Surgical system and method for controlling a surgical system

Abstract

To provide a surgical system capable of reducing change in force by two jaw members even when the path length of an elongated element changes.SOLUTION: A control unit 31 of a surgical system 100 (the surgical system) controls an opening angle between a first jaw member 430a and a second jaw member 430b based on rotation amounts of servomotors 712c1 and 712d1 of an arm 60. The control unit 31 controls the rotation amounts of the servomotor 712c1 and the servomotor 712d1 such that the opening angle between the first jaw member 430a and the second jaw member 430b corresponds to an operation angle for opening / closing the first jaw member 430a and the second jaw member 430b, received by an operation manipulator arm 21.SELECTED DRAWING: Figure 16

Description

Technical Field

[0001] This disclosure relates to a surgical system and a method for controlling a surgical system, and more particularly, to a surgical system and a method for controlling a surgical system that controls the operation of a surgical instrument based on a command from an operation unit.

Background Art

[0002] Conventionally, a robotic surgical system including a robotic arm, a tool as a surgical instrument connected to the end of the robotic arm, and an input handle as an operation unit is known. For example, Patent Document 1 discloses a robotic surgical system that torque-controls the operation of a surgical instrument based on an operation received by an operation unit. Specifically, the surgical instrument is operated with four degrees of freedom by four motors arranged in a surgical instrument attachment portion provided on the robotic arm. The surgical instrument includes two openable and closable jaw members provided at the tip of the shaft, and four rotatable members rotated by a motor provided on the proximal end side of the shaft. The motors are provided in the surgical instrument attachment portion of the robotic arm. The two rotatable members and the two jaw members are each connected by a cable inserted into the shaft. This robotic surgical system performs torque control to operate the jaw members by rotating the rotatable members until the torque applied to the motors reaches a predetermined torque. In the robotic surgical system of Patent Document 1, three such robotic arms are provided on the patient side cart.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Conventionally, miniaturization of the patient-side cart of a robotic surgical system has been demanded. In particular, miniaturization of the robotic arm around the surgical field has been demanded so as to ensure the intraoperative working area for the assisting physician. In order to miniaturize the robotic arm around the surgical field, it is effective to miniaturize the four motors arranged in the surgical instrument attachment part. In order to miniaturize the motor, it is effective to operate the surgical instrument using a reducer with a higher reduction ratio than conventional for the output of a smaller motor than conventional. However, when torque-controlling the motor that operates the surgical instrument as in the robotic surgical system described in Patent Document 1 above, when using a reducer with a higher reduction ratio than conventional, the behavior of the tip side of the surgical instrument becomes less likely to be reflected as changes in the torque of the motor or the current value corresponding to the torque. For this reason, there has been a problem that it becomes difficult to detect the behavior of the tip side of the surgical instrument by monitoring changes in the torque of the motor or the current value corresponding to the torque.

[0005] In order to solve this problem, it is effective to control the operation of the surgical instrument by the rotation angle of the motor instead of torque-controlling the motor that drives the surgical instrument. That is, it is effective to control the operation of the surgical instrument by the rotation angle of the rotatable member of the surgical instrument. When the two jaw members, which are the end effectors of the surgical instrument, are scissors, by rotating the motor by a predetermined rotation angle after the two jaw members are closed, the opening angle of the two jaw members becomes the desired opening angle, and a shearing force is applied between the two jaw members. Also, when the two jaw members, which are the end effectors of the surgical instrument, are graspers, by rotating the motor by a predetermined rotation angle after the two jaw members are closed, the opening angle of the jaw members becomes the desired opening angle, and a grasping force is applied between the two jaw members.

[0006] However, when operating the surgical instrument with such control, due to the rotation of the shaft, the path length of the elongated element composed of the cable between the jaw member inserted into the shaft and the member to be rotated changes. For this reason, due to the opening angle of the two jaw members not reaching the desired opening angle, in the case of scissors, the shearing force changes, and in the case of forceps, the gripping force changes, resulting in problems.

[0007] This disclosure is made to solve the above problems, and one object of this disclosure is to provide a surgical system and a control method for a surgical system capable of reducing the change in force by two jaw members even when the path length of the elongated element changes.

Means for Solving the Problems

[0008] To achieve the above object, a surgical system according to a first aspect of this disclosure includes a patient-side device including an arm to which a surgical instrument is attached, an operator-side device including an operation unit that receives an operation for operating the surgical instrument, and a control device that controls the operation of the surgical instrument based on a command from the operation unit. The surgical instrument includes a shaft, a first jaw member and a second jaw member provided on the distal end side of the shaft, a first elongated element for driving the first jaw member, and a second elongated element for driving the second jaw member. The operation unit includes a pair of grip members that receive an operation for opening and closing the first jaw member and the second jaw member. The arm includes a first drive unit for driving the first elongated element and a second drive unit for driving the second elongated element. , a third drive unit for rotating the shaft, The control device is configured to control the rotation amounts of the first drive unit and the second drive unit so that the opening angles of the first jaw member and the second jaw member correspond to the operation angles at which the first jaw member and the second jaw member are opened and closed received by the operation unit. When receiving an operation for rotating the shaft, received The rotation amount of the third drive unit is controlled to rotate the shaft according to the operation, and the pair of grip members The rotation amounts of the first drive unit and the second drive unit corresponding to the operation angles are corrected according to the rotation angle around the rotation axis of the shaft. When receiving an operation, the angle between the pair of grip members operation angle, the between opening angles of the first jaw member and the second jaw member When the operation unit receives an operation for rotating the shaft and the pair of grip members receive an operation for opening and closing the first jaw member and the second jaw member,

[0009] ​In the surgical system according to the first aspect of this disclosure, as described above, the control device controls the rotation amounts of the first drive unit and the second drive unit so that the opening angles of the first joystick member and the second joystick member correspond to the operation angles for opening and closing the first joystick member and the second joystick member received by the operation unit, and corrects the rotation amounts of the first drive unit and the second drive unit corresponding to the operation angles according to the rotation angle around the rotation axis of the shaft. Thereby, even when the path lengths of the first elongated element and the second elongated element change due to the rotation of the shaft, the rotation amounts of the first drive unit and the second drive unit that drive the first joystick member and the second joystick member by the control unit are corrected, so that the opening angle between the first joystick member and the second joystick member can be set to a desired opening angle. For this reason, even when the path lengths of the first elongated element and the second elongated element change, the change in the force by the first joystick member and the second joystick member can be reduced.

[0010] The control method of the surgical system according to the second aspect of this disclosure includes a patient-side device including an arm to which a surgical instrument is attached, an operator-side device including an operation unit that receives an operation for operating the surgical instrument, and a control device that controls the operation of the surgical instrument based on a command from the operation unit. The surgical instrument includes a shaft, a first joystick member and a second joystick member provided on the distal end side of the shaft, a first elongated element for driving the first joystick member, and a second elongated element for driving the second joystick member. The operation unit includes a pair of grip members that receive an operation for opening and closing the first jaw member and the second jaw member. The arm includes a first drive unit for driving the first elongated element and a second drive unit for driving the second elongated element. , a third drive unit for rotating the shaft, and the control device is configured such that the operation unit When receiving an operation for rotating the shaft, receives The rotation amount of the third drive unit is controlled to rotate the shaft according to the operation, and the pair of grip members and controls the rotation amounts of the first drive unit and the second drive unit so that the opening angles of the first joystick member and the second joystick member correspond to the operation angles for opening and closing the first joystick member and the second joystick member. This is a control method for a surgical system. When receiving an operation, the angle between the pair of grip members for opening and closing the first joystick member and the second joystick member between such that the opening angles of the first joystick member and the second joystick member correspond. The operation for rotating the shaft by the operation unit and by the pair of grip members to open and close the first joystick member and the second joystick member of the operation A step of receiving an operation, and a step of correcting the rotation amounts of a first drive unit and a second drive unit corresponding to an operation angle according to a rotation angle around the rotation axis of the shaft.

[0011] The control method of the surgical system according to the second aspect of this disclosure includes, as described above, a step of correcting the rotation amounts of the first drive unit and the second drive unit corresponding to the operation angle according to the rotation angle around the rotation axis of the shaft. Thereby, even when the path lengths of the first elongated element and the second elongated element change due to the rotation of the shaft, the rotation amounts of the first drive unit and the second drive unit that drive the first joe member and the second joe member by the control unit are corrected. Therefore, the opening angle between the first joe member and the second joe member can be set to a desired opening angle. For this reason, even when the path lengths of the first elongated element and the second elongated element change, it is possible to provide a control method for a surgical system capable of reducing the change in force caused by the first joe member and the second joe member.

Effects of the Invention

[0012] According to the present disclosure, even when the path length of the elongated element changes, the change in force caused by the two joe members can be reduced.

Brief Description of the Drawings

[0013]

Figure 1

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Figure 22

Mode for Carrying Out the Invention

[0014] [First Embodiment] Hereinafter, a first embodiment embodying the present disclosure will be described with reference to the drawings.

[0015] With reference to FIGS. 1 to 17, the configuration of a surgical system 100 according to the first embodiment will be described. The surgical system 100 includes a medical manipulator 1 which is a patient-side device, and a remote operation device 2 which is an operator-side device for operating the medical manipulator 1. The medical manipulator 1 includes a medical cart 3 and is configured to be movable. The remote operation device 2 is arranged at a position separated from the medical manipulator 1, and the medical manipulator 1 is configured to be remotely operated by the remote operation device 2. The surgeon inputs a command for causing the medical manipulator 1 to perform a desired operation to the remote operation device 2. The remote operation device 2 transmits the input command to the medical manipulator 1. The medical manipulator 1 operates based on the received command. Further, the medical manipulator 1 is arranged in an operating room which is a sterilized sterilization field. Note that the medical manipulator 1 and the remote operation device 2 are examples of a patient-side device and an operator-side device, respectively.

