Surgical support system, surgical support robot, method for controlling a surgical support system, program and storage medium

Abstract

This surgical assistance system provides a mechanism to prevent operator confusion caused by the robot arm moving in a direction different from the operator's intended direction when the operator moves the robot arm using a control tool. [Solution] The surgical support system 500 includes a pivot button 66 that stores in a storage unit 351 the pivot position PP which serves as the pivot point for the movement of the surgical instrument 1 attached to the robot arm 50, a joystick 62 for operating the movement of the surgical instrument 1 by the robot arm 50, and a first control device 310 that, when the surgical instrument 1 deviates from the pivot position PP stored in the storage unit 351, executes a return process to return the position of the robot arm 50 at a movement speed smaller than the movement speed of the robot arm 50 moved by the operation of the joystick 62 so that the surgical instrument 1 passes through the pivot position PP.

Description

Technical Field

[0001] This disclosure relates to a surgical support system, a surgical support robot, a method for controlling a surgical support system, a program, and a storage medium.

Background Art

[0002] Conventionally, a surgical support system including a robotic arm to which a surgical instrument is attached is known. Patent Document 1 discloses a surgical support system including a robotic arm to which a surgical instrument is attached and including a plurality of joints. Here, due to an influence such as disturbance on the robotic arm, the surgical instrument inserted into the patient may move. The movement of the surgical instrument may have an adverse effect on the patient. Therefore, in Patent Document 1, even when the robotic arm is subjected to disturbance, the joints of the robotic arm are driven so that a predetermined position determined in advance for the surgical instrument or the like is maintained. Thereby, the movement of the surgical instrument inserted into the patient is suppressed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the surgical support system of Patent Document 1, an operating tool for the operator to move the robotic arm is arranged. Here, while the operator is operating the operating tool to move the robotic arm, if the joints of the robotic arm are driven so that a predetermined position determined in advance for the robotic arm or the like is maintained as in Patent Document 1, the joints of the robotic arm may be driven in a direction different from the direction in which the operator intends to move the robotic arm. In this case, there is a problem that the robotic arm moves in a direction different from the direction intended by the operator, and the operator is confused.

[0005] This disclosure provides a surgical assistance system, a surgical assistance robot, a control method for the surgical assistance system, a program, and a storage medium that can prevent operator confusion caused by the robot arm moving in a direction different from the operator's intended direction when the operator moves the robot arm with a control tool. [Means for solving the problem]

[0006] A surgical assistance system according to the first aspect of this disclosure comprises: a robotic arm to which a surgical instrument is attached at its tip; a pivot position setting unit that stores in a memory unit the pivot position which serves as the fulcrum for the movement of the surgical instrument attached to the robotic arm; an operating tool for controlling the movement of the surgical instrument by the robotic arm; and a control device that, when the surgical instrument deviates from the pivot position stored in the memory unit, performs a return process to return the position of the robotic arm at a speed smaller than the speed of movement of the robotic arm moved by the operation of the operating tool so that the surgical instrument passes through the pivot position.

[0007] In the surgical assistance system according to the first aspect of this disclosure, if the surgical instrument deviates from the pivot position stored in the memory unit, the control device performs a return process to return the position of the robot arm at a speed smaller than the speed at which the robot arm moves due to the operation of the control tool, so that the surgical instrument passes through the pivot position. As a result, during the return process, the position of the robot arm is returned at a speed smaller than the speed at which the robot arm moves due to the operation of the control tool. Therefore, the speed at which the robot arm moves in a direction different from the direction intended by the operator is reduced, making it less likely for the operator to perceive the robot arm moving in an unintended direction. Consequently, when the operator moves the robot arm with the control tool, it is possible to suppress confusion caused by the robot arm moving in a direction different from the direction intended by the operator.

[0008] The surgical assistance robot according to the second aspect of this disclosure comprises: a robot arm to which a surgical instrument is attached at its tip; a pivot position setting unit that stores in a memory unit the pivot position which serves as the fulcrum for the movement of the surgical instrument attached to the robot arm; an operating tool for controlling the movement of the surgical instrument by the robot arm; and a control device that, when the surgical instrument deviates from the pivot position stored in the memory unit, performs a return process to return the position of the robot arm at a speed smaller than the speed of movement of the robot arm moved by the operation of the operating tool so that the surgical instrument passes through the pivot position.

[0009] In the surgical assistance robot according to the second aspect of this disclosure, if the surgical instrument deviates from the pivot position stored in the memory unit, the control device performs a return process to return the position of the robot arm at a speed smaller than the speed at which the robot arm moves due to the operation of the control tool, so that the surgical instrument passes through the pivot position. As a result, during the return process, the position of the robot arm is returned at a speed smaller than the speed at which the robot arm moves due to the operation of the control tool. Therefore, the speed at which the robot arm moves in a direction different from the direction intended by the operator is reduced, making it less likely for the operator to perceive the robot arm moving in an unintended direction. Consequently, it is possible to provide a surgical assistance robot that can suppress confusion for the operator caused by the robot arm moving in a direction different from the direction intended by the operator when moving the robot arm with a control tool.

[0010] A control method for a surgical assistance system according to the third aspect of this disclosure includes storing a pivot position in a memory unit, which serves as the pivot point for the movement of a surgical instrument attached to the tip of a robot arm; and, if the surgical instrument deviates from the pivot position stored in the memory unit, returning the position of the robot arm at a speed smaller than the speed of movement of the robot arm, which is moved by operating a control tool for controlling the movement of the surgical instrument by the robot arm, so that the surgical instrument passes through the pivot position.

[0011] The control method for a surgical assistance system according to the third aspect of this disclosure, as described above, includes, when a surgical instrument deviates from the pivot position stored in the memory unit, returning the position of the robot arm at a speed smaller than the speed at which the robot arm moves when operated by a control tool for manipulating the movement of the surgical instrument by the robot arm, so that the surgical instrument passes through the pivot position. As a result, during the return process, the position of the robot arm is returned at a speed smaller than the speed at which the robot arm moves when operated by the control tool. Therefore, the speed at which the robot arm moves in a direction different from the direction intended by the operator is reduced, making it less likely for the operator to perceive the robot arm moving in an unintended direction. Consequently, it is possible to provide a control method for a surgical assistance system that can suppress confusion for the operator caused by the robot arm moving in a direction different from the direction intended by the operator when moving the robot arm with a control tool.

[0012] A program according to the fourth aspect of this disclosure includes storing in a memory the pivot position that serves as the fulcrum for the movement of a surgical instrument attached to the tip of a robot arm, and, if the surgical instrument deviates from the pivot position stored in the memory, returning the position of the robot arm at a speed smaller than the speed at which the robot arm moves by operating a control tool for controlling the movement of the surgical instrument by the robot arm, so that the surgical instrument passes through the pivot position.

[0013] As described above, the program according to the fourth aspect of this disclosure includes, when a surgical instrument deviates from the pivot position stored in the memory, returning the position of the robot arm at a speed smaller than the speed at which the robot arm moves when operated by a control tool for controlling the movement of the surgical instrument by the robot arm, so that the surgical instrument passes through the pivot position. As a result, during the return process, the position of the robot arm is returned at a speed smaller than the speed at which the robot arm moves when operated by the control tool. Therefore, the speed at which the robot arm moves in a direction different from the direction intended by the operator is reduced, making it less likely for the operator to perceive the robot arm moving in an unintended direction. Consequently, it is possible to provide a program that can suppress confusion for the operator caused by the robot arm moving in a direction different from the direction intended by the operator when moving the robot arm with a control tool.

[0014] The storage medium according to the fifth aspect of this disclosure stores in the storage unit a pivot position that serves as the fulcrum for the movement of a surgical instrument attached to the tip of a robot arm, and a program that, when the surgical instrument deviates from the pivot position stored in the storage unit, returns the position of the robot arm at a speed smaller than the speed of movement of the robot arm moved by an operating tool for controlling the movement of the surgical instrument by the robot arm, so that the surgical instrument passes through the pivot position.

