Surgical support system and operator-side device

Abstract

In the surgery assistance system (100), a surgical instrument operation unit (120) comprises a first circuit board (140) into which signals received by the surgical instrument operation unit (120) are input, and a first wiring (141) connects the control unit (110) to the first circuit board (140) by means of serial communication.

Description

Technical Field

[0001] The present disclosure relates to a surgical support system and an operator-side device.

Background Art

[0002] Conventionally, a surgical support system has been disclosed. U.S. Patent Application Publication No. 2004 / 0243110 discloses a technique for controlling the movement of a surgical instrument attached to a multi-joint robotic arm as a slave based on the amount of operation received by an operation unit disposed in a master control device. The operation unit is provided with a grip member that is operated by the operator's finger. By operating the grip member, the end effector disposed at the tip of the surgical instrument opens and closes. Usually, a wiring for transmitting a signal from a sensor that detects the opening angle of the grip member is connected to a control unit that controls the master control device.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] In some cases, sensors or operation buttons other than the detection sensor for detecting the opening angle of the grip member may be disposed in the operation unit. In this case, the number of wirings extending from the operation unit to the control unit is required for the detection sensor, sensors other than the detection sensor, and the number of operation buttons. Since the wiring from the operation unit to the control unit becomes thick and heavy, and the bending load also increases, it is necessary to select large-sized structures and drive units, which affects miniaturization. For this reason, reduction of the number of wirings extending to the control unit is desired.

[0005] The present disclosure has been made to solve the above-described problems, and an object thereof is to provide a surgical support system and an operator-side device capable of reducing the number of wirings extending to a control unit.

[0006] The surgical support system according to the first aspect of the present disclosure includes a surgical instrument operation unit that receives an operation amount for a surgical instrument attached to the tip of a robotic arm, and a control unit. The surgical instrument operation unit includes a first substrate to which a signal received by the surgical instrument operation unit is input. The control unit and the first substrate are serially communicatively connected by a first wiring.

[0007] In the surgical support system according to the first aspect of the present disclosure, as described above, the control unit and the first substrate to which the signal received by the surgical instrument operation unit is input are serially communicatively connected by a first wiring. As a result, even if sensors other than the detection sensor for detecting the opening angle of the grip member and operation buttons are arranged in the surgical instrument operation unit, the wirings extending from the detection sensor, the sensors other than the detection sensor, and the operation buttons are connected to the first substrate, while the first substrate and the control unit are serially communicatively connected. As a result, the number of wirings can be reduced as compared with the case where the detection sensor, the sensors other than the detection sensor, and the operation buttons are each connected to the control unit. In addition, since the length of the wiring is shorter than the case where the detection sensor, the sensors other than the detection sensor, and the operation buttons are each connected to the control unit, the influence of noise can be reduced. Further, when shortening the length of the wiring from the detection sensor, the sensors other than the detection sensor, and the operation buttons to the first substrate and increasing the length of the wiring from the first substrate to the control unit, serially communicatively connecting between the first substrate and the control unit is particularly effective in reducing the total length of the wiring used.

[0008] The operator-side device according to the second aspect of the present disclosure includes a surgical instrument operation unit that receives an operation amount for a surgical instrument attached to the tip of a robotic arm, and a control unit. The surgical instrument operation unit includes a substrate to which a signal received by the surgical instrument operation unit is input. The control unit and the substrate are serially communicatively connected by a wiring.

[0009] In the operator-side device according to the second aspect of the present disclosure, as described above, between the control unit and the first substrate to which the signal received by the surgical instrument operation unit is input, they are serially communication-connected by wiring. As a result, even if sensors or operation buttons other than the detection sensor for detecting the opening angle of the grip member are arranged on the surgical instrument operation unit, the wiring extending from the detection sensor, sensors other than the detection sensor, and the operation buttons is connected to the first substrate, while the first substrate and the control unit are serially communication-connected. As a result, an operator-side device capable of reducing the number of wirings extending from the detection sensor, sensors other than the detection sensor, and the operation buttons to the control unit can be provided. Also, compared with the case where the detection sensor, sensors other than the detection sensor, and the operation buttons are each connected to the control unit, the length of the wiring extending from the sensors other than the detection sensor and the operation buttons becomes shorter, so the influence of noise can be reduced. Further, serially communication-connecting between the first substrate and the control unit is particularly effective in reducing the total length of the wiring used.

[0010] According to the present disclosure, the number of wirings extending to the control unit can be reduced.

Brief Description of Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Best Mode for Carrying Out the Invention

[0012] (Configuration of Surgical Support System) With reference to FIGS. 1 to 13, the configuration of the surgical support system 100 according to the present embodiment will be described. The surgical support system 100 includes a surgical support robot 1 and a remote operation device 2.

[0013] The surgical support robot 1 is a patient P-side device. The surgical support robot 1 includes a medical cart 3 and is movable. The surgical support robot 1 is arranged in the operating room. The remote operation device 2 is an operator-side device for operating the surgical support robot 1. The remote operation device 2 is arranged at a position separated from the surgical support robot 1, and the surgical support robot 1 is remotely operated by the remote operation device 2. An operator such as a doctor inputs a command for causing the surgical support robot 1 to perform a desired operation to the remote operation device 2. The remote operation device 2 transmits the input command to the surgical support robot 1. The surgical support robot 1 operates based on the received command. The surgical support robot 1 is arranged in the operating room which is a sterilized sterile field.