[0016] The remote operation device 2 is disposed, for example, inside or outside the operating room. The remote operation device 2 includes an operation manipulator arm 21, operation pedals 22, a touch panel 23, a monitor 24, a support arm 25, and a support bar 26. The operation manipulator arm 21 constitutes an operation handle for an operator to input commands. The operation manipulator arm 21 receives an operation amount for the surgical instrument 4. The monitor 24 is a scope-type display device that displays an image captured by the endoscope 6. The support arm 25 supports the monitor 24 so that the height of the monitor 24 matches the height of the operator's face. The touch panel 23 is disposed on the support bar 26. The medical manipulator 1 can be operated by the remote operation device 2 by detecting the operator's head with a sensor provided near the monitor 24. The operator operates the operation manipulator arm 21 and the operation pedals 22 while visually recognizing the affected part by the monitor 24. Thereby, a command is input to the remote operation device 2. The command input to the remote operation device 2 is transmitted to the medical manipulator 1. The operation manipulator arm 21 includes a right-hand operation manipulator arm 21R and a left-hand operation manipulator arm 21L. Note that the operation manipulator arm 21 is an example of an operation unit.

[0017] Also, as shown in FIG. 3, the operation manipulator arm 21 includes a link portion 21a, a link portion 21b, a link portion 21c, and a link portion 21d that is operated by an operator such as a doctor. The link portion 21a rotates around the A4 axis. The link portion 21b rotates around the A5 axis with respect to the link portion 21a. The link portion 21c rotates around the A6 axis with respect to the link portion 21b. The link portion 21d rotates around the A7 axis with respect to the link portion 21c. Further, a pair of grip members 21f are provided on the link portion 21d of the operation manipulator arm 21, and a cylindrical finger insertion portion 21e is provided on the grip member 21f. The operator inserts fingers into the pair of finger insertion portions 21e to operate the operation manipulator arm 21. The pair of grip members 21f are each rotatably connected to the link portion 21d at their proximal ends, and by increasing or decreasing the angle between the pair of grip members 21f, the opening angle between a first jaw member 430a and a second jaw member 430b, which will be described later, is changed.

[0018] As shown in FIGS. 1 and 2, the medical cart 3 is provided with a control unit 31 that controls the operation of the medical manipulator 1, and a storage unit 32 that stores a program or the like for controlling the operation of the medical manipulator 1. Then, based on a command input to the remote operation device 2, the control unit 31 of the medical cart 3 controls the operation of the medical manipulator 1. Note that the control unit 31 is an example of a control device.

[0019] Also, the medical cart 3 is provided with an input device 33. The input device 33 is configured to receive operations for moving and changing the postures of the positioner 40, the arm base 50, and the plurality of arms 60, mainly for preparing for surgery before the procedure.

[0020] The medical manipulator 1 shown in FIGS. 1 and 2 is arranged in the operating room. The medical manipulator 1 includes a medical cart 3, a positioner 40, an arm base 50, and a plurality of arms 60. The arm base 50 is attached to the tip of the positioner 40. The arm base 50 has a relatively long rod shape. Also, the plurality of arms 60 are each attached to the arm base 50 at the base portion of each arm 60. The plurality of arms 60 are configured to be able to take a folded storage posture. The arm base 50 and the plurality of arms 60 are covered with a sterilization drape and used.

[0021] The positioner 40 is constituted by, for example, a 7-axis articulated robot. Also, the positioner 40 is arranged on the medical cart 3. The positioner 40 moves the arm base 50. Specifically, the positioner 40 is configured to move the position of the arm base 50 three-dimensionally.

[0022] Also, the positioner 40 includes a base portion 41 and a plurality of link portions 42 connected to the base portion 41. The plurality of link portions 42 are connected to each other by a joint portion 43.

[0023] As shown in FIG. 1, a surgical instrument 4 is attached to the tip of each of the plurality of arms 60. The surgical instrument 4 includes, for example, a replaceable instrument, an endoscope 6, and the like.

[0024] As shown in FIG. 4, an end effector 430 is provided at the tip of the instrument. The end effector 430 has two first jaw members 430a and a second jaw member 430b.

[0025] Next, the configuration of the arm 60 will be described in detail.

[0026] As shown in FIG. 4, the arm 60 includes an arm portion 61 and a translational movement mechanism portion 70 provided at the tip of the arm portion 61. The arm 60 is configured to move the tip side three-dimensionally with respect to the arm base 50 at the base of the arm 60. The arm 60 has eight degrees of freedom. Specifically, the arm 60 has JT1 to JT7 as rotation axes and a JT8 axis as a linear motion axis. Note that the plurality of arms 60 have the same configuration as each other. Further, the arm portion 61 includes a base portion 62, a link portion 63, and a joint portion 64.

[0027] The translational movement mechanism portion 70 is provided at the tip of the arm portion 61 and the surgical instrument 4 is attached thereto. Further, the translational movement mechanism portion 70 translates the surgical instrument 4 in the direction of insertion into the patient P. Also, the translational movement mechanism portion 70 is configured to relatively translate the surgical instrument 4 with respect to the arm portion 61. Specifically, a holder 71 for holding the surgical instrument 4 is provided in the translational movement mechanism portion 70. A servo motor M2 shown in FIG. 15 is housed in the holder 71. The servo motor M2 is configured to rotate a rotating body provided in the driven unit 4a of the surgical instrument 4. When the rotating body of the driven unit 4a rotates, the surgical instrument 4 operates.

[0028] The arm portion 61 is composed of a seven-axis articulated robot arm. Further, the arm portion 61 includes a base portion 62 for attaching the arm portion 61 to the arm base 50 and a plurality of link portions 63 connected to the base portion 62. The plurality of link portions 63 are connected to each other by a joint portion 64.

[0029] The translational movement mechanism portion 70 is configured to translate the holder 71 along the Y direction, thereby translating the surgical instrument 4 attached to the holder 71 along the Y direction, which is the direction in which the shaft 420 extends. Specifically, the translational movement mechanism portion 70 includes a proximal link portion 72 connected to the tip of the arm portion 61, a distal link portion 73, and a connecting link portion 74 provided between the proximal link portion 72 and the distal link portion 73. Further, the holder 71 is provided on the distal link portion 73.

[0030] And the connecting link portion 74 of the translational movement mechanism portion 70 is configured as a speed doubling mechanism that relatively moves the distal end side link portion 73 along the Y direction with respect to the proximal end side link portion 72. Further, when the distal end side link portion 73 is relatively moved along the Z direction with respect to the proximal end side link portion 72, the surgical instrument 4 attached to the holder 71 is configured to translate along the Y direction. Further, the distal end of the arm portion 61 is connected to the proximal end side link portion 72 so as to rotate the proximal end side link portion 72 about the X direction orthogonal to the Y direction.

[0031] Also, as shown in FIG. 1, an endoscope 6 is attached to one of the plurality of arms 60, for example, arm 60c, and surgical instruments 4 other than the endoscope 6 are attached to the remaining arms 60a, 60b, and 60d. Then, the pivot position is taught in a state where the endoscope 6 is attached to the arm 60 to which the endoscope 6 is attached. Further, the pivot position is taught in a state where a pivot position teaching device is attached to the arm 60 to which the surgical instrument 4 other than the endoscope 6 is attached. Note that the endoscope 6 is attached to any one of the two arms 60b and 60c arranged in the center among the four arms 60 arranged adjacent to each other. That is, the pivot position is set individually for each of the plurality of arms 60.

[0032] With reference to FIGS. 5 to 14, the configurations of the surgical instrument 4, the adapter 500, and the drape 600 will be described.

[0033] Here, the rotation axis JT9 direction of the shaft 420, which is the extending direction of the surgical instrument 4, is defined as the Y direction. The direction in which the surgical instrument 4 and the adapter 500 are adjacent to each other is defined as the Z direction. Among the Z direction, the side of the surgical instrument 4 is defined as the Z1 direction, and the opposite side of the Z1 direction is defined as the Z2 direction. Note that the rotation axis JT9 is the rotation central axis of the shaft 420. Also, the direction orthogonal to the Y direction and the Z direction is defined as the X direction. One side of the X direction is defined as the X1 direction, and the other side of the X direction is defined as the X2 direction.

[0034] As shown in FIGS. 5 and 6, the surgical instrument 4 is detachably connected to the holder 71 of the arm 60 of the surgical system 100. Specifically, the surgical instrument 4 is removably connected to the arm 60 via an adapter 500. The adapter 500 is a drape adapter for sandwiching a sterilized drape 600 for covering the arm 60 between the holder 71.

[0035] The surgical instrument 4 is attached to the Z1-direction side of the adapter 500. The adapter 500 is attached to the Z1-direction side of the arm 60.

[0036] As shown in FIG. 6, the drape 600 includes a main body portion 610 that covers the arm 60 and an attachment portion 620 that is sandwiched between the arm 60 and the adapter 500. The main body portion 610 is composed of a flexible film member formed in a film shape. The flexible film member is made of a resin material such as thermoplastic polyurethane or polyethylene. An opening is provided in the main body portion 610 so that the holder 71 and the adapter 500 can engage with each other. An attachment portion 620 is provided at the opening of the main body portion 610. The attachment portion 620 is composed of a resin molding member. The resin molding member is made of a resin material such as polyethylene terephthalate. The attachment portion 620 is formed harder than the main body portion 610. An opening is provided in the attachment portion 620 so that the holder 71 and the adapter 500 can engage with each other.

[0037] As shown in FIGS. 9 and 10, the surgical instrument 4 has a plurality of rotating members 44a, 44b, 44c, and 44d. The rotating members 44a to 44d are provided in the housing 410 and are rotatably provided about a rotation axis extending in the Z direction. The plurality of rotating members 44a to 44d are provided for operating the end effector 430. The rotating members 44b to 44d are connected to the end effector 430 by an elongated element W such as a wire or a cable inserted into the shaft 420. Accordingly, the elongated element W is driven in accordance with the rotation of the rotating members 44b to 44d, and the end effector 430 is operated in accordance with the driving of the elongated element W. Further, the rotating member 44a is connected to the shaft 420 via a gear 42a. Accordingly, the shaft 420 is rotated in accordance with the rotation of the rotating member 44a. Note that the rotating members 44c and 44d are examples of a first rotating member and a second rotating member, respectively.

