Invention]

[0010] According to the present invention, a robotic surgery system and Between Electrosurgical unit unable to exchange device information but Even when deployed, electrosurgical instruments Electric energy of supply It is possible. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a diagram showing the configuration of a surgery support system according to a first embodiment. [Figure 2] FIG. 2 is a diagram showing a display unit of the medical cart according to the first embodiment. [Figure 3] 1 is a diagram showing the configuration of a medical cart according to a first embodiment. FIG. [Figure 4] 1 is a diagram showing a configuration of a robot arm according to a first embodiment. FIG. [Figure 5] FIG. [Figure 6] FIG. 2 is a perspective view showing the configuration of an arm operating unit according to the first embodiment. [Figure 7] FIG. 10 is a diagram for explaining translational movement of a robot arm. [Figure 8] FIG. 10 is a diagram for explaining the rotational movement of the robot arm. [Figure 9] 1 is a perspective view showing a foot pedal according to a first embodiment. FIG. [Figure 10] FIG. 2 is a control block diagram of the surgery support robot according to the first embodiment. [Figure 11] FIG. 2 is a control block diagram of the robot arm according to the first embodiment. [Figure 12] FIG. 2 is a control block diagram of the positioner and medical cart according to the first embodiment. [Figure 13] FIG. 1 is a diagram showing an endoscope. [Figure 14] FIG. 10 shows a pivot position setting tool. [Figure 15]1A and 1B are diagrams showing the configuration of instruments and an electrosurgical unit according to a first embodiment. [Figure 16] 10A and 10B are diagrams for explaining the display mode on the monitor of the remote control device and the display unit arranged on the cart when the coagulation pedal or cutting pedal is pressed. [Figure 17] 10A and 10B show the configuration of instruments and an electrosurgical unit according to a second embodiment. [Figure 18] 10A and 10B show the configuration of instruments and an electrosurgical unit according to a third embodiment. [Figure 19] 10A and 10B are diagrams showing the configuration of instruments and an electrosurgical unit according to a fourth embodiment. [Figure 20] 10A and 10B are diagrams showing the configuration of instruments and an electrosurgical unit according to a fifth embodiment. [Figure 21] 13A and 13B are diagrams showing the configuration of instruments and an electrosurgical unit according to a sixth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] [First embodiment] (Configuration of surgical support system) The configuration of a robotic surgery system 500 according to a first embodiment will be described. The robotic surgery system 500 comprises a surgery support robot 100, a remote control device 200, a third control device 300, and an image processing unit 400. The third control device 300 is a one or more This is an example of a "control device."

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

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

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

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

[0017] As shown in Fig. 3, the input device 22 of the cart positioner operating unit 20 includes a display unit 22a, a joystick 22b, an enable switch 22c, an error reset button 22d, and a speaker 22e. The display unit 22a is, for example, a liquid crystal panel. As shown in Fig. 2, the display unit 22a displays numbers corresponding to the multiple robot arms 50. The display unit 22a also displays the type of surgical instrument 1 attached to each of the multiple robot arms 50. The display unit 22a displays a check mark CM indicating that the pivot position PP has been set.

[0018] 3, the joystick 22b is disposed near the input device 22 of the cart positioner operation unit 20. By selecting an operation mode displayed on the input device 22 and operating the joystick 22b, the positioner 30 is moved three-dimensionally.

[0019] The enable switch 22c is disposed near the joystick 22b of the cart positioner operation unit 20. The enable switch 22c permits or prohibits movement of the positioner 30. When the enable switch 22c is pressed down and movement of the positioner 30 is permitted, the positioner 30 is moved by operating the joystick 22b.

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

[0021] The operating handle 23 is disposed near the display unit 22a of the cart positioner operating unit 20. The operating handle 23 has a throttle 23a that is gripped and rotated by an operator such as a nurse or technician to operate the movement of the medical cart 10. Specifically, the operating handle 23 is disposed below the input device 22. The medical cart 10 moves forward when the throttle 23a is rotated from the front side to the back side. The medical cart 10 moves backward when the throttle 23a is rotated from the back side to the front side. The speed of the medical cart 10 is changed depending on the amount of rotation of the throttle 23a. The operating handle 23 is configured to be rotatable left and right in the R direction, and the medical cart 10 rotates as the operating handle 23 is rotated.

[0022] An enable switch 23b that permits or prohibits movement of the medical cart 10 is disposed on the operation handle 23 of the cart positioner operation unit 20. When the enable switch 23b is pressed down to permit movement of the medical cart 10, the medical cart 10 is moved by operating the throttle 23a of the operation handle 23.

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

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

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

[0026] 10, a status indicator 41 and an arm status indicator 42 are arranged on the arm base 40. The status indicator 41 displays the status of the robotic surgery system 500. The arm status indicator 42 displays the status of the robotic arm 50.

[0027] A plurality of robot arms 50 are arranged. Specifically, four robot arms 50a, 50b, 50c, and 50d are arranged. The robot arms 50a, 50b, 50c, and 50d have the same configuration. The robot arms 50a and 50b are an example of a "second robot arm" in the claims. The robot arm 50d is an example of a "first robot arm" in the claims.

[0028] As shown in FIG. 4, the robot arm 50 includes an arm unit 51, a first link unit 52, a second link unit 53, and a translational movement mechanism unit 54. The robot arm 50 has JT1, JT2, JT3, JT4, JT5, JT6, and JT7 axes as rotational axes and a JT8 axis as a linear movement axis. The JT1 to JT7 axes are rotational axes of a joint 51c of the arm unit 51. The JT7 axis is also a rotational axis of the first link unit 52. The JT8 axis is a linear movement axis along which the translational movement mechanism unit 54 moves the second link unit 53 relative to the first link unit 52 in the Z direction. The arm unit 51 includes a base unit 51a, a link unit 51b, and a joint 51c.

[0029] The arm unit 51 is a seven-axis articulated robot arm. The first link unit 52 is located at the tip of the arm unit 51. The arm operating unit 60, which will be described later, is attached to the second link unit 53. The translational movement mechanism 54 is located between the first link unit 52 and the second link unit 53. A holder 55 that holds a surgical instrument 1 is located on the second link unit 53. The translational movement mechanism 54 translates the holder 55, to which the surgical instrument 1 is attached, between a first position and a second position. The first position is the end position on the Z2 side of the range of movement of the holder 55 by the translational movement mechanism 54 along the JT8 axis. The second position is the end position on the Z1 side of the range of movement of the holder 55 by the translational movement mechanism 54 along the JT8 axis.

[0030] A surgical instrument 1 is attached to the tip of each of the multiple robot arms 50. The surgical instrument 1 includes, for example, an interchangeable instrument 2, an endoscope 3 shown in FIG. 13 for capturing an image of the surgical site, and a pivot position setting instrument 4 shown in FIG. 14 for setting a pivot position PP. As shown in FIG. 4, the instrument 2 includes a driven unit 2a, forceps 2b, and a shaft 2c.

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

[0032] (Instrument configuration) 5, for example, forceps 2b are provided at the tip of the instrument 2. In addition to the forceps 2b, instruments with joints such as scissors, graspers, needle holders, microdissectors, stable appliers, tackers, suction and irrigation tools, snare wires, and clip appliers are provided at the tip of the instrument 2. Instruments without joints such as cutting blades, cauterizing probes, irrigators, catheters, and suction orifices are provided at the tip of the instrument 2.

