Robot system and robot control method

Abstract

The present invention provides a robotic system and a robot control method that can automate the transfer of surgical instruments to the cleaning process. [Solution] The robot system 1 includes a robot 3 and a fixing device 13 for transferring surgical instruments 7 to a washing container 9, and a higher-level control device 19 and a robot controller 21 for controlling the robot 3 and the fixing device 13. The higher-level control device 19 has a first control unit 47 that controls the robot 3 so that it places the surgical instruments 7 in a washable state into the washing container 9.

Description

Technical Field

[0001] The disclosed embodiments relate to a robot system and a method for controlling a robot.

Background Art

[0002] Medical surgical instruments are repeatedly cleaned and sterilized and then reused (see, for example, Patent Document 1). Conventionally, the transfer of surgical instruments to the cleaning process has been performed manually.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] There has been a demand for automating the transfer of surgical instruments to the cleaning process.

[0005] The disclosed embodiments have been made in view of such problems, and an object thereof is to provide a robot system and a method for controlling a robot that can automate the transfer of surgical instruments to the cleaning process.

Means for Solving the Problems

[0006] To solve the above problems, according to one aspect of the present invention, there is provided a robot system including a robot that transfers a surgical instrument to a cleaning container and a controller that controls the robot, the controller having a first control unit that controls the robot so as to place the surgical instrument in a state where it can be cleaned on the cleaning container.

[0007] Furthermore, according to another aspect of the present invention, a robot control method for transferring surgical instruments to a washing container is applied, which includes controlling the robot to place the surgical instruments in the washing container in a washable state. [Effects of the Invention]

[0008] According to the embodiments of the disclosure, the transfer of surgical instruments to the cleaning process can be automated. [Brief explanation of the drawing]

[0009] [Figure 1] This diagram shows an example of the overall configuration of a robot system according to the embodiment. [Figure 2] This is a plan view showing an example of a surgical instrument with a movable part in both a closed and open state. [Figure 3] This is a view from the direction of arrow III in Figure 2, illustrating an example of the locked and unlocked states of a locking mechanism on a surgical instrument. [Figure 4] This is a perspective view showing an example of the configuration of a fixing device. [Figure 5] This is an explanatory diagram illustrating an example of the opening operation of surgical instruments as viewed from above, using a robot and a fixation device. [Figure 6] This is an explanatory diagram illustrating an example of the release operation of surgical instruments as viewed from the side, using a robot and a fixation device. [Figure 7] This is a block diagram illustrating an example of the functional configuration of a higher-level control device and a robot controller. [Figure 8] This flowchart shows an example of a processing procedure executed by a higher-level control unit. [Figure 9] This flowchart shows an example of a processing procedure executed by a higher-level control unit. [Figure 10] This is a block diagram showing an example of the hardware configuration of a higher-level control unit. [Modes for carrying out the invention]

[0010] The embodiments will be described below with reference to the drawings. In the embodiments, directions such as up, down, left, right, front, and back may be used as appropriate for the convenience of describing the configuration of the robot system, etc., but this does not limit the orientation or position of each component.

[0011] <1. Overall configuration of the robot system> Referring to Figure 1, an example of the overall configuration of the robot system 1 according to this embodiment will be described. Figure 1 is a diagram showing an example of the overall configuration of the robot system 1 according to this embodiment.

[0012] As shown in Figure 1, the robot system 1 is a system in which robot 3 transfers surgical instruments 7 contained in a transport container 5 to a washing container 9. The robot system 1 includes robot 3, transport container 5, washing container 9, force sensor 11, fixing device 13, container camera 15, robot camera 17, higher control device 19, and robot controller 21.

[0013] The loading container 5 contains used or unused surgical instruments 7. The loading container 5 is loaded into the robot system 1 with the used or unused surgical instruments 7 inside, and unloaded from the robot system 1 when empty. Loading and unloading of the loading container 5 may be done by an operator, by a conveying device such as a conveyor, or by robot 3 or other robots. The state in which the surgical instruments 7 are contained in the loading container 5 is, for example, a haphazardly stacked state. However, they may also be contained in an arranged state. The type of loading container 5 is not particularly limited, but for example, it is a shallow tray with the bottom edge surrounded by a wall. The material of the loading container 5 is not particularly limited, but for example, it is metal, resin, etc. The loading container 5 is located near the robot 3 (for example, to the left front).

[0014] The surgical instrument 7 includes various instruments used in surgery. The surgical instrument 7 includes surgical instruments having movable parts, such as forceps, scissors, needle holders, retractors, etc., and surgical instruments not having movable parts, such as scalpels, hooks, tweezers, various containers, sheets, etc. In an embodiment, the surgical instrument 7 having a movable part is appropriately described as the surgical instrument 7A, and the surgical instrument 7 not having a movable part is described as the surgical instrument 7B. In the embodiment, the case of transferring the used surgical instrument 7 to the cleaning container 9 will be described, but it may also be transferred to the cleaning container 9 to clean the surgical instrument 7 before use.

[0015] The surgical instrument 7 transferred from the carrying-in container 5 is placed in the cleaning container 9. The placement state of the surgical instrument 7 in the cleaning container 9 is, for example, a state in which each instrument is aligned at a predetermined interval. Note that it may be placed in a state where at least a part of them is overlapped. The cleaning container 9 is carried into the robot system 1 in an empty state, and when it is filled with the surgical instrument 7 transferred from the carrying-in container 5 (a state in which a predetermined amount of surgical instruments 7 are placed), it is carried out from the robot system 1 and transferred to a cleaning process (not shown). The cleaning container 9 is carried into, for example, an automatic washing machine together with the container in the cleaning process, and the accommodated surgical instrument 7 is washed. The carrying-in and carrying-out of the cleaning container 9 may be performed by an operator, may be performed by a conveying device such as a conveyor, or may be performed by the robot 3 or other robots. When the surgical instruments 7 in one carrying-in container 5 cannot be accommodated in one cleaning container 9, they may be transferred separately to a plurality of cleaning containers 9. Alternatively, the surgical instruments 7 in a plurality of carrying-in containers 5 may be aggregated and transferred to one cleaning container 9. The type of the cleaning container 9 is not particularly limited, but for example, it is a shallow tray whose bottom edge is surrounded by a wall portion. The cleaning container 9 is configured such that, for example, the bottom and the wall are in a net shape so that the accommodated surgical instruments can be efficiently cleaned. Note that a plurality of holes may be formed in the plate-shaped bottom and wall. The material of the cleaning container 9 is not particularly limited, but for example, it is metal, resin, etc. The cleaning container 9 is arranged near the robot 3 (for example, in the front right).