[0014] (Configuration of Surgical Support Robot) As shown in FIG. 1, the surgical support robot 1 includes a medical cart 3, a positioner 40, an arm base 50, a plurality of robot arms 60, and an arm operation unit 80.

[0015] The medical trolley 3 moves the positioner 40. The medical trolley 3 includes an input device 33. The input device 33 mainly receives operations for moving and changing the postures of the positioner 40, the arm base 50, and the plurality of robotic arms 60 in order to prepare for surgery before the operation. The medical trolley 3 includes an operation handle 34 that receives steering by an operator.

[0016] The positioner 40 is composed of, for example, a 7-axis articulated robot. The positioner 40 is arranged on the medical trolley 3. The positioner 40 adjusts the position of the arm base 50. The positioner 40 moves the position of the arm base 50 three-dimensionally.

[0017] 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.

[0018] The arm base 50 is attached to the tip of the positioner 40. The base ends of the plurality of robotic arms 60 are attached to the arm base 50 respectively. The plurality of robotic arms 60 can take a folded storage posture. The arm base 50 and the plurality of robotic arms 60 are covered with a sterilization drape for use. Also, the robotic arm 60 supports the surgical instrument 4.

[0019] A plurality of robotic arms 60 are arranged. Specifically, four robotic arms 60a, 60b, 60c, and 60d are arranged. The robotic arms 60a, 60b, 60c, and 60d have the same configuration as each other.

[0020] As shown in FIG. 2, the robot arm 60 includes an arm portion 61, a first link portion 72, a second link portion 73, and a translational movement mechanism portion 70. The robot arm 60 has JT1 to JT7 axes as rotation axes and a J8 axis as a linear movement axis. The JT1 to JT7 axes are the rotation axes of the joint portion 64 of the arm portion 61. Further, the JT7 axis is the rotation axis of the first link portion 72. The JT8 axis is the linear movement axis along the Z direction by which the translational movement mechanism portion 70 relatively moves the second link portion 73 with respect to the first link portion 72.

[0021] The arm portion 61 consists of a 7-axis articulated robot arm. The first link portion 72 is disposed at the tip of the arm portion 61. An arm operation portion 80 is attached to the second link portion 73. The translational movement mechanism portion 70 is disposed between the first link portion 72 and the second link portion 73. A holder 71 for holding the surgical instrument 4 is disposed on the second link portion 73.

[0022] A surgical instrument 4 is attached to the tip of each of the plurality of robot arms 60. The surgical instrument 4 includes, for example, a replaceable instrument, an endoscope 6 for capturing an image of the surgical site, etc. The surgical instrument 4 as an instrument includes a driven unit 4a, forceps 4b, and a shaft 4c connecting the driven unit 4a and the forceps 4b. The driven unit 4a, the shaft 4c, and the forceps 4b are arranged along the Z direction.

[0023] As shown in FIG. 1, an endoscope 6 is attached to the tip of one of the plurality of robot arms 60, for example, the robot arm 60c, and surgical instruments 4 other than the endoscope 6 are attached to the tips of the remaining ones, for example, the robot arms 60a, 60b, and 60d. The endoscope 6 is attached to either of the two robot arms 60b and 60c disposed in the center among the four robot arms 60 arranged adjacent to each other.

[0024] (Configuration of the Instrument) As shown in FIG. 3, for example, forceps 4b are provided at the tip of the instrument. In addition to the forceps 4b, at the tip of the instrument, as instruments having joints, scissors, a grasping forceps, a needle holder, a micro dissector, a stapler, a tacker, a suction and washing tool, a snare wire, and a clip applicator are arranged. At the tip of the instrument, as instruments not having joints, a cutting blade, a cautery probe, a washer, a catheter, and a suction orifice are arranged.

[0025] The forceps 4b include a first support 4e that rotatably supports the proximal ends of the jaw members 104a and 104b around the JT11 axis at the distal end, and a second support 4f that rotatably supports the proximal end of the first support 4e around the JT10 axis at the distal end. The shaft 4c rotates around the JT9 axis. The jaw members 104a and 104b open and close around the JT11 axis.

[0026] As shown in FIG. 2, the arm operation unit 80 is attached to the robot arm 60. Specifically, the arm operation unit 80 is attached to the second link portion 73.

[0027] As shown in FIG. 4, the arm operation unit 80 includes an enable switch 81, a joystick 82, a linear switch 83, a pivot button 85, an adjustment button 86, a mode switch button 84, and a mode indicator 84a.