[0033] The forceps 2b includes a first support 2d and a second support 2e. The first support 2d supports the base ends of the jaw members 2g and 2f rotatably about the JT11 axis. The second support 2e supports the base end of the first support 2d rotatably about the JT10 axis. The shaft 2c rotates about the JT9 axis. The jaw members 2g and 2f open and close about the JT11 axis.

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

[0035] The arm operating unit 60 includes an enable switch 61 , a joystick 62 , a linear switch 63 , a mode switching button 64 , a mode indicator 65 , a pivot button 66 , and an adjustment button 67 .

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

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

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

[0039] The mode switching button 64 is a push button switch for switching between a translational movement mode and a rotational movement mode of the surgical instrument 1. As shown in FIG. 7, in the translational movement mode of the robot arm 50, the robot arm 50 is moved so that the tip 1a of the surgical instrument 1 moves on the XY plane. As shown in FIG. 8, in the rotational movement mode of the robot arm 50, when the pivot position PP is not stored in the memory unit 351, the robot arm 50 is rotated around the center of the JT11 axis of the forceps 2b of the instrument 2 serving as the surgical instrument 1 or the tip of the forceps 2b as a fulcrum. When the pivot position PP is stored in the memory unit 351, the robot arm 50 is moved so that the surgical instrument 1 is rotated around the pivot position PP as a fulcrum. The surgical instrument 1 is rotated with the shaft 1c of the surgical instrument 1 inserted into a trocar T placed on the body surface S of the patient P. The mode switching button 64 is located on the Z-direction surface of the arm operating unit 60.

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

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

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

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

[0044] The operating unit 110 is a handle for operating the surgical instrument 1. The operating unit 110 also receives an operation amount for the surgical instrument 1. The operating unit 110 includes an operating unit 110L located on the left side as viewed from an operator such as a doctor and operated with the operator's left hand, and an operating unit 110R located on the right side and operated with the operator's right hand. The operating units 110L and 110R each operate a robot arm 50. For example, an endoscope 3 is attached to one of the two central robot arms 50 among the four robot arms 50. For example, as shown in FIG. 1, when an endoscope 3 is attached to robot arm 50c, the operating unit 110L operates robot arm 50a or 50b, and the operating unit 110R operates robot arm 50d. When an endoscope 3 is attached to robot arm 50b, the operating unit 110L operates robot arm 50a, and the operating unit 110R operates robot arm 50c or 50d. The robot arm 50b or 50c to which the endoscope 3 is attached is operated by the operation unit 110L and the operation unit 110R when the camera pedal 124 shown in Fig. 9 is pressed down. The operation unit 110R is an example of a "first operation unit" in the claims, and the operation unit 110L is an example of a "second operation unit" in the claims.

[0045] The monitor 140 is a scope-type display device for displaying an image captured by the endoscope 3. The monitor 140 is also provided with an alarm unit 141. The alarm unit 141 issues an error sound. The support arm 150 supports the monitor 140 so that the height of the monitor 140 is at the same height as the face of an operator such as a doctor. The touch panel 130 is provided on a support bar 160. The surgery support robot 100 can be operated by the remote control device 200 when a sensor provided near the monitor 140 detects the operator's head. The operator operates the operation unit 110 and the foot pedal 120 while visually checking the affected area on the monitor 140. This inputs commands to the remote control device 200. The commands input to the remote control device 200 are transmitted to the surgery support robot 100.

[0046] The error reset button 161 is disposed on the support bar 160. The error reset button 161 resets an error in the robotic surgery system 500. The error may be, for example, a deviation abnormality error, which will be described later.

[0047] As shown in FIG. 9 , a plurality of foot pedals 120 are provided to perform functions related to the surgical instrument 1. The plurality of foot pedals 120 are arranged on a base 121. The foot pedals 120 include a switching pedal 122, a clutch pedal 123, a camera pedal 124, a cutting pedal 125, a coagulation pedal 126, and a foot detector 127. The switching pedal 122, the clutch pedal 123, the camera pedal 124, the cutting pedal 125, and the coagulation pedal 126 are operated by the operator's feet. The cutting pedals 125 include a cutting pedal 125R for the right robot arm 50 and a cutting pedal 125L for the left robot arm 50. The coagulation pedals 126 include a coagulation pedal 126R for the right robot arm 50 and a coagulation pedal 126L for the left robot arm 50. As described above, in the first embodiment, remote control device 200 includes operation unit 110R for operating one robot arm 50, operation unit 110L for operating the other robot arm 50, coagulation pedal 126, and cutting pedal 125. Since operation unit 110R, operation unit 110L, coagulation pedal 126, and cutting pedal 125 are integrated into remote control device 200, a user can easily operate operation unit 110R, operation unit 110L, coagulation pedal 126, and cutting pedal 125. Furthermore, since coagulation pedal 126R and cutting pedal 125R are provided, coagulation and cutting of a surgical site can be performed using instruments 2 operated with the right hand. Similarly, since coagulation pedal 126L and cutting pedal 125L are provided, coagulation and cutting of a surgical site can be performed using instruments 2 operated with the left hand. Furthermore, cutting pedal 125R is an example of a “first cutting pedal” and a “first input unit” in the claims. Coagulation pedal 126R is an example of a "first coagulation pedal" and a "first input section" in the claims. Cutting pedal 125L is an example of a "second cutting pedal" and a "second input section" in the claims. Coagulation pedal 126L is an example of a "second coagulation pedal" and a "second input section" in the claims.

[0048] The switching pedal 122 switches the robot arm 50 operated by the operation unit 110. The clutch pedal 123 performs a clutch operation that temporarily disconnects the operational connection between the robot arm 50 and the operation unit 110. While the clutch pedal 123 is depressed by the operator, the operation by the operation unit 110 is not transmitted to the robot arm 50. Furthermore, while the operator is depressing the camera pedal 124, the operation unit 110 can operate the robot arm 50 to which the endoscope 3 is attached. While the operator is depressing the cutting pedal 125 or the coagulation pedal 126, the instrument 2 is activated.

[0049] The foot detector 127 detects the foot of the operator operating the foot pedal 120. The foot detector 127 detects the foot in a hover state located above the foot pedal 120. The foot detector 127 is disposed on the base 121.

[0050] As shown in FIG. 1, the third control device 300 and the image processing unit 400 are placed on a cart 600. The image processing unit 400 processes images captured by the endoscope 3. A display unit 610 is arranged on the cart 600. The display unit 610 displays the images captured by the endoscope 3. An error reset button 301 and an alarm unit 302 are arranged on the third control device 300. The error reset button 301 resets an error in the robotic surgery system 500. The error is, for example, a deviation abnormality error. The alarm unit 302 sounds an error sound.

[0051] (Control system configuration) As shown in Fig. 10, the robotic surgery system 500 includes a first control device 310, an arm control device 320, a positioner control device 330, an operation control device 340, and a second control device 350. The robotic surgery system 500 also includes a memory unit 311 connected to the first control device 310 and a memory unit 351 connected to the second control device 350. As shown in Fig. 1, the second control device 350 and the memory unit 351 are disposed, for example, inside the medical cart 10. The first control device 310 is an example of a "control device" in the claims.

[0052] The first control device 310 is disposed inside the medical cart 10 so as to communicate with the arm control device 320 and the positioner control device 330, and controls the entire robotic surgery system 500. Specifically, the first control device 310 communicates with and controls each of the arm control device 320, the positioner control device 330, and the operation control device 340. The first control device 310 is connected to the arm control device 320, the positioner control device 330, and the operation control device 340 via a LAN or the like. The first control device 310 is disposed inside the medical cart 10.