[0016] Robot 3 (an example of the first robot) transfers surgical instruments 7 contained in the transport container 5 to the washing container 9. At this time, robot 3 transfers surgical instruments 7B directly to the washing container 9, but transfers surgical instruments 7A to the washing container 9 after preparing them for washing (details will be described later). Robot 3 is equipped with, for example, a vertical articulated arm 3a with six joints and an end effector capable of holding the surgical instruments 7. In this embodiment, a hand 23 for holding the surgical instruments 7 is provided as the end effector. The hand 23 is a so-called gripper-type hand, and grasps the surgical instruments 7 with two claws 23a and 23b that are at different distances from each other. Note that robot 3 may be a vertical articulated robot with axes other than 6 (for example, 5 axes or 7 axes), or a horizontal articulated robot. In addition to a general-purpose robot, robot 3 may be a dedicated work machine designed specifically for transfer work, such as a gantry mechanism or other actuators that can move in the XYZθ directions. Robot 3 is positioned at an intermediate location between the loading container 5 and the washing container 9, for example, between the loading container 5 and the washing container 9 in the left-right direction, and behind both the loading container 5 and the washing container 9.

[0017] The force sensor 11 is installed between the tip of the arm 3a of the robot 3 and the hand 23. The force sensor 11 is, for example, a 6-axis force sensor, and detects the force components in the X, Y, and Z axes, as well as the torque components acting around each axis, thereby detecting the external force acting on the hand 23 (the reaction force that the hand 23 receives from the outside). The detection information from the force sensor 11 is transmitted to the higher-level control device 19. Note that the force sensor 11 may be a sensor other than a 6-axis force sensor, as long as it is a sensor capable of detecting the unlocking direction (described later) of the surgical instrument 7A. For example, a sensor capable of detecting force in the vertical direction may also be used.

[0018] The fixing device 13 (an example of a robot and a second robot) is a device that fixes a part of the surgical instrument 7A when the robot 3 makes the surgical instrument 7A in a washable state. The fixing device 13 includes two substantially semi-cylindrical holding members 25L and 25R that are movable in a direction of approaching and separating from each other (for example, the left-right direction). The holding members 25L and 25R are driven by an actuator (not shown) built in the fixing device 13. The fixing device 13 is disposed at an intermediate position between the loading container 5 and the cleaning container 9, for example, in front of the robot 3.

[0019] The container camera 15 (an example of a first camera and a third camera) is disposed above or obliquely above the loading container 5. The container camera 15 images the loading container 5 and the surgical instrument 7 (an example of a surgical instrument before transfer) housed in the loading container 5. The image captured by the container camera 15 is transmitted to the upper control device 19. The container camera 15 may be a 2D camera or a 3D camera, but a 3D camera capable of acquiring information in the depth direction is preferable in order to determine the arrangement state (for example, the degree of overlap, etc.) of the surgical instrument 7 in the loading container 5.

[0020] The robot camera 17 (an example of a first camera, a second camera, and a third camera) is disposed near the tip of the arm 3a of the robot 3 and images the surgical instrument 7 held by the hand 23. When the hand 23 moves above the loading container 5, the robot camera 17 may image the surgical instrument 7 housed in the loading container 5. Also, when the hand 23 moves above the cleaning container 9, the robot camera 17 may image the surgical instrument 7 transferred to the cleaning container 9. The image captured by the robot camera 17 is transmitted to the upper control device 19. The robot camera 17 may be a 2D camera or a 3D camera, but a 3D camera capable of acquiring information in the depth direction is preferable.

[0021] The higher-level control device 19 (an example of a controller) receives detection information from the force sensor 11, images captured by the container camera 15, images captured by the robot camera 17, etc., and performs various processes based on this information. The higher-level control device 19 transmits commands to the robot controller 21 based on the results of the various processes. The higher-level control device 19 also controls the holding members 25L and 25R of the fixing device 13 based on the results of the various processes. The higher-level control device 19 is composed of, for example, a personal computer (PC), a motion controller, a programmable logic controller (PLC), etc. The higher-level control device 19 may be arranged together with the robot 3 or may be arranged separately.

[0022] The robot controller 21 (an example of a controller) controls the robot 3 based on commands from the higher-level control device 19. The robot controller 21 includes a servo amplifier 71 (see Figure 7) and the like that supplies drive power to the robot 3. The robot controller 21 controls the operation of the robot 3 by controlling the drive of multiple motors M1 to M6 (see Figure 7) and the like that provided on the robot 3. The robot controller 21 may be configured as an integrated device with the higher-level control device 19, or as a separate device. The robot controller 21 may be placed together with the robot 3, or placed separately.

[0023] The configuration of the robot system 1 described above is merely an example and is not limited to the above. For example, surgical instruments 7 may be brought in by a conveyor or other transport device, and the robot 3 may pick up the surgical instruments 7 being transported by the transport device. Alternatively, the robot 3 may pick up the surgical instruments 7 to be transported from a group of surgical instruments 7 arranged (unfolded) on a workbench. Alternatively, surgical instruments 7 may be brought in in a washing container 9, and the robot 3 may pick up the surgical instruments 7 contained in the washing container 9, prepare them for washing, and return them to the washing container 9. Furthermore, the configuration may be such that at least one of the container camera 15 and the robot camera 17 is not installed. Alternatively, a camera that images the surgical instruments 7 contained in the washing container 9 may be installed in place of or in addition to at least one of the container camera 15 and the robot camera 17. Furthermore, the arrangement of each instrument may be changed, such as swapping the locations of the transport container 5 and the washing container 9, or swapping the locations of the fixing device 13 and the washing container 9.

[0024] <2. Configuration of surgical instruments with movable parts> Referring to Figures 2 and 3, an example of the configuration of a surgical instrument 7A having a movable part will be described. Figure 2 is a plan view showing an example of the closed and open states of the surgical instrument 7A, and Figure 3 is a view taken from the direction of arrow III in Figure 2, showing an example of the locked and unlocked states of the locking mechanism of the surgical instrument 7A.

[0025] As mentioned above, surgical instrument 7A is a surgical instrument having a movable part, and the degree of overlap between the parts changes depending on the state of the movable part. For example, surgical instrument 7A is a so-called scissor-type surgical instrument in which two parts, one with a handle at one end and the other with a tip, are rotatably connected to each other by an axis between the handle and the tip. The movable part can also be said to be the part that is rotatably connected (the part around the axis). Examples of such surgical instruments 7A include forceps, scissors, needle holders, and retractors.

[0026] Figure 2 shows an example of a surgical instrument 7A. As shown in Figure 2, the surgical instrument 7A (an example of a first surgical instrument) has two parts 27L and 27R. Part 27L has a ring-shaped handle 29L at one end and a tip 31L at the other end. Part 27R has a ring-shaped handle 29R at one end and a tip 31R at the other end. The two parts 27L and 27R are rotatably connected to each other by a shaft 33 between the handles 29L, 29R and the tips 31L, 31R.