[0028] The enable switch 81 is a switch that permits or prohibits the movement of the robotic arm 60 by the joystick 82 and the linear switch 83. The joystick 82 is an operating tool for operating the movement of the surgical instrument 4 by the robotic arm 60. The linear switch 83 is a switch for moving the surgical instrument 4 in a direction along the longitudinal direction of the surgical instrument 4. The pivot button 85 is a button for setting the pivot position PP that serves as the fulcrum of the movement of the surgical instrument 4 attached to the robotic arm 60. The adjustment button 86 is a button for optimizing the position of the robotic arm 60. The mode switching button 84 is a button for switching between the mode of causing the surgical instrument 4 to perform translational movement shown in FIG. 5 and the mode of causing rotational movement shown in FIG. 6. The mode indicator 84a displays the switched mode.

[0029] (Remote operation device) As shown in FIG. 1, the remote operation device 2 is disposed, for example, inside or outside the operating room. The remote operation device 2 includes a main body portion 2a, an operation unit 120, a foot pedal 22, a touch panel 23, a monitor 24, a support arm 25, a support bar 26, and a foot detection unit 27. The operation unit 120 constitutes an operating handle for an operator such as a doctor to input commands. The operation unit 120 is an example of a surgical instrument operation unit.

[0030] As shown in FIG. 1, the operation unit 120 is supported by the main body portion 2a. As shown in FIG. 7, the operation unit 120 receives the operation amount for the surgical instrument 4. The operation unit 120 includes an operation unit 120L disposed on the left side and operated by the left hand of the operator and an operation unit 120R disposed on the right side and operated by the right hand of the operator when viewed from an operator such as a doctor. The configuration of the operation unit 120L and the configuration of the operation unit 120R are the same.

[0031] The operation unit 120 includes a substantially L-shaped arm 121 and an operation handle 21. The arm 121 has a first link portion 121a, a second link portion 121b, and a third link portion 121c. The upper end side of the first link portion 121a is attached to the main body portion 2a so as to be rotatable about an A1 axis along the vertical direction. The upper end side of the second link portion 121b is attached to the lower end side of the first link portion 121a so as to be rotatable about an A2 axis along the horizontal direction. One end side of the third link portion 121c is attached to the lower end side of the second link portion 121b so as to be rotatable about an A3 axis along the horizontal direction. The operation handle 21 is attached to the other end side of the third link portion 121c so as to be rotatable about an A4 axis. Each link portion is connected by a joint portion 122.

[0032] The arm 121 supports the operation handle 21. The arm 121 supports the operation handle 21 so as to be movable within a predetermined three-dimensional operation range. Specifically, the arm 121 supports the operation handle 21 so as to be movable in the vertical direction, the left-right direction, and the front-rear direction. The robot arm 60 is moved three-dimensionally so as to correspond to the three-dimensional operation of the arm 121.

[0033] As shown in FIG. 7, the operation handle 21 includes an operation handle 21L disposed on the left side and operated by the left hand of an operator such as a doctor, and an operation handle 21R disposed on the right side and operated by the right hand of the operator.

[0034] The operation handle 21 includes a link portion 21a, a link portion 21b, a link portion 21c, and a link portion 21d operated by an operator such as a doctor. The link portion 21a rotates about the A4 axis. The link portion 21b rotates about the A5 axis with respect to the link portion 21a. The link portion 21c rotates about the A6 axis with respect to the link portion 21b. The link portion 21d rotates about the A7 axis with respect to the link portion 21c. Each link portion is connected by a joint portion 122. The link portion 21a, the link portion 21b, the link portion 21c, and the link portion 21d are examples of a fourth link portion, a third link portion, a second link portion, and a first link portion, respectively.

[0035] The operation handle 21 includes a pair of grip members 21f that are opened and closed by an operator. The grip members 21f are formed of elongated plate-shaped lever members, and the proximal ends of the pair of grip members 21f are rotatably connected to the proximal end G1 of the link portion 21d, respectively. A cylindrical finger insertion portion 21e is disposed on the grip member 21f. The operator inserts fingers into the pair of finger insertion portions 21e to operate the operation handle 21. The proximal ends of the pair of grip members 21f are connected to the link portion 21d, respectively, and by increasing or decreasing the angle between the pair of grip members 21f, the opening angle between the jaw members 104a and 104b is changed. A magnet is disposed on one of the grip members 21f, and a hall sensor is disposed on the link portion 21d. When the operator opens and closes the grip member 21f, as shown in FIG. 10, the magnet and the hall sensor function as an angle detection sensor 21g, and the hall sensor outputs the opening angle. Note that as the angle detection sensor 21g, a hall sensor may be disposed on the grip member 21f and a magnet may be disposed on the link portion 21d. Further, magnets or hall sensors may be disposed on both of the grip members 21f as the angle detection sensor 21g.

[0036] As shown in FIG. 9, a plurality of foot pedals 22 are provided to execute functions related to the surgical instrument 4. The plurality of foot pedals 22 are disposed on the base portion 28. The foot pedal 22 includes a switching pedal 22a, a clutch pedal 22b, a camera pedal 22c, an incision pedal 22d, and a coagulation pedal 22e. The switching pedal 22a, the clutch pedal 22b, the camera pedal 22c, the incision pedal 22d, and the coagulation pedal 22e are operated by the operator's foot. The incision pedal 22d includes an incision pedal 22dR for the right robot arm 60 and an incision pedal 22dL for the left robot arm 60. The coagulation pedal 22e includes a coagulation pedal 22eR for the right robot arm 60 and a coagulation pedal 22eL for the left robot arm 60.