[0053] An arm control unit 320 is provided for each of the plurality of robot arms 50. That is, a plurality of arm control units 320 corresponding to the number of the plurality of robot arms 50 are provided inside the medical cart 10.

[0054] As shown in Fig. 10, the input device 22 is connected to the first control device 310 via a LAN or the like. The status indicator 41, arm status indicator 42, operating handle 23, throttle 23a, joystick 22b, stabilizer 24, and electric cylinder 25 are serially connected to the positioner control unit 330 via a communication network that allows them to share information with each other via wiring 360. Note that Fig. 10 shows the status indicator 41, arm status indicator 42, and the like as if they were all connected to one wiring 360, but in reality, a wiring 360 is provided for each of the status indicator 41, arm status indicator 42, operating handle 23, throttle 23a, joystick 22b, stabilizer 24, and electric cylinder 25.

[0055] As shown in FIG. 11, the arm unit 51 is provided with a plurality of servo motors SM1, an encoder EN1, and a reducer so as to correspond to a plurality of joints 51c. The encoder EN1 detects the rotation angle of the servo motor SM1. The reducer reduces the rotation of the servo motor SM1 to increase the torque. Inside the medical cart 10, a servo control unit SC1 for controlling the servo motor SM1 is disposed adjacent to the arm control unit 320. The servo control unit SC1 is electrically connected to the encoder EN1 for detecting the rotation angle of the servo motor SM1.

[0056] The second link section 53 is provided with a servo motor SM2 for rotating a driven member disposed in the driven unit 2a of the surgical instrument 1, an encoder EN2, and a reducer. The encoder EN2 detects the rotation angle of the servo motor SM2. The reducer reduces the rotation speed of the servo motor SM2 to increase the torque. The medical cart 10 is also provided with a servo control section SC2 for controlling the servo motor SM2 that drives the surgical instrument 1. The servo control section SC2 is electrically connected to an encoder EN2 for detecting the rotation angle of the servo motor SM2. Note that multiple servo motors SM2, encoders EN2, and servo control sections SC2 are provided.

[0057] The translational movement mechanism 54 is provided with a servo motor SM3 for translating the surgical instrument 1, an encoder EN3, and a reducer. The encoder EN3 detects the rotation angle of the servo motor SM3. The reducer decelerates the rotation of the servo motor SM3 to increase the torque. The medical cart 10 also has a servo control unit SC3 for controlling the servo motor SM3 for translating the surgical instrument 1. The encoder EN3 for detecting the rotation angle of the servo motor SM3 is electrically connected to the servo control unit SC3.

[0058] The first control device 310 generates command values ​​that command the positions of the servo motors SM1, SM2, and SM3 based on the operation received by the remote operation device 200, and drives the servo motors SM1, SM2, and SM3 based on the command values. The first control device 310 then detects a deviation abnormality error when the difference between the command values ​​and the positions of the servo motors SM1, SM2, and SM3 detected by the sensors exceeds an allowable range.

[0059] 12, the positioner 30 is provided with a plurality of servo motors SM4, an encoder EN4, and a reducer so as to correspond to a plurality of joints 33 of the positioner 30. The encoder EN4 is configured to detect the rotation angle of the servo motor SM4. The reducer is configured to reduce the rotation speed of the servo motor SM4 to increase the torque.

[0060] The medical cart 10 is equipped with wheels, including front wheels as drive wheels and rear wheels steered by the operating handle 23. The rear wheels are located closer to the operating handle 23 than the front wheels. The medical cart 10 is also equipped with a servo motor SM5 that drives each of the front wheels of the medical cart 10, an encoder EN5, a reducer, and a brake. The reducer is configured to reduce the rotation speed of the servo motor SM5 and increase the torque. A potentiometer P1 shown in FIG. 3 is disposed on the operating handle 23 of the cart positioner operating unit 20, and the servo motor SM5 of the front wheels is driven based on the rotation angle detected by the potentiometer P1 in response to the twist of the throttle 23a. The rear wheels of the medical cart 10 are dual-wheel type, and are steered based on the left and right rotation of the operating handle 23. 3 is disposed on the rotation shaft of the operation handle 23 of the cart positioner operation unit 20, and a servomotor SM6, an encoder EN6, and a reducer are disposed on the rear wheels of the medical cart 10. The reducer is configured to reduce the rotation speed of the servomotor SM6 and increase the torque. The servomotor SM6 is driven based on the rotation angle detected by the potentiometer P2 in response to the left and right rotation of the operation handle 23. In other words, steering of the rear wheels caused by the left and right rotation of the operation handle 23 is configured to be power-assisted by the servomotor SM6.

[0061] The front wheels of the medical cart 10 are driven to move forward and backward, and the rear wheels are steered by turning the operating handle 23 of the medical cart 10, causing the medical cart 10 to turn left and right.

[0062] As shown in FIG. 12, the medical cart 10 is provided with a servo control unit SC4 for controlling a servo motor SM4 that moves the positioner 30. An encoder EN4 for detecting the rotation angle of the servo motor SM4 is electrically connected to the servo control unit SC4. The medical cart 10 is also provided with a servo control unit SC5 for controlling a servo motor SM5 that drives the front wheels of the medical cart 10. An encoder EN5 for detecting the rotation angle of the servo motor SM5 is electrically connected to the servo control unit SC5. The medical cart 10 is also provided with a servo control unit SC6 for controlling a servo motor SM6 that power-assists the steering of the rear wheels of the medical cart 10. An encoder EN6 for detecting the rotation angle of the servo motor SM6 is electrically connected to the servo control unit SC6.

[0063] As shown in FIGS. 11 and 12, a brake BRK is mounted on each of the joints 51c of the arm section 51 and the joints 33 of the positioner 30. Brakes BRK are also mounted on the front wheels of the medical cart 10, the arm base 40, and the translational movement mechanism 54. A control signal is transmitted in one direction from the arm control unit 320 to each of the brakes BRK mounted on the joints 51c of the arm section 51 and the translational movement mechanism 54. The control signal is a signal that turns the brake BRK on and off. The signal that turns the brake BRK on includes a signal that keeps the brake BRK applied. The same applies to the control signals transmitted from the positioner control unit 330 to each of the brakes BRK mounted on the joints 33 of the positioner 30 and the arm base 40. At startup, all brakes BRK on the arm base 40, arm unit 51, and translational movement mechanism 54 are released, and the servo motor SM is driven to resist gravity, thereby maintaining the posture of the robot arm 50 and the posture of the arm base 40. When an error occurs in the robotic surgical system 500, the brakes BRK on the arm base 40, arm unit 51, and translational movement mechanism 54 are turned on. When the error in the robotic surgical system 500 is resolved, the brakes BRK on the arm base 40, arm unit 51, and translational movement mechanism 54 are turned off. A shutdown operation of the robotic surgical system 500 turns on the brakes BRK on the arm base 40, arm unit 51, and translational movement mechanism 54. The brakes BRK on the front wheels of the medical cart 10 are always turned on, and are released only while the enable switch 23b of the medical cart 10 is pressed down. Furthermore, the brakes BRK of each joint 33 of the positioner 30 are always on, and the brakes BRK are released only while the enable switch 22c of the medical cart 10 is pressed.