[0027] The surgical instrument 7A is equipped with a locking mechanism 35 that restricts the relative rotation of two parts 27L and 27R. The locking mechanism 35 is configured to release the lock (restriction of rotation) when the handle of one of the two handles 29L and 29R of the two parts 27L and 27R is pressed in a predetermined release direction against the handle of the other part. The state shown at the top of Figure 2 is the closed state of the two parts 27L and 27R, and the locking mechanism 35 locks the opening of the parts 27L and 27R. Note that the "closed state" of the surgical instrument 7A is the state in which the tips 31L and 31R are in contact with each other, and "open" means that the two parts 27L and 27R rotate around the shaft 33 so that their respective tips 31L and 31R are separated from the closed state.

[0028] As shown in Figures 2 and 3, part 27L is provided with a locking portion 35L protruding toward part 27R, and part 27R is provided with a locking portion 35R protruding toward part 27L, and these locking portions 35L and 35R constitute the locking mechanism 35. As shown in Figure 3, the locking portion 35L has a plurality of sawtooth-shaped protrusions 37L on one side surface (the surface facing the locking portion 35R when closed), and the locking portion 35R has a plurality of sawtooth-shaped protrusions 37R on the other side surface (the surface facing the locking portion 35L when closed). The protrusions 37L and 37R are configured to allow movement toward the locking portions 35L and 35R while overcoming each other's protrusions when an approaching force in the rotational direction is applied to them, but to restrict (prohibit) movement toward the locking portions 35L and 35R when an away-away force in the rotational direction is applied to them by engaging each other's protrusions.

[0029] As shown in the upper part of Figure 3, when the two parts 27L and 27R are closed, the projections 37L and 37R of the locking mechanism 35 engage with each other, locking the parts 27L and 27R from opening. In this state, the parts 27L and 27R are locked from opening against a biasing force in the opening direction provided by a spring (not shown) near the shaft 33. As shown in the middle part of Figure 3, when an external force is applied to at least one of the two parts 27L and 27R in a direction parallel to the rotation axis of the shaft 33 and in a direction that separates the parts 27L and 27R from each other (arrow AR1 in Figure 3), and the locking parts 35L and 35R are separated by more than the height of the projections 37L and 37R, the lock is released. When the lock is released, as shown in the lower part of Figure 3, the locking parts 35L and 35R are automatically separated by a certain distance due to the biasing force of the spring. This makes it possible to freely open the two parts 27L and 27R.

[0030] When surgical instrument 7A is closed, the degree of overlap between its two parts 27L and 27R is large, reducing the effectiveness of cleaning. Therefore, surgical instrument 7A is made into a cleanable state by the robot 3 and the fixing device 13, and then placed in the cleaning container 9. To make it "cleanable" means to set the movable part of an instrument like surgical instrument 7A, where the degree of overlap between parts 27L and 27R changes depending on the state of the movable part, to a state where the overlap is minimized. An example of the cleanable state of surgical instrument 7A is shown at the bottom of Figure 2. In the example shown in Figure 2, surgical instrument 7A is opened until the angle between the two parts 27L and 27R is a predetermined angle θ. The angle θ may be the maximum angle that is physically limited by the structure of the surgical instrument 7A (e.g., a stopper) so that it cannot be opened beyond that angle. Furthermore, the angle θ may be smaller than the maximum angle (for example, 90 degrees, 60 degrees, 45 degrees, etc.), as long as the degree of overlap between the two parts 27L and 27R is within a range where a sufficient cleaning effect can be obtained. Also, the angle θ may be, for example, the angle immediately after the lock by the locking mechanism 35 is released, that is, the angle when the two parts 27L and 27R are separated by a certain distance by the spring after the lock is released. In this embodiment, if the angle between the two parts 27L and 27R is greater than or equal to angle θ, it is determined that the parts are in a state where they can be cleaned, and if the angle between the two parts 27L and 27R is smaller than angle θ, it is determined that the parts are not in a state where they can be cleaned.

[0031] <3. Configuration of the fixation device, and the release operation of surgical instruments by the robot and the fixation device> Referring to Figures 4 to 6, the configuration of the fixing device 13 and an example of the release operation of the surgical instrument 7A by the robot 3 and the fixing device 13 will be described. Figure 4 is a perspective view showing an example of the configuration of the fixing device 13. Figure 5 is an explanatory diagram showing an example of the release operation of the surgical instrument 7A by the robot 3 and the fixing device 13 as seen from above, and Figure 6 is an explanatory diagram showing an example of the release operation of the surgical instrument 7A by the robot 3 and the fixing device 13 as seen from the side. Note that in Figures 5 and 6, the robot 3 is omitted from the illustration except for the claws 23a and 23b of the hand 23, and the fixing device 13 is omitted from the illustration except for the holding members 25L and 25R, etc.

[0032] As shown in Figure 4, the fixing device 13 includes a base 39, a rail 41, a pair of sliders 43L and 43R, and the aforementioned holding members 25L and 25R. The base 39 is a plate-shaped member with a substantially rectangular shape when viewed from above, and is arranged such that, for example, its longitudinal direction aligns with the left-right direction. The rail 41 is a long, elongated member installed on the upper part of the base 39 and extends along the longitudinal direction of the base 39. The sliders 43L and 43R move along the rail 41 in directions toward and away from each other by a predetermined stroke. The sliders 43L and 43R are driven by actuators (not shown) built into the base 39, for example. The drive source for the actuators is not particularly limited, but may be driven by air, for example. In this case, the higher-level control device 19 may control a control valve (e.g., a solenoid valve, etc.) that controls the air supplied to the actuators. The actuators may also be motors, for example.

[0033] Retaining members 25L and 25R are erected vertically along the upper part of the sliders 43L and 43R. The retaining members 25L and 25R are each formed in a substantially semi-cylindrical shape, and when they are close together or in contact, they form a substantially single cylindrical shape. The outer circumference of the retaining members 25L and 25R is cylindrical, and when the handle 29L or handle 29R of the inserted surgical instrument 7A is fixed, it is fixed in a state that allows it to slide in the rotational direction. The retaining members 25L and 25R may be made of a slippery material, or a coating may be applied to the outer circumference to make them slippery. The retaining members 25L and 25R move along the rail 41 by a predetermined stroke in a direction toward and away from each other when driven by the sliders 43L and 43R. The retaining members 25L and 25R each have substantially plate-shaped support parts 45L and 45R in the middle of their vertical direction. The support portions 45L and 45R each protrude horizontally (in at least one of the left-right and front-back directions) from the outer circumference of the retaining members 25L and 25R.