[0037] The switching pedal 22a switches the robotic arm 60 that is operated by the operation handle 21. The clutch pedal 22b executes a clutch operation to temporarily disconnect the operation connection between the robotic arm 60 and the operation handle 21. While the clutch pedal 22b is being depressed by the operator, the operation by the operation handle 21 is not transmitted to the robotic arm 60. Also, while the camera pedal 22c is being depressed by the operator, the operation handle 21 can operate the robotic arm 60 to which the endoscope 6 is attached. While the incision pedal 22d or the coagulation pedal 22e is being depressed by the operator, the electrosurgical device is activated.

[0038] The foot detection unit 27 detects the foot of the operator who operates the foot pedal 22. The foot detection unit 27 detects the hovering foot located above the foot pedal 22. The foot detection unit 27 is disposed on the base unit 28.

[0039] As shown in FIG. 1, the monitor 24 is a scope-type display device for displaying 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 face of an operator such as a doctor. The touch panel 23 is disposed on the support bar 26. By detecting the head of the operator with a sensor provided near the monitor 24, the surgical support robot 1 can be operated by the remote operation device 2. The operator operates the operation unit 120 and the foot pedal 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 surgical support robot 1.

[0040] (Configuration of the control system) As shown in FIG. 10, the surgical support system 100 includes a control device 130, an arm control unit 31a, a positioner control unit 31b, and an operation control unit 110. The operation control unit 110 is an example of a control unit.

[0041] The control device 130 communicates with each of the arm control unit 31a, the positioner control unit 31b, and the operation control unit 110 inside the medical cart 3. The control device 130 controls each of the arm control unit 31a, the positioner control unit 31b, and the operation control unit 110. The control device 130, the arm control unit 31a, the positioner control unit 31b, the operation control unit 110, and the input device 33 are connected by a LAN or the like. The control device 130 is disposed inside the medical cart 3.

[0042] The arm control unit 31a is arranged for each of the plurality of robot arms 60.

[0043] A servo motor SM, an encoder EN, and a speed reducer are arranged on the robot arm 60 so as to correspond to a plurality of joint portions 64 of the robot arm 60. The arm control unit 31a is disposed inside the medical cart 3 as shown in FIG. 1, and the servo control unit SC is disposed inside the medical cart 3 adjacent to the arm control unit 31a. That is, inside the medical cart 3, the arm control unit 31a and the servo control unit SC are arranged in the number corresponding to the plurality of robot arms 60.

[0044] The positioner control unit 31b and the servo control unit SC are arranged on the medical cart 3. The positioner control unit 31b controls the positioner 40 and the medical cart 3. The servo control unit SC controls the servo motor SM of the positioner 40 and the servo motor SM of the medical cart 3. A servo motor SM, an encoder EN, and a speed reducer are arranged on the positioner 40 so as to correspond to a plurality of joint portions 43 of the positioner 40. A servo motor SM, an encoder EN, a speed reducer, and a brake are arranged on the medical cart 3 to drive each of the plurality of front wheels of the medical cart 3.

[0045] As shown in FIG. 11, servo motors M6a, M6b, M6c, M6d, M6e, M6f, and M6g are arranged in the operation unit 120 so as to correspond to the rotation axes A1, A2, A3, A4, A5, A6, and A7. Servo control units C6a, C6b, C6c, C6d, C6e, C6f, and C6g for controlling each servo motor are arranged inside the main body 2a of the remote control device 2 adjacent to the operation control unit 110. Encoders E6a, E6b, E6c, E6d, E6e, E6f, and E6g for detecting the rotation angle of each servo motor are electrically connected to each servo control unit. Each servo motor and each encoder are provided in the operation unit 120L and the operation unit 120R, respectively. Also, each servo control unit and each operation control unit are provided corresponding to the operation unit 120L and the operation unit 120R, respectively.

[0046] The control device 130 controls each servo motor via the operation control unit 110 so as to generate a torque that cancels out the gravitational torque generated on the rotation axis of each servo motor according to the posture of the operation unit 120. Thereby, the operator can operate the operation unit 120 with a relatively small force.

[0047] The control device 130 controls each servo motor via the operation control unit 110 so as to generate a torque on each rotation axis of each servo motor according to the operation of the operation unit 120 and assist the operation of the operator. Thereby, the operator can operate the operation unit 120 with a relatively small force.

[0048] Here, in the present embodiment, as shown in FIG. 12, a first substrate 140 into which a signal received by the operation unit 120 is input is disposed in the operation unit 120. Between the operation control unit 110 and the first substrate 140, they are serially communication-connected by a first wiring 141. As shown in FIG. 13, connectors 140a, ICs 140b, etc. are disposed on the first substrate 140. The first wiring 141 consists of a single transmission line. Between the operation control unit 110 and the first substrate 140, they are serially communication-connected by a communication network capable of sharing mutual information between the operation control unit 110 and the first substrate 140. The first substrate 140 is an example of a substrate. The first wiring 141 is an example of a wiring.