[0038] Each of the plurality of rotating members 44a to 44d includes an engaging portion 440 including protrusions 441 and 442 that engage with the drive transmission member 510 of the adapter 500 in order to transmit the driving force from the holder 71 to the end effector 430. The protrusions 441 and 442 protrude from the surface on the Z2 direction side of the rotating members 44a to 44d toward the Z2 direction side which is the adapter 500 side. Further, a plurality of the protrusions 441 and 442 are arranged linearly. In addition, the protrusions 441 provided on the rotating members 44a and 44b and the protrusions 442 provided on the rotating members 44c and 44d have different shapes from each other.

[0039] As shown in FIG. 6, the adapter 500 has a plurality of drive transmission members 510. The drive transmission member 510 is configured to transmit the driving force from the arm 60 to the rotating members 44a to 44d of the surgical instrument 4. That is, four drive transmission members 510 are provided corresponding to the rotating members 44a to 44d of the surgical instrument 4. The drive transmission member 510 is rotatably provided about a rotation axis extending in the Z direction.

[0040] The plurality of drive transmission members 510 each include an engaging portion 511 having engaging recesses that engage with the protrusions 441 and 442 of the rotating members 44a to 44d of the surgical instrument 4. The engaging recesses provided in the engaging portion 511 are provided on the Z1-direction side, which is the side of the drive transmission member 510 toward the surgical instrument 4, and are recessed from the surface on the Z1-direction side of the drive transmission member 510 toward the Z2-direction side, which is the side opposite to the surgical instrument 4 side. Each of the plurality of drive transmission members 510 includes an engaging portion 512 shown in FIG. 7, which includes an engaging recess that engages with a convex portion provided in the engaging portion 711 of the drive portion 71b of the holder 71 on the Z2-direction side surface.

[0041] The holder 71 of the arm 60 has a plurality of drive portions 71b. The plurality of drive portions 71b are provided to correspond to the plurality of drive transmission members 510 of the adapter 500. The drive portion 71b includes an engaging portion 711 and an actuator 712. Note that four drive portions 71b and four drive transmission members 510 are provided respectively. Further, the actuator 712 includes four actuators 712a to 712d. As shown in FIG. 8, the actuator 712a includes a servo motor 712a1 and a speed reducer 712a2, the actuator 712b includes a servo motor 712b1 and a speed reducer 712b2, the actuator 712c includes a servo motor 712c1 and a speed reducer 712c2, and the actuator 712d includes a servo motor 712d1 and a speed reducer 712d2. The reduction ratios of the speed reducers 712a2 to 712d2 are from 10 to 150, and the rotation amounts (rotation angles) of the servo motors 712a1 to 712d1 are reduced to 1 / 10 to 1 / 150 and output to rotate each engaging portion 711, each drive transmission member 510 engaged with each engaging portion 711, each engaging portion 440 engaged with each drive transmission member 510, and the rotating members 44a to 44d connected to each engaging portion 440. The reduction ratios of the speed reducers 712a2 to 712d2 are preferably from 30 to 120, the reduction ratio of the speed reducer 712a2 is 100, and the reduction ratios of the speed reducers 712b2 to 712d2 are 50. Note that the servo motors 712c1 and 712d1 are examples of a first drive portion and a second drive portion, respectively.

[0042] The engaging convex portion provided on the engaging portion 711 engages with the engaging concave portion provided on the engaging portion 512 of the drive transmission member 510. The engaging convex portion of the engaging portion 711 protrudes from the surface on the Z1 direction side of the driving portion 71b toward the adapter 500 side which is on the Z1 direction side.

[0043] The actuator 712 includes a servo motor M2 shown in FIG. 15, a speed reducer (not shown), and an encoder E2 that detects the rotation angle of the servo motor M2. The servo motor M2 and the speed reducer that constitute the actuator 712 are configured to rotate the engaging portion 711 around the rotation axis extending in the Z direction. Thereby, the drive transmission member 510 of the adapter 500 engaged with the engaging portion 711 can be rotated around the rotation axis extending in the Z direction, and the rotating members 44a to 44d of the surgical instrument 4 engaged with the drive transmission member 510 can be rotated around the rotation axis.

[0044] As shown in FIGS. 10 and 11, the rotating members 44b to 44d of the surgical instrument 4 have the slender element W wound thereon. Specifically, at the upper part of the rotating member 44b, the first part W3a1 of the third slender element W3 is wound clockwise, and at the lower part of the rotating member 44b, the second part W3a2 of the third slender element W3 is wound counterclockwise.

[0045] Further, the first slender element W1 includes a first part W1a1, a second part W1a2, and a fastener W1b provided between the first part W1a1 and the second part W1a2. The fastener W1b is fixed to the first jaw member 430a. Also, at the upper part of the rotating member 44c, the end of the first part W1a1 of the first slender element W1 is wound counterclockwise, and at the lower part of the rotating member 44b, the end of the second part W1a2 of the first slender element W1 is wound clockwise. Note that the fastener W1b is an example of the first fixing portion.

[0046] Further, the second elongated element W2 includes a first portion W2a1, a second portion W2a2, and a fastener W2b provided between the first portion W2a1 and the second portion W2a2. The fastener W2b is fixed to the second jaw member 430b. Also, at the upper part of the rotating member 44d, the end of the first portion W2a1 of the second elongated element W2 is wound counterclockwise, and at the lower part of the rotating member 44d, the end of the second portion W2a2 of the second elongated element W2 is wound clockwise. Note that the first portion W2a1, the second portion W2a2, and the fastener W2b are examples of the third portion, the fourth portion, and the second fixing portion, respectively.

[0047] The elongated element W is passed from each of the rotating members 44b to 44d through the shaft 420, hung on the end effector 430, passed through the shaft 420 again, and reaches the rotating members 44b to 44d. Also, the elongated element W is hung on the built-in pulley 450. The built-in pulley 450 is held by the pulley holding portion 451.

[0048] As shown in FIGS. 11 and 12, the rotating member 44c operates the first jaw member 430a by rotating about the rotation axis. Specifically, the rotating member 44c is rotated by the servo motor 712c1 to drive the first elongated element W1. The first elongated element W1 connects the first jaw member 430a and the rotating member 44c through the inside of the shaft 420. The rotating member 44c rotates in the C1 direction shown in FIG. 11 to pull the first portion W1a1 of the first elongated element W1 and drive the first jaw member 430a in the C1a direction shown in FIG. 13, which is the direction in which the first jaw member 430a opens. Also, the rotating member 44c rotates in the C2 direction shown in FIG. 11, which is the direction opposite to the C1 direction, to pull the second portion W1a2 of the first elongated element W1 and drive the first jaw member 430a in the C2a direction shown in FIG. 13, which is the direction in which the first jaw member 430a closes. Note that the second elongated element W2 is omitted in FIG. 12.

[0049] The rotating member 44d operates the second jaw member 430b by rotating about the rotation axis. Specifically, the rotating member 44d is rotated by the servo motor 712d1 to drive the second elongated element W2. The second elongated element W2 connects the second jaw member 430b and the rotating member 44d through the inside of the shaft 420. The rotating member 44d rotates in the C3 direction shown in FIG. 11 to pull the first portion W2a1 of the second elongated element W2 and drive the second jaw member 430b in the C3a direction shown in FIG. 13, which is the direction in which the second jaw member 430b opens. Further, the rotating member 44d rotates in the C4 direction shown in FIG. 11, which is the direction opposite to the C3 direction, to pull the second portion W2a2 of the second elongated element W2 and drive the second jaw member 430b in the C4a direction shown in FIG. 13, which is the direction in which the second jaw member 430b closes.

[0050] The rotating member 44b operates the distal clevis 460, which is the wrist part of the end effector 430, by rotating about the rotation axis. Specifically, the rotating member 44b drives the third elongated element W3 by rotating. The rotating member 44b rotates in the C5 direction shown in FIG. 11 to pull the first portion W3a1 of the third elongated element W3 and drive the distal clevis 460 in the C5a direction shown in FIG. 13. Further, the rotating member 44b rotates in the C6 direction shown in FIG. 11, which is the direction opposite to the C5 direction, to drive the distal clevis 460 in the C6a direction shown in FIG. 13, which is the direction opposite to the C5a direction.

[0051] The rotating member 44a having the gear 443 rotates about the rotation axis with the gear 443 engaged with the gear 42a connected to the proximal end of the shaft 420, thereby operationally rotating the shaft 420 to rotate the end effector 430. Specifically, the rotating member 44a rotates in the C7 direction shown in FIG. 11 to rotate the shaft 420 and the end effector 430 in the first direction. Also, the rotating member 44a rotates in the C8 direction shown in FIG. 11 to rotate the shaft 420 and the end effector 430 in the second direction opposite to the first direction. Further, the shaft 420 rotates due to the rotation of the actuator 712a.

[0052] That is, in the first embodiment, as shown in FIG. 11, the rotating member 44c is disposed on the proximal end side of the shaft 420 and drives the first elongated element W1 by the rotation of the actuator 712c. The rotating member 44d is disposed on the proximal end side of the shaft 420 and drives the second elongated element W2 by the rotation of the actuator 712d. Also, the first jaw member 430a and the second jaw member 430b are disposed at the distal end of the shaft 420 via the distal clevis 460.

[0053] Also, inside the shaft 420, with the rotation angle of the shaft 420 being 0, the second portion W1a2 of the first elongated element W1 that drives the first jaw member 430a and the second portion W2a2 of the second elongated element W2 that drives the second jaw member 430b are arranged to intersect. Note that the first portion W1a1 of the first elongated element W1 that drives the first jaw member 430a and the first portion W2a1 of the second elongated element W2 that drives the second jaw member 430b are arranged along the rotation axis JT9 of the shaft 420 and parallel to each other.