[0064] As shown in FIG. 10 , the first control device 310 controls the robot arm 50 based on an operation received by the arm operation unit 60. For example, the first control device 310 controls the robot arm 50 based on an operation received by the joystick 62 of the arm operation unit 60. Specifically, the arm control unit 320 outputs an input signal input from the joystick 62 to the first control device 310. The first control device 310 generates a position command based on the received input signal and a rotation angle detected by the encoder EN1, and outputs the position command to the servo control unit SC1 via the arm control unit 320. The servo control unit SC1 generates a current command based on the position command input from the arm control unit 320 and the rotation angle detected by the encoder EN1, and outputs the current command to the servo motor SM1. As a result, the robot arm 50 moves in accordance with the operation command input to the joystick 62.

[0065] The first control device 310 controls the robot arm 50 based on an input signal from the linear switch 63 of the arm operation unit 60. Specifically, the arm control unit 320 outputs the input signal input from the linear switch 63 to the first control device 310. The first control device 310 generates a position command based on the received input signal and the rotation angle detected by the encoder EN1 or EN3, and outputs the position command to the servo control unit SC1 or SC3 via the arm control unit 320. The servo control unit SC1 or SC3 generates a current command based on the position command input from the arm control unit 320 and the rotation angle detected by the encoder EN1 or EN3, and outputs the current command to the servo motor SM1 or SM3. As a result, the robot arm 50 moves in accordance with the operation command input to the linear switch 63.

[0066] The positioner control unit 330 is disposed in the medical cart 10. The positioner control unit 330 controls the positioner 30 and the medical cart 10. A servo motor SM4, an encoder EN4, and a reducer are disposed in the positioner 30 so as to correspond to the multiple joints 33 of the positioner 30. A servo control unit SC4 that controls the servo motor SM4 of the positioner 30 is disposed in the medical cart 10. The medical cart 10 is disposed with servo motors SM5 and SM6 that drive the multiple front wheels of the medical cart 10, encoders EN5 and EN6, reducers, servo control units SC5 and SC6, and a brake BRK.

[0067] The operation control unit 340 is disposed in the main body of the remote operation device 200. The operation control unit 340 controls the operation unit 110. The operation control unit 340 is disposed to correspond to each of the operation unit 110L for the left hand and the operation unit 110R for the right hand. The operation unit 110 is provided with a servo motor SM, an encoder EN, and a reducer to correspond to the multiple joints of the operation unit 110. The servo control unit SC that controls the servo motor SM of the operation unit 110 is disposed in the main body of the remote operation device 200 adjacent to the operation control unit 340.

[0068] 10, the third control device 300 and the image processing unit 400 are connected to the first control device 310 via a LAN or the like. The display unit 610 is connected to the third control device 300.

[0069] (Instrument and Electrosurgical Unit Configuration) As described above, the instruments 2 are detachably attached to the robot arms 50a, 50b, and 50d. As shown in FIG. 15 , a plurality of types of instruments 2 are prepared for attachment to the robot arm 50. For example, the instrument 202 is a monopolar instrument, and the instrument 203 is a bipolar instrument. The instrument 201 is a different type from the instruments 202 and 203. In the first embodiment, the instrument 201 includes an end effector 201a, a memory 201b that stores tool information for the instrument 201, and a switch element SW1. The instrument 202 includes an end effector 202a, a memory 202b that stores tool information for the instrument 202, and a switch element SW2. Instrument 203 includes end effector 203a, memory 203b storing tool information for instrument 203, and switch element SW3. As described above, end effector 201a, end effector 202a, and end effector 203a are, for example, forceps. Furthermore, the tool information for instrument 201 includes the type of instrument 201 and information about electrosurgical unit 210 that supplies electrical energy to instrument 201. The tool information for instrument 202 and instrument 203 also includes similar information. Memory 201b, memory 202b, and memory 203b are, for example, nonvolatile memories. Furthermore, switch elements SW1, SW2, and SW3 are, for example, semiconductor switches. The instrument 201, the end effector 201a, and the memory 201b are examples of the "first electrosurgical instrument," the "first end effector," and the "first memory" in the claims, respectively. The switch element SW1 is an example of the "switch element" and the "first switch element" in the claims.Additionally, instrument 202, end effector 202a, memory 202b, and switch element SW2 are examples of the "second electrosurgical instrument," "second end effector," "second memory," and "second switch element" in the claims, respectively. Instrument 203, end effector 203a, memory 203b, and switch element SW3 are examples of the "second electrosurgical instrument," "second end effector," "second memory," and "second switch element" in the claims, respectively.

[0070] Electrosurgical unit 210 supplies electrical energy to instrument 201. The electrical energy supplied by electrosurgical unit 210 includes, for example, coagulation electrical energy for coagulating the surgical site and cutting electrical energy for incising the surgical site. Electrosurgical unit 220 supplies electrical energy to each of instruments 202 and 203. The electrical energy supplied by electrosurgical unit 220 includes, for example, coagulation electrical energy for coagulating the surgical site and cutting electrical energy for incising the surgical site. First controller 310, second controller 350, and third controller 300 of robotic surgery system 500 cannot receive device information of electrosurgical unit 210 and electrosurgical unit 220 from electrosurgical unit 210 and electrosurgical unit 220.

[0071] In the first embodiment, the switch element SW1 is configured to turn on / off a supply line L1 that supplies electrical energy from the electrosurgical unit 210 to the end effector 201a. That is, when the switch element SW1 is turned on, electrical energy from the electrosurgical unit 210 is supplied to the end effector 201a. When the switch element SW1 is turned off, the supply of electrical energy from the electrosurgical unit 210 to the end effector 201a is stopped. The supply line L1 is an example of a "first supply line" in the claims.

[0072] In the first embodiment, the supply line L1 includes a coagulation supply line L1 that supplies electrical energy for coagulation to the end effector 201a and a cutting supply line L1 that supplies electrical energy for cutting to the end effector 201a. The switch element SW1 includes a switch element SW1a arranged in the coagulation supply line L1 and a switch element SW1b arranged in the cutting supply line L1. That is, the coagulation supply line L1 and the cutting supply line L1 are provided separately and are turned on / off by the switch element SW1a and the switch element SW1b, respectively.

[0073] Furthermore, in the first embodiment, switch element SW2 is configured to turn on / off supply line L2, which supplies electrical energy from electrosurgical unit 220 to end effector 202a. That is, when switch element SW2 is turned on, electrical energy from electrosurgical unit 220 is supplied to end effector 202a. When switch element SW2 is turned off, the supply of electrical energy from electrosurgical unit 220 to end effector 202a is stopped. Similarly, switch element SW3 is configured to turn on / off supply line L3, which supplies electrical energy from electrosurgical unit 220 to end effector 203a. That is, when switch element SW3 is turned on, electrical energy from electrosurgical unit 220 is supplied to end effector 203a. When switch element SW3 is turned off, the supply of electrical energy from electrosurgical unit 220 to end effector 203a is stopped.

[0074] The supply line L2 includes a coagulation supply line L2 that supplies electrical energy for coagulation to the end effector 202a and a cutting supply line L2 that supplies electrical energy for cutting to the end effector 202a. The switch element SW2 includes a switch element SW2a arranged in the coagulation supply line L2 and a switch element SW2b arranged in the cutting supply line L2. Similarly, the supply line L3 includes a coagulation supply line L3 that supplies electrical energy for coagulation to the end effector 203a and a cutting supply line L3 that supplies electrical energy for cutting to the end effector 203a. The switch element SW3 includes a switch element SW3a arranged in the coagulation supply line L3 and a switch element SW3b arranged in the cutting supply line L3. The supply lines L2 and L3 are examples of a "second supply line" in the claims.