[0049] In the present embodiment, as shown in FIG. 12, the opening angle of the pair of grip members 21f is input to the first substrate 140 as an analog signal. Specifically, an analog signal from the angle detection sensor 21g is input to the connector 140a of the first substrate 140.

[0050] In the present embodiment, as shown in FIG. 13, the first substrate 140 is disposed inside the link portion 21c. A flexible printed wiring 142 extending from the link portion 21d is connected to the first substrate 140. Thereby, the joint portion 122 through which the flexible printed wiring 142 for transmitting the signal from the angle detection sensor 21g passes is only the joint portion 122 that connects the link portion 21d and the link portion 21c.

[0051] In the present embodiment, as shown in FIG. 8, between the operation control unit 110 and the first substrate 140, they are serially communication-connected by the first wiring 141 through the inside of the link portion 21c, the link portion 21b, the link portion 21a where the first substrate 140 is disposed, and the arm 121 shown in FIG. 7.

[0052] In this embodiment, as shown in FIG. 1, the operation control unit 110 is disposed inside the main body 2a. The operation control unit 110 and the first substrate 140 are serially communication-connected by a first wiring 141 via the operation unit 120 and inside the main body 2a. Specifically, the first substrate 140 is inserted into the main body 2a via the proximal end side of the operation unit 120 and is connected to the operation control unit 110 inside the main body 2a.

[0053] In this embodiment, as shown in FIG. 12, between the operation control unit 110 and the first substrate 140, separately from the communication path between each of the encoders E6a, E6b, E6c, E6d, E6e, E6f, and E6g that detect the movement amounts of the servo motors M6a, M6b, M6c, M6d, M6e, M6f, and M6gf and the operation control unit 110, they are serially communication-connected by a first wiring 141. Specifically, each encoder and the operation control unit 110 are serially communication-connected by a second wiring 143. Also, the encoders are bus-connected. Further, each encoder is connected to the operation control unit 110 via a servo control unit. The servo motors M6a, M6b, M6c, M6d, M6e, M6f, and M6gf are an example of a drive unit. The encoders E6a, E6b, E6c, E6d, E6e, E6f, and E6g are an example of a detection unit.

[0054] In this embodiment, the operation control unit 110 and the first substrate 140 are serially communication-connected via the second substrate 145, relay unit 144, relay unit 148, relay substrate 147, and relay substrate 146. As shown in FIG. 1, the relay unit 144 is disposed on the proximal end side of the operation unit 120. The relay unit 144 and the relay unit 148 are connectors, but for example, they may be relay substrates including connectors.

[0055] In this embodiment, as shown in FIG. 8, between the first substrate 140 and the relay unit 144, serial communication connection is established via a relay substrate 146, a relay substrate 147, and a relay unit 148. Specifically, the relay substrate 146 is disposed inside the link portion 21b. The relay substrate 147 is disposed inside the link portion 21a. The relay unit 148 is disposed inside the third link portion 121c. The first substrate 140 and the relay substrate 146 are connected by a first wiring 141 made of flexible printed wiring. The relay substrate 146 and the relay substrate 147 are connected by a first wiring 141 made of flexible printed wiring. The relay substrate 147 and the relay unit 148 are connected by a first wiring 141 made of flexible printed wiring. The relay unit 148 and the relay unit 144 are connected by a first wiring 141 made of cable wiring. The relay unit 144 and the second substrate 145 shown in FIG. 1 are connected by a first wiring 141 made of cable wiring. The relay substrate 146 and the relay substrate 147 each have a connector. The relay unit 148 does not have a substrate. Note that the relay unit 148 and the relay unit 144 may be connected by a first wiring 141 made of flexible printed wiring. The relay substrate 146 and the relay substrate 147 are each an example of a "first relay substrate" and a "second relay substrate", respectively. Here, the flexible printed wiring refers to an FPC (Flexible Printed Circuit). Also, the cable wiring is a wiring structure other than the flexible printed wiring, and is, for example, a cable covered with an outer skin of a polyvinyl chloride-based resin, a polyethylene-based resin, an ETFE (Ethylene Tetra Fluoro Ethylene) resin, etc. It may also be called a robot cable. Note that an FFC (Flexible Flat Cable) may be used for the flexible printed wiring.

[0056] In this embodiment, as shown in FIG. 12, a second substrate 145 to which a signal from the foot detection unit 27 is input is arranged. In the operation unit 120L, the operation control unit 110 and the second substrate 145 are serially communication-connected by a first wiring 141 made of cable wiring. In the operation unit 120R, the operation control unit 110 and the relay unit 144 are serially connected by a first wiring 141 made of cable wiring. As shown in FIG. 1, the foot detection unit 27 is arranged on the base unit 28, and the second substrate 145 is arranged inside the main body unit 2a. Note that the signal from the foot detection unit 27 is input only to the operation unit 120L. The signal from the foot detection unit 27 may be input only to the operation unit 120R. Note that the operation control unit 110 and the relay unit 144 may be serially connected by a flexible printed wiring.