[0054] In FIG. 12, the first portion W1a1 of the first elongated element W1 is guided by a lower pulley, which is a pulley closer to the second plane P2 of the first pulley group 462a and the second pulley group 463a, and is guided to the rotating member 44c along the rotation axis JT9 of the shaft 420. On the other hand, in FIG. 14, the second portion W1a2 of the first elongated element W1 is guided by an upper pulley, which is a pulley farther from the second plane P2 of the first pulley group 462b and the second pulley group 463b, and is guided to the rotating member 44c across the rotation axis JT9 of the shaft 420. Therefore, as shown in FIG. 11, the first portion W1a1 is arranged substantially parallel to the rotation axis JT9, and the second portion W1a2 is arranged so as to intersect the rotation axis JT9. For the second elongated element W2, for the same reason, the first portion W2a1 is arranged substantially parallel to the rotation axis JT9, and the second portion W2a2 is arranged so as to intersect the rotation axis JT9.

[0055] Furthermore, in the first embodiment, from the state shown in FIG. 11, the first elongated element W1 and the second elongated element W2 are arranged in the shaft 420 so as to be twisted 180 degrees with respect to the rotation axis JT9 of the shaft 420 between the first joist member 430a and the second joist member 430b. Specifically, after attaching the fastener W1b of the first elongated element W1 and the fastener W2b of the second elongated element W2 to the first joist member 430a and the second joist member 430b, respectively, with the distal clevis 460 to which the first joist member 430a and the second joist member 430b are attached rotated 180 degrees around the rotation axis JT9 of the shaft 420, the ends of the first portion W1a1 and the second portion W1a2 of the first elongated element W1 are wound around the rotating member 44c, and the ends of the first portion W2a1 and the second portion W2a2 of the second elongated element W2 are wound around the rotating member 44d.

[0056] As shown in FIGS. 12 to 14, the surgical instrument 4 is an electrosurgical instrument such as a monopolar curved scissors, and includes a conductive end effector 430, a conductive distal clevis 460 that rotatably supports the end effector 430 about a first axis A1, and a conductive proximal clevis 470 that rotatably supports the distal clevis 460 about a second axis A2. The surgical instrument 4 includes a cylindrical shaft 420 connected to the proximal clevis 470.

[0057] As shown in FIG. 12, the end effector 430 has a first jaw member 430a and a second jaw member 430b. The first jaw member 430a and the second jaw member 430b are made of a conductive member such as stainless steel.

[0058] The first jaw member 430a has a pulley portion 431a, and the second jaw member 430b has a pulley portion 431b. The first jaw member 430a is configured to change its posture as the first part W1a1 and the second part W1a2 of the first elongated element W1 spanned across the pulley portion 431a move. More specifically, as shown in FIG. 14, a cylindrical fastener W1b of the first elongated element W1 engages with the pulley portion 431a of the first jaw member 430a, and as the first elongated element W1 moves, the pulley portion 431a rotates about the first axis A1, and as a result, the first jaw member 430a rotates about the first axis A1. As shown in FIG. 13, the second jaw member 430b has a pulley portion 431b. The second jaw member 430b is configured to change its posture as the first part W2a1 and the second part W2a2 of the second elongated element W2 spanned across the pulley portion 431b move. Here, in the first embodiment, the end effector 430 is scissors as described above.

[0059] The distal clevis 460 has a pulley portion 461, a first pulley group 462a including two pulleys rotatably disposed on a first shaft portion 464a, a first pulley group 462b including two pulleys rotatably disposed on a first shaft portion 464b, second pulley groups 463a and 463b each including two pulleys rotatably disposed on a second shaft portion 465, and a third shaft portion 466. The first pulley group 462a, the second pulley group 463a, and the first shaft portion 464a are disposed on one side of a second plane P2 of the distal clevis 460 in FIG. 12, and the first pulley group 462b, the second pulley group 463b, and the first shaft portion 464b are disposed on the other side of the second plane P2 of the distal clevis 460. Each pulley included in the first pulley groups 462a and 462b has a smaller diameter than each pulley included in the second pulley groups 463a and 463b.

[0060] On the end effector 430 side, which is the distal end side of the distal clevis 460, a pair of shaft holes are formed into which a third shaft portion 466 that rotatably supports a pulley portion 431a of a first jaw member 430a and a pulley portion 431b of a second jaw member 430b is inserted. The third shaft portion 466 is a cylindrical shaft member extending in a direction along a first axis A1. The third shaft portion 466 is supported by the pair of shaft holes. The first axis A1 extends along a direction substantially orthogonal to a rotation axis JT9 of the shaft 420. The first axis A1 extends along a direction substantially orthogonal to the first plane P1 and extends in a direction substantially parallel to the second plane P2.

[0061] The pulley portion 461 is provided on the shaft 420 side which is the proximal end side of the distal clevis 460, and is supported by the proximal clevis 470 so as to be rotatable about the second axis A2. More specifically, the pulley portion 461 is rotatably supported by a second shaft portion 465 supported by the proximal clevis 470. The second axis A2 extends along a direction substantially orthogonal to the rotation axis JT9 of the shaft 420, and extends along a direction substantially orthogonal to the direction parallel to the first axis A1. The second axis A2 extends along a direction substantially parallel to the first plane P1, and extends in a direction substantially orthogonal to the second plane P2. The pulley portion 461 has a pulley groove formed along the circumferential direction of the second axis A2. The distal clevis 460 is configured to change its posture as the third elongated element W3 spanned across the pulley portion 461 moves. More specifically, a cylindrical fastener of the third elongated element W3 is engaged with the pulley portion 461, and as the third elongated element W3 moves, the pulley portion 461 rotates about the second axis A2, and as a result, the distal clevis 460 rotates about the second axis A2. The cylindrical fastener is provided between the first portion W3a1 and the second portion W3a2 of the third elongated element W3. Note that the third elongated element W3 is driven by the actuator 712b.

[0062] The two pulleys of the first pulley group 462a are rotatably supported by the first shaft portion 464a. The two pulleys of the second pulley group 463a are rotatably supported by the second shaft portion 465. In FIG. 12, the lower pulley which is the pulley on the side closer to the second plane P2 of the first pulley group 462a and the lower pulley which is the pulley on the side closer to the second plane P2 of the second pulley group 463a guide the first portion W1a1 of the first elongated element W1 engaged with the pulley portion 431a of the first jo member 430a. On the other hand, in FIG. 14, the upper pulley which is the pulley on the side farther from the second plane P2 of the first pulley group 462b and the upper pulley which is the pulley on the side farther from the second plane P2 of the second pulley group 463b guide the second portion W2a2 of the second elongated element W2 engaged with the pulley portion 431b of the second jo member 430b. The first pulley groups 462a and 462b are arranged between the second axis A2 and the first axis A1. The second pulley groups 463a and 463b are arranged on the second axis A2. More specifically, the cylindrical fastener W1b of the first elongated element W1 is engaged with the pulley portion 431a, and as the first elongated element W1 moves, the pulley portion 431a rotates around the first axis A1, and as a result, the first jo member 430a rotates around the first axis A1. Also, as shown in FIG. 13, the cylindrical fastener W2b of the second elongated element W2 is engaged with the pulley portion 431b, and as the second elongated element W2 moves, the pulley portion 431b rotates around the first axis A1, and as a result, the second jo member 430b rotates around the first axis A1. The upper pulley which is the pulley on the side farther from the second plane P2 of the first pulley group 462b and the upper pulley which is the pulley on the side farther from the second plane P2 of the second pulley group 463b guide the second portion W2a2 of the second elongated element W2 engaged with the pulley portion 431b of the second jo member 430b.

[0063] The first shaft portion 464a extends along a rotation center axis substantially parallel to the second shaft A2 and is disposed on the same side as the pulley portion 431a with respect to the first plane P1. The first shaft portion 464b is disposed on the same side as the pulley portion 431b with respect to the first plane P1. The second shaft portion 465 is a cylindrical shaft member extending in a direction along the second shaft A2. The second shaft portion 465 is inserted and supported in a pair of shaft holes of the proximal clevis 470.

[0064] Here, the first elongated element W1, the second elongated element W2, and the third elongated element W3 are constituted by a wire or a cable. The first elongated element W1, the second elongated element W2, and the third elongated element W3 are wires or cables made of a metal such as stainless steel or tungsten. The third elongated element W3 is provided corresponding to the pulley portion 461. The first elongated element W1 and the second elongated element W2 are respectively provided corresponding to the first jaw member 430a and the second jaw member 430b. Note that a part of the first elongated element W1, the second elongated element W2, and the third elongated element W3 may be constituted by a rod or the like.

[0065] As shown in FIG. 12, the proximal clevis 470 includes a connection base portion 470a connected to the shaft 420.

[0066] Also, as shown in FIG. 15, a plurality of servo motors M1, an encoder E1, and a speed reducer are provided on the arm 60 so as to correspond to a plurality of joint portions 64 of the arm portion 61. The encoder E1 is configured to detect the rotation angle of the servo motor M1. The speed reducer is configured to reduce the rotation of the servo motor M1 and increase the torque.

[0067] Further, as shown in FIG. 15, the translational movement mechanism unit 70 is provided with a servo motor M2 for rotating a rotating body provided in the driven unit 4a of the surgical instrument 4, a servo motor M3 for translating the surgical instrument 4, an encoder E2 and an encoder E3, and a speed reducer. The servo motor M2 is synonymous with the actuator 712 shown in FIG. 6. The encoder E2 and the encoder E3 are each configured to detect the rotation angle of the servo motor M2 and the servo motor M3. The speed reducer is configured to reduce the rotation of the servo motor M2 and the servo motor M3 to increase the torque.

[0068] Further, the positioner 40 is provided with a plurality of servo motors M4, an encoder E4, and a speed reducer so as to correspond to a plurality of joint portions 43 of the positioner 40. The encoder E4 is configured to detect the rotation angle of the servo motor M4. The speed reducer is configured to reduce the rotation of the servo motor M4 to increase the torque.