[0034] As shown in Figure 4, the robot 3 grasps the handle 29L of part 27L (an example of the other part) of surgical instrument 7A with the claws 23a and 23b of the hand 23, and inserts the handle 29R of part 27R (an example of the other part) of surgical instrument 7A into the holding members 25L and 25R of the fixing device 13. The robot 3 may, depending on the orientation and position of the surgical instrument 7A (for example, whether one part is facing upwards or downwards, or whether the tips 31L and 31R are facing left or right), grasp the handle 29R of part 27R of the surgical instrument 7A (an example of the other part) with the claws 23a and 23b of the hand 23, and insert the handle 29L of part 27L of the surgical instrument 7A (an example of one part) into the holding members 25L and 25R of the fixing device 13.

[0035] The upper part of Figure 5 and the upper part of Figure 6 show the state in which the handle 29R of part 27R of the surgical instrument 7A is inserted into the holding members 25L, 25R of the fixing device 13 as described above. At this time, the handle 29R is supported by contacting the support parts 45L, 45R of the holding members 25L, 25R. Next, as shown in the middle part of Figure 5, the fixing device 13 presses the holding members 25L, 25R from the inside, separating them on the inside of the handle 29R, and fixes the position of the handle 29R. Next, as shown in the middle part of Figure 6, the robot 3 releases the lock by the locking mechanism 35 by pressing the handle 29L of the surgical instrument 7A downward (an example of a predetermined release direction) relative to the handle 29R with the claw parts 23a, 23b of the hand 23. In this case, the robot 3 moves the hand 23 in both upward and downward directions while gripping the handle 29L, and the higher control device 19 determines the release direction based on the detection result of the force sensor 11. In the example shown in Figure 6, the reaction force on the hand 23 is smaller when moved downward than when moved upward, so the higher control device 19 determines that downward is the release direction. Also, since the handle 29R does not move downward because it is in contact with the support parts 45L and 45R of the holding members 25L and 25R, the projections 37L and 37R of the locking mechanism 35 can be reliably separated in the vertical direction.

[0036] Next, as shown in the lower part of Figure 5 and the lower part of Figure 6, the robot 3 uses the claw portions 23a and 23b of the hand 23 to move the handle 29L of the surgical instrument 7A away from the handle 29R. At this time, as shown in Figure 5, the handle 29R slides in the rotational direction (arrow AR2 in Figure 5) relative to the outer circumference of the holding members 25L and 25R. This allows the robot 3 to release the surgical instrument 7A while moving the handle 29L linearly relative to the handle 29R (arrow AR3 in Figure 5). The holding members 25L and 25R of the fixing device 13 may be fixed so that the handle 29R does not slide. In that case, the robot 3 only needs to move the hand 23 along the rotational direction around the shaft portion 33 of the surgical instrument 7A.

[0037] <4. Functional configuration of the higher-level control unit and robot controller> Referring to Figure 7, an example of the functional configuration of the higher-level control device 19 and the robot controller 21 will be described. Figure 7 is a block diagram showing an example of the functional configuration of the higher-level control device 19 and the robot controller 21.

[0038] As shown in Figure 7, the higher-level control device 19 includes a first control unit 47, a first discrimination unit 49, a second discrimination unit 51, a second control unit 53, an aggregation unit 55, a third discrimination unit 57, a determination unit 59, a fourth discrimination unit 61, a third control unit 63, a fifth discrimination unit 65, and a fourth control unit 67.

[0039] The first control unit 47 controls the robot 3 to prepare the surgical instrument 7A for cleaning and place it in the cleaning container 9. The first control unit 47 also controls the robot 3 to rotate the two parts 27L and 27R relative to each other so that the respective tip ends 31L and 31R of the two parts 27L and 27R are separated, and then place the surgical instrument 7A in the cleaning container 9. The first control unit 47 also controls the robot 3 to fix the position of the handle 29R of one of the two parts 27R (or the handle 29L of part 27L), and move the handle 29L of the other part 27L (or the handle 29R of part 27R) relative to the handle 29R of the one part 27R (or the handle 29L of part 27L). Furthermore, the first control unit 47 releases the rotation restriction by the locking mechanism 35 and controls the robot 3 to move the handle 29L of the other part 27L (or the handle 29R of part 27R) relative to the handle 29R of one part 27R (or the handle 29L of part 27L). The first control unit 47 also controls the fixing device 13 to fix the handle 29R of one part 27R (or the handle 29L of part 27L) in a state where it can slide in the rotational direction. Furthermore, the first control unit 47 controls the fixing device 13 to move the two holding members 25L and 25R apart inside the handle 29R of one of the parts 27R of the surgical instrument 7A (or the handle 29R of part 27L) to fix the position of the handle 29R (or the handle 29R of part 27L), and controls the robot 3 to move the handle 29L of the other part 27L (or the handle 29R of part 27R) relative to the handle 29R of the one part 27R (or the handle 29L of part 27L).

[0040] The first discrimination unit 49 determines the direction in which the locking mechanism 35 of the surgical instrument 7A is released, based on the detection result of the force sensor 11 when the robot 3's hand 23 is operated while gripping the handle 29L of part 27L (or the handle 29R of part 27R) of the surgical instrument 7A. For example, the first discrimination unit 49 operates the robot 3's hand 23 in both upward and downward directions while gripping the handle 29L (or handle 29R), and determines that the direction in which the detected external force is smaller is the release direction.

[0041] The second discrimination unit 51 determines the degree of contamination of the used surgical instrument 7 based on the imaging results of at least one of the container camera 15 and the robot camera 17. The second control unit 53 controls the robot 3 so that the destination of the surgical instrument 7 is changed based on the degree of contamination determined by the second discrimination unit 51. For example, if there are multiple cleaning containers corresponding to each of the cleaning processes with different cleaning effects, the second control unit 53 may control the robot 3 to transfer the surgical instrument 7 to the cleaning container for the cleaning process with a high cleaning effect if the degree of contamination is high, and to the cleaning container for the cleaning process with a low cleaning effect if the degree of contamination is low. As an example, the second control unit 53 may control the robot 3 to transfer the surgical instrument 7 to the cleaning container 9 if the degree of contamination is low, and to a separate manual cleaning container (not shown) from the cleaning container 9 if the degree of contamination is high. The manual cleaning container is a container to which the surgical instrument 7 is transferred for a manual cleaning process, and manual cleaning is performed on the contained surgical instrument 7.

[0042] The aggregation unit 55 identifies the types of surgical instruments 7 transferred to the washing containers 9, etc. (including hand-washing containers, etc.) based on the imaging results of the robot camera 17, counts the quantities, and aggregates the types and quantities of surgical instruments 7 that have been transferred. At this time, the aggregation unit 55 may record the aggregated types and quantities of surgical instruments 7 in association with the identification information of the source container 5 and the identification information of the destination washing containers 9, etc. This makes it possible to track and manage the transfer process of surgical instruments 7, even when, for example, the surgical instruments 7 from one container 5 are divided and transferred into multiple washing containers 9, etc., or when the surgical instruments 7 from multiple containers 5 are consolidated into one washing container 9, etc., and transferred. The aggregation unit 55 may count only the quantity without identifying the types of surgical instruments 7.