[0057] [Effects of this Embodiment] The operation control unit 110 and the first substrate 140 to which a signal received by the operation unit 120 is input are serially communication-connected by the first wiring 141. As a result, even if sensors and operation buttons other than the angle detection sensor 21g for detecting the opening angle of the grip member 21f are arranged on the operation unit 120, the flexible printed wiring 142 extending from the angle detection sensor 21g, sensors other than the angle detection sensor 21g, and the operation buttons is connected to the first substrate 140, while the first substrate 140 and the operation control unit 110 are serially communication-connected. As a result, the number of wirings can be reduced as compared with the case where the angle detection sensor 21g, sensors other than the angle detection sensor 21g, and the operation buttons are respectively connected to the operation control unit 110. Further, by converting an analog signal into serial communication on the first substrate 140 arranged near the angle detection sensor 21g, sensors other than the angle detection sensor 21g, and the operation buttons, the influence of noise can be reduced. Further, when shortening the length of the wiring from the angle detection sensor 21g, sensors other than the angle detection sensor 21g, and the operation buttons to the first substrate 140 and increasing the length of the wiring from the first substrate 140 to the operation control unit 110, serially communication-connecting the operation control unit 110 and the first substrate 140 by the first wiring 141 is particularly effective in reducing the total length of the wirings to be used.

[0058] Between the operation control unit 110 and the first substrate 140, separate from the communication path between the operation control unit 110 and encoders E6a, E6b, E6c, E6d, E6e, E6f, and E6g that detect the amount of movement of each of the servo motors M6a, M6b, M6c, M6d, M6e, M6f, and M6g, they are serially communication-connected by the first wiring 141. Thereby, it is possible to suppress interference between the signal from the operation unit 120 and the signals from the respective encoders.

[0059] The encoders E6a, E6b, E6c, E6d, E6e, E6f, and E6g and the operation control unit 110 are serially communication-connected by the second wiring 143. Thereby, even when a plurality of encoders are arranged, it is possible to reduce the number of wirings extending to the operation control unit 110 while suppressing interference between the signal from the operation unit 120 and the signals from the respective encoders.

[0060] Between the operation control unit 110 and the first substrate 140, they are serially communication-connected via the inside of the operation unit 120. Thereby, since the first substrate 140 and the operation control unit 110 are connected by the first wiring 141 and the number of wirings is reduced, it is possible to suppress the operation handle 21 from becoming large.

[0061] The operation control unit 110 and the first substrate 140 are serially communication-connected via the relay unit 148. Thereby, by arranging the relay unit 148 in the mutually separated parts, it is possible to integrally separate the separated parts and the first wiring 141. As a result, it is possible to reduce the work load such as reconnection of the first wiring 141. Also, it is possible to change the type of wiring serially communication-connected via the relay unit 148. For example, by connecting cable wiring and flexible printed wiring via the relay unit, it is possible to arrange flexible printed wiring in the movable part. Also, when there are a plurality of movable parts, a plurality of relay units may be arranged and the flexible printed wirings may be connected by the relay units.

[0062] At least one of the space between the operation control unit 110 and the first substrate 140 and the space between the relay unit 148 and the first substrate 140 is serially connected by a first wiring 141 made of a flexible printed wiring. Thereby, it is possible to prevent the first wiring 141 from interfering with the rotation of each link portion of the operation handle 21.

[0063] An analog signal of an angle detection sensor 21g that detects the opening angle of a pair of grip members 21f is input to the first substrate 140. Here, noise has a relatively large influence on the analog signal. Also, the longer the wiring length, the greater the influence of noise. Therefore, when an analog signal is transmitted from the angle detection sensor 21g to the first substrate 140, by arranging the first substrate 140 inside the link portion 21c adjacent to the link portion 21d where the Hall sensor of the angle detection sensor 21g is arranged, the length of the flexible printed wiring 142 between the angle detection sensor 21g from which the analog signal is transmitted and the first substrate 140 becomes shorter, so that the influence of noise on the analog signal can be reduced.

[0064] The angle detection sensor 21g and the first substrate 140 are serially connected by a first wiring 141 made of a flexible printed wiring. Thereby, it is possible to prevent the first wiring 141 from interfering with the rotation of each link portion of the operation handle 21.

[0065] The operation control unit 110 and the first substrate 140 are serially communication-connected by the first wiring 141 through the inside of the link portion 21c, the link portion 21b, the link portion 21a, and the arm 121 where the first substrate 140 is arranged. Thereby, since the number of wirings between the first substrate 140 and the operation control unit 110 is reduced, it is possible to prevent the link portion 21c, the link portion 21b, the link portion 21a, and the arm 121 from becoming thick.

[0066] The first substrate 140 and the relay substrate 146 are connected by a first wiring 141 made of a flexible printed wiring. The relay substrate 146 and the relay substrate 147 are connected by a first wiring 141 made of a flexible printed wiring. The relay substrate 147 and the relay section 148 are connected by a first wiring 141 made of a flexible printed wiring. Thus, since the first wiring 141 made of a flexible printed wiring is disposed between the first substrate 140 and the relay section 148, it is possible to suppress the first wiring 141 from interfering with the rotation of each link portion of the operation handle 21.

[0067] Between the operation control unit 110 and the first substrate 140, serial communication connection is established by the first wiring 141 via the inside of the operation unit 120 and the main body unit 2a. Thus, since the distance between the operation unit 120 and the operation control unit 110 becomes relatively long, connecting the operation control unit 110 and the first substrate 140 by serial communication with the first wiring 141 is particularly effective in reducing the influence of noise.