[0069] Further, the medical cart 3 is provided with a servo motor M5 for driving each of a plurality of front wheels of the medical cart 3, an encoder E5, and a speed reducer. The encoder E5 is configured to detect the rotation angle of the servo motor M5. The speed reducer is configured to reduce the rotation of the servo motor M5 to increase the torque.

[0070] The control unit 31 of the medical cart 3 includes an arm control unit 31a that controls the movement of the plurality of arms 60 based on a command, and a positioner control unit 31b that controls the movement of the positioner 40 and the driving of the front wheels of the medical cart 3 based on a command. A servo control unit C1 for controlling the servo motor M1 for driving the arm 60 is electrically connected to the arm control unit 31a. Further, an encoder E1 for detecting the rotation angle of the servo motor M1 is electrically connected to the servo control unit C1.

[0071] Further, a servo control unit C2 for controlling a servo motor M2 for driving the surgical instrument 4 is electrically connected to the arm control unit 31a. An encoder E2 for detecting the rotation angle of the servo motor M2 is electrically connected to the servo control unit C2. Also, a servo control unit C3 for controlling a servo motor M3 for linearly moving the linear movement mechanism unit 70 is electrically connected to the arm control unit 31a. An encoder E3 for detecting the rotation angle of the servo motor M3 is electrically connected to the servo control unit C3.

[0072] Then, the operation command input to the remote operation device 2 is input to the arm control unit 31a. The arm control unit 31a generates a position command based on the input operation command and the rotation angle detected by the encoder E1, and outputs the position command to the servo control unit C1. The servo control unit C1 generates a torque command based on the position command input from the arm control unit 31a and the rotation angle detected by the encoder E1, and outputs the torque command to the servo motor M1. As a result, the arm 60 moves in response to the operation command input to the remote operation device 2. Note that the operations of the servo control unit C2, the encoder E2, and the servo motor M2 are the same as those of the servo control unit C1, the encoder E1, and the servo motor M1. Also, the operations of the servo control unit C3, the encoder E3, and the servo motor M3 are the same as those of the servo control unit C1, the encoder E1, and the servo motor M1.

[0073] The arm control unit 31a is configured to operate the arm 60 based on the input signal from the operation unit 80. Specifically, the arm control unit 31a generates a position command based on the operation command, which is the input signal input from the operation unit 80, and the rotation angle detected by the encoder E1 or E3, and outputs the position command to the servo control unit C1 or C3. The servo control unit C1 or C3 generates a torque command based on the position command input from the arm control unit 31a and the rotation angle detected by the encoder E1 or E3, and outputs the torque command to the servo motor M1 or M3. Thereby, the arm 60 moves according to the operation command input to the operation unit 80.

[0074] Also, as shown in FIG. 15, a servo control unit C4 for controlling the servo motor M4 that moves the positioner 40 is electrically connected to the positioner control unit 31b. An encoder E4 for detecting the rotation angle of the servo motor M4 is electrically connected to the servo control unit C4. A servo control unit C5 for controlling the servo motor M5 that drives the front wheels of the medical cart 3 is electrically connected to the positioner control unit 31b. An encoder E5 for detecting the rotation angle of the servo motor M5 is electrically connected to the servo control unit C5.

[0075] Also, the operation command from the input device 33 is input to the positioner control unit 31b. The positioner control unit 31b generates a position command based on the operation command input from the input device 33 and the rotation angle detected by the encoder E4, and outputs the position command to the servo control unit C4. The servo control unit C4 generates a torque command based on the position command input from the positioner control unit 31b and the rotation angle detected by the encoder E4, and outputs the torque command to the servo motor M4. Thereby, the positioner 40 moves according to the operation command input to the input device 33. Although detailed description is omitted, in the same procedure, the positioner control unit 31b moves the medical cart 3 according to the operation command from the operation handle 34.

[0076] Here, in the first embodiment, the control unit 31 controls the rotation amounts of the servo motor 712c1 and the servo motor 712d1 so that the opening angles of the first joint member 430a and the second joint member 430b correspond to the operation angles for opening and closing the first joint member 430a and the second joint member 430b received by the operation manipulator arm 21. That is, the operations of the first joint member 430a and the second joint member 430b are controlled by the rotation angles of the outputs of the speed reducers 712c2 of the actuator 712c and the speed reducers 712d2 of the actuator 712d. That is, the operations of the first joint member 430a and the second joint member 430b are controlled by the rotation angles of the rotating members 44c and 44d of the surgical instrument 4. Then, from the state where the opening angles of the first joint member 430a and the second joint member 430b are closed and the opening angle is 0, by further rotating the speed reducers 712c2 of the actuator 712c and the speed reducers 712d2 of the actuator 712d by a predetermined rotation angle, when the opening angles of the first joint member 430a and the second joint member 430b become the desired opening angles, a shearing force is applied between the first joint member 430a and the second joint member 430b.

[0077] Here, when the shaft 420 rotates in the first direction, which is the direction in which the path lengths of the first elongated element W1 and the second elongated element W2 become longer, around the rotation axis JT9, the first elongated element W1 and the second elongated element W2 are pulled. Note that the first direction is, for example, the JT9a direction. That is, only by the rotation of the shaft 420 in the first direction, separately from the operation of the operation manipulator arm 21, the first elongated element W1 and the second elongated element W2 are pulled in the direction of opening the first joint member 430a and the second joint member 430b. In this case, when the rotating member 44c winds up the first elongated element W1 and the rotating member 44d winds up the second elongated element W2 corresponding to the operation of the operation manipulator arm 21, the opening angle between the first joint member 430a and the second joint member 430b exceeds the desired opening angle. Further, the amount of rotation by which the first joint member 430a and the second joint member 430b are rotated only by the rotation of the shaft 420 in the first direction increases as the rotation angle of the shaft 420 increases.

[0078] Also, when the shaft 420 rotates about the rotation axis JT9 in a second direction in which the path lengths of the first elongated element W1 and the second elongated element W2 become shorter, the first elongated element W1 and the second elongated element W2 loosen. The second direction is, for example, the JT9b direction. For this reason, even if the rotating member 44c winds up the first elongated element W1 and the rotating member 44d winds up the second elongated element W2 corresponding to the operation of the manipulator arm 21 for operation, the opening angle between the first jaw member 430a and the second jaw member 430b becomes insufficient with respect to the desired opening angle. Further, the amount by which the first elongated element W1 and the second elongated element W2 loosen due to the rotation of the shaft 420 in the second direction increases as the rotation angle of the shaft 420 increases.

[0079] Therefore, in the first embodiment, as shown in FIG. 16, when the operation angle is a threshold value corresponding to the opening angle of the first jaw member 430a and the second jaw member 430b being 0, the control unit 31 sets the correction amount of the rotation amounts of the servomotors 712c1 and 712d1 to 0, and as the operation angle moves away from the threshold value and as the rotation angle of the shaft 420 increases, the absolute value of the correction amount of the rotation amounts of the servomotors 712c1 and 712d1 is increased. Note that the operation angle received by the manipulator arm 21 for operation is, as described above, the angle between the pair of grip members 21f of the manipulator arm 21 for operation.

[0080] Also, in the first embodiment, when at least the first jaw member 430a and the second jaw member 430b are closed, the control unit 31 corrects the rotation angles of the rotating member 44c that drives the first elongated element W1 and the rotating member 44d that drives the second elongated element W2 according to the rotation amount of the servomotor 712a1 of the actuator 712a that rotates the shaft 420. That is, by correcting the rotation amounts of the servomotors 712c1 and 712d1, the rotation angles of the rotating members 44c and 44d are corrected.

[0081] In the first embodiment, the control unit 31 corrects the rotation amounts of the servo motors 712c1 and 712d1 only when the operation angle is smaller than the threshold value. For example, the threshold value of the operation angle is 10 degrees.

[0082] Specifically, in the first embodiment, when the shaft 420 rotates in the first direction in which the path lengths of the first elongated element W1 and the second elongated element W2 become longer around the rotation axis JT9, the control unit 31 reduces the winding amount of the first elongated element W1 of the rotating member 44c and the winding amount of the second elongated element W2 of the rotating member 44d according to the rotation angle of the shaft 420 around the rotation axis JT9, and corrects the rotation angles of the servo motors 712c1 and 712d1. Further, the reduction amount of the winding amount of the first elongated element W1 of the rotating member 44c and the reduction amount of the winding amount of the second elongated element W2 of the rotating member 44d increase as the rotation angle of the shaft 420 in the first direction increases.

[0083] For example, the shaft 420 rotates within a range of -260 degrees to 260 degrees. In FIG. 16, the command value of the opening angle between the first jaw member 430a and the second jaw member 430b when there is no correction of the rotation amounts of the servo motors 712c1 and 712d1 is shown by a solid line. Also, the command value of the opening angle between the first jaw member 430a and the second jaw member 430b for the servo motors 712c1 and 712d1 when the rotation angle of the shaft 420 is rotated -260 degrees in the negative direction as the first direction is shown by a dotted line. As described above, the command value of the opening angle between the first jaw member 430a and the second jaw member 430b, shown by the dotted line, when the rotation angle of the shaft 420 is rotated in the negative direction, is made smaller than the command value of the opening angle when there is no correction of the rotation amount, shown by the solid line. Thereby, it is possible to suppress the excessive rotation of the first jaw member 430a and the second jaw member 430b. Note that the command value of the opening angle means the command value of the rotation amount that the control unit 31 gives to the servo motors 712c1 and 712d1 so that the opening angle between the first jaw member 430a and the second jaw member 430b becomes an angle corresponding to the operation angle, which is the angle between the grip members 21f.

[0084] Also, in the first embodiment, when the shaft 420 rotates in the second direction, which is the direction opposite to the first direction and in which the path lengths of the first elongated element W1 and the second elongated element W2 become shorter and loosen around the rotation axis JT9, the control unit 31 corrects the rotation amounts of the servo motors 712c1 and 712d1 so as to increase the winding amount of the first elongated element W1 of the rotating member 44c and the winding amount of the second elongated element W2 of the rotating member 44d according to the rotation angle of the shaft 420 around the rotation axis JT9. Further, the increase amount of the winding amount of the first elongated element W1 of the rotating member 44c and the increase amount of the winding amount of the second elongated element W2 of the rotating member 44d increase as the rotation angle of the shaft 420 in the second direction increases.