[0015] The storage medium according to the fifth aspect of this disclosure stores a program that, when a surgical instrument deviates from the pivot position stored in the storage unit, returns the position of the robot arm at a speed smaller than the speed at which the robot arm moves when operated by a control tool for controlling the movement of the surgical instrument by the robot arm, so that the surgical instrument passes through the pivot position. As a result, during the return process, the position of the robot arm is returned at a speed smaller than the speed at which the robot arm moves when operated by the control tool. Therefore, the speed at which the robot arm moves in a direction different from the direction intended by the operator is reduced, making it less likely for the operator to perceive the robot arm moving in an unintended direction. Consequently, it is possible to provide a storage medium that can suppress confusion for the operator caused by the robot arm moving in a direction different from the direction intended by the operator when the operator moves the robot arm with a control tool. [Effects of the Invention]

[0016] According to this disclosure, when an operator moves a robot arm using a control tool, it is possible to suppress confusion caused by the robot arm moving in a direction different from the direction the operator intended. [Brief explanation of the drawing]

[0017] [Figure 1] This figure shows the configuration of a surgical support system according to one embodiment. [Figure 2] This figure shows the display unit of a medical trolley according to one embodiment. [Figure 3] This figure shows the configuration of a medical trolley according to one embodiment. [Figure 4] This figure shows the configuration of a robot arm according to one embodiment. [Figure 5] This diagram shows the instruments. [Figure 6] This is a perspective view showing the configuration of the arm operating section according to one embodiment. [Figure 7] This is a diagram illustrating the translational movement of a robotic arm. [Figure 8] This is a diagram for explaining the rotational movement of a robotic arm. [Figure 9] This is a diagram showing an endoscope. [Figure 10] This is a diagram showing a pivot position setting device. [Figure 11] This is a diagram showing an operation unit according to an embodiment. [Figure 12] This is a diagram showing a wrist part for the right hand according to an embodiment. [Figure 13] This is a diagram showing a wrist part for the left hand according to an embodiment. [Figure 14] This is a perspective view showing a foot pedal according to an embodiment. [Figure 15] This is a control block diagram of a surgical support system according to an embodiment. [Figure 16] This is a control block diagram of a robotic arm according to an embodiment. [Figure 17] This is a control block diagram of a positioner and a medical cart according to an embodiment. [Figure 18] This is a control block diagram of an operation unit according to an embodiment. [Figure 19] This is a diagram for explaining a method of setting a pivot position. [Figure 20] This is a flowchart for explaining a control method of a surgical support system according to an embodiment. [Figure 21] This is a diagram showing the rotational movement of a surgical instrument with the pivot position set. [Figure 22] This is a diagram showing a state where a misaligned surgical instrument is returned to pass through the pivot position. [Figure 23] This is a diagram for explaining the insertion length of a surgical instrument and the amount of rotational movement of the surgical instrument for returning the misalignment of the surgical instrument. [Figure 24] This is a diagram for explaining the amount of turning of a robotic arm and the degree of moving speed of the robotic arm. [Figure 25] This is a flowchart for explaining a return process of a surgical support system according to an embodiment. [Modes for carrying out the invention]

[0018] (Configuration of the surgical support system) The configuration of the surgical support system 500 according to this embodiment will now be described. The surgical support system 500 comprises a surgical support robot 100, a remote control device 200, a vision unit 300, and an image processing unit 400.

[0019] In this specification, as shown in Figure 4, the longitudinal direction of the surgical instrument 1 is defined as the Z direction. The tip side of the surgical instrument 1 is defined as the Z1 side, and the base 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 both the Z and X directions is defined as the Y direction.

[0020] As shown in Figure 1, the surgical robot 100 is positioned inside the operating room. The remote control device 200 is positioned at a distance from the surgical robot 100. The remote control device 200 receives commands for the surgical instrument 1. Specifically, an operator, such as a physician, inputs commands to the remote control device 200 to cause the surgical robot 100 to perform a desired action. The remote control device 200 transmits the input commands to the surgical robot 100. The surgical robot 100 operates based on the received commands. The surgical robot 100 is positioned inside the operating room, which is a sterile field.

[0021] (Configuration of the surgical assistance robot) As shown in Figure 1, the surgical assistance robot 100 comprises a medical trolley 10, a trolley positioner operating unit 20, a positioner 30, an arm base 40, a plurality of robot arms 50, and an arm operating unit 60 provided on each robot arm 50.

[0022] As shown in Figure 3, the trolley positioner operating unit 20 is supported by a trolley positioner operating support unit 21 at the rear of the medical trolley 10, and the medical trolley 10 or positioner 30 is moved by operating the trolley positioner operating unit 20. The trolley positioner operating unit 20 includes an input device 22 and an operating handle 23. The input device 22 accepts operations for moving and changing the posture of the positioner 30, arm base 40, and multiple robotic arms 50, mainly for preparing for surgery before the procedure. The medical trolley 10 includes an operating handle 23.

[0023] As shown in Figure 3, the input device 22 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 Figure 2, the display unit 22a displays numbers corresponding to 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, which will be described later, has been set.

[0024] As shown in Figure 3, the joystick 22b is positioned near the display unit 22a of the input device 22. By selecting an operation mode displayed on the display unit 22a and operating the joystick 22b, the positioner 30 is moved in three dimensions.

[0025] The enable switch 22c is located near the joystick 22b. The enable switch 22c allows or disallows the movement of the positioner 30. When the enable switch 22c is pressed and the movement of the positioner 30 is permitted, the joystick 22b is operated, causing the positioner 30 to move.

[0026] The error reset button 22d clears errors in the surgical support system 500. The errors are, for example, deviation anomaly errors. A pair of speakers 22e are provided. The pair of speakers 22e are located near the location where the positioner 30 of the medical trolley 10 is positioned.

[0027] Furthermore, the operating handle 23 is located near the display unit 22a. The operating handle 23 has a throttle 23a that controls the movement of the medical cart 10 when grasped and rotated by an operator such as a nurse or technician. Specifically, the operating handle 23 is located below the input device 22. When the throttle 23a is rotated from the front to the back, the medical cart 10 moves forward. When the throttle 23a is rotated from the back to the front, the medical cart 10 moves backward. The speed of the medical cart 10 is also changed according to the amount of rotation of the throttle 23a. The operating handle 23 is configured to be rotatable left and right, as indicated by the R direction, and the medical cart 10 rotates in conjunction with the rotation of the operating handle 23.

[0028] Furthermore, an enable switch 23b is located on the operating handle 23 to allow or disallow the movement of the medical trolley 10. When the enable switch 23b is pressed and the movement of the medical trolley 10 is permitted, the throttle 23a on the operating handle 23 is operated, causing the medical trolley 10 to move.

[0029] As shown in Figure 1, the positioner 30 consists of, for example, a 7-axis articulated robot. The positioner 30 is positioned on a medical trolley 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.

[0030] 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.

[0031] The arm base 40 is attached to the tip of the positioner 30. Multiple robot arms 50 are each attached to the arm base 40 at their base. Multiple robot arms 50 can be folded and stored. The arm base 40 and multiple robot arms 50 are used covered with sterile drapes. The robot arms 50 also support surgical instruments 1.

[0032] The arm base 40 is equipped with a status indicator 41 and an arm status indicator 42, as shown in Figure 15. The status indicator 41 displays the status of the surgical support system 500. The arm status indicator 42 displays the status of the robot arm 50.

[0033] Multiple robot arms 50 are arranged. Specifically, four robot arms 50a, 50b, 50c, and 50d are arranged. Robot arms 50a, 50b, 50c, and 50d have similar configurations to each other.

[0034] As shown in Figure 4, the robot arm 50 includes an arm section 51, a first link section 52, a second link section 53, and a translational movement mechanism section 54. The robot arm 50 has joints JT1, JT2, JT3, JT4, JT5, JT6, JT7, and JT8. Joints JT1, JT2, JT3, JT4, JT5, JT6, and JT7 each have axes A1, A2, A3, A4, A5, A6, and A7 as rotation axes. JT8 has an axis A8 as a linear axis. The arm section 51 includes a base section 51a and a link section 51b.

[0035] The arm section 51 consists of a 7-axis articulated robot arm. The first link section 52 is located at the tip of the arm section 51. The arm operation section 60, which will be described later, is attached to the second link section 53. The translational movement mechanism section 54 is located between the first link section 52 and the second link section 53. A holder 55 for holding the surgical instrument 1 is located on the second link section 53. The translational movement mechanism section 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 position of the end of the range of movement of the holder 55 by the translational movement mechanism section 54 along the A8 axis, on the Z2 side. The second position is the position of the end of the range of movement of the holder 55 by the translational movement mechanism section 54 along the A8 axis, on the Z1 side.

[0036] Each of the multiple robotic arms 50 has a surgical instrument 1 attached to its tip. The surgical instrument 1 includes, for example, a replaceable instrument 2, an endoscope 3 shown in Figure 9 for capturing images of the surgical site, and a pivot position setting device 4 shown in Figure 10 for setting the pivot position PP. The instrument 2 includes a driven unit 2a, an end effector 2b, a wrist joint 2c shown in Figure 5, and a shaft 2d. The end effector 2b is connected to the tip of the shaft 2d via the wrist joint 2c.