[0075] In the first embodiment, the instrument 201 and the electrosurgical unit 210 are connected by a wire L1a, and the instrument 201 and the third control device 300 are connected by a wire L1b. This allows electrical energy to be supplied from the electrosurgical unit 210 to the instrument 201 via the wire L1a. A signal to turn on / off the switch element SW1 of the instrument 201 can be transmitted from the third control device 300 via the wire L1b. Similarly, the instrument 202 and the electrosurgical unit 220 are connected by a wire L2a, and the instrument 202 and the third control device 300 are connected by a wire L2b. The instrument 203 and the electrosurgical unit 220 are connected by a wire L3a, and the instrument 203 and the third control device 300 are connected by a wire L3b. The wiring L1a and the wiring L2a are examples of the "first wiring" and the "second wiring" in the claims, respectively.

[0076] In the first embodiment, the wire L1a includes a relay connector C1 between the instrument 201 and the electrosurgical unit 210, and the wire L1b connects the instrument 201 to the third control device 300 via the relay connector C1. That is, the wire between the electrosurgical unit 210 and the relay connector C1 and the wire between the third control device 300 and the relay connector C1 are branched, while the wire between the instrument 201 and the relay connector C1 is unified. This prevents the wires from becoming sparse between the relay connector C1 and the instrument 201. Similarly, the wire L2a includes a relay connector C2 between the instrument 202 and the electrosurgical unit 220, and the wire L2b connects the instrument 202 to the third control device 300 via the relay connector C2. Furthermore, the wire L3a has a relay connector C3 between the instrument 203 and the electrosurgical unit 220, and the wire L3b connects the instrument 203 and the third control device 300 via the relay connector C3.

[0077] Electrosurgical unit 210 also includes connector 210a, with wire L1a connected to connector 210a. Electrosurgical unit 220 also includes connectors 220a and 220b, with wires L2a and L3a connected to connectors 220a and 220b, respectively.

[0078] Here, a case will be described in which an instrument 202 is attached to a robot arm 50 (e.g., robot arm 50d) operated by the operation unit 110R, and an instrument 203 is attached to a robot arm 50 (e.g., robot arm 50a or 50b) operated by the operation unit 110L. When an instrument 202 is attached to a robot arm 50 operated by the operation unit 110R, the first control device 310 acquires tool information of the instrument 202 from the memory 202b. Based on the acquired tool information, the first control device 310 determines whether to assign the coagulation pedal 126R and the cutting pedal 125R to the instrument 202. When the instrument 202 is an electrosurgical instrument, the first control device 310 assigns the coagulation pedal 126R and the cutting pedal 125R to the instrument 202 attached to the robot arm 50 operated by the operation unit 110R. Furthermore, when an instrument 203 is attached to the robot arm 50 operated by the operation unit 110L, the first control device 310 acquires tool information of the instrument 203 from the memory 203b. The first control device 310 determines whether to assign the coagulation pedal 126L and the cutting pedal 125L to the instrument 203 based on the acquired tool information. If the instrument 203 is an electrosurgical instrument, the first control device 310 assigns the coagulation pedal 126L and the cutting pedal 125L to the instrument 203 attached to the robot arm 50 operated by the operation unit 110L. This allows the instrument 202 operated with the right hand to be operated using the operation unit 110R, the coagulation pedal 126R, and the cutting pedal 125R, and the instrument 203 operated with the left hand to be operated using the operation unit 110L, the coagulation pedal 126L, and the cutting pedal 125L.

[0079] In the first embodiment, third control device 300 is configured to send an ON signal to switch element SW2a or switch element SW2b while coagulation pedal 126R or cutting pedal 125R is operated. Switch element SW2a or switch element SW2b is configured to turn on coagulation supply line L2 or cutting supply line L2 while receiving an ON signal from third control device 300. This causes electrical energy for coagulation or cutting to be supplied from electrosurgical unit 220 to instrument 202. Third control device 300 also stops sending an ON signal to switch element SW2a or switch element SW2b in response to release of operation of coagulation pedal 126R or cutting pedal 125R. Similarly, third control device 300 is configured to send an ON signal to switch element SW3a or switch element SW3b while coagulation pedal 126L or cutting pedal 125L is operated. Switch element SW3a or switch element SW3b is configured to turn on coagulation supply line L3 or cutting supply line L3 while receiving an ON signal from third control device 300. This causes electric energy for coagulation or cutting to be supplied from electrosurgical unit 220 to instrument 203. In the first embodiment, coagulation pedal 126R and cutting pedal 125R are assigned to instrument 202 based on information about robot arm 50 to which instrument 202 is attached and tool information. As a result, supply line L2 is turned on by switch element SW2 while coagulation pedal 126R or cutting pedal 125R is operated, and thus robotic surgery system 500 and Electrosurgical Unit 220 and of Between Electrical energy is supplied to the end effector 202a from the electrosurgical unit 220 via the supply line L2 without the need to exchange device information. Between Electrosurgical unit 220 unable to exchange device information but Even when placed, Instrument 202 Electric energy of supplySimilarly, the robotic surgery system 500 can Between Electrosurgical unit 220 unable to exchange device information but Even when placed, Instrument 203 Electric energy of supply It is possible.

[0080] Next, a case where instrument 201 is attached to robot arm 50 instead of instrument 202 will be described. In the first embodiment, when instrument 201 is attached to robot arm 50, first control device 310 acquires tool information of instrument 201 from memory 201b. Then, first control device 310 determines whether to assign coagulation pedal 126R and cutting pedal 125R to instrument 201 based on the acquired tool information. When instrument 201 is an electrosurgical instrument, first control device 310 assigns coagulation pedal 126R and cutting pedal 125R to instrument 201 attached to robot arm 50 operated by operation unit 110R. Third control device 300 is configured to send an ON signal to switch element SW1a or switch element SW1b while coagulation pedal 126R or cutting pedal 125R is being operated. Switch element SW1 is configured to turn on supply line L1 while receiving an ON signal from third control device 300. Switch element SW1a or switch element SW1b is configured to turn on coagulation supply line L1 or cutting supply line L1 while receiving an ON signal from third control device 300. As a result, even if instrument 202 is replaced with instrument 201, switch element SW1 turns on supply line L1 while coagulation pedal 126R or cutting pedal 125R is operated. Therefore, electrical energy is supplied to end effector 201a from electrosurgical unit 210 via supply line L1 even if robotic surgical system 500 does not exchange device information of electrosurgical unit 210 that supplies electrical energy. Therefore, robotic surgical system 500 and Between Electrosurgical unit 210 unable to exchange device information butEven when placed, Instrument 201 Electric energy of supply It is possible.

[0081] 16, the third control device 300 generates a graphical user interface and displays the graphical user interface on the monitor 140 of the remote control device 200 and the display unit 610 disposed on the cart 600, superimposed on the image GR captured by the endoscope 3. The graphical user interface displays the status of the coagulation pedal 126 and the cutting pedal 125. For example, when the coagulation pedal 126R is pressed on the robot arm 50d operated by the operation unit 110R, the color of the display portion G indicated by the number 4 corresponding to the robot arm 50d changes to a first color. Note that in FIG. 16, the first color is represented by hatching. When the cutting pedal 125R is pressed on the robot arm 50d, the color of the display portion G indicated by the number 4 changes to a second color different from the first color.