[0085] Also, the command value of the opening angle between the first jaw member 430a and the second jaw member 430b when the rotation angle of the shaft 420 is rotated 260 degrees in the positive direction as the second direction is indicated by a dotted line. In this way, the command value of the opening angle between the first jaw member 430a and the second jaw member 430b when the rotation angle of the shaft 420 is rotated in the positive direction is made larger in the negative direction than the command value of the opening angle in the case where there is no correction of the rotation amount, which is indicated by a solid line. Thereby, the shearing force between the first jaw member 430a and the second jaw member 430b can be appropriately generated.

[0086] Also, when the operating angle for opening and closing the first jaw member 430a and the second jaw member 430b is greater than the threshold value, the rotation amounts of the servo motor 712c1 that drives the first jaw member 430a and the servo motor 712d1 that drives the second jaw member 430b are not corrected. Here, in the first embodiment, since the end effector 430 is a scissor as described above, the first jaw member 430a and the second jaw member 430b are rubbed against each other to shear the object. Then, when the operating angle, which is the case of shifting from the state where the first jaw member 430a and the second jaw member 430b are closed to the open state, is greater than the threshold value, if the shaft 420 rotates in the first direction, as shown by the dashed line in FIG. 19, similar to when it is below the threshold value, the winding amounts of the first elongated element W1 of the rotating member 44c and the second elongated element W2 of the rotating member 44d are reduced, and the rotation amounts of the servo motors 712c1 and 712d1 are corrected according to the rotation angle of the shaft 420. Since the first jaw member 430a and the second jaw member 430b are rubbed against each other, the first jaw member 430a and the second jaw member 430b may be difficult to open. Therefore, in the first embodiment, the rotation amounts of the servo motors 712c1 and 712d1 are corrected only when the opening angles of the first jaw member 430a and the second jaw member 430b are below the threshold value corresponding to 0. Note that in the case of the gripping type end effector as in the second embodiment below, the problem that the first jaw member 430a and the second jaw member 430b are difficult to open does not occur.

[0087] Also, the upper dotted line in FIG. 16 indicates the command value of the opening angle when the shaft 420 rotates -260 degrees, and the lower dotted line in FIG. 16 indicates the command value of the opening angle when the shaft 420 rotates 260 degrees. The slope of the dotted line representing the command value of the opening angle changes according to the rotation angle of the shaft 420. When the operating angle is at the threshold value, the command value of the opening angle becomes 0 regardless of the rotation angle of the shaft 420. That is, the command value of the opening angle increases in absolute value from 0 according to the operating angle and the rotation angle of the shaft.

[0088] Also, in the first embodiment, as shown in FIG. 9, the surgical instrument 4 includes a storage unit 444 that stores information on the type of the surgical instrument 4. Then, the control unit 31 corrects the rotation amounts of the actuators 712c and 712d based on the information stored in the storage unit 444. The storage unit 444 is provided inside the housing 410 of the surgical instrument 4. Also, a connector 445 is provided on the lower surface of the side of the surgical instrument 4 that is connected to the adapter 500. In a state where the surgical instrument 4 is attached to the adapter 500, the information stored in the storage unit 444 is transmitted to the control unit 31 via the connector 445. For example, for each type of the surgical instrument 4, the inclination of the command value of the opening angle indicated by the dotted line in FIG. 16 is different. The control unit 31 corrects the rotation amounts of the servomotors 712c1 and 712d1 according to the inclination of the command value of the opening angle corresponding to the type of the surgical instrument 4 based on the information stored in the storage unit 444.

[0089] Next, with reference to FIG. 17, a control method of the surgical system 100 will be described.

[0090] First, in step S1, the control unit 31 determines whether the operation of the arm 60 of the medical manipulator 1 by the remote operation device 2 is possible. Specifically, the control unit 31 determines that the operation of the arm 60 by the remote operation device 2 is possible when the grip member 21f is operated by the operator in a state where the sensor provided near the monitor 24 detects the head of the operator. If yes in step S1, the process proceeds to step S2. The operation in step S1 is repeatedly performed until the operation of the arm 60 of the medical manipulator 1 by the remote operation device 2 becomes possible.

[0091] Next, in step S2, the control unit 31 receives the operation of the manipulator arm 21 of the remote operation device 2 on the surgical instrument 4. That is, it receives an operation for rotating the shaft 420 around the rotation axis JT9 and an operation for opening and closing the first jaw member 430a and the second jaw member 430b.

[0092] Next, in steps S3 and S4, when the first jaw member 430a and the second jaw member 430b are closed, the control unit 31 corrects the rotation amounts of the servo motor 712c1 that drives the first jaw member 430a and the servo motor 712d1 that drives the second jaw member 430b according to the rotation angle, rotation direction, and operation angle around the rotation axis JT9 of the shaft 420. Specifically, in step S3, the control unit 31 determines whether the operation angle is less than or equal to the threshold value. In step S3, if yes, it proceeds to step S4, and when the shaft 420 rotates in the first direction, the control unit 31 corrects the rotation amounts of the servo motor 712c1 that drives the first jaw member 430a and the servo motor 712d1 that drives the second jaw member 430b to decrease according to the rotation angle around the rotation axis JT9 of the shaft 420 and the operation angle. Also, when the shaft 420 rotates in the second direction, the control unit 31 corrects the rotation amounts of the servo motor 712c1 that drives the first jaw member 430a and the servo motor 712d1 that drives the second jaw member 430b to increase according to the rotation angle around the rotation axis JT9 of the shaft 420 and the operation angle. Then, in step S5, the control unit 31 drives the servo motors 712c1 and 712d1 with the corrected rotation amounts.

[0093] In step S3, if no, it proceeds to step S5. That is, without correcting the rotation amounts of the servo motors 712c1 and 712d1, the control unit 31 drives the servo motors 712c1 and 712d1.

[0094] The operations of the above steps S1 to S5 are performed for each arm 60 corresponding to each of the two manipulator arms 21 for operation.

[0095] [Effects of the First Embodiment] In the first embodiment, the following effects can be obtained.

[0096] In the first embodiment, as described above, the control unit 31 controls the rotation amounts of the servo motors 712c1 and 712d1 so that the opening angle between the first joint member 430a and the second joint member 430b corresponds to the operation angle for opening and closing the first joint member 430a and the second joint member 430b received by the manipulator arm 21 for operation. As a result, even when the path lengths of the first elongated element W1 and the second elongated element W2 change due to the rotation of the shaft 420, the rotation amounts of the servo motor 712c1 that drives the first joint member 430a and the servo motor 712d1 that drives the second joint member 430b are corrected by the control unit 31. Therefore, the opening angle between the first joint member 430a and the second joint member 430b can be set to a desired opening angle. For this reason, even when the path lengths of the first elongated element W1 and the second elongated element W2 change, it is possible to reduce the change in the shearing force caused by the first joint member 430a and the second joint member 430b.

[0097] Also, in the first embodiment, as described above, the first elongated element W1 and the second elongated element W2 are disposed between the rotating members 44c and 44d and the first joint members 430a and 430b in a state of being twisted with respect to the rotation axis JT9 of the shaft 420 within the shaft 420. Here, when the first elongated element W1 and the second elongated element W2 are disposed within the shaft 420 so as to be twisted with respect to the rotation axis JT9 of the shaft 420, when the shaft 420 rotates in the first direction, the path lengths of the first elongated element W1 and the second elongated element W2 inserted into the shaft 420 become longer, and when the shaft 420 rotates in the second direction, the path lengths of the first elongated element W1 and the second elongated element W2 inserted into the shaft 420 become shorter. Therefore, when the shaft 420 rotates in the first direction, the rotation amounts of the servo motor 712c1 that drives the first joint member 430a and the servo motor 712d1 that drives the second joint member 430b are corrected to decrease, and when the shaft 420 rotates in the second direction, the rotation amounts of the servo motor 712c1 that drives the first joint member 430a and the servo motor 712d1 that drives the second joint member 430b are corrected to increase, thereby reducing the change in the shearing force caused by the two first joint members 430a and 430b.

[0098] Also, in the first embodiment, as described above, the correction of the rotation amounts of the servo motors 712c1 and 712d1 is performed at least when the operation angle for opening and closing the first joint member 430a and the second joint member 430b received by the operation manipulator arm 21 is equal to or less than the threshold value corresponding to the opening angle of the first joint member 430a and the second joint member 430b being 0. Thereby, it is possible to suppress the first joint member 430a and the second joint member 430b from becoming difficult to open.

[0099] Also, in the first embodiment, as described above, when the shaft 420 rotates around the rotation axis JT9 in the first direction in which the path lengths of the first elongated element W1 and the second elongated element W2 become longer, the control unit 31 corrects the rotation amounts of the servo motors 712c1 and 712d1 so as to reduce the winding amounts of the first elongated element W1 of the rotating member 44c and the second elongated element W2 of the rotating member 44d. Thereby, when the shaft 420 rotates around the rotation axis JT9 in the first direction, since the first elongated element W1 and the second elongated element W2 are pulled, by reducing the winding amounts of the first elongated element W1 of the rotating member 44c and the second elongated element W2 of the rotating member 44d, the opening angle between the first jaw member 430a and the second jaw member 430b can be set to a desired opening angle.

[0100] Also, in the first embodiment, as described above, the reduction amount of the winding amount of the first elongated element W1 of the rotating member 44c and the reduction amount of the winding amount of the second elongated element W2 of the rotating member 44d are 0 when the operation angle is at the threshold value, and increase from 0 as the operation angle becomes smaller than the threshold value and as the rotation angle of the shaft 420 in the first direction becomes larger. Thereby, even when the rotation angle of the shaft 420 changes and the lengths of the path lengths of the first elongated element W1 and the second elongated element W2 change, the opening angle between the first jaw member 430a and the second jaw member 430b can be set to a desired opening angle.