[0068] Between the operation control unit 110 and the second substrate 145, serial communication connection is established by the first wiring 141. Thus, unlike the case where the operation control unit 110 and the first substrate 140 and the operation control unit 110 and the second substrate 145 are connected by separate wirings respectively, the number of wirings can be reduced.

[0069] [Modification Example] It should be considered that the embodiments disclosed this time are 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 or modifications within the meaning and scope equivalent to the claims.

[0070] In the above embodiment, an example where the operation control unit 110 is disposed in the remote operation device 2 is shown, but the present disclosure is not limited thereto. For example, the operation control unit 110 may be disposed in a part other than the remote operation device 2.

[0071] In the above embodiment, an example in which the first substrate 140 is disposed in the link portion 21c has been shown, but the present disclosure is not limited thereto. For example, the first substrate 140 may be disposed in the link portion 21d.

[0072] In the above embodiment, an example in which the encoders E6a, E6b, E6c, E6d, E6e, E6f, and E6g and the operation control unit 110 are serially connected by the second wiring 143 has been shown, but the present disclosure is not limited thereto. For example, the communication method between each encoder and the operation control unit 110 may be a communication method other than serial communication.

[0073] In the above embodiment, an example in which the control device 130 is disposed on the medical cart 3 has been shown, but the present disclosure is not limited thereto. For example, the control device 130 may be disposed outside the medical cart 3.

[0074] In the above embodiment, an example in which the operation control unit 110 and the first substrate 140 are serially connected via the inside of the operation handle 21 and the arm 121 has been shown, but the present disclosure is not limited thereto. For example, the operation control unit 110 and the first substrate 140 may be serially connected via the outside of the operation handle 21 and the arm 121.

[0075] In the above embodiment, an example in which the operation control unit 110 and the first substrate 140 are serially connected via the relay unit 144 has been shown, but the present disclosure is not limited thereto. For example, the operation control unit 110 and the first substrate 140 may be directly connected without passing through the relay unit 144.

[0076] In the above embodiment, an example in which the opening angle of the pair of grip members 21f is input to the first substrate 140 as an analog signal has been shown, but the present disclosure is not limited thereto. For example, an acceleration sensor may be disposed on the operation handle 21, and a signal from the acceleration sensor may be input to the first substrate 140 in addition to the analog signal of the opening angle of the pair of grip members 21f.

[0077] In the above-described embodiment, an example in which four robot arms 60 are provided has been shown. However, the present disclosure is not limited to this. In the present disclosure, the number of robot arms 60 may be any other number as long as at least one or more are provided.

[0078] In the above-described embodiment, 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. The axis configuration other than a 7-axis articulated robot is, for example, 6 axes or 8 axes.

[0079] In the above-described embodiment, an example in which the surgical support robot 1 includes the medical cart 3, the positioner 40, and the arm base 50 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 surgical support robot 1 may be configured only by the robot arm 60.

[0080] [Aspect] Those skilled in the art will understand that the above-described exemplary embodiments are specific examples of the following aspects.

[0081] (Item 1) A surgical instrument operation unit that receives an operation amount for a surgical instrument attached to the tip of a robot arm, and a control unit, and the surgical instrument operation unit includes a first substrate to which a signal received by the surgical instrument operation unit is input, A surgical support system in which the control unit and the first substrate are serially communication-connected by a first wiring.

[0082] (Item 2) The surgical instrument operation unit includes a joint part and a drive part provided in the joint part, Between the control unit and the first substrate, a serial communication connection is established by the first wiring, separately from the signal communication path between the detection unit that detects the movement amount of the driving unit and the control unit, for the surgical support system according to item 1.

[0083] (Item 3) Between the detection unit and the control unit, a serial communication connection is established by the second wiring, for the surgical support system according to item 2.

[0084] (Item 4) Between the control unit and the first substrate, a serial communication connection is established through the inside of the surgical instrument operation unit, for the surgical support system according to any one of items 1 to 3.

[0085] (Item 5) Between the control unit and the first substrate, a serial communication connection is established via a relay unit, for the surgical support system according to any one of items 1 to 4.

[0086] (Item 6) At least one of between the control unit and the relay unit and between the relay unit and the first substrate is serially connected by the first wiring made of flexible printed wiring, for the surgical support system according to item 5.

[0087] (Item 7) The surgical instrument operation unit includes a pair of grip members that are opened and closed by an operator, and an angle detection sensor that detects the opening angle of the pair of grip members. An analog signal of the angle detection sensor is input to the first substrate, for the surgical support system according to any one of items 1 to 6.

[0088] (Item 8) Between the angle detection sensor and the first substrate, a serial connection is established by the first wiring made of flexible printed wiring, for the surgical support system according to item 7.

[0089] (Item 9) The surgical instrument operating part further includes a first link part where the pair of grip members are arranged, and a second link part connected to the first link part, The surgical support system according to item 7 or item 8, wherein the first substrate is arranged inside the first link part or the second link part.