[0082] [Second embodiment] The configuration of a robotic surgery system 500a according to the second embodiment will be described.

[0083] 17 , unlike the first embodiment in which two electrosurgical units 210 and 220 are provided, robotic surgery system 500a includes one electrosurgical unit 230. Electrosurgical unit 230 includes connectors 230a, 230b, and 230c, and wires L1a, L2a, and L3a are connected to connectors 230a, 230b, and 230c, respectively. Electrosurgical unit 230 is configured to supply electrical energy to instruments 201, 202, and 203. This allows the electrosurgical unit 230 to be provided in common for the instruments 201, 202, and 203, thereby preventing the configuration of the robotic surgery system 500a from becoming complicated, unlike when individual electrosurgical units are provided for the instruments 201, 202, and 203. The other configurations of the second embodiment are the same as those of the first embodiment.

[0084] [Third embodiment] The configuration of a robotic surgery system 500b according to the third embodiment will be described.

[0085] As shown in FIG. 18 , unlike the first and second embodiments, the robotic surgery system 500b does not include switch elements in the instruments 204 and 205. That is, the instrument 204 includes an end effector 204a and a memory 204b that stores tool information for the instrument 204. The instrument 205 includes an end effector 205a and a memory 205b that stores tool information for the instrument 205. The first control device 310, the second control device 350, and the third control device 300 of the robotic surgery system 500b cannot receive device information for the electrosurgical unit 210 and the electrosurgical unit 220 from the electrosurgical unit 220. Specifically, the third control device 300 and the electrosurgical unit 220 are connected, As will be explained laterThe third controller 300 controls the electrosurgical unit 220 ON signal to of Although transmission is possible The electrosurgical unit 220 cannot receive device information. By receiving an ON signal from the third control device 300 Instrument 204 and Instrument 20 5 This supplies electric energy to the third control device 300. but Electrosurgical Unit 220 to ON signal of send Therefore, the electrosurgical unit 220 can be easily switched to the end effector 20 without providing a switch element in the instruments 204 and 205. 4 a and end effector 20 5 a. The instrument 204 is an example of a "second electrosurgical instrument" in the claims. The end effector 204a and the memory 204b are examples of a "second end effector" and a "second memory" in the claims, respectively. The instrument 205 is an example of a "third electrosurgical instrument" in the claims. The end effector 205a and the memory 205b are examples of a "third end effector" and a "third memory" in the claims, respectively.

[0086] When an instrument 204 is attached to the robot arm 50 operated by the operation unit 110R, the first control device 310 acquires tool information of the instrument 204 from the memory 204b. The first control device 310 determines whether to assign the coagulation pedal 126R and the cutting pedal 125R to the instrument 204 based on the acquired tool information. If the instrument 204 is an electrosurgical instrument, the first control device 310 assigns the coagulation pedal 126R and the cutting pedal 125R to the instrument 204 attached to the robot arm 50 operated by the operation unit 110R. Furthermore, when an instrument 205 is attached to the robot arm 50 operated by the operation unit 110L, the first control device 310 acquires tool information of the instrument 205 from the memory 205b. The first control device 310 determines whether to assign the coagulation pedal 126L and the cutting pedal 125L to the instrument 205 based on the acquired tool information. When the instrument 205 is an electrosurgical instrument, the first control device 310 assigns the coagulation pedal 126L and the cutting pedal 125L to the instrument 205 attached to the robot arm 50 operated by the operation unit 110L.

[0087] In the third embodiment, third control device 300 is configured to send an ON signal to electrosurgical unit 220 while coagulation pedal 126R or cut pedal 125R is operated. While receiving the ON signal, electrosurgical unit 220 supplies electrical energy for coagulation or cutting to instruments 204. Third control device 300 is configured to stop sending the ON signal to electrosurgical unit 220 in response to release of operation of coagulation pedal 126R or cut pedal 125R. When reception of the ON signal stops, electrosurgical unit 220 stops supplying electrical energy for coagulation or cutting to instruments 204. Similarly, third control device 300 is configured to send an ON signal to electrosurgical unit 220 while coagulation pedal 126L or cut pedal 125L is operated. While receiving the ON signal, electrosurgical unit 220 supplies electrical energy for coagulation or cutting to instruments 204. Third control device 300 is configured to stop sending the ON signal to electrosurgical unit 220 in response to release of coagulation pedal 126L or cut pedal 125L. When electrosurgical unit 220 stops receiving the ON signal, it stops supplying electrical energy for coagulation or electrical energy for cutting to instrument 205. This allows robotic surgical system 500b and Electrosurgical Unit 220 and of Between Electrical energy is supplied to end effectors 204a and 205a from electrosurgical unit 220 via supply lines L2 and L3 without the need for equipment information exchange. Between Electrosurgical unit 220 unable to exchange device information but Even when placed, instruments 204 and 205 Electric energy of supply It is possible.

[0088] Next, a case where instrument 201 is attached to robot arm 50 instead of instrument 204 will be described. In the third embodiment, when instrument 201 is attached to robot arm 50, first control device 310 acquires tool information of instrument 201 from memory 201b. Then, first control device 310 determines whether to assign coagulation pedal 126R and cutting pedal 125R to instrument 201 based on the acquired tool information. When instrument 201 is an electrosurgical instrument, first control device 310 assigns coagulation pedal 126R and cutting pedal 125R to instrument 201 attached to robot arm 50 operated by operation unit 110R. Third control device 300 is configured to send an ON signal to switch element SW1a or switch element SW1b while coagulation pedal 126R or cutting pedal 125R is being operated. Switch element SW1a or switch element SW1b is configured to turn on coagulation supply line L1 or cutting supply line L1 while receiving an ON signal from third control device 300. As a result, even if instrument 204 is replaced with instrument 201, switch element SW1 turns on supply line L1 while coagulation pedal 126R or cutting pedal 125R is being operated, so that electrical energy is supplied to end effector 201a from electrosurgical unit 210 via supply line L1 even if robotic surgical system 500b does not exchange device information with electrosurgical unit 210. For this reason, electrosurgical unit 210, which cannot exchange device information with robotic surgical system 500b, can be used without the need for an ON signal. but Even when placed, Instrument 201 Electric energy of supply It is possible.

[0089] Unlike the first and second embodiments, the wiring L2b and the wiring L3b are not provided, and therefore the relay connector C2 and the relay connector C3 are not provided either.

[0090] [Fourth embodiment] The configuration of a robotic surgery system 500c according to the fourth embodiment will be described.

[0091] As shown in FIG. 19 , robotic surgery system 500c is provided with one electrosurgical unit 230, unlike the third embodiment in which two electrosurgical units 210 and 220 are provided. Electrosurgical unit 230 includes connectors 230a, 230b, and 230c, and wires L1a, L2a, and L3a are connected to connectors 230a, 230b, and 230c, respectively. First control device 310, second control device 350, and third control device 300 of robotic surgery system 500c cannot receive device information of electrosurgical unit 230 from electrosurgical unit 230. Specifically, third control device 300 and electrosurgical unit 230 are connected to each other. , th The control device 300 controls the electrosurgical unit 230 ON signal to of Although transmission is possible It is not possible to receive device information.