[0043] The third discrimination unit 57 determines the type and quantity of surgical instruments 7 contained in the transport container 5 based on the imaging results of the container camera 15, and counts them to determine the type and quantity of surgical instruments 7 before transport. At this time, the third discrimination unit 57 may record the determined type and quantity of surgical instruments 7 in association with the identification information of the transport container 5 from which the instruments were transported. The determination unit 59 determines whether the type and quantity of surgical instruments 7 determined by the third discrimination unit 57 matches the type and quantity of surgical instruments 7 tallied by the tallying unit 55. At this time, the determination unit 59 may make the determination by comparing information (type and quantity of surgical instruments 7) that match the identification information of the transport container 5.

[0044] The fourth discrimination unit 61 determines the type of surgical instrument 7 held by the hand 23 of the robot 3 based on the imaging results of the robot camera 17. The third control unit 63 controls the robot 3 so that the transport operation is changed based on the type of surgical instrument 7 determined by the fourth discrimination unit 61. For example, if the surgical instrument 7 held by the hand 23 is a surgical instrument 7A with a movable part, the third control unit 63 controls the robot 3 to release it with the fixing device 13 and then transport it to the washing container 9. If the surgical instrument 7B does not have a movable part, the third control unit 63 controls the robot 3 to transport it directly to the washing container 9 without going through the fixing device 13.

[0045] The fifth discrimination unit 65 determines the arrangement of the surgical instruments 7 before transport, that is, the state in which the surgical instruments 7 are contained in the transport container 5, based on the imaging results of the container camera 15. For example, the fifth discrimination unit 65 may determine whether the arrangement allows any of the surgical instruments 7 to be picked up (e.g., grasped, lifted, etc.) by the hand 23. The fourth control unit 67 controls the robot 3 to perform pre-processing before transport based on the arrangement of the surgical instruments 7 determined by the fifth discrimination unit 65. For example, if the surgical instruments 7 are overlapping or caught on each other and cannot be picked up, the fourth control unit 67 may perform pre-processing such as vibrating the transport container 5 with the hand 23 or stirring the contents of the transport container 5. This separates the overlapping surgical instruments 7, making it possible to pick them up.

[0046] As shown in Figure 7, the robot controller 21 includes a motion control unit 69 and a servo amplifier 71. Based on the position command received from the higher-level control device 19, the motion control unit 69 calculates the target rotation angles of each motor M1 to M6 of the robot 3 necessary to move the end-effector position (position of the hand 23) of the robot arm 3a to the position indicated by the position command, and outputs a motor position command corresponding to each motor M1 to M6 based on the target rotation angles and the detected values ​​of each encoder E1 to E6 of each motor M1 to M6.

[0047] The servo amplifier 71 controls the drive power supplied to each motor M1 to M6 based on the motor position command input from the motion control unit 69, thereby controlling the movement of the robot 3.

[0048] The processing performed by the first control unit 47, first discrimination unit 49, second discrimination unit 51, second control unit 53, aggregation unit 55, third discrimination unit 57, determination unit 59, fourth discrimination unit 61, third control unit 63, fifth discrimination unit 65, fourth control unit 67, etc., of the above-mentioned higher-level control device 19 is not limited to these examples of processing division. For example, processing may be performed by even fewer processing units (e.g., one processing unit), or by even more subdivided processing units. Furthermore, the functions of each of the above-mentioned processing units do not necessarily have to be executed by the higher-level control device 19; some or all of these functions may be executed by the robot controller 21. If all of the functions of each of the above-mentioned processing units of the higher-level control device 19 are executed by the robot controller 21, the higher-level control device 19 may be omitted. The functions of each of the above-mentioned processing units of the higher-level control device 19 may be implemented by a program executed by the CPU 901 (see Figure 10), which will be described later, or some or all of these functions may be implemented by actual devices such as ASICs, FPGAs, or other electrical circuits.

[0049] <5. Processing Procedure of the Higher-Level Control Unit> Referring to Figures 8 to 9, an example of a processing procedure (robot control method) executed by the higher-level control device 19 will be described. Note that the flowcharts shown in Figures 8 to 9 represent a processing procedure for one loading container 5, and it is assumed that the loading container 5 containing the surgical instruments 7 has been loaded into the robot system 1 before the start of the flow, and that the empty loading container 5 has been unloaded from the robot system 1 after the end of the flow.

[0050] As shown in Figure 8, in step S5, the higher-level control device 19 acquires an image of the incoming container 5 captured by the container camera 15 and analyzes the image.

[0051] In step S10, the higher-level control device 19 determines whether the incoming container 5 is empty or not based on the image captured by the container camera 15. If it determines that the incoming container 5 is empty (step S10: YES), it proceeds to step S85, which will be described later. On the other hand, if the higher-level control device 19 determines that the incoming container 5 is not empty (step S10: NO), it proceeds to step S15.

[0052] In step S15, the higher-level control device 19 uses the fifth discrimination unit 65 to determine, based on the image captured by the container camera 15, whether the arrangement of the surgical instruments 7 in the transport container 5 allows any of the surgical instruments 7 to be picked up. If the higher-level control device 19 determines that the surgical instruments 7 cannot be picked up (step S15: NO), it proceeds to step S17.

[0053] In step S17, the higher-level control device 19 controls the robot 3 with the fourth control unit 67 to perform pre-processing. As mentioned above, pre-processing may include, for example, vibrating the input container 5 or stirring the contents of the input container 5. After that, the process returns to step S5.

[0054] On the other hand, in step S15, if the higher-level control device 19 determines that the surgical instrument 7 is in a position where it can be picked up (step S15: YES), it proceeds to step S20.

[0055] In step S20, the higher-level control device 19 uses the third discrimination unit 57 to determine and record the type and quantity of surgical instruments 7 contained in the transport container 5 based on the image captured by the container camera 15.

[0056] In step S25, the higher-level control device 19 identifies the surgical instrument 7 to be transported based on the image captured by the container camera 15. At the same time, the gripping position of the surgical instrument 7 is also identified.

[0057] In step S30, the higher-level control device 19 controls the robot 3 with the first control unit 47, and the robot grasps the surgical instrument 7 with the hand 23 and removes it from the transport container 5.

[0058] In step S35, the higher-level control device 19 acquires an image of the surgical instrument 7 grasped by the hand 23, which was captured by the robot camera 17, and analyzes the image.

[0059] In step S40, the higher-level control device 19 uses the second discrimination unit 51 to determine the degree of contamination of the surgical instrument 7 based on the image captured by the robot camera 17, and determines whether the degree of contamination is above a predetermined level. The predetermined level of contamination is the maximum level of contamination that can be sufficiently removed by, for example, an automatic washing machine. If the higher-level control device 19 determines that the degree of contamination is above the predetermined level (step S40: YES), it proceeds to step S43.