[0037] As shown in Figure 1, the endoscope 3 is attached to the tip of one of the multiple robot arms 50, for example, robot arm 50c, and the instruments 2 are attached to the tips of the remaining robot arms 50a, 50b, and 50d. Preferably, the endoscope 3 is attached to one of the two centrally located robot arms 50b and 50c of the four robot arms 50 that are arranged adjacent to each other.

[0038] (Instrumentation) As shown in Figure 5, an end effector 2b having, for example, jaw members 2g and 2h is attached to the tip of instrument 2. The end effector 2b can be a pair of scissors, a grappler, a needle holder, a micro-dissector, a stable applicator, a tacker, a suction cleaning tool, a snare wire, or a clip applicator.

[0039] Instrument 2 includes a first support member 2e and a second support member 2f. The first support member 2e is attached to the shaft 2d. The second support member 2f is rotatably supported by the first support member 2e around the A10 axis and supports the end effector 2b rotatably around the A11 axis which intersects the A10 axis. The shaft 2d rotates around the A9 axis. The wrist joint 2c is positioned between the second support member 2f and the first support member 2e with the A10 axis as its axis of rotation.

[0040] (Configuration of the arm control unit) As shown in Figure 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.

[0041] 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. The joystick 62 is an example of an operating device. The pivot button 66 is an example of a pivot position setting unit.

[0042] The enable switch 61, when pressed, allows or disallows the movement of the robot arm 50 by the joystick 62 and linear switch 63. When the arm control unit 60 is held by an operator such as a nurse or assistant, pressing the enable switch 61 allows the robot arm 50 to move the surgical instrument 1.

[0043] The joystick 62 is a control device for manipulating the movement of the surgical instrument 1 by the robot arm 50. The joystick 62 controls the direction and speed of movement of the robot arm 50. The robot arm 50 moves according to the direction and angle at which the joystick 62 is tilted.

[0044] 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 that moves the surgical instrument 1 in the direction of insertion into the patient P, and a linear switch 63b that moves the surgical instrument 1 away from the patient P. Both the linear switch 63a and the linear switch 63b are push-button switches.

[0045] The mode switching button 64 is a push-button switch for switching between a mode in which the surgical instrument 1 is translated and a mode in which it is rotated. As shown in Figure 7, in the mode in which the robot arm 50 is translated, the robot arm 50 is moved so that the tip 1a of the surgical instrument 1 moves on the XY plane. As shown in Figure 8, in the mode in which the robot arm 50 is rotated, if the pivot position PP is not stored in the memory unit 351, the robot arm 50 rotates around the center of the end effector 2b of the instrument 2 as the surgical instrument 1 on the A11 axis or the tip of the end effector 2b as the pivot point. If the pivot position PP is stored in the memory unit 351, the robot arm 50 is moved so that the surgical instrument 1 rotates around the pivot position PP as the pivot point. Note that the surgical instrument 1 is rotated while its shaft 1c is inserted into the trocar T. The mode switching button 64 is located on the Z-direction side of the arm operation unit 60.

[0046] The mode indicator 65 displays the switched mode. When the mode indicator 65 is lit, it indicates rotational movement mode, and when it is off, it indicates translational movement mode. The mode indicator 65 also doubles as a pivot position indicator, showing when the pivot position PP has been set. The mode indicator 65 is located on the Z-axis side of the arm operating section 60.

[0047] The pivot button 66 is a push-button switch for setting the pivot position PP, which serves as the fulcrum for the movement of the surgical instrument 1 attached to the robot arm 50. When the pivot button 66 is pressed, the pivot position PP is stored in the memory unit 351.

[0048] The adjustment button 67 is used to optimize 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 different button from the enable switch 61.

[0049] (Remote control device) As shown in Figure 1, the remote control device 200 is located, for example, inside or outside the operating room. The remote control device 200 includes an operating 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 operating unit 110 constitutes an operating handle for an operator, such as a physician, to input commands.

[0050] (Operation unit) As shown in Figure 11, the operating section 110 is a handle for operating the surgical instrument 1. The operating section 110 also receives input from the surgical instrument 1. The operating section 110 includes an operating section 110L located on the left side as viewed from the operator, such as a physician, and operated by the operator's left hand, and an operating section 110R located on the right side and operated by the operator's right hand. The operating section 110 includes an arm section 111 and a wrist section 112. The operating section 110R includes an arm section 111R and a wrist section 112R. The operating section 110L also includes an arm section 111L and a wrist section 112L.

[0051] The arm portion 111 has joints JT21, JT22, and JT23 as shown in Figure 11, and JT24, JT25, JT26, and JT27 as shown in Figures 12 and 13. The rotation axes of joints JT21, JT22, JT23, JT24, JT25, JT26, and JT27 are designated as axes A21, A22, A23, A24, A25, A26, and A27, respectively.

[0052] (Arm section) As shown in Figure 11, the arm portion 111R has a link portion 111a, a link portion 111b, and a link portion 111c. The upper end of link portion 111a is attached to the remote control device 200 so as to be rotatable around axis A21 in the vertical direction. The upper end of link portion 111b is attached to the lower end of link portion 111a so as to be rotatable around axis A22 in the horizontal direction. One end of link portion 111c is attached to the lower end of link portion 111b so as to be rotatable around axis A23 in the horizontal direction. A wrist portion 112 is attached to the other end of link portion 111c so as to be rotatable around axis A24. Link portion 111a is connected to the remote control device 200 by joint JT21. Link portion 111a and link portion 111b are connected by joint JT22. Link portion 111b and link portion 111c are connected by joint JT23. The arm portion 111 supports the wrist portion 112. The arm portion 111L has the same configuration as the arm portion 111R.

[0053] The wrist section 112 includes a wrist section 112R operated by the operator's right hand as shown in Figure 12, and a wrist section 112L operated by the operator's left hand as shown in Figure 13. Figure 12 shows the reference position of the operating section 110R, and Figure 13 shows the reference position of the operating section 110L. The configuration of the wrist section 112R and the wrist section 112L are the same.

[0054] The wrist section 112 includes a link section 112a, a link section 112b, a link section 112c, and a grip support member 112d operated by an operator such as a doctor. The base end of the link section 112a is connected to the tip of the arm section 111 and rotates around axis A24. The base end of the link section 112b is connected to the tip of the link section 112a and rotates around axis A25. The base end of the link section 112c is connected to the tip of the link section 112b, and the grip support member 112d is connected to the tip of the link section 112b and rotates around axis A26 relative to the link section 112b. The grip support member 112d rotates around axis A27 relative to the link section 112c. The link sections 112a, 112b, and 112c each have an L-shape.

[0055] The wrist section 112 includes a pair of grip members 112e that are opened and closed by the operator. The grip members 112e consist of elongated plate-shaped lever members, and the proximal ends of the pair of grip members 112e are rotatably connected to the proximal end of the grip support member 112d. The grip members 112e are provided with cylindrical finger insertion portions 112f. The operator operates the wrist section 112 by inserting their fingers into the pair of finger insertion portions 112f. The base ends of the pair of grip members 112e are connected to the grip support member 112d, and the opening angle between the jaw members 2g and 2h is changed by increasing or decreasing the angle between the pair of grip members 112e. A magnet is provided on one of the grip members 112e, and a Hall sensor is provided on the grip support member 112d. When the operator opens and closes the grip members 112e, the magnet and Hall sensor function as angle detection sensors, and the Hall sensor outputs the opening angle. Alternatively, a Hall sensor may be placed on the grip member 112e and a magnet on the grip support member 112d as angle detection sensors.

[0056] As shown in Figure 1, the monitor 140 is a scope-type display device for displaying images captured by the endoscope 3. The monitor 140 also has a notification unit 141, which emits an error sound. A support arm 150 supports the monitor 140 so that its height is at the same level as the operator's (such as a doctor's) face. A touch panel 130 is located on a support bar 160. A sensor near the monitor 140 detects the operator's head, enabling the surgical robot 100 to be operated by the remote control device 200. The operator operates the control unit 110 and foot pedals 120 while viewing 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 then transmitted to the surgical robot 100.

