Surgical support system, operator-side device, and control method of surgical support system

Abstract

To provide a surgery support system capable of causing an operation part of an operator side device to stop at an appropriate position.SOLUTION: A surgery system 100 includes a medical manipulator 1 including an arm 60 at whose tip a medical device 4 is attached, a remote controller 2 including an operation part 120 for receiving an operation by an operator, and a control part 110. The operation part 120 includes servo motors M6a-M6g for assisting the operation by the operator. The control part 110 controls the serve motors M6a, M6b, and M6c so as to apply braking force at the time of deceleration and / or acceleration of the operation for the operation part 120.SELECTED DRAWING: Figure 15

Description

Technical Field

[0001] This disclosure relates to a surgical support system, an operator-side device, and a control method for a surgical support system, and more particularly to a surgical support system, an operator-side device, and a control method for a surgical support system including an operation unit that receives an operation by an operator.

Background Art

[0002] Conventionally, a surgical support system including an operation unit that receives an operation by an operator has been known. For example, Patent Document 1 discloses a technique for controlling the movement of a medical instrument provided on a multi-joint robot arm as a slave based on the operation amount received by the operation unit provided on the master control device. In Patent Document 1, the tool moves inside the body of a patient, which is the surgical site.

[0003] Also, in Patent Document 1, the operation unit provided on the master control device is constituted by a multi-joint arm including a plurality of links. Further, the multi-joint arm is suspended from above in a bent L shape. Also, a motor is provided on the multi-joint arm. Thereby, even if the operator does not support the operation unit by hand, the bent L shape of the multi-joint arm is maintained by generating the torque of the motor so as to resist gravity.

[0004] Also, in Patent Document 1, the motor generates a force according to the operation speed of the operation unit by the operator so as to compensate for the frictional force such as a gear provided between the motor and the master control device. Thereby, it becomes possible to lighten the operation of the operation unit by the operator.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, when assisting in making the operation of the operation unit lighter by generating force in the motor of the multi-joint arm as in Patent Document 1, there are cases where the operation unit cannot be stopped at an appropriate position intended by the operator. Therefore, it is desired to stop the operation unit of the master control device at an appropriate position.

[0007] This disclosure has been made to solve the above-described problems, and one object of this disclosure is to provide a surgical support system, an operator-side device, and a control method for a surgical support system that can stop the operation unit of the operator-side device at an appropriate position.

Means for Solving the Problems

[0008] To achieve the above object, a surgical support system according to a first aspect of this disclosure is a surgical support system including a patient-side device including an arm to which a medical instrument is attached at a tip, and an operation unit including an operation handle that receives an operation by an operator. a support arm that supports the operation handle and has a rotation axis The operation unit includes a drive unit for assisting the operation of the operation handle by the operator, and the control unit judge deceleration and acceleration of the operation handle for the operation based on the difference in the rotation speed around the rotation axis of the support arm controls the drive unit so as to apply a braking force using braking parameters of the drive unit that are different from each other when the operation handle decelerates and accelerates during an operation.

[0009] In the surgical support robot according to the first aspect of this disclosure, as described above, the operation unit includes a drive unit for assisting the operation by the operator, and the control unit controls the drive unit so as to apply a braking force when the operation on the operation unit is decelerated and / or accelerated. Thereby, when the braking force acts during deceleration, overshoot due to the inertia of the operation unit when trying to suddenly stop the operation unit is suppressed. Also, when the braking force acts during acceleration, movement of the operation unit due to recoil or the like when the operation unit is suddenly stopped is suppressed. Thus, the operation unit of the operator-side device can be stopped at an appropriate position. Note that overshoot means that the operation unit goes beyond the appropriate stop position.

[0010] The operator-side device according to the second aspect of this disclosure is an operator-side device that operates a patient-side device including an arm to which a medical instrument is attached at the tip, and includes an operation handle a support arm that supports the operation handle and has a rotation axis an operation unit having an operation unit that receives an operation by the operator, and a control unit, the operation unit includes a drive unit for assisting the operation of the operation handle by the operator, and the control unit judge deceleration and acceleration of the operation handle for the operation based on the difference in the rotation speed around the rotation axis of the support arm controls the drive unit so as to apply a braking force using braking parameters of the drive unit that are different from each other when the operation handle is decelerated and accelerated during the operation.