[0060] In step S43, the higher-level control device 19 controls the robot 3 with the second control unit 53 to transfer the grasped surgical instrument 7 to a container for manual washing. After that, the process proceeds to step S80, which will be described later.

[0061] On the other hand, if the higher-level control device 19 determines in step S40 that the degree of contamination is not above a certain level (step S40: NO), it proceeds to step S45.

[0062] In step S45, the higher-level control device 19 uses the fourth discrimination unit 61 to determine, based on the image captured by the robot camera 17, whether the grasped surgical instrument 7 is a surgical instrument 7A (so-called scissor type) that has a movable part. If the higher-level control device 19 determines that it is not a surgical instrument 7A (step S45: NO), it proceeds to step S47.

[0063] In step S47, the higher-level control device 19 controls the robot 3 with the third control unit 63 to transfer the grasped surgical instrument 7 to the washing container 9. After that, the process proceeds to step S80, which will be described later.

[0064] On the other hand, if the higher-level control device 19 determines in step S45 that it is a surgical instrument 7A (step S45: YES), the device proceeds to step S50.

[0065] In step S50, the higher-level control device 19 determines whether the grasped surgical instrument 7A is in a washable state. As mentioned above, a washable state is, for example, a state in which the angle between the two parts 27L and 27R of the surgical instrument 7A is open to a predetermined angle θ or more. If the higher-level control device 19 determines that the surgical instrument 7A is in a washable state (step S50: YES), it proceeds to step S47. On the other hand, if the higher-level control device 19 determines that the surgical instrument 7A is not in a washable state (step S50: NO), it proceeds to step S55.

[0066] In step S55, the higher-level control device 19 controls the robot 3 via the first control unit 47 to transfer the grasped surgical instrument 7A to the fixing device 13, and insert the non-grasping handle (handle 29L or handle 29R) into the two holding members 25L and 25R. The higher-level control device 19 also controls the fixing device 13 via the first control unit 47 to separate the holding members 25L and 25R and fix the non-grasping handle.

[0067] In step S60, the higher-level control device 19 controls the robot 3 with the first control unit 47 to press the gripping handle (handle 29L or handle 29R) upward and downward. The higher-level control device 19 also uses the first discrimination unit 49 to determine the release direction of the locking mechanism 35 based on the detection results of the force sensor 11 when the handle is pressed upward and downward.

[0068] In step S65, the higher control device 19 controls the robot 3 with the first control unit 47 and presses the gripping handle (handle 29L or handle 29R) in the release direction to release the lock on the surgical instrument 7A by the locking mechanism 35. The higher control device 19 also controls the robot 3 with the first control unit 47 and moves the gripping handle of the hand 23 away from the non-gripping handle (handle fixed by the fixing device 13) to release the surgical instrument 7A.

[0069] In step S70, the higher-level control device 19 controls the fixing device 13 via the first control unit 47, bringing the holding members 25L and 25R closer together and releasing the fixing of the handle on the non-gripping side.

[0070] In step S75, the higher-level control device 19 controls the robot 3 with the first control unit 47 and transfers the surgical instruments 7A to the washing container 9 in a washable state.

[0071] In step S80, the higher-level control device 19 uses the aggregation unit 55 to aggregate and record the types and quantities of surgical instruments 7 that have been transferred to the washing container 9 or the hand-washing container.

[0072] Moving to Figure 9, in step S85, the higher-level control unit 19 uses the determination unit 59 to determine whether the types and quantities of surgical instruments 7 recorded in step S20 match the types and quantities of surgical instruments 7 totaled in step S80. If the higher-level control unit 19 determines that they match (step S85: YES), it terminates this flowchart. On the other hand, if the higher-level control unit 19 determines that they do not match (step S85: NO), it proceeds to step S90.

[0073] In step S90, the higher-level control device 19 performs predetermined error processing. Error processing includes, for example, recording and reporting the result of a mismatch, outputting alarms or warnings, and stopping the operation of the robot system 1. After that, this flowchart ends.

[0074] The processing procedure described above is merely an example, and at least some of the above procedure may be deleted or modified, or other procedures may be added. The order of at least some of the above procedures may be changed, or multiple procedures may be combined into a single procedure.

[0075] <6. Effects of the Embodiment> As described above, in the robot system 1 of this embodiment, surgical instruments 7 are transferred to a washing container 9 and washed in the washing process. However, depending on the type of surgical instrument 7 and its condition when transferred to the washing container 9, the washing may be insufficient. For this reason, a system that simply transfers the surgical instruments 7 cannot automate the transfer to the washing process. In this embodiment, the robot 3 prepares the surgical instruments 7 for washing and places them in the washing container 9. This enables thorough washing of the surgical instruments 7. Therefore, the transfer of surgical instruments 7 to the washing process can be automated.

[0076] In this embodiment, if the surgical instrument 7 is a surgical instrument 7A in which two parts 27L and 27R are rotatably connected, it may not be possible to clean it sufficiently when it is closed. Therefore, the robot 3 may be controlled to rotate the surgical instrument 7A relatively so that the respective tip portions 31L and 31R of the two parts 27L and 27R are separated, and then place it in the cleaning container 9. In this case, the surgical instrument 7A can be cleaned in an open state, thus improving the cleaning effect.

[0077] In this embodiment, the surgical instrument 7A may be released by fixing the position of one handle 29R (or handle 29L) and moving the other handle 29L (or handle 29R). In this case, the release operation becomes simpler, and the control of the robot 3 becomes easier.

[0078] In this embodiment, if the surgical instrument 7A is equipped with a locking mechanism 35 that restricts opening, the robot 3 may be controlled to release the locking mechanism 35 of the surgical instrument 7A and allow it to open. In this case, the system can also accommodate surgical instruments 7A equipped with a locking mechanism 35. This allows for the automation of transfer to the cleaning process even when the surgical instrument 7A is equipped with a locking mechanism 35. Therefore, the range of compatible surgical instruments can be increased, improving versatility.

[0079] In this embodiment, the locking mechanism 35 of the surgical instrument 7A may be configured to release the restriction on rotation when the handle 29L of part 27L (or the handle 29R of part 27R) is pressed in a predetermined release direction against the handle 29R of part 27R (or the handle 29L of part 27L). In this case, the release direction will differ depending on which of the two handles of the surgical instrument 7A is fixed, or the orientation and posture of the surgical instrument 7A (for example, whether one part is on top or bottom, or whether the tip portions 31L and 31R are facing left or right). Therefore, the release direction may be determined according to the detection result of the force sensor 11 of the robot 3. In this case, the locking mechanism 35 can be released by the robot 3 regardless of which of the two handles of the surgical instrument 7A is fixed, or regardless of the orientation or posture in which the surgical instrument 7A is grasped. Furthermore, even if, for example, the surgical instrument 7A has a different structure for right-handed and left-handed users, the robot 3 can release the locking mechanism 35.