[0057] (Foot pedal) As shown in Figure 14, the foot pedals 120 are provided in multiple configurations to perform functions related to the surgical instrument 1. The multiple foot pedals 120 are arranged on a base 121. The foot pedals 120 include a switching pedal 122, a clutch pedal 123, a camera pedal 124, an incision pedal 125, a coagulation pedal 126, and a foot detection unit 127. The switching pedal 122, clutch pedal 123, camera pedal 124, incision pedal 125, and coagulation pedal 126 are operated by the operator's feet. The incision pedal 125 includes an incision pedal 125R for the right robot arm 50 and an incision pedal 125L for the left robot arm 50. The coagulation pedal 126 includes a coagulation pedal 126R for the right robot arm 50 and a coagulation pedal 126L for the left robot arm 50.

[0058] The switching pedal 122 switches the robot arm 50 to be operated by the control unit 110. The clutch pedal 123 performs a clutch operation that temporarily disconnects the control connection between the robot arm 50 and the control unit 110. While the clutch pedal 123 is pressed down by the operator, the operation of the control unit 110 is not transmitted to the robot arm 50. Also, while the camera pedal 124 is pressed down by the operator, the control unit 110 can operate the robot arm 50 to which the endoscope 3 is attached. While the incision pedal 125 or coagulation pedal 126 is pressed down by the operator, the electrosurgical device is activated.

[0059] (Vision unit and image processing unit) As shown in Figure 1, the vision unit 300 and the image processing unit 400 are mounted on the cart 210. The image processing unit 400 processes the images captured by the endoscope 3. A display unit 220 is located on the cart 210. The display unit 220 displays the images captured by the endoscope 3.

[0060] (Control system configuration) As shown in Figure 15, the surgical support system 500 comprises a first control device 310, an arm control unit 320, a positioner control unit 330, an operation control unit 340, and a second control device 350. The surgical support system 500 also comprises a storage unit 311 connected to the first control device 310 and a storage unit 351 connected to the second control device 350. The first control device 310 is an example of a control device.

[0061] The first control device 310 is positioned inside the medical trolley 10 to communicate with the arm control unit 320 and the positioner control unit 330, and controls the entire surgical support system 500. Specifically, the first control device 310 communicates with and controls the arm control unit 320, the positioner control unit 330, and the operation control unit 340, respectively. The first control device 310 is connected to the arm control unit 320, the positioner control unit 330, and the operation control unit 340 by a LAN or the like. The first control device 310 is located inside the medical trolley 10.

[0062] An arm control unit 320 is located for each of the multiple robot arms 50. In other words, multiple arm control units 320 corresponding to the number of robot arms 50 are located inside the medical trolley 10.

[0063] As shown in Figure 15, the input device 22 is connected to the first control device 310 by a LAN or the like. The status indicator 41, arm status indicator 42, operating handle 23, throttle 23a and joystick 22b and the positioner control unit 330 are connected by serial communication via a communication network that allows them to share information with each other, through wiring 360. In Figure 15, it is shown that all of the status indicators, including the status indicator 41 and arm status indicator 42, are connected to a single wiring 360, but in reality, there is a separate wiring 360 for each of the status indicator 41, arm status indicator 42, operating handle 23, throttle 23a, joystick 22b, stabilizer 24 and electric cylinder 25.

[0064] As shown in Figure 16, the arm section 51 is equipped with multiple servo motors SM1, encoders EN1, and a reduction gear, each corresponding to a joint JT1, JT2, JT3, JT4, JT5, JT6, and JT7. The encoder EN1 detects the rotation angle of the servo motor SM1. The reduction gear reduces the rotation of the servo motor SM1 to increase the torque. Inside the medical trolley 10, a servo control unit SC1 for controlling the servo motors SM1 is located adjacent to the arm control unit 320. The encoder EN1 for detecting the rotation angle of the servo motors SM1 is electrically connected to the servo control unit SC1.

[0065] The second link section 53 is equipped with a servo motor SM2, an encoder EN2, and a reduction gear for rotating a driven member located on the driven unit 2a of the surgical instrument 1. The encoder EN2 detects the rotation angle of the servo motor SM2. The reduction gear reduces the rotation of the servo motor SM2 to increase the torque. The medical trolley 10 is also equipped with a servo control unit SC2 for controlling the servo motor SM2 that drives the surgical instrument 1. The encoder EN2 for detecting the rotation angle of the servo motor SM2 is electrically connected to the servo control unit SC2. Note that multiple servo motors SM2, encoders EN2, and servo control units SC2 are provided.

[0066] The translational movement mechanism 54 is equipped with a servo motor SM3, an encoder EN3, and a reduction gear for translating the surgical instrument 1. The encoder EN3 detects the rotation angle of the servo motor SM3. The reduction gear reduces the rotation of the servo motor SM3 to increase the torque. The medical trolley 10 also has a servo control unit SC3 for controlling the servo motor SM3 that translates 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.

[0067] The first control device 310 generates command values ​​that command the positions of servo motors SM1, SM2, and SM3 based on the operation received by the remote control 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 anomaly error if the difference between the command value and the positions of servo motors SM1, SM2, and SM3 detected by the sensors exceeds an acceptable range.

[0068] As shown in Figure 17, the positioner 30 is equipped with multiple servo motors SM4, an encoder EN4, and a reduction gear, corresponding to the multiple joints 33 of the positioner 30. The encoder EN4 is configured to detect the rotation angle of the servo motor SM4. The reduction gear is configured to reduce the rotation of the servo motor SM4 and increase the torque.

[0069] The medical trolley 10 is equipped with wheels, including front wheels that serve as drive wheels and rear wheels that are steered by the operating handle 23. The rear wheels are positioned closer to the operating handle 23 than the front wheels. The medical trolley 10 is also equipped with servo motors SM5, encoders EN5, reduction gears, and brakes BRK, which drive each of the multiple front wheels of the medical trolley 10. The reduction gear is configured to reduce the rotation of the servo motors SM5 and increase the torque. A potentiometer P1, as shown in Figure 3, is positioned on the operating handle 23, and the servo motors SM5 of the front wheels are driven based on the rotation angle detected by the potentiometer P1 in response to the twisting of the throttle 23a. The rear wheels of the medical trolley 10 are of the twin-wheel type, and the rear wheels are steered based on the left and right rotation of the operating handle 23. Furthermore, a potentiometer P2, as shown in Figure 3, is positioned on the rotation axis of the operating handle 23, and a servo motor SM6, encoder EN6, and reduction gear are positioned on the rear wheels of the medical trolley 10. The reduction gear is configured to reduce the rotation of the servo motor SM6 and increase the torque. The servo motor SM6 is driven based on the rotation angle detected by the potentiometer P2 in response to the left and right rotation of the operating handle 23. In other words, the steering of the rear wheels by the left and right rotation of the operating handle 23 is power-assisted by the servo motor SM6.

[0070] The medical trolley 10 moves in the forward and backward directions when its front wheels are driven. In addition, when the operating handle 23 is rotated, the rear wheels are steered, causing the medical trolley 10 to rotate in the left and right directions.

[0071] As shown in Figure 17, the medical trolley 10 is equipped with a servo control unit SC4 for controlling the 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 trolley 10 is also equipped with a servo control unit SC5 for controlling the servo motor SM5 that drives the front wheels of the medical trolley 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 trolley 10 is also equipped with a servo control unit SC6 for controlling the servo motor SM6 that power assists the steering of the rear wheels of the medical trolley 10. An encoder EN6 for detecting the rotation angle of the servo motor SM6 is electrically connected to the servo control unit SC6.

[0072] As shown in Figures 16 and 17, each of the joints JT1, JT2, JT3, JT4, JT5, JT6, and JT7 of the arm section 51, and each of the joints 33 of the positioner 30, is equipped with a brake BRK. Brake BRKs are also equipped on the front wheels of the medical trolley 10, the arm base 40, and the translational movement mechanism 54. Control signals are transmitted unidirectionally from the arm control unit 320 to each of the brake BRKs mounted on the joints JT1, JT2, JT3, JT4, JT5, JT6, and JT7 of the arm section 51 and the translational movement mechanism 54. The control signals are signals to turn the brake BRKs on and off. The signal to turn the brake BRKs on includes a signal to maintain the state in which the brake BRKs are engaged. The same applies to the control signals from the positioner control unit 330 to each of the brake BRKs 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 section 51, and translational movement mechanism 54 are released, and the servo motor SM is driven to counteract gravity, maintaining the posture of the robot arm 50 and the arm base 40. When an error occurs in the surgical support system 500, the brakes (BRK) on the arm base 40, arm section 51, and translational movement mechanism 54 are turned on. When the error in the surgical support system 500 is cleared, the brakes (BRK) on the arm base 40, arm section 51, and translational movement mechanism 54 are turned off. The brakes (BRK) on the arm base 40, arm section 51, and translational movement mechanism 54 are turned on when the surgical support system 500 is shut down. In addition, the front wheels of the medical trolley 10 always have the brakes (BRK) turned on, and the brakes (BRK) are released only while the enable switch 23b is pressed. Furthermore, each joint 33 of the positioner 30 has the brake BRK always on, and the brake BRK is released only while the enable switch 22c is pressed.