[0101] Also, in the first embodiment, as described above, when the control unit 31 rotates the shaft 420 in the second direction opposite to the first direction around the rotation axis JT9 and the path lengths of the first elongated element W1 and the second elongated element W2 become shorter, the control unit 31 corrects the rotation amounts of the servo motors 712c1 and 712d1 so as to increase the winding amount of the first elongated element W1 of the rotating member 44c and the winding amount of the second elongated element W2 of the rotating member 44d. As a result, when the shaft 420 rotates in the second direction around the rotation axis JT9, the first elongated element W1 and the second elongated element W2 are loosened. Therefore, by increasing the winding amount of the first elongated element W1 of the rotating member 44c and the winding amount of the second elongated element W2 of the rotating member 44d, the opening angle between the first jaw member 430a and the second jaw member 430b can be set to a desired opening angle.

[0102] Also, in the first embodiment, as described above, the increase amount of the winding amount of the first elongated element W1 of the rotating member 44c and the second elongated element W2 of the rotating member 44d is 0 when the operation angle is at the threshold value, and increases as the operation angle becomes smaller than the threshold value and as the rotation angle of the shaft 420 in the second direction becomes larger. Thereby, even when the rotation angle of the shaft 420 changes and the lengths of the path lengths of the first elongated element W1 and the second elongated element W2 change, the opening angle between the first jaw member 430a and the second jaw member 430b can be set to a desired opening angle.

[0103] Also, in the first embodiment, as described above, the control unit 31 corrects the rotation amounts of the servo motors 712c1 and 712d1 based on the information of the surgical instrument 4 stored in the storage unit 444. Thereby, the control unit 31 can appropriately set the opening angle between the first jaw member 430a and the second jaw member 430b to a desired opening angle by referring to the information on the type of the surgical instrument 4 stored in the storage unit 444.

[0104] [Second Embodiment] Next, the medical manipulator 700 according to the second embodiment will be described with reference to FIGS. 18 and 19. In the second embodiment, a gripping type end effector is provided at the distal end of the surgical instrument 730.

[0105] As shown in FIG. 18, in the medical manipulator 700, the first joint member 730a and the second joint member 730b of the surgical instrument 730 constitute a gripping end effector for gripping an object. Then, after the first joint member 730a and the second joint member 730b are closed, the rotating member 44c further rotates by a predetermined angle in the C2 direction shown in FIG. 11, and the rotating member 44d rotates in the C4 direction to generate a gripping force. The gripping end effector is, for example, a grasper.

[0106] Here, in the second embodiment, as shown in FIG. 19, the control unit 31 corrects the rotation amounts of the servo motors 712c1 and 712d1 according to the rotation angle around the rotation axis JT9 of the shaft 420 regardless of the operation angle. That is, the control unit 31 sets the rotation amounts of the servo motors 712c1 and 712d1 to the rotation amounts corrected according to the rotation angle of the shaft 420 regardless of whether the first joint member 730a and the second joint member 730b are closed or not. Further, the control unit 31 sets the rotation amounts of the servo motors 712c1 and 712d1 to the rotation amounts offset according to the rotation angle around the rotation axis JT9 of the shaft 420.

[0107] Specifically, when the shaft 420 rotates around the rotation axis JT9 in the first direction in which the path lengths of the first elongated element W1 and the second elongated element W2 become longer, the control unit 31 corrects the rotation amounts of the servo motors 712c1 and 712d1 according to the rotation angle of the shaft 420 so as to reduce the winding amount of the first elongated element W1 of the rotating member 44c and the winding amount of the second elongated element W2 of the rotating member 44d. Further, when the shaft 420 rotates around the rotation axis JT9 in the second direction opposite to the first direction in which the path lengths of the first elongated element W1 and the second elongated element W2 become shorter, the control unit 31 corrects the rotation amounts of the servo motors 712c1 and 712d1 according to the rotation angle of the shaft 420 so as to increase the winding amount of the first elongated element W1 of the rotating member 44c and the winding amount of the second elongated element W2 of the rotating member 44d. Note that the magnitude of the correction amount changes according to the rotation angle of the shaft 420, but does not depend on the operation angle.

[0108] For example, the shaft 420 rotates within a range from -260 degrees to 260 degrees. In FIG. 19, the command value of the opening angle between the first jaw member 430a and the second jaw member 430b when there is no correction of the rotation amounts of the servomotors 712c1 and 712d1 is shown by a solid line. Also, the command value of the opening angle between the first jaw member 430a and the second jaw member 430b when the rotation angle of the shaft 420 is rotated -260 degrees in the negative direction as the first direction is shown by a dotted line.

[0109] As shown in FIG. 19, the command value of the opening angle between the first jaw member 430a and the second jaw member 430b when the rotation angle of the shaft 420 is rotated in the negative direction is corrected so as to be smaller than the command value of the opening angle when there is no correction of the rotation amount. Thereby, when the operation angle is θ less than 10 degrees, it is possible to suppress the generation of an excessive gripping force by the first jaw member 430a and the second jaw member 430b.

[0110] Also, the command value of the opening angle between the first jaw member 430a and the second jaw member 430b when the rotation angle of the shaft 420 is rotated 260 degrees in the positive direction as the second direction is shown by a dotted line. When the operation angle is 10 degrees or less, the corrected command value of the opening angle shown by the dotted line is corrected so as to be larger than the command value of the opening angle before correction shown by the solid line. Thereby, it is possible to appropriately generate the gripping force between the first jaw member 430a and the second jaw member 430b. In the case of the gripping type end effector, there is no problem that it becomes difficult to open because the first jaw member 430a and the second jaw member 430b are not arranged so as to rub against each other like scissors.

[0111] [Effects of the Second Embodiment] In the second embodiment, the following effects can be obtained.

[0112] In the second embodiment, as described above, the control unit 31 sets the rotation amounts of the actuators 712c and 712d to the rotation amounts offset according to the rotation angle around the rotation axis JT9 of the shaft 420. Thereby, by simply correcting the rotation amounts of the servomotors 712c1 and 712d1 according to the rotation angle around the rotation axis JT9 of the shaft 420, the correction of the opening angle command value can be easily performed, so that the burden on the control unit 31 can be reduced.

[0113] Also, in the second embodiment, as described above, when the shaft 420 rotates in the first direction around the rotation axis JT9, the control unit 31 corrects the rotation amounts of the servomotors 712c1 and 712d1 according to the rotation angle of the shaft 420 so as to reduce the winding amount of the first elongated element W1 of the rotating member 44c and the winding amount of the second elongated element W2 of the rotating member 44d. When the shaft 420 rotates in the second direction opposite to the first direction around the rotation axis JT9, the control unit 31 corrects the rotation amounts of the servomotors 712c1 and 712d1 according to the rotation angle of the shaft 420 so as to increase the winding amount of the first elongated element W1 of the rotating member 44c and the winding amount of the second elongated element W2 of the rotating member 44d. Thereby, in either case where the path length becomes long and the first elongated element W1 and the second elongated element W2 are pulled, and where the path length becomes short and the first elongated element W1 and the second elongated element W2 are loosened, the opening angle between the first jaw member 430a and the second jaw member 430b can be set to a desired opening angle.

[0114] Also, in the second embodiment, as described above, the offset amounts of the winding amount of the first elongated element W1 of the rotating member 44c and the winding amount of the second elongated element W2 of the rotating member 44d increase as the rotation angle of the shaft 420 in the first direction increases, and increase as the rotation angle of the shaft 420 in the second direction increases.

[0115] [Modification Example] It should be noted that the embodiments disclosed this time should be considered illustrative in all respects and not restrictive. The scope of the present disclosure is shown by the claims rather than the description of the above embodiments, and further includes all changes (modifications) within the meaning and scope equivalent to the claims.

[0116] For example, in the above first and second embodiments, an example where the control unit 31 is provided in the medical manipulator 1 has been shown, but the present disclosure is not limited to this. For example, the control unit 31 may be provided in the remote operation device 2. Further, the control unit 31 may be provided separately from the medical manipulator 1 and the remote operation device 2.

[0117] Also, in the above first and second embodiments, an example where the first elongated element W1 and the second elongated element W2 are arranged so as to be twisted 180 degrees around the rotation axis JT9 of the shaft 420 between the rotating members 44c and 44d and the first joint members 430a and 430b in a state where the rotation angle of the shaft 420 is 0 has been shown, but the present disclosure is not limited to this. For example, as shown in FIG. 11, the first elongated element W1 and the second elongated element W2 may be arranged in a state of not being twisted with respect to the rotation axis JT9 of the shaft 420 within the shaft 420 in a state where the rotation angle of the shaft 420 is 0. When the first joint members 430a and 430b constitute a gripping type end effector, as shown in FIG. 20, the correction of the rotation amounts of the servo motors 712c1 and 712d1 is such that the rotation angle of the shaft 420 is adjusted so as to reduce the winding amount of the first elongated element W1 of the rotating member 44c and the winding amount of the second elongated element W2 of the rotating member 44d regardless of whether the shaft 420 rotates in either the first direction or the second direction. Also, when the first joint members 430a and 430b constitute a scissors, as shown in FIG. 21, when the operation angle exceeds the threshold value, the correction of the rotation amounts of the servo motors 712c1 and 712d1 is not performed.

[0118] In addition, in the first embodiment described above, an example was shown in which the correction of the rotation amounts of the servomotors 712c1 and 712d1 is performed only when the operation angle is equal to or less than the threshold value. However, the present disclosure is not limited to this. For example, as shown in FIG. 22, even when the operation angle is greater than the threshold value, the correction of the rotation amounts of the servomotors 712c1 and 712d1 may be performed. In this case, when the operation angle is greater than the threshold value and the shaft 420 rotates in the positive direction in which the first elongated element W1 and the second elongated element W2 loosen, the winding amounts of the first elongated element W1 of the rotating member 44c and the second elongated element W2 of the rotating member 44d are increased. The rotation amounts of the servomotors 712c1 and 712d1 are corrected according to the operation angle and the rotation angle of the shaft 420. Also, when the operation angle is greater than the threshold value and the shaft 420 rotates in the negative direction in which the first elongated element W1 and the second elongated element W2 are pulled, the winding amounts of the first elongated element W1 of the rotating member 44c and the second elongated element W2 of the rotating member 44d are decreased. The rotation amounts of the servomotors 712c1 and 712d1 are corrected according to the operation angle and the rotation angle of the shaft 420. Here, since the correction amount of the rotation amount when the operation angle is equal to the threshold value is set to 0, and the correction amount sequentially increases from 0 as the operation angle becomes greater than the threshold value and as the rotation angle of the shaft 420 becomes greater, the problem that the first jaw member 430a and the second jaw member 430b are difficult to open does not occur even in the case of shears.