[0090] (Item 10) The surgical instrument operating part further includes a third link part connected to the second link part, a fourth link part connected to the third link part, and an arm that supports the fourth link part. The surgical support system according to item 9, wherein between the control part and the first substrate, serial communication connection is established via the first wiring through the inside of the first link part or the second link part where the first substrate is arranged, the third link part, the fourth link part, and the arm.

[0091] (Item 11) a first relay substrate arranged on the third link part, a second relay substrate arranged on the fourth link part, and a relay part arranged on the arm. The first substrate and the first relay substrate are connected by the first wiring made of flexible printed wiring, the first relay substrate and the second relay substrate are connected by the first wiring made of flexible printed wiring, The surgical support system according to item 10, wherein the second relay substrate and the relay part are connected by the first wiring made of flexible printed wiring.

[0092] (Item 12) further includes a main body part that supports the surgical instrument operating part, the control part is arranged inside the main body part, The surgical support system according to any one of Items 1 to 11, wherein a serial communication connection is established between the control unit and the first substrate via the inside of the surgical instrument operation unit and the main body unit by the first wiring.

[0093] (Item 13) A foot pedal operated by an operator's foot, A foot detection unit that detects the operator's foot that operates the foot pedal, And a second substrate to which a signal from the foot detection unit is input. The surgical support system according to any one of Items 1 to 12, wherein a serial communication connection is established between the control unit and the second substrate by the first wiring.

[0094] (Item 14) A surgical instrument operation unit that receives an operation amount for a surgical instrument attached to the tip of a robotic arm, And a control unit. The surgical instrument operation unit includes a substrate to which a signal received by the surgical instrument operation unit is input. An operator-side device in which a serial communication connection is established between the control unit and the substrate by wiring.

Claims

1. A surgical instrument operation unit that receives an operation amount for a surgical instrument attached to the tip of a robotic arm, and a control unit, wherein the surgical instrument operation unit includes a first substrate to which a signal received by the surgical instrument operation unit is input, A surgical support system in which the control unit and the first substrate are serially communicatively connected by a first wiring.

2. The surgical instrument operation unit includes a joint portion and a drive portion provided in the joint portion, The surgical support system according to claim 1, wherein the control unit and the first substrate are serially communicatively connected by the first wiring separately from a signal communication path between a detection unit that detects a movement amount of the drive unit and the control unit.

3. The surgical support system according to claim 2, wherein the detection unit and the control unit are serially communicatively connected by a second wiring.

4. The surgical support system according to claim 1, wherein the control unit and the first substrate are serially communicatively connected via the inside of the surgical instrument operation unit.

5. The surgical support system according to claim 1, wherein the control unit and the first substrate are serially communicatively connected via a relay unit.

6. The surgical support system according to claim 5, wherein at least one of between the control unit and the relay unit and between the relay unit and the first substrate is serially connected by the first wiring made of a flexible printed wiring.

7. The surgical instrument operation unit includes a pair of grip members that are opened and closed by an operator and an angle detection sensor that detects an opening angle of the pair of grip members, The surgical support system according to claim 1, wherein an analog signal of the angle detection sensor is input to the first substrate.

8. The surgical support system according to claim 7, wherein the angle detection sensor and the first substrate are serially connected by the first wiring made of a flexible printed wiring.

9. The surgical instrument operation unit, a first link portion on which the pair of grip members are arranged, and a second link portion connected to the first link portion, The surgical support system according to claim 7, wherein the first substrate is arranged inside the first link portion or the second link portion.

10. The surgical instrument operation unit, a third link portion connected to the second link portion, and a fourth link portion connected to the third link portion, further comprising an arm that supports the fourth link portion, The surgical support system according to claim 9, wherein between the control unit and the first substrate, serial communication connection is established by the first wiring through the inside of the first link portion, the second link portion, the third link portion, the fourth link portion, or the arm on which the first substrate is disposed.

11. a first relay substrate disposed on the third link portion, a second relay substrate disposed on the fourth link portion, further comprising a relay portion disposed on the arm, the first substrate and the first relay substrate are connected by the first wiring made of a flexible printed wiring, the first relay substrate and the second relay substrate are connected by the first wiring made of a flexible printed wiring, The surgical support system according to claim 10, wherein the second relay substrate and the relay portion are connected by the first wiring made of a flexible printed wiring.

12. further comprising a main body portion that supports the surgical instrument operation portion, the control unit is disposed inside the main body portion, The surgical support system according to claim 1, wherein between the control unit and the first substrate, serial communication connection is established by the first wiring through the inside of the surgical instrument operation portion and the main body portion.

13. a foot pedal operated by an operator's foot, a foot detection unit that detects the operator's foot that operates the foot pedal, further comprising a second substrate to which a signal from the foot detection unit is input, The surgical support system according to claim 1, wherein between the control unit and the second substrate, serial communication connection is established by the first wiring.

14. a surgical instrument operation portion that receives an operation amount for a surgical instrument attached to the tip of a robotic arm, a control unit, the surgical instrument operation portion includes a substrate to which a signal received by the surgical instrument operation portion is input, An operator-side device in which serial communication connection is established between the control unit and the substrate by wiring.

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