[0073] As shown in Figure 18, servo motors SM7a, SM7b, SM7c, SM7d, SM7e, SM7f, and SM7g are arranged on the joints JT21, JT22, JT23, JT24, JT25, JT26, and JT27 of the operating unit 110, respectively. Servo motor SM7a rotates the link section 111a around the A21 axis. Servo motor SM7b rotates the link section 111b around the A22 axis. Servo motor SM7c rotates the link section 111c around the A23 axis. Servo motor SM7d rotates the link section 112a around the A24 axis. Servo motor SM7e rotates the link section 112b around the A25 axis. Servo motor SM7f rotates the link section 112c around the A26 axis. Furthermore, the servo motor SM7g rotates the grip support member 112d around the A27 axis. Servo control units SC7a, SC7b, SC7c, SC7d, SC7e, SC7f, and SC7g are also provided to control each servo motor. Each servo control unit is electrically connected to encoders EN7a, EN7b, EN7c, EN7d, EN7e, EN7f, and EN7g for detecting the rotation angle of each servo motor. Each servo motor, each servo control unit, and each encoder are provided in the operating unit 110L and the operating unit 110R, respectively.

[0074] The first control device 310, via the operation control unit 340, controls each servo motor to generate a torque that counteracts the gravitational torque generated on the rotation axis of each servo motor, according to the posture of the operation unit 110. This makes it possible for the operator to operate the operation unit 110 with relatively little force.

[0075] Furthermore, when the operator rotates the grip support member 112d around the A27 axis of the operating section 110 shown in Figures 12 and 13, the shaft 2d of the instrument 2 rotates around the A9 axis shown in Figure 5. Also, when the operator rotates the joints JT24, JT25, and JT26 of the operating section 110 shown in Figures 12 and 13, the end effector 2b bends around the A10 axis or A11 axis shown in Figure 5.

[0076] The operation control unit 340 is located in the main body of the remote control device 200. The operation control unit 340 controls the operation unit 110. As shown in Figure 15, the operation control unit 340 is positioned to correspond to the left-hand operation unit 110L and the right-hand operation unit 110R, respectively.

[0077] As shown in Figure 15, the vision unit 300 and the image processing unit 400 are connected to the first control device 310 via a LAN or the like. The display unit 220 is connected to the vision unit 300.

[0078] (Setting the pivot position) The setting of the pivot position PP will now be explained. As shown in Figure 19, when the robot arm 50 is operated by the arm operation unit 60, the tip of the endoscope 3 attached to the tip of the robot arm 50 is moved to a position corresponding to the insertion position of the trocar T inserted into the patient P's body surface S. When the pivot button 66 is operated, the second control device 350 stores the pivot position PP2 of the endoscope 3 in the storage unit 351. Similarly, when the tip of the pivot position setting device 4 attached to the tip of the robot arm 50 is moved to a position corresponding to the insertion position of the trocar T inserted into the patient P's body surface S, the second control device 350 stores the pivot position PP1 of the instrument 2 in the storage unit 351. Note that operating the pivot button 66 means pressing the pivot button 66. Also, pivot positions PP1 and PP2 are collectively referred to as pivot position PP.

[0079] (Control operation of the first control device) This section describes the control of the first control device 310 when the surgical instrument 1 deviates from the pivot position PP stored in the memory unit 351. It is assumed that the pivot position PP is already stored in the memory unit 351. The surgical support robot 100 stops if the robot arm 50 interferes with other components or the operator. The control described below applies when the surgical support robot 100 is restarted after stopping. The control described below is performed when the surgical instrument 1 is located inside the patient P's body. The control described below is performed similarly whether the surgical instrument 1 is instrument 2 or endoscope 3. Furthermore, the control described below is executed for each of the four robot arms 50.

[0080] As shown in Figure 15, the program 311a, which comprises the steps S1 to S3 described below, is stored in the storage unit 311. The storage unit 311 is an example of a storage medium. The program 311a may also be stored in the storage unit 351.

[0081] In step S1 shown in Figure 20, the operator operates the joystick 62 of the arm operation unit 60. This allows the first control device 310 to receive the operation to move the surgical instrument 1 by the robot arm 50. As shown in Figure 21, when the pivot position PP is stored in the memory unit 351, the robot arm 50 is moved so that the surgical instrument 1 rotates around the pivot position PP as the pivot point. If the amount of rotational movement of the surgical instrument 1 is Δθ1 [deg / cycle], then Δθ1 is expressed by the following formula. Note that [deg / cycle] is the amount of rotational movement per control cycle. Also, the amount of rotational movement per control cycle is equivalent to the movement speed. Note that one control cycle is, for example, 4 ms. Δθ1 = Amount of movement of joystick 62 × Speed ​​of movement of robot arm 50 × C1

[0082] C1 is a constant that, for example, is set so that the operator can move the robot arm 50 using the joystick 62 without any sense of unnaturalness. C1 is, for example, 0.006 × 0.5.

[0083] Furthermore, the control amount of the joystick 62 is a dimensionless quantity, for example, a value between -10 and +10. The control amount of the joystick 62 corresponds to the tilt angle of the joystick 62. The return process to return the position of the robot arm 50, which will be described later, is performed when the control amount of the joystick 62 is within the range of -10 to -5 and +5 to +10. Note that the return process may also be performed for all control amounts of the joystick 62.

[0084] In this embodiment, the degree of movement speed of the robot arm 50 is received by the display unit 22a of the input device 22. For example, five levels of movement speed are available: speed 1, speed 2, speed 3, speed 4, and speed 5. The display unit 22a of the input device 22 is, for example, a touch panel, and the degree of movement speed is set by the operator pressing the touch panel. For example, speed 3 is 1.0, speed 1 is 0.5, speed 2 is 0.75, speed 4 is 1.25, and speed 5 is 1.5. The specific values ​​[deg / s] for speed 1, speed 2, speed 3, speed 4, and speed 5 are, for example, 3.75, 5.625, 7.5, 9.375, and 11.25. These specific values ​​are the same whether or not the pivot position PP is set. The specific values ​​mentioned above are examples only and are not limiting. Furthermore, the display unit 22a of the input device 22 is an example of a setting unit.

[0085] In step S2 shown in Figure 20, the first control device 310 determines whether the surgical instrument 1 is misaligned from the pivot position PP stored in the memory unit 351. For example, the first control device 310 obtains the coordinates of the surgical instrument 1 at the time of restart based on information from encoders EN1, EN2, and EN3 located at each joint JT1 to JT8 of the robot arm 50. The first control device 310 then reads the coordinates of the pivot position PP from the memory unit 351, and if the difference between the read coordinates of the pivot position PP and the coordinates of the surgical instrument 1 obtained after restart is greater than a predetermined threshold, the first control device 310 determines that the surgical instrument 1 is misaligned from the pivot position PP stored in the memory unit 351. The predetermined threshold is, for example, a value close to zero.

[0086] If the first control device 310 determines that the surgical instrument 1 is misaligned from the pivot position PP stored in the memory unit 351, in step S3, it executes a return process to return the position of the robot arm 50 at a speed smaller than the movement speed of the robot arm 50 moved by the operation of the joystick 62, so that the surgical instrument 1 passes through the pivot position PP. Specifically, as shown in Figure 22, a perpendicular line is drawn from the pivot position PP to the shaft 2d of the surgical instrument 1, a temporary pivot position PP3 is set at the intersection of the perpendicular line and the shaft 2d, and then the position of the robot arm 50 is gradually returned so that the temporary pivot position PP3 coincides with the pivot position PP stored in the memory unit 351. In this embodiment, the first control device 310 executes the return process at a speed smaller than the movement speed of the robot arm 50 moved by the operation of the joystick 62. Note that if the first control device 310 determines in step S2 that the surgical instrument 1 is not misaligned from the pivot position PP stored in the memory unit 351, it does not execute the return process. The following explains the return process in detail.