[0119] In addition, in the second embodiment described above, an example was shown in which the correction of the rotation amounts of the servomotors 712c1 and 712d1 is performed according to the rotation angle of the shaft 420 even when the operation angle is greater than the threshold value. However, the present disclosure is not limited to this. For example, when the operation angle is greater than the threshold value, the correction of the rotation amounts of the servomotors 712c1 and 712d1 may not be performed.

[0120] In addition, in the above-described first and second embodiments, an example in which the storage unit 444 that stores information on the type of the surgical instrument 4 is provided in the surgical instrument 4 has been shown. However, the present disclosure is not limited to this. For example, the information on the type of the surgical instrument 4 may be input by the operator.

[0121] In addition, in the above-described first and second embodiments, an example in which four arms 60 are provided has been shown. However, the present disclosure is not limited to this. In the present disclosure, the number of the arms 60 may be any other number as long as at least one or more arms are provided.

[0122] In addition, in the above-described first and second embodiments, an example in which the arm unit 61 and the positioner 40 are configured by a 7-axis articulated robot has been shown. However, the present disclosure is not limited to this. For example, the arm unit 61 and the positioner 40 may be configured by an articulated robot having an axis configuration other than a 7-axis articulated robot (for example, 6 axes or 8 axes).

[0123] In addition, in the above-described first and second embodiments, an example in which the medical manipulator 1 includes the medical cart 3, the positioner 40, the arm base 50, and the arm 60 has been shown. However, the present disclosure is not limited to this. For example, the medical cart 3, the positioner 40, and the arm base 50 are not necessarily required, and the medical manipulator 1 may be configured only by the arm 60.

[0124] The functions of the elements disclosed in this specification can be executed using a circuit or processing circuit including a general-purpose processor, a dedicated processor, an integrated circuit, an ASIC (Application Specific Integrated Circuits), a conventional circuit, and / or a combination thereof, configured or programmed to execute the disclosed functions. Since a processor includes transistors and other circuits, it is regarded as a processing circuit or a circuit. In the present disclosure, a circuit, unit, or means is hardware that executes the recited functions or hardware programmed to execute the recited functions. The hardware may be the hardware disclosed in this specification or other known hardware programmed or configured to execute the recited functions. When the hardware is a processor considered to be a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used for configuring the hardware and / or the processor.

Explanation of Signs

[0125] 1, 700 Medical manipulator (patient-side device) 2 Remote operation device (operator-side device) 4, 730 Surgical instrument 21 Manipulator arm for operation (operation unit) 31 Control unit (control device) 44c First rotating member 44d Second rotating member 60 Arm 100 Surgical system 420 Shaft 430a, 730a First joint member 430b, 730b Second joint member 444 Storage unit 712c1 Servo motor (first driving unit) 712d1 Servo motor (second driving unit) JT9 Rotation axis W1 First elongated element (elongated element) Part 1 of W1a1 Part 2 of W1a2 Fastener (first fixing part) of W1b Second elongated element (elongated element) of W2 Part 1 (third part) of W2a1 Part 2 (fourth part) of W2a2 Fastener (second fixing part) of W2b

Claims

1. A patient-side device including an arm to which a surgical instrument is attached, An operator-side device including an operation unit that receives an operation for operating the surgical instrument, A control device that controls the operation of the surgical instrument based on a command from the operation unit, and The surgical instrument includes a shaft, a first jaw member and a second jaw member provided on the distal end side of the shaft, a first elongated element for driving the first jaw member, and a second elongated element for driving the second jaw member, The operation unit includes a pair of grip members that receive an operation for opening and closing the first jaw member and the second jaw member, The arm includes a first drive unit for driving the first elongated element, a second drive unit for driving the second elongated element, and a third drive unit for rotating the shaft, The control device When the operation unit receives an operation for rotating the shaft, controls the rotation amount of the third drive unit to rotate the shaft according to the received operation, and when the pair of grip members receive an operation for opening and closing the first jaw member and the second jaw member, controls the rotation amounts of the first drive unit and the second drive unit so that the opening angle between the first jaw member and the second jaw member corresponds to the operation angle, which is the angle between the pair of grip members, A surgical system that corrects the rotation amounts of the first drive unit and the second drive unit corresponding to the operation angle according to the rotation angle around the rotation axis of the shaft when the operation unit receives an operation for rotating the shaft and the pair of grip members receive an operation for opening and closing the first jaw member and the second jaw member.

2. A first rotating member disposed on the proximal end side of the shaft and driven by the first drive unit to drive the first elongated element, A second rotating member that is disposed on the proximal end side of the shaft and drives the second elongated element by being rotated by the second driving unit. The first elongated element connects the first joint member and the first rotating member through the inside of the shaft. The surgical system according to claim 1, wherein the second elongated element connects the second joint member and the second rotating member through the inside of the shaft.

3. The first elongated element includes a first portion, a second portion, and a first fixing portion provided between the first portion and the second portion. The first fixing portion is fixed to the first joint member, an end of the first portion is wound around the first rotating member in a predetermined direction, and an end of the second portion is wound around the first rotating member in a direction opposite to the predetermined direction. The second elongated element includes a third portion, a fourth portion, and a second fixing portion provided between the third portion and the fourth portion. The second fixing portion is fixed to the second joint member, an end of the third portion is wound around the second rotating member in the predetermined direction, and an end of the fourth portion is wound around the second rotating member in the opposite direction. The surgical system according to claim 2.

4. When the shaft rotates around the rotation axis in a first direction in which the path lengths of the first elongated element and the second elongated element become longer, the control device corrects the rotation amounts of the first driving unit and the second driving unit according to the rotation angle of the shaft so as to reduce the winding amount of the first elongated element by the first rotating member and the winding amount of the second elongated element by the second rotating member. The surgical system according to claim 2.

5. The first elongated element and the second elongated element are disposed inside the shaft in a state of being twisted with respect to the rotation axis of the shaft, and are disposed between the first rotating member and the second rotating member, and the first joint member and the second joint member. The surgical system according to claim 2 or 3.

6. The control device When the shaft rotates around the rotation axis in a first direction in which the path lengths of the first elongated element and the second elongated element become longer, correct the rotation amounts of the first drive unit and the second drive unit so as to reduce the amount of winding of the first elongated element by the first rotating member and the amount of winding of the second elongated element by the second rotating member according to the rotation angle of the shaft in the first direction. The surgical system according to claim 5, wherein when the shaft rotates around the rotation axis in a second direction opposite to the first direction in which the path lengths of the first elongated element and the second elongated element become shorter, correct the rotation amounts of the first drive unit and the second drive unit so as to increase the amount of winding of the first elongated element by the first rotating member and the amount of winding of the second elongated element by the second rotating member according to the rotation angle of the shaft in the second direction.

7. The first jaw member and the second jaw member constitute scissors for cutting an object. The control device When the operation angle is a threshold value corresponding to an opening angle of 0 between the first jaw member and the second jaw member, set the correction amount of the rotation amounts of the first drive unit and the second drive unit to 0. The surgical system according to any one of claims 1 to 6, wherein as the operation angle moves away from the threshold value and as the rotation angle of the shaft increases, the absolute value of the correction amount of the rotation amounts of the first drive unit and the second drive unit is increased.

8. The control device The surgical system according to claim 7, wherein the control device corrects the rotation amounts of the first drive unit and the second drive unit only when the operation angle is smaller than the threshold value.

9. The first jaw member and the second jaw member constitute a grasping type end effector for grasping an object, and the surgical system according to any one of claims 1 to 6.

10. The surgical system according to claim 9, wherein the control device corrects the rotation amounts of the first drive unit and the second drive unit according to the rotation angle around the rotation axis of the shaft, regardless of the operation angle.

11. The surgical instrument further includes a storage unit that stores information on the type of the surgical instrument. The surgical system according to any one of claims 1 to 10, wherein the control device corrects the rotation amounts of the first drive unit and the second drive unit based on the information stored in the storage unit and the rotation angle around the rotation axis of the shaft.

12. A patient-side device including an arm to which a surgical instrument is attached, an operator-side device including an operation unit that receives an operation for operating the surgical instrument, and a control device that controls the operation of the surgical instrument based on a command from the operation unit, wherein the surgical instrument includes a shaft, a first jaw member and a second jaw member provided on the distal end side of the shaft, a first elongated element for driving the first jaw member, and a second elongated element for driving the second jaw member, the operation unit includes a pair of grip members that receive an operation for opening and closing the first jaw member and the second jaw member, the arm includes a first drive unit for driving the first elongated element, a second drive unit for driving the second elongated element, and a third drive unit for rotating the shaft, and the control device controls the rotation amount of the third drive unit to rotate the shaft according to the received operation when the operation unit receives an operation for rotating the shaft, and controls the rotation amounts of the first drive unit and the second drive unit so that the opening angle between the first jaw member and the second jaw member corresponds to the operation angle, which is the angle between the pair of grip members, when the pair of grip members receive an operation for opening and closing the first jaw member and the second jaw member. A control method for a surgical system, comprising: receiving an operation for rotating the shaft by the operation unit and an operation for opening and closing the first jaw member and the second jaw member by the pair of grip members; A method for controlling a surgical system, comprising: correcting a rotation amount of the first driving unit and the second driving unit corresponding to the operation angle according to a rotation angle around a rotation axis of the shaft.

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