[0092] When an instrument 204 is attached to the robot arm 50 operated by the operation unit 110R, the first control device 310 acquires tool information of the instrument 204 from the memory 204b. The first control device 310 determines whether to assign the coagulation pedal 126R and the cutting pedal 125R to the instrument 204 based on the acquired tool information. If the instrument 204 is an electrosurgical instrument, the first control device 310 assigns the coagulation pedal 126R and the cutting pedal 125R to the instrument 204 attached to the robot arm 50 operated by the operation unit 110R. Furthermore, when an instrument 205 is attached to the robot arm 50 operated by the operation unit 110L, the first control device 310 acquires tool information of the instrument 205 from the memory 205b. The first control device 310 determines whether to assign the coagulation pedal 126L and the cutting pedal 125L to the instrument 205 based on the acquired tool information. When the instrument 205 is an electrosurgical instrument, the first control device 310 assigns the coagulation pedal 126L and the cutting pedal 125L to the instrument 205 attached to the robot arm 50 operated by the operation unit 110L.

[0093] In the fourth embodiment, the third control device 300 is configured to send an ON signal to the electrosurgical unit 230 while the coagulation pedal 126R or the cut pedal 125R is operated. The electrosurgical unit 230 then supplies electrical energy for coagulation or cutting to the instruments 204. The third control device 300 is configured to stop sending the ON signal to the electrosurgical unit 230 in response to the release of the operation of the coagulation pedal 126R or the cut pedal 125R. The electrosurgical unit 230 stops supplying electrical energy for coagulation or cutting to the instruments 204 when it stops receiving the ON signal. Similarly, the third control device 300 is configured to send an ON signal to the electrosurgical unit 230 while the coagulation pedal 126L or the cut pedal 125L is operated. The electrosurgical unit 230 then supplies electrical energy for coagulation or cutting to the instruments 204 while it receives the ON signal. Third controller 300 is configured to stop sending the ON signal to electrosurgical unit 230 in response to release of coagulation pedal 126L or cut pedal 125L. When electrosurgical unit 220 stops receiving the ON signal, it stops supplying electrical energy for coagulation or electrical energy for cutting to instrument 205. This allows third controller 300 from Electrosurgical Unit 230 ON Signal send Since this configuration allows electrical energy to be supplied from electrosurgical unit 230 to end effector 204a and end effector 205a without providing switch elements to instruments 204 and 205. Furthermore, since electrosurgical unit 230 is provided in common to instruments 201, 204, and 205, the configuration of robotic surgery system 500c can be kept from becoming complicated, unlike when individual electrosurgical units are provided for instruments 201, 204, and 205.

[0094] Next, a case where instrument 201 is attached to robot arm 50 instead of instrument 204 will be described. In the fourth embodiment, when instrument 201 is attached to robot arm 50, first control device 310 acquires tool information of instrument 201 from memory 201b. Then, first control device 310 determines whether to assign coagulation pedal 126R and cutting pedal 125R to instrument 201 based on the acquired tool information. When instrument 201 is an electrosurgical instrument, first control device 310 assigns coagulation pedal 126R and cutting pedal 125R to instrument 201 attached to robot arm 50 operated by operation unit 110R. Third control device 300 is configured to send an ON signal to switch element SW1a or switch element SW1b while coagulation pedal 126R or cutting pedal 125R is being operated. .So Switch element SW1a or switch element SW1b is configured to turn on the coagulation supply line L1 or the cutting supply line L1 while receiving an ON signal from third control device 300. This causes electrosurgical unit 230 to supply electrical energy for coagulation or cutting to instrument 201. The other configurations of the fourth embodiment are the same as those of the third embodiment.

[0095] [Fifth embodiment] The configuration of a surgery assistance system 500d according to the fifth embodiment will be described.

[0096] As shown in FIG. 20 , unlike the first or second embodiment in which two or one electrosurgical unit is provided for each of the three instruments, surgery assistance system 500d has individual electrosurgical units provided for each of the three instruments. Specifically, electrosurgical unit 210, electrosurgical unit 240, and electrosurgical unit 250 are provided for instruments 201, 202, and 203, respectively. Electrosurgical unit 210 includes connector 210a, and wire L1a is connected to connector 210a. Electrosurgical unit 240 includes connector 240a, and wire L2a is connected to connector 240a. Electrosurgical unit 250 includes connector 250a, and wire L3a is connected to connector 250a. Third control device 300 is not connected to electrosurgical unit 210, electrosurgical unit 240, or electrosurgical unit 250, and signals are not exchanged among them. It should be noted that electrosurgical unit 240 and electrosurgical unit 250 are examples of the "second electrosurgical unit" in the claims. The other configurations of the fifth embodiment are the same as those of the first embodiment.

[0097] [Sixth embodiment] The configuration of a surgery assistance system 500e according to a sixth embodiment will be described.

[0098] As shown in FIG. 21 , unlike the third and fourth embodiments in which two or one electrosurgical unit is provided for each of the three instruments, surgery assistance system 500e has individual electrosurgical units provided for each of the three instruments. Specifically, electrosurgical unit 210, electrosurgical unit 240, and electrosurgical unit 250 are provided for instrument 201, instrument 204, and instrument 205, respectively. Electrosurgical unit 210 includes connector 210a, and wire L1a is connected to connector 210a. Electrosurgical unit 240 includes connector 240a, and wire L2a is connected to connector 240a. Electrosurgical unit 250 includes connector 250a, and wire L3a is connected to connector 250a. Third control device 300 and electrosurgical unit 210 are not connected, and no signals are exchanged between them. On the other hand, third control device 300 is connected to electrosurgical unit 240 and electrosurgical unit 250. 、 Third controller 300 controls electrosurgical unit 240 and electrosurgical unit 250 ON signal to of Although transmission is possible It is not possible to receive device information. The other configurations of the sixth embodiment are the same as those of the third embodiment.

[0099] [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 description of the above embodiments, and includes all modifications and variations within the meaning and scope of the claims.

[0100] In the first to sixth embodiments, the first control device 310 and the third control device 300 are separate control devices, but the present invention is not limited to this. For example, the first control device 310 and the third control device 300 may be configured as a single control device.

[0101] In the first to sixth embodiments, examples have been shown in which one or three of the three instruments (201, 202, 203) are provided with switch elements, but the present invention is not limited to this. For example, two of the three instruments may be provided with switch elements, and one may not be provided with a switch element.

[0102] In the first to sixth embodiments, the first wiring L1 (L2, L3) is provided with the relay connector C1 (C2, C3), but the present invention is not limited to this. For example, the first wiring may not be provided with the relay connector.

[0103] In the first to sixth embodiments, three types of instruments (instruments 201, 202, and 203, or instruments 201, 204, and 205) are provided to be attached to the robot arm 50. However, the present invention is not limited to this. For example, four or more types of instruments may be provided to be attached to the robot arm 50. In this case, the third control device 300 from ON signal of send The instruments to which electrical energy is supplied from the electrosurgical unit where the operation is performed are not provided with a switch element. from ON signal of send An instrument that is supplied with electrical energy from an electrosurgical unit that is not subject to this is provided with a switching element.

[0104] Furthermore, in the first to sixth embodiments, an example in which four robot arms 50 are provided is shown, but the present invention is not limited to this. In the present invention, the number of robot arms 50 may be any other number as long as there is at least one or more.

[0105] In the first to sixth embodiments, the arm unit 51 and the positioner 30 are configured as a seven-axis articulated robot, but the present invention is not limited to this. For example, the arm unit 51 and the positioner 30 may be configured as an articulated robot with an axis configuration other than a seven-axis articulated robot. An example of an articulated robot with an axis configuration other than a seven-axis articulated robot is a six-axis or eight-axis robot.