[0087] (Reverse processing) The movement speed of the robot arm 50 is based on the degree of movement speed set by the display unit 22a of the input device 22. Here, the amount of rotational movement of the surgical instrument 1 when performing the return process is given by the following formula, where Δθ2 [deg / cycle] is the amount of rotational movement of the surgical instrument 1. Δθ² = arctan(amount of shift of pivot position PP / insertion length of surgical instrument 1) Here, the amount of shift of the pivot position PP is the distance from the temporary pivot position PP3 to the pivot position PP stored in the memory unit 351, as shown in Figure 22. The insertion length of the surgical instrument 1 is the length from the pivot position PP to the tip of the surgical instrument 1 or TCP (Tool Center Point). In Figure 22, the surgical instrument 1 is shown to rotate around TCP, but when the robot arm 50 is moved by the joystick 62, TCP also moves, and the shifted surgical instrument 1 is returned to pass through the pivot position PP.

[0088] Here, we will explain the case where there is no restriction on the movement speed when performing the return process. As shown in Figure 23, even when moving the temporary pivot position PP3 by the same amount and returning it to the pivot position PP stored in the memory unit 251, the amount of rotational movement of the surgical instrument 1 differs depending on the insertion length of the surgical instrument 1. For example, as shown in Figure 23, the amount of rotational movement [deg / cycle] of the surgical instrument 1 is 0.0573, 0.2286, 0.0191, 0.0115, and 0.0057 for insertion lengths of 10 mm, 20 mm, 30 mm, 50 mm, and 100 mm, respectively. Note that the above amounts of rotational movement are just examples and are not limited to these. That is, the smaller the insertion length, the larger the amount of rotational movement. Also, as shown in Figure 24, the amount of rotation of the robot arm 50 that rotates by operating the joystick 62 changes depending on the degree of movement speed set using the display unit 22a of the input device 22. Note that the amount of rotation of the robot arm 50 is the amount of rotation around the pivot position PP. For example, if the joystick 62 is operated at a value of 10 and the set movement speeds are speed 5, speed 3, and speed 1, the rotation amounts [deg / cycle] of the robot arm 50 will be 0.045, 0.03, and 0.015, respectively. Also, if the joystick 62 is operated at a value of 5 and the set movement speeds are speed 5, speed 3, and speed 1, the rotation amounts [deg / cycle] of the robot arm 50 will be 0.0225, 0.015, and 0.0075, respectively. Note that the above rotation amounts are just examples and are not limited to these. In other words, even if the movement speed is speed 5, if the insertion length is 10 mm, the rotational movement of the surgical instrument 1 will be greater than the rotation amount of the robot arm 50 controlled by the joystick 62. In other words, if the direction in which the operator wants to move the robot arm 50 is different from the direction in which the misaligned surgical instrument 1 is returned to pass through the pivot position PP, the operator may feel that the robot arm 50 is moving in a direction other than intended.

[0089] Therefore, in step S31 shown in Figure 25, the first control device 310 acquires the movement speed of the robot arm 50, which is moved by the operation of the joystick 62, and the insertion length of the surgical instrument 1 into the patient P. The movement speed of the robot arm 50 is a value received by the display unit 22a of the input device 22. The insertion length is acquired based on information from encoders EN1, EN2, and EN3 located at each joint JT1 to JT8 of the robot arm 50.

[0090] Next, in step S32, in this embodiment, the first control device 310 sets the maximum value of the robot arm 50's movement speed during the return process based on the movement speed of the robot arm 50 moved by the operation of the joystick 62 and the insertion length of the surgical instrument 1 into the patient P. First, the rotation amount Δθ3 [deg / cycle] for the return process is expressed by the following formula. Δθ3 = Amount of movement of joystick 62 × Movement speed of robot arm 50 × C2 Here, C2 is a constant, for example, 0.006 × 0.5, similar to C1. The maximum movement speed [mm / cycle] during the return process is expressed by the following formula. Maximum movement speed = tan(Δθ³) × insertion length

[0091] Next, in step S33, the robot arm 50 is moved so that the surgical instrument 1 passes through the pivot position PP. As mentioned above, since the maximum value of the movement speed is set, the robot arm 50 is moved at a speed smaller than the movement speed of the robot arm 50 moved by the operation of the joystick 62 so that the surgical instrument 1 passes through the pivot position PP.

[0092] Furthermore, in this embodiment, the first control device 310 gradually increases the movement speed during the return process. For example, the movement speed at the start of the return process is 0.00002 mm / cycle. The movement speed increases by 0.00002 mm / cycle for each cycle of the control period. Note that the above movement speed and the amount of increase in movement speed are examples only and are not limited to these.

[0093] Furthermore, in this embodiment, an upper limit is set for the maximum value of the movement speed. For example, the upper limit for the maximum value of the movement speed is 0.01 mm / cycle. That is, no matter how large the maximum value of the movement speed expressed by the above formula becomes, it will not exceed 0.01 mm / cycle. Note that the above upper limit is just an example and is not limited to it. When the movement speed during the return process gradually increases and reaches the maximum value of the movement speed expressed by tan(Δθ3) × insertion length, the movement speed will be limited to the maximum value even if it has not reached the upper limit of 0.01 mm / cycle. Also, if the maximum value of the movement speed is greater than the upper limit, the movement speed will be limited to the upper limit. Furthermore, the upper limit is set within a range that does not cause discomfort to the operator.

[0094] Furthermore, in this embodiment, the first control device 310 executes the return process at a speed smaller than the speed at which the robot arm 50 moves when moved by the joystick 62, regardless of whether the direction of movement of the robot arm 50 when moved by the joystick 62 is the same as or different from the direction of movement of the robot arm 50 when moved during the return process. For example, if the robot arm 50 is moved in a predetermined direction by the operation of the joystick 62, the temporary pivot position PP3 is returned to the pivot position PP stored in the storage unit 351 at a relatively small speed, regardless of whether the direction of movement of the robot arm 50 during the return process is in the predetermined direction or a different direction. Also, even if the direction of movement of the robot arm 50 when moved by the operation of the joystick 62 is a mixture of the predetermined direction and a different direction, the misaligned surgical instrument 1 is returned to pass through the pivot position PP at a relatively small speed.

[0095] Thus, in this embodiment, when the first control device 310 restarts after the surgical instrument 1 has shifted from the pivot position PP stored in the memory unit 351 and the robot arm 50 has stopped, it performs a return process at a movement speed smaller than the movement speed of the robot arm 50 moved by the operation of the joystick 62.

[0096] Next, in step S34, it is determined whether the temporary pivot position PP3 matches the pivot position PP stored in the storage unit 351. If it is determined in step S34 that the temporary pivot position PP3 matches the pivot position PP, the return process ends. The operations from steps S31 to S34 are repeated until the temporary pivot position PP3 matches the pivot position PP. Furthermore, the operations from steps S31 to S34 are executed at each control cycle of the first control device 310.

[0097] (When inserting surgical instruments) In this embodiment, the first control device 310 does not perform a return process when the robot arm 50 moves to insert the surgical instrument 1 into the patient P's body, but performs a return process when the surgical instrument 1 is positioned inside the patient P's body. Specifically, the surgical instrument 1 is inserted into the patient P's body by the operator operating the linear switch 63 of the arm operation unit 60. When the robot arm 50 moves due to the linear switch 63, the first control device 310 does not perform a return process. The linear switch 63 moves the surgical instrument 1 in a straight line, and the return process would prevent the surgical instrument 1 from moving diagonally when the operator is trying to move the surgical instrument 1 in a straight line. If the surgical instrument 1 moves diagonally, the operator will feel uncomfortable.

[0098] (When surgical instruments are located outside the patient's body) In this embodiment, the first control device 310 does not perform the return process if the surgical instrument 1 is located outside the patient P's body, but performs the return process if the surgical instrument 1 is located inside the patient P's body. This is because if the surgical instrument 1 is located outside the patient P's body, moving the robot arm 50 with the surgical instrument 1 shifted from the pivot position PP will not have any adverse effect on the patient P. Furthermore, the surgical instrument 1 may be located outside the patient P's body, for example, before surgery or when the surgical instrument 1 has been temporarily moved out of the patient P's body for replacement.

[0099] [Effects of this embodiment] When the surgical instrument 1 deviates from the pivot position PP stored in the memory unit 351, the first control device 310 performs a return process to return the position of the robot arm 50 at a speed smaller than the movement speed of the robot arm 50 moved by the operation of the joystick 62, so that the surgical instrument 1 passes through the pivot position PP. During the return process, the position of the robot arm 50 is returned at a speed smaller than the movement speed of the robot arm 50 moved by the operation of the joystick 62. As a result, the movement speed of the robot arm 50 in a direction different from the direction intended by the operator is reduced, making it less likely for the operator to perceive the robot arm 50 moving in an unintended direction. Consequently, when the operator moves the robot arm 50 with the joystick 62, it is possible to suppress confusion caused by the robot arm 50 moving in a direction different from the direction intended by the operator.