[0080] In this embodiment, when fixing the handle 29R (or handle 29L) of the surgical instrument 7A, it may be fixed so as to be slidable in the rotational direction. In this case, the robot 3 can release the surgical instrument 7A while moving the gripping handle 29L (or handle 29R) linearly relative to the fixed handle 29R (or handle 29L). This further simplifies the release operation and makes it easier to control the robot 3.

[0081] In this embodiment, one handle 29R (or handle 29L) of the surgical instrument 7A may be fixed by a fixing device 13 that moves two holding members 25L and 25R closer together, while the other handle 29L (or handle 29R) may be moved by a robot 3 equipped with a hand 23. By dividing the roles of the robots in this way and giving them functions and configurations according to their roles, the configuration of the robots in the robot system 1 can be optimized.

[0082] In this embodiment, if the surgical instrument 7 is heavily soiled, it may not be possible to clean it sufficiently with the normal cleaning process. Therefore, the degree of soiling of the surgical instrument 7 may be determined, and the robot 3 may be controlled to change the destination of the surgical instrument 7 according to the determination result. In this case, for example, if the soiling is severe, it becomes possible to switch to a manual cleaning process, thereby enabling cleaning according to the degree of soiling of the surgical instrument 7.

[0083] In this embodiment, the types and quantities of surgical instruments 7 transferred to the washing container 9, etc., may be tallied. In this case, the types and quantities of surgical instruments 7 transferred to the washing process (surgical instruments 7 that have been washed) can be managed.

[0084] In this embodiment, it may be determined whether the type and quantity of surgical instruments 7 brought into the robot system 1 match the type and quantity of surgical instruments 7 transferred to the cleaning process (surgical instruments 7 that have been cleaned). In this case, if they do not match, the user can be notified, and corrective measures, cause investigation, and measures to prevent recurrence can be carried out promptly.

[0085] In this embodiment, if the surgical instrument 7 is a surgical instrument 7A having a movable part, it is preferable to open it and then transfer it to the cleaning container 9. However, if the surgical instrument 7 is a surgical instrument 7B that does not have a movable part, the opening operation is unnecessary. Therefore, the robot 3 may be controlled to determine the type of surgical instrument 7 it is holding and change the transfer operation according to the determination result. In this case, appropriate transfer according to the type of surgical instrument 7 becomes possible.

[0086] In this embodiment, depending on the arrangement of the surgical instruments 7 before transport, the robot 3 may not be able to properly pick up one surgical instrument 7. Therefore, the robot 3 may be controlled to determine the arrangement before transport and perform pre-processing before transport according to the determination result. This makes it possible to separate the overlapping surgical instruments 7 by performing pre-processing such as stirring or vibrating, for example, if the surgical instruments 7 are arranged in overlapping positions. In this way, each surgical instrument 7 can be properly transported regardless of its arrangement.

[0087] <7. Variation> The embodiments of the disclosure are not limited to those described above, and various modifications are possible without departing from the spirit and technical idea thereof. Such modifications are described below.

[0088] For example, in the above embodiment, a fixing device 13 is provided separately from the robot 3 to fix the position of one handle of the surgical instrument 7A. However, instead of the fixing device 13, another robot equipped with a hand capable of grasping the handle may be provided, for example, by installing two robots 3. Alternatively, the robot 3 may be a dual-arm robot with two hands capable of grasping the handle, with one hand fixing one handle and the other hand moving the other handle. In other words, the robot system 1 has a hand that moves the handle and a hand that fixes it, assuming that the hand that can restrain the handle of the surgical instrument 7A is the hand, and each hand may be driven by a robot arm, or one of them may be fixed. Furthermore, the hand that moves the handle and the hand that fixes it may be configured integrally as a single hand.

[0089] Furthermore, in the above embodiment, the unlocking direction of the locking mechanism 35 was determined by the detection result of the force sensor 11, but the unlocking direction may also be determined based on an image of the grasped surgical instrument 7A captured by, for example, a robot camera 17. In this case, the force sensor 11 may not be necessary.

[0090] Furthermore, in the above embodiment, the fixing device 13 is configured to separate the holding members 25L and 25R inside the handle on the fixing side of the surgical instrument 7A and press from the inside, but it may also be configured to clamp and press the handle from the outside, for example. Alternatively, the handle 29R may be gripped by two claws, as in the hand 23.

[0091] Furthermore, although this embodiment describes the case in which the robot 3's hand 23 grasps the handles 29L and 29R of the surgical instrument 7A, it may also grasp other parts, such as the handle portion between the handles 29L and 29R and the shaft portion 33.

[0092] <8. Example Hardware Configuration of Higher-Level Control Device> Referring to Figure 10, an example of the hardware configuration of the higher-level control unit 19 will be described.

[0093] As shown in Figure 10, the higher-level control unit 19 includes, for example, a CPU 901, a ROM 903, a RAM 905, a dedicated integrated circuit 907 built for a specific application such as an ASIC or FPGA, an input device 913, an output device 915, a recording device 917, a drive 919, a connection port 921, and a communication device 923. These components are connected to each other via a bus 909 and an input / output interface 911 so that signals can be transmitted between them.

[0094] The program can be stored in a recording device such as a ROM 903, RAM 905, or hard disk 917.

[0095] The program can also be temporarily or permanently recorded on a removable recording medium 925, such as a magnetic disk like a flexible disk, an optical disk like various CDs, MO disks, or DVDs, or a semiconductor memory. Such a recording medium 925 can also be provided as so-called packaged software. In this case, the program recorded on these recording media 925 may be read by the drive 919 and recorded on the recording device 917 via the input / output interface 911 or bus 909, etc.

[0096] The program can also be stored on, for example, a download site, another computer, or another recording device (not shown). In this case, the program is transferred via a network such as a LAN or the Internet, and the communication device 923 receives it. The program received by the communication device 923 may then be recorded on the recording device 917 via the input / output interface 911 or bus 909, etc.

[0097] The program can also be stored, for example, on an appropriate external device 927. In this case, the program may be transferred via an appropriate connection port 921 and recorded on the recording device 917 via an input / output interface 911, bus 909, etc.

[0098] The CPU 901 executes various processes according to the program recorded in the recording device 917, thereby realizing the processing performed by the aforementioned first control unit 47, first discrimination unit 49, second discrimination unit 51, second control unit 53, aggregation unit 55, third discrimination unit 57, determination unit 59, fourth discrimination unit 61, third control unit 63, fifth discrimination unit 65, fourth control unit 67, etc. The CPU 901 may, for example, directly read and execute the program from the recording device 917, or it may load it into RAM 905 first and then execute it. For example, when the CPU 901 receives a program via the communication device 923, drive 919, or connection port 921, it may execute the received program directly without recording it in the recording device 917.