[0011] In the operator-side device according to the second aspect of this disclosure, as described above, the operation unit includes a drive unit for assisting the operation by the operator, and the control unit controls the drive unit so as to apply a braking force when the operation on the operation unit is decelerated and / or accelerated. Thereby, when the braking force acts during deceleration, overshoot due to the inertia of the operation unit when trying to suddenly stop the operation unit is suppressed. Also, when the braking force acts during acceleration, movement of the operation unit due to recoil or the like when the operation unit is suddenly stopped is suppressed. Thus, an operator-side device capable of stopping the operation unit of the operator-side device at an appropriate position can be provided.

[0012] The control method of the surgical support system according to the third aspect of this disclosure includes a patient-side device including an arm to which a medical instrument is attached at the tip, and an operation handle that receives an operation by an operator a support arm that supports the operation handle and has a rotation axis and an operator-side device including an operation unit having the operation handle, and the operation unit includes a drive unit for assisting the operation of the operation handle by the operator. The control method of the surgical support system is a step of receiving an operation on the operation unit, judge deceleration and acceleration of the operation handle for the operation based on the difference in the rotation speed around the rotation axis of the support arm and a step of controlling the drive unit so as to apply a braking force using braking parameters of the drive unit that are different from each other when the operation handle is decelerated and accelerated during the operation.

[0013] The control method of the surgical support system according to the third aspect of this disclosure includes, as described above, a step of controlling the drive unit so as to apply a braking force when the operation on the operation unit is decelerated and / or accelerated. Thereby, when the braking force acts during deceleration, overshoot due to the inertia of the operation unit when trying to suddenly stop the operation unit is suppressed. Further, when the braking force acts during acceleration, movement of the operation unit due to recoil or the like when the operation unit is suddenly stopped is suppressed. Thus, it is possible to provide a control method of a surgical support system that can stop the operation unit of the operator-side device at an appropriate position.

Advantages of the Invention

[0014] According to the present disclosure, the operation unit of the operator-side device can be stopped at an appropriate position.

Brief Description of the Drawings

[0015]

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Figure 23

[0016] Hereinafter, embodiments embodying the present disclosure will be described with reference to the drawings.

[0017] [First Embodiment] With reference to FIGS. 1 to 20, 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 P-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. An operator such as a doctor 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. Also, the medical manipulator 1 is arranged in an operating room which is a sterilized sterile field. Note that the surgical system 100 is an example of a surgical support system.

[0018] The remote operation device 2 is arranged, for example, inside or outside the operating room. The remote operation device 2 includes an operation unit 120 including an arm 121 and an operation handle 21 shown in FIG. 3, a foot pedal 22, a touch panel 23, a monitor 24, a support arm 25, and a support bar 26. The operation unit 120 constitutes an operation handle for an operator such as a doctor to input a command.

[0019] Also, as shown in FIG. 3, the operation unit 120 includes an operation unit 120L arranged on the left side and operated by the left hand of the operator, and an operation unit 120R arranged on the right side and operated by the right hand of the operator, when viewed from an operator such as a doctor. Note that the configurations of the operation unit 120L and the operation unit 120R are the same.

[0020] The operation unit 120 includes an approximately L-shaped arm 121. 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 of the remote operation device 2 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. An 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.

[0021] 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 arm 60 is moved three-dimensionally so as to correspond to the three-dimensional operation of the arm 121.

[0022] The operation handle 21 is configured to operate the medical instrument 4. Further, the operation handle 21 receives an operation amount for the medical instrument 4. 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.

[0023] Also, as shown in FIG. 4, 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 an A4 axis. The link portion 21b rotates about an A5 axis with respect to the link portion 21a. The link portion 21c rotates about an A6 axis with respect to the link portion 21b. The link portion 21d rotates about an A7 axis with respect to the link portion 21c.

[0024] Further, the operation handle 21 changes the movement amounts of the arm 60 and the medical instrument 4 with respect to the operation amount received by the operation handle 21. This change is called scaling. For example, when the magnification of the movement amount is set to 1 / 2 times, the medical instrument 4 is controlled to move a movement distance that is 1 / 2 of the movement distance of the operation handle 21. Thereby, a delicate operation can be performed accurately.

[0025] As shown in FIG. 5, a plurality of foot pedals 22 are provided to execute functions related to the medical instrument 4. Further, the plurality of foot pedals 22 are arranged 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. Further, the incision pedal 22d includes an incision pedal 22dR for the right arm 60 and an incision pedal 22dL for the left arm 60. Further, the coagulation pedal 22e includes a coagulation pedal 22eR for the right arm 60 and a coagulation pedal 22eL for the left arm 60.

[0026] The switching pedal 22a is configured to switch the arm 60 operated by the operation handle 21. In the first embodiment, the clutch pedal 22b is configured to execute a clutch operation that temporarily disconnects the operation connection between the arm 60 and the operation handle 21. While the clutch pedal 22b is depressed by the operator, the operation by the operation handle 21 is not transmitted to the arm 60. Further, while the camera pedal 22c is depressed by the operator, the operation handle 21 can operate the arm 60 to which the endoscope 6 is attached. While the incision pedal 22d or the coagulation pedal 22e is depressed by the operator, an electrosurgical device (not shown) is activated.

[0027] As shown in FIG. 1, the monitor 24 is a scope-type display device for displaying the images 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 (not shown) provided near the monitor 24, the medical manipulator 1 can be operated by the remote control device 2. The operator operates the operation handle 21 and the foot pedal 22 while visually recognizing the affected part on the monitor 24. Thereby, a command is input to the remote control device 2. The command input to the remote control device 2 is transmitted to the medical manipulator 1.

[0028] The medical cart 3 is provided with a control unit 31 for controlling the operation of the medical manipulator 1 and a storage unit 32 for storing a program or the like for controlling the operation of the medical manipulator 1. Then, based on the command input to the remote control device 2, the control unit 31 of the medical cart 3 controls the operation of the medical manipulator 1.

[0029] Further, 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 the surgery before the operation.

[0030] The medical manipulator 1 shown in FIGS. 1 and 2 is disposed 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. That is, the arm base 50 has an elongated shape. Also, the plurality of arms 60 are each attached to the arm base 50 at the base thereof. 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 (not shown) and used. Also, the arm 60 supports the medical instrument 4.

[0031] The positioner 40 is constituted by, for example, a 7-axis articulated robot. Further, the positioner 40 is disposed 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.

[0032] Further, 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.

[0033] As shown in FIG. 1, a medical instrument 4 is attached to the tip of each of the plurality of arms 60. The medical instrument 4 includes, for example, a replaceable instrument, an endoscope 6 shown in FIG. 9 for capturing an image gr of the surgical site, and the like.

[0034] As shown in FIG. 6, the instrument is provided with a driven unit 4a driven by a servo motor M2 provided in a holder 71 of the arm 60. Further, a forceps 4b is provided at the tip of the instrument.

[0035] Further, as shown in FIG. 7, the instrument includes a first support 4e that rotatably supports the proximal ends of the end effector members 104a and 104b around the JT11 axis at the distal end side, a second support 4f that rotatably supports the proximal end side of the first support 4e around the JT10 axis at the distal end side, and a shaft 4c connected to the proximal end side of the second support 4f. The driven unit 4a, the shaft 4c, the second support 4f, the first support 4e, and the forceps 4b are arranged along the Z direction. The JT11 axis is orthogonal to the Z direction in which the shaft 4c extends. Further, the JT10 axis is spaced from the JT11 axis in the direction in which the shaft 4c extends and is orthogonal to the direction in which the shaft 4c extends and the JT11 axis.

[0036] On the first support 4e, a forceps 4b is attached so as to rotate around the axis of the JT11 axis. Further, the second support 4f rotatably supports the first support 4e about the JT10 axis. That is, the first support 4e is attached to the second support 4f so as to rotate around the axis of the JT10 axis. Further, the portion on the Z1 direction side, which is the tip side of the first support 4e, has a U shape. A TCP1 as a tool center point is set at the center of the JT11 axis of the tip side portion of the U-shaped first support 4e.

[0037] Further, the forceps 4b as the medical instrument 4 includes a JT9 axis as the rotation axis of the shaft 4c and a JT12 axis as the opening and closing axis of the forceps 4b. The rotation axis of the shaft 4c is an axis along the direction in which the shaft 4c extends. A plurality of servo motors M2 are provided on the holder 71 of the arm 60, and the rotating body of the driven unit 4a is driven by the plurality of servo motors M2. Thereby, the medical instrument 4 is driven around the J9 axis to J12 axes. For example, four servo motors M2 are provided.

[0038] Further, as shown in FIG. 9, the TCP2 of the endoscope 6 is set at the tip of the endoscope 6.

[0039] Next, the configuration of the arm 60 will be described in detail.

[0040] As shown in FIG. 6, 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 portion 61 includes a base portion 62, a link portion 63, and a joint portion 64. The arm 60 is configured to move the tip side three-dimensionally with respect to the arm base 50 on the base side of the arm 60. Further, the arm portion 61 is composed of a 7-axis articulated robot arm. The plurality of arms 60 have the same configuration as each other.

[0041] As shown in FIG. 6, the arm 60 includes JT1 to JT7 axes as rotation axes and a J8 axis as a linear motion axis. The JT1 to JT7 axes correspond to the rotation axes of the joint portion 64 of the arm portion 61. Further, the JT7 axis corresponds to the base end side link portion 72 of the translational movement mechanism portion 70. The JT8 axis corresponds to an axis for relatively moving the tip end side link portion 73 of the translational movement mechanism portion 70 along the Z direction with respect to the base end side link portion 72. That is, the servo motor M1 shown in FIG. 13 is provided so as to correspond to the JT1 to JT7 axes of the arm 60. Further, the servo motor M3 is provided so as to correspond to the JT8 axis.

[0042] The translational movement mechanism portion 70 is provided at the tip of the arm portion 61 and the medical instrument 4 is attached thereto. Further, the translational movement mechanism portion 70 translates in the direction in which the medical instrument 4 is inserted into the patient P. Further, the translational movement mechanism portion 70 is configured to relatively translate the medical instrument 4 with respect to the arm portion 61. Specifically, the translational movement mechanism portion 70 is provided with a holder 71 that holds the medical instrument 4. The holder 71 houses the servo motor M2 shown in FIG. 13.

[0043] As shown in FIG. 8, the medical manipulator 1 is attached to the arm 60 and includes an operation unit 80 that operates the arm 60. The operation unit 80 includes an enable switch 81, a joystick 82, and a switch unit 83. The enable switch 81 permits or prohibits the movement of the arm 60 by the joystick 82 and the switch unit 83. Further, the enable switch 81 is in a state of permitting the movement of the medical instrument 4 by the arm 60 when an operator such as a nurse or an assistant grips and presses the operation unit 80.

[0044] Further, the switch unit 83 includes a switch unit 83a that moves the medical instrument 4 in the direction in which the medical instrument 4 is inserted into the patient P along the longitudinal direction of the medical instrument 4, and a switch unit 83b that moves the medical instrument 4 in the direction opposite to the direction in which the medical instrument 4 is inserted into the patient P. Both the switch unit 83a and the switch unit 83b are composed of push button switches.

[0045] Also, as shown in FIG. 8, the operation unit 80 includes a pivot button 85 that teaches the pivot position PP, which is the fulcrum shown in FIG. 12 for the movement of the medical instrument 4 attached to the arm 60. The pivot button 85 is provided on the surface 80b of the operation unit 80 adjacent to the enable switch 81. Then, with the tip of the endoscope 6 shown in FIG. 9 or the pivot position teaching instrument 7 shown in FIG. 10 moved to a position corresponding to the insertion position of the trocar T inserted into the body surface S of the patient P, when the pivot button 85 is pressed, the pivot position PP is taught and stored in the storage unit 32. Note that in teaching the pivot position PP, the pivot position PP is set as one point, and teaching the pivot position PP does not set the direction of the medical instrument 4.

[0046] Also, as shown in FIG. 1, an endoscope 6 is attached to one of the plurality of arms 60, for example, arm 60c, and medical instruments 4 other than the endoscope 6 are attached to the remaining arms, for example, arms 60a, 60b, and 60d. Specifically, in a surgical operation, an endoscope 6 is attached to one of the four arms 60, and forceps 4b or the like as medical instruments 4 other than the endoscope 6 are attached to the three arms 60. Then, for the arm 60 to which the endoscope 6 is attached, the pivot position PP is taught with the endoscope 6 attached. Also, for the arms 60 to which medical instruments 4 other than the endoscope 6 are attached, the pivot position PP is taught with the pivot position teaching instrument 7 attached. Note that the endoscope 6 is attached to either of the two centrally arranged arms 60b and 60c among the four arms 60 arranged adjacent to each other. That is, the pivot position PP is set individually for each of the plurality of arms 60.

[0047] Also, as shown in FIG. 8, an adjustment button 86 for optimizing the position of the arm 60 is provided on the surface 80b of the operation unit 80. After teaching the pivot position PP with respect to the arm 60 to which the endoscope 6 is attached, when the adjustment button 86 is pressed, the positions of the other arms 60 and the arm base 50 are optimized.

[0048] Also, as shown in FIG. 8, the operation unit 80 includes a mode switching button 84 for switching between a mode of linearly moving the medical instrument 4 attached to the arm 60 as shown in FIG. 11 and a mode of rotationally moving the medical instrument 4 as shown in FIG. 12. In the vicinity of the mode switching button 84, a mode indicator 84a is provided. The mode indicator 84a displays the switched mode. Specifically, when the mode indicator 84a is lit, it represents the rotational movement mode, and when it is off, it represents the linear movement mode.

[0049] Also, the mode indicator 84a also serves as a pivot position indicator that indicates that the pivot position PP has been taught.

[0050] As shown in FIG. 11, in the mode of linearly moving the arm 60, the arm 60 is moved so that the tip 4d of the medical instrument 4 moves on the X-Y plane. Also, as shown in FIG. 12, in the mode of rotationally moving the arm 60, when the pivot position PP has not been taught, the arm 60 rotates about the forceps 4b, and when the pivot position PP has been taught, the arm 60 is moved so that the medical instrument 4 rotates about the pivot position PP as a fulcrum. It should be noted that the medical instrument 4 rotates while the shaft 4c of the medical instrument 4 is inserted into the trocar T.

[0051] Also, as shown in FIG. 13, 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.

[0052] Further, as shown in FIG. 13, the translational movement mechanism unit 70 is provided with a servo motor M2 for rotating a rotating body provided on the driven unit 4a of the medical instrument 4, a servo motor M3 for translating the medical instrument 4, an encoder E2, and an encoder E3, and a speed reducer. 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 and increase the torque.

[0053] 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 and increase the torque.

[0054] 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 and increase the torque.

[0055] 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.

[0056] In addition, a servo control unit C2 for controlling a servo motor M2 for driving the medical 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. A servo control unit C3 for controlling a servo motor M3 for translating the translational 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.

[0057] 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 angles detected by the encoders E1 to E3, and outputs the position command to the servo control units C1 to C3. The servo control units C1 to C3 generate a torque command based on the position command input from the arm control unit 31a and the rotation angles detected by the encoders E1 to E3, and output the torque command to the servo motors M1 to M3. Thereby, the arm 60 is moved along the operation command input to the remote operation device 2.

[0058] As shown in FIG. 13, the arm control unit 31a of the control unit 31 is configured to operate the arm 60 based on an input signal from the joystick 82 of the operation unit 80. Specifically, the arm control unit 31a generates a position command based on the input signal input from the joystick 82 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. Thereby, the arm 60 is moved along the operation command input to the joystick 82.

[0059] The arm control unit 31a of the control unit 31 is configured to operate the arm 60 based on the input signal from the switch unit 83 of 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 switch unit 83, 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 is moved along the operation command input to the switch unit 83.

[0060] Also, as shown in FIG. 13, 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.

[0061] An operation command regarding setting of the preparation position or the like is input from the input device 33 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 is moved along the operation command input to the input device 33. Similarly, based on the operation command from the input device 33, the positioner control unit 31b moves the medical cart 3.

[0062] Further, as shown in FIG. 14, the remote control device 2 includes a control unit 110. The control unit 110 is electrically connected to servo control units C6a to C6g for controlling servo motors M6a to M6g provided so as to correspond to axes A1 to A7 which are the rotation axes of the operation unit 120 including the arm 121 and the operation handle 21. Further, encoders E6a to E6g for detecting the rotation angles of the servo motors M6a to M6g are electrically connected to the servo control units C6a to C6g. The servo motors M6a to M6g, the servo control units C6a to C6g, and the encoders E6a to E6g are provided in the operation unit 120L and the operation unit 120R, respectively. The servo motors M6a to M6g are an example of a drive unit.

[0063] Here, the control unit 110 controls the servo motors M6a to M6g so as to generate a torque that cancels out the gravitational torque generated on the rotation axes A1 to A7 of the servo motors M6a to M6g according to the posture of the operation unit 120. Thereby, the operator can operate the operation unit 120 with a relatively small force.

[0064] Further, the control unit 110 generates a torque on the rotation axes A1 to A7 of the servo motors M6a to M6g according to the operation of the operation unit 120, and controls the servo motors M6a to M6g so as to assist the operation of the operator. Thereby, the operator can operate the operation unit 120