[0100] The first control device 310 sets the maximum movement speed during the return process based on the movement speed of the robot arm 50, which is moved by the operation of the joystick 62, and the insertion length of the surgical instrument 1 into the patient P. Even when moving the temporary pivot position PP3 by the same distance, the amount of rotational movement of the surgical instrument 1 differs depending on the insertion length. Therefore, by setting the maximum movement speed when returning the misaligned surgical instrument 1 so that it passes through the pivot position PP, based on the movement speed of the robot arm 50 and the insertion length of the surgical instrument 1 into the patient P, the maximum value can be appropriately set according to the insertion length.

[0101] A maximum upper limit is set for the movement speed during the revert process. This ensures that even if the movement speed during the revert process increases, the operator will not feel any discomfort if the upper limit is set within a range that does not cause discomfort to the operator.

[0102] The first control device 310 executes the return process at a speed smaller than the speed at which the robot arm 50 moves when moved by the joystick 62, regardless of whether the direction of movement of the robot arm 50 when moved by the joystick 62 is the same as or different from the direction of movement of the robot arm 50 when it is returned. This allows the operator to perform the return process without confusion, regardless of whether the direction of movement of the robot arm 50 when moved by the joystick 62 is the same as or different from the direction of movement of the robot arm 50 when it is returned.

[0103] The surgical support system 500 includes a display unit 22a of an input device 22 that accepts settings for the degree of movement speed of the robot arm 50. When the surgical instrument 1 deviates from the pivot position PP stored in the memory unit 351, the first control device 310 performs a return process at a movement speed smaller than the movement speed of the robot arm 50 based on the degree of movement speed set by the display unit 22a. As a result, even if the degree of movement speed of the robot arm 50 is changed by the display unit 22a, the operator can perform the return process without becoming confused.

[0104] When the first control device 310 restarts after the robot arm 50 has stopped due to the surgical instrument 1 being misaligned from the pivot position PP stored in the memory unit 351, it performs a return process at a speed smaller than the speed at which the robot arm 50 is moved by the operation of the joystick 62. This prevents the surgical support system 500 from being used with the surgical instrument 1 misaligned from the pivot position PP after the surgical support system 500 is restarted.

[0105] The first control device 310 does not perform a return process when the robot arm 50 moves to insert the surgical instrument 1 into the patient P's body, but performs a return process when the surgical instrument 1 is located inside the patient P's body. If a return process is performed when inserting the surgical instrument 1 into the patient P's body, the surgical instrument 1 may move in a direction different from the direction of insertion into the patient P's body. Therefore, by not performing a return process when the robot arm 50 moves to insert the surgical instrument 1 into the patient P's body, it is possible to suppress the surgical instrument 1 from moving in a direction different from the operator's intention when inserting the surgical instrument 1 into the patient P's body.

[0106] The first control device 310 does not perform the return process if the surgical instrument 1 is located outside the patient P's body, but performs the return process if the surgical instrument 1 is located inside the patient P's body. When the surgical instrument 1 is located outside the patient P's body, moving the robot arm 50 with the surgical instrument 1 shifted from the pivot position PP does not have any adverse effect on the patient P. Therefore, by not performing the return process when the surgical instrument 1 is located outside the patient P's body, the control burden on the first control device 310 can be reduced.

[0107] The first control device 310 gradually increases the movement speed during the return process. This allows the return process to be performed more quickly compared to when the movement speed during the return process remains constant at the initial slow speed.

[0108] [Differentiation] It should be noted that the embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of this disclosure is defined by the claims rather than the description of the embodiments above, and includes all modifications or variations within the meaning and scope equivalent to the claims.

[0109] In the above embodiment, an example was shown in which the pivot button 66 is located on an arm operating unit 60 attached to the robot arm 50, but the disclosure is not limited thereto. For example, the pivot button 66 may be located directly on the robot arm 50.

[0110] In the above embodiment, an example was shown in which a joystick 62 located on the arm operating unit 60 is used as an operating tool for controlling the movement of the surgical instrument 1 by the robot arm 50, but this disclosure is not limited to this. For example, an operating tool other than the joystick 62 may be used as the operating tool.

[0111] In the above embodiment, an example was shown in which the maximum value of the movement speed during the return process is set based on the movement speed of the robot arm 50 moved by the operation of the joystick 62 and the insertion length of the surgical instrument 1 into the patient P. However, the disclosure is not limited thereto. For example, the maximum value of the movement speed may be set based on only one of the movement speed of the robot arm 50 and the insertion length of the surgical instrument 1 into the patient P.

[0112] In the above embodiment, an example was shown in which an upper limit is set for the maximum movement speed during the return process, but the disclosure is not limited to this. For example, if the maximum movement speed during the return process does not become excessively large, an upper limit does not need to be set.

[0113] In the above embodiment, the first control device 310 is shown to perform a return process whether the direction of movement of the robot arm 50 moved by the operation of the joystick 62 is the same as or different from the direction of movement of the robot arm 50 during the return process. However, the disclosure is not limited to this. For example, the first control device 310 may perform a return process only when the difference between the direction of movement of the robot arm 50 moved by the operation of the joystick 62 and the direction of movement of the robot arm 50 during the return process is greater than a predetermined threshold.

[0114] In the above embodiment, an example was shown in which the degree of movement speed of the robot arm 50 can be changed, but the disclosure is not limited thereto. For example, the degree of movement speed of the robot arm 50 may be constant and cannot be changed.

[0115] In the above embodiment, an example was shown in which a return process is performed when the robot arm 50 is restarted after being temporarily stopped due to interference with the robot arm 50, but the disclosure is not limited to this. For example, if the surgical instrument 1 is displaced from the pivot position PP while the robot arm 50 is in operation, the return process may be performed while the robot arm 50 is in operation without being stopped.

[0116] In the above embodiment, the first control device 310 does not perform a return process when the robot arm 50 moves to insert the surgical instrument 1 into the patient P's body, but the disclosure is not limited thereto. For example, the first control device 310 may also perform a return process when the robot arm 50 moves to insert the surgical instrument 1 into the patient P's body.

[0117] In the above embodiment, an example was shown in which the first control device 310 does not perform the return process when the surgical instrument 1 is located outside the patient P's body, but the disclosure is not limited thereto. For example, the first control device 310 may perform the return process even when the surgical instrument 1 is located outside the patient P's body. That is, the first control device 310 may automatically move the surgical instrument 1, which is located outside the patient P's body, so that its pivot position PP returns to its original position.

[0118] In the above embodiment, the first control device 310 was shown to gradually increase the movement speed during the return process, but the disclosure is not limited thereto. For example, the movement speed during the return process may be constant.

[0119] In the above embodiment, an example was shown in which the program 311a is stored in the storage unit 311, but the disclosure is not limited thereto. For example, the program 311a may originally be stored in a storage medium such as external memory, and the program 311a stored in the external memory may be saved in the storage unit 311.

[0120] In the above embodiment, an example was shown in which a first control device 310 located on a medical trolley 10 is applied as the control device of the present disclosure, but the present disclosure is not limited thereto. In the present disclosure, a control device other than the first control device 310 may be applied as the control device of the present disclosure.

[0121] Furthermore, although the above embodiment shows an example in which four robot arms 50 are provided, this disclosure is not limited to this. In this disclosure, the number of robot arms 50 may be other than four.

[0122] Furthermore, although the above embodiment shows an example in which the arm portion 51 and the positioner 30 are composed of a 7-axis articulated robot, this disclosure is not limited to this. For example, the arm portion 51 and the positioner 30 may be composed of an articulated robot with an axis configuration other than a 7-axis articulated robot. An axis configuration other than a 7-axis articulated robot would be, for example, 6 axes or 8 axes.

[0123] Furthermore, while the above embodiment shows an example in which the surgical assistance robot 100 includes a medical cart 10, a positioner 30, an arm base 40, and a robot arm 50, this disclosure is not limited to this. For example, the medical cart 10, the positioner 30, and the arm base 40 are not necessarily required, and the surgical assistance robot 100 may include only the robot arm 50.

[0124] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, dedicated processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs the enumerated functions, or hardware programmed to perform the enumerated functions. The hardware may be hardware disclosed herein, or other known hardware that is programmed or configured to perform the enumerated functions. If the hardware is a processor, which is considered a type of circuit, then the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.

[0125] [Pattern] Those skilled in the art will understand that the exemplary embodiments described above are specific examples of the following embodiments.