[0099] The CPU 901 may, if necessary, perform various processes based on signals and information input from input devices 913, such as a mouse, keyboard, or microphone (not shown).

[0100] The CPU 901 may output the results of the above processing from an output device 915, such as a display device or an audio output device. The CPU 901 may also transmit the processing results via a communication device 923 or a connection port 921 as needed. The CPU 901 may also record the processing results in the recording device 917 or the recording medium 925.

[0101] In the above explanation, where terms such as "perpendicular," "parallel," and "plane" are used, these terms do not have a strict meaning. These terms "perpendicular," "parallel," and "plane" refer to situations where design and manufacturing tolerances and errors are acceptable, meaning they are "effectively perpendicular," "effectively parallel," and "effectively plane."

[0102] In the above explanation, if there are descriptions such as "identical," "same," "equal," or "different" regarding external dimensions, size, shape, position, etc., these descriptions do not have a strict meaning. These "identical," "same," "equal," and "different" terms mean that tolerances and errors in design and manufacturing are allowed, and that they are "substantially identical," "substantially the same," "substantially equal," or "substantially different."

[0103] In addition to what has already been described above, the methods of the above embodiments and their respective modifications may be used in appropriate combinations. Furthermore, although not exemplified individually, the above embodiments and their respective modifications may be implemented with various modifications, without departing from their intended purpose.

[0104] The problems and effects that the embodiments and modifications described above aim to solve are not limited to those stated above. The embodiments and modifications may solve problems not mentioned above, or produce effects not mentioned above, and may solve only some of the problems described or produce only some of the effects described. [Explanation of Symbols]

[0105] 1. Robot System 3. Robot (An example of the first robot) 5. Incoming containers 7 Surgical instruments 7A Surgical Instruments (An example of a first surgical instrument) 7B Surgical instruments 9. Washing container 11 Force Sensor 13. Fixing device (robot, example of a second robot) 15. Container camera (Example of first and third camera) 17. Robot camera (an example of a first camera, second camera, and third camera) 19. Higher-level control device (an example of a controller) 21. Robot Controller (Example of a Controller) 23 Hand 25L retaining member 25R retaining member 27L parts 27R parts 29L Handle 29R Handle 31L tip 31R tip 33 Shaft section 35 Locking mechanism 47 First Control Unit 49 1st discrimination part 51 2nd discrimination part 53 Second Control Unit 55. Aggregation Department 57 3rd discrimination part 59 Judgment section 61 4th discrimination part 63 Third Control Unit 65 5th discrimination part 67 Fourth Control Unit 69 Motion Control Unit 71 Servo Amplifier

Claims

1. A robot that transfers surgical instruments to a washing container, The robot has a controller, The aforementioned controller, The robot has a first control unit that controls the robot to place the surgical instruments in the cleaning container in a state where they can be cleaned. Robot system.

2. The aforementioned surgical instruments are The first surgical instrument includes two parts, each having a handle at one end and a tip at the other, which are rotatably connected to each other by an axis between the handle and the tip. The first control unit is, The robot is controlled to place the first surgical instrument into the cleaning container after rotating the two parts relative to each other so that the respective tips of the two parts are separated. The robot system according to claim 1.

3. The first control unit is, The robot is controlled to fix the position of the handle of one of the two parts of the first surgical instrument, and to move the handle of the other part relative to the handle of the first part. The robot system according to claim 2.

4. The first surgical instrument is, It is equipped with a locking mechanism that restricts the relative rotation of the two parts, The first control unit is, The robot is controlled to release the restriction on rotation by the locking mechanism and move the handle of the other part relative to the handle of the first part. The robot system according to claim 3.

5. The locking mechanism is The other part is configured such that the restriction on rotation is released when the handle of the other part is pressed in a predetermined release direction relative to the handle of the first part. The aforementioned robot, A hand for gripping the aforementioned handle, The first robot includes a force sensor that detects an external force acting on the hand, The aforementioned controller, The first robot has a first determination unit that determines the release direction based on the detection result of the force sensor when the hand of the first robot is operated while gripping the handle of the other component, The robot system according to claim 4.

6. The handle of the aforementioned one of the parts is It is ring-shaped, The first control unit is, The robot is controlled to fix the handle of one of the aforementioned parts in a state that allows it to slide in the rotational direction. The robot system according to claim 3.

7. The aforementioned robot, A first robot equipped with a hand for gripping the aforementioned handle, A second robot comprising two substantially semi-cylindrical holding members that are movable in directions toward and away from each other, The first control unit is, The second robot is controlled to move the two holding members apart inside the handle of one of the parts and fix the position of the handle. The first robot is controlled to move the handle of the other part relative to the handle of the first part. The robot system according to claim 6.

8. The system further includes a first camera that images at least one of the surgical instruments before transport and the surgical instruments held by the robot, The aforementioned controller, A second discrimination unit determines the degree of soiling of the used surgical instrument based on the imaging results of the first camera, The system includes a second control unit that controls the robot so that the destination of the surgical instrument is changed based on the degree of soiling determined by the second discrimination unit, The robot system according to claim 1.

9. The robot further includes a second camera that images at least one of the surgical instruments held by the robot and the surgical instruments transferred to the cleaning container. The aforementioned controller, Based on the imaging results of the second camera, the system has a counting unit that counts the types and quantities of surgical instruments transferred to the washing container. The robot system according to claim 1.

10. The aforementioned robot, The surgical instruments are transferred from the transport container to the washing container. The system further includes a third camera for imaging the surgical instruments contained in the transport container, The aforementioned controller, A third discrimination unit that determines the type and quantity of surgical instruments contained in the transport container based on the imaging results of the third camera, The system includes a determination unit that determines whether the type and quantity of surgical instruments determined by the third determination unit match the type and quantity of surgical instruments aggregated by the aggregation unit. The robot system according to claim 9.

11. The system further includes a first camera that images at least one of the surgical instruments before transport and the surgical instruments held by the robot, The aforementioned controller, A fourth discrimination unit that determines the type of surgical instrument held by the robot based on the imaging results of the first camera, A third control unit controls the robot so that the transport operation is changed based on the type of surgical instrument determined by the fourth discrimination unit, The robot system according to claim 1.

12. The system further includes a first camera that images at least one of the surgical instruments before transport and the surgical instruments held by the robot, The aforementioned robot controller is A fifth discrimination unit determines the arrangement of the surgical instruments before transfer based on the imaging results of the first camera, A fourth control unit controls the robot to perform pre-processing before transport based on the arrangement state of the surgical instruments determined by the fifth discrimination unit, The robot system according to claim 1.

13. A method for controlling a robot that transfers surgical instruments to a washing container, The robot is controlled to place the surgical instruments in the cleaning container in a state where they can be cleaned. Robot control methods.

Images