[0106] Furthermore, in the first to fifth embodiments, an example has been shown in which the surgical support robot 100 includes the medical cart 10, the positioner 30, and the arm base 40, but the present invention is not limited to this. For example, the positioner 30 and the arm base 40 are not necessarily required, and the surgical support robot 100 may be composed of only the medical cart 10 and the robot arm 50. In this case, four surgical support robots 100 can be used. [Explanation of symbols]

[0107] 50a: robot arm (second robot arm), 50b: robot arm (second robot arm), 50d: robot arm (first robot arm), 110L: operation unit (second operation unit), 110R: operation unit (first operation unit), 125L: cutting pedal (second cutting pedal, second input unit), 125R: cutting pedal (first cutting pedal, first input unit), 126L: coagulation pedal (second coagulation pedal, second input unit), 126R: coagulation pedal (first coagulation pedal, first input unit), 200: remote operation device, 201: interface Instrument (first electrosurgical instrument), 201a: end effector (first end effector), 201b: memory (first memory), 202: instrument (second electrosurgical instrument), 202a: end effector (second end effector), 202b: memory (second memory), 203: instrument (second electrosurgical instrument), 203a: end effector (second end effector), 203b: memory (second memory), 204: instrument (second electrosurgical instrument), 204a: end effector (second end effector), 204b: memory (second memory), 205: instrument (third electrosurgical instrument), 205a: end effector (third end effector), 205b: memory (third memory), 210: electrosurgical unit (first electrosurgical unit), 230: electrosurgical unit (first electrosurgical unit), 220: electrosurgical unit (second electrosurgical unit), 240: electrosurgical unit (second electrosurgical unit), 250: electrosurgical unit (second electrosurgical unit), 300: 3 control device (control device), 310: first control device (control device), 500: robotic surgery system, 500a to 500e: robotic surgery system, C1: relay connector, L1: supply line (first supply line), L1a: wiring (first wiring), L1b: wiring (second wiring), L2: supply line (second supply line), L3: supply line (second supply line), SW1: switch element (switch element, first switch element), SW2: switch element (second switch element), SW3: switch element (second switch element)

Claims

1. 1. A robotic surgery system, comprising: a first electrosurgical instrument including a first end effector, a first memory storing first tool information, and a first switch element; a first robot arm to which the first electrosurgical instrument is detachably attached; a first electrosurgical unit that supplies first electrical energy to the first electrosurgical instrument; a first input unit; a control device; the first switch element is configured to turn on / off a first supply line that supplies the first electrical energy to the first end effector; the control device is configured to acquire the first tool information from the first memory when the first electrosurgical instrument is attached to the first robot arm, and to send a signal to the first switch element while the first input unit is operated; The robotic surgical system, wherein the first switch element is configured to turn on the first supply line while receiving a signal from the controller.

2. 2. The robotic surgical system of claim 1, wherein the first electrosurgical instrument and the first electrosurgical unit are connected by a first wire, and the first electrosurgical instrument and the control device are connected via a second wire.

3. The robotic surgical system of claim 2, wherein the first wiring includes a relay connector between the first electrosurgical instrument and the first electrosurgical unit, and the second wiring connects the first electrosurgical instrument and the control device via the relay connector.

4. a second electrosurgical instrument including a second end effector, a second memory storing second tool information, and a second switch element; a second robotic arm to which the second electrosurgical instrument is detachably attached; a second electrosurgical unit for supplying second electrical energy to the second electrosurgical instrument; a second input unit, the second switch element is configured to turn on / off a second supply line that supplies the second electric energy to the second end effector; the control device is configured to acquire the second tool information from the second memory when the second electrosurgical instrument is attached to the second robot arm, and to send a signal to the second switch element while the second input unit is operated; The robotic surgical system of claim 1 , wherein the second switch element is configured to turn on the second supply line while receiving a signal from the controller.

5. 5. The robotic surgery system of claim 4, comprising a remote control device including a first operation unit that operates the first robot arm, a second operation unit that operates the second robot arm, and the first input unit and the second input unit.

6. The robotic surgical system of claim 5 , wherein the first input includes a first coagulation pedal and a first cutting pedal, and the second input includes a second coagulation pedal and a second cutting pedal.

7. 6. The robotic surgery system of claim 5, wherein the control device is configured to assign the first input unit to the first electrosurgical instrument attached to the first robot arm operated by the first operating unit, and to assign the second input unit to the second electrosurgical instrument attached to the second robot arm operated by the second operating unit.

8. a second electrosurgical instrument including a second end effector, a second memory storing second tool information, and a second switch element; a second robotic arm to which the second electrosurgical instrument is detachably attached; a second input unit, the first electrosurgical unit is configured to supply second electrical energy to the second electrosurgical instrument; the second switch element is configured to turn on / off a second supply line that supplies the second electric energy to the second end effector; the control device is configured to acquire the second tool information from the second memory when the second electrosurgical instrument is attached to the second robot arm, and to send a signal to the second switch element while the second input unit is operated; The robotic surgical system of claim 1 , wherein the second switch element is configured to turn on the second supply line while receiving a signal from the controller.

9. a second electrosurgical instrument having a second end effector and a second memory storing second tool information; a second robotic arm to which the second electrosurgical instrument is detachably attached; a second input unit, the control device is configured to retrieve the second tool information from the second memory when the second electrosurgical instrument is attached to the second robotic arm, and to transmit a signal to the first electrosurgical unit while the second input section is operated; The robotic surgical system of claim 1 , wherein the first electrosurgical unit is configured to supply electrical energy to the second end effector of the second electrosurgical instrument while receiving the signal.

10. a second electrosurgical instrument having a second end effector and a second memory storing second tool information; a second robotic arm to which the second electrosurgical instrument is detachably attached; a second electrosurgical unit for supplying second electrical energy to the second electrosurgical instrument; a second input unit, the control device is configured to retrieve the second tool information from the second memory when the second electrosurgical instrument is attached to the second robotic arm, and to transmit a signal to the second electrosurgical unit while the second input section is operated; The robotic surgical system of claim 1 , wherein the second electrosurgical unit is configured to supply electrical energy to the second end effector of the second electrosurgical instrument while receiving the signal.

11. 1. A robotic surgery system, comprising: a first electrosurgical unit configured to supply first electrical energy to a first electrosurgical instrument including a first end effector, a first memory having first tool information stored therein, and a switching element; a first robot arm to which a second electrosurgical instrument is detachably attached, the second electrosurgical instrument including a second end effector and a second memory storing second tool information; a second robot arm to which a third electrosurgical instrument is detachably attached, the third electrosurgical instrument including a third end effector and a third memory storing third tool information; a second electrosurgical unit that supplies a second electrical energy to the second electrosurgical instrument and a third electrical energy to the third electrosurgical instrument; a first input unit and a second input unit; a control device; the controller is configured to transmit a first signal to the second electrosurgical unit while the first input is operated and to transmit a second signal to the second electrosurgical unit while the second input is operated; the second electrosurgical unit is configured to supply the second electrical energy to the second end effector of the second electrosurgical instrument while receiving the first signal, and to supply the third electrical energy to the third end effector of the third electrosurgical instrument while receiving the second signal; the control device is configured to, when the first electrosurgical instrument is attached to the first robot arm instead of the second electrosurgical instrument, acquire the first tool information from the first memory, and transmit a third signal to the switch element while the first input unit is being operated; The switch element is configured to turn on / off a supply line that supplies the first electrical energy to the first end effector, and is configured to turn on the supply line while receiving the third signal.

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