[0126] (Aspect 1) A robotic arm to which surgical instruments can be attached at the tip, A pivot position setting unit that stores in a memory unit the pivot position that serves as the fulcrum for the movement of the surgical instrument attached to the robot arm, A control device for controlling the movement of the surgical instrument by the robot arm, A surgical assistance system comprising: a control device that, when the surgical instrument deviates from the pivot position stored in the memory unit, performs a return process to return the position of the robot arm at a speed smaller than the speed at which the robot arm moves by the operation of the operating tool, so that the surgical instrument passes through the pivot position.

[0127] (Aspect 2) The surgical support system according to embodiment 1, wherein the control device sets the maximum value of the movement speed during the return process based on the movement speed of the robot arm moved by the operation of the operating tool and the insertion length of the surgical instrument into the patient.

[0128] (Aspect 3) The surgical support system according to embodiment 2, wherein the upper limit of the aforementioned maximum value is set in advance.

[0129] (Aspect 4) The surgical support system according to any one of embodiments 1 to 3, wherein the control device performs the return process at a speed smaller than the speed of movement of the robot arm moved by the operation of the operating tool, regardless of whether the direction of movement of the robot arm moved by the operation of the operating tool is the same as or different from the direction of movement of the robot arm during the return process.

[0130] (Appendix 5) The system further includes a setting unit that accepts settings for the degree of movement speed of the robot arm, The surgical support system according to any one of embodiments 1 to 4, wherein the control device, when the surgical instrument deviates from the pivot position stored in the memory unit, performs the return process at a movement speed smaller than the movement speed of the robot arm based on the degree of movement speed set by the setting unit.

[0131] (Aspect 6) The surgical support system according to any one of embodiments 1 to 5, wherein the control device, when the robot arm stops temporarily due to the surgical instrument being displaced from the pivot position stored in the memory unit and then restarts, performs the return process at a speed smaller than the speed at which the robot arm is moved by the operation of the operating tool.

[0132] (Aspect 7) The surgical support system according to any one of embodiments 1 to 6, wherein the control device does not perform the return process when the robot arm moves to insert the surgical instrument into the patient's body, but performs the return process when the surgical instrument is located inside the patient's body.

[0133] (Pattern 8) The surgical support system according to any one of embodiments 1 to 7, wherein the control device does not perform the return process when the surgical instrument is located outside the patient's body, and performs the return process when the surgical instrument is located inside the patient's body.

[0134] (Aspect 9) The control device gradually increases the speed of movement during the return process, according to any one of embodiments 1 to 7 of the surgical support system.

[0135] (Aspect 10) A robotic arm to which surgical instruments can be attached at the tip, A pivot position setting unit that stores in a memory unit the pivot position that serves as the fulcrum for the movement of the surgical instrument attached to the robot arm, A control device for controlling the movement of the surgical instrument by the robot arm, A surgical assistance robot comprising: a control device that, when the surgical instrument deviates from the pivot position stored in the memory unit, performs a return process to return the position of the robot arm at a speed smaller than the speed at which the robot arm moves by the operation of the operating tool, so that the surgical instrument passes through the pivot position.

[0136] (Aspect 11) The pivot position, which serves as the fulcrum for the movement of the surgical instrument attached to the tip of the robot arm, is stored in the memory unit. A control method for a surgical assistance system, comprising: when the surgical instrument deviates from the pivot position stored in the memory unit, returning the position of the robot arm at a speed smaller than the speed at which the robot arm moves by operating a control tool for controlling the movement of the surgical instrument by the robot arm, so that the surgical instrument passes through the pivot position.

[0137] (Aspect 12) The pivot position, which serves as the fulcrum for the movement of the surgical instrument attached to the tip of the robot arm, is stored in the memory unit. A program comprising: when the surgical instrument deviates from the pivot position stored in the memory unit, returning the position of the robot arm at a speed smaller than the speed at which the robot arm moves by operating a control tool for controlling the movement of the surgical instrument by the robot arm, so that the surgical instrument passes through the pivot position.

[0138] (Aspect 13) The pivot position, which serves as the fulcrum for the movement of the surgical instrument attached to the tip of the robot arm, is stored in the memory unit. A storage medium for storing a program, comprising: when the surgical instrument deviates from the pivot position stored in the storage unit, returning the position of the robot arm at a speed smaller than the speed at which the robot arm moves by operating a control tool for controlling the movement of the surgical instrument by the robot arm, so that the surgical instrument passes through the pivot position. [Explanation of Symbols]

[0139] 1 surgical instruments 22a Display section (setting section) 50 robotic arms 62. Joystick (control device) 66. Pivot button (pivot position setting section) 100 Surgical Assistance Robots 310 First control device (control device) 311 Storage unit (storage medium) 311a Program 351 Storage section 500 Surgical Support Systems P patient PP Pivot Position

Claims

1. A robotic arm to which surgical instruments can be attached at the tip, A pivot position setting unit that stores in a memory unit the pivot position that serves as the fulcrum for the movement of the surgical instrument attached to the robot arm, A control device for controlling the movement of the surgical instrument by the robot arm, A surgical assistance system comprising: a control device that, when the surgical instrument deviates from the pivot position stored in the memory unit, performs a return process to return the position of the robot arm at a speed smaller than the speed at which the robot arm moves by the operation of the operating tool, so that the surgical instrument passes through the pivot position.

2. The surgical support system according to claim 1, wherein the control device sets the maximum value of the movement speed during the return process based on the movement speed of the robot arm moved by the operation of the operating tool and the insertion length of the surgical instrument into the patient.

3. The surgical support system according to claim 2, wherein the upper limit of the aforementioned maximum value is set in advance.

4. The surgical support system according to claim 1, wherein the control device performs the return process at a speed smaller than the speed of movement of the robot arm moved by the operation of the operating tool, regardless of whether the direction of movement of the robot arm moved by the operation of the operating tool is the same as or different from the direction of movement of the robot arm during the return process.

5. The system further includes a setting unit that accepts settings for the degree of movement speed of the robot arm, The surgical support system according to claim 1, wherein the control device, when the surgical instrument deviates from the pivot position stored in the memory unit, performs the return process at a movement speed smaller than the movement speed of the robot arm based on the degree of movement speed set by the setting unit.

6. The surgical support system according to claim 1, wherein when the control device restarts after the robot arm has stopped temporarily due to the surgical instrument being displaced from the pivot position stored in the memory unit, the control device performs the return process at a speed smaller than the speed at which the robot arm is moved by the operation of the control tool.

7. The surgical support system according to claim 1, wherein the control device does not perform the return process when the robot arm moves to insert the surgical instrument into the patient's body, but performs the return process when the surgical instrument is located inside the patient's body.

8. The surgical support system according to claim 1, wherein the control device does not perform the return process when the surgical instrument is located outside the patient's body, but performs the return process when the surgical instrument is located inside the patient's body.

9. The surgical support system according to claim 1, wherein the control device gradually increases the speed of movement during the return process.

10. A robotic arm to which surgical instruments can be attached at the tip, A pivot position setting unit that stores in a memory unit the pivot position that serves as the fulcrum for the movement of the surgical instrument attached to the robot arm, A control device for controlling the movement of the surgical instrument by the robot arm, A surgical assistance robot comprising: a control device that, when the surgical instrument deviates from the pivot position stored in the memory unit, performs a return process to return the position of the robot arm at a speed smaller than the speed at which the robot arm moves by the operation of the operating tool, so that the surgical instrument passes through the pivot position.

11. The pivot position, which serves as the fulcrum for the movement of the surgical instrument attached to the tip of the robot arm, is stored in the memory unit. A control method for a surgical assistance system, comprising: when the surgical instrument deviates from the pivot position stored in the memory unit, returning the position of the robot arm at a speed smaller than the speed at which the robot arm moves by operating a control tool for controlling the movement of the surgical instrument by the robot arm, so that the surgical instrument passes through the pivot position.

12. The pivot position, which serves as the fulcrum for the movement of the surgical instrument attached to the tip of the robot arm, is stored in the memory unit. A program comprising: when the surgical instrument deviates from the pivot position stored in the memory unit, returning the position of the robot arm at a speed smaller than the speed at which the robot arm moves by operating a control tool for controlling the movement of the surgical instrument by the robot arm, so that the surgical instrument passes through the pivot position.

13. The pivot position, which serves as the fulcrum for the movement of the surgical instrument attached to the tip of the robot arm, is stored in the memory unit. A storage medium for storing a program, comprising: when the surgical instrument deviates from the pivot position stored in the storage unit, returning the position of the robot arm at a speed smaller than the speed at which the robot arm moves by operating a control tool for controlling the movement of the surgical instrument by the robot arm, so that the surgical instrument passes through the pivot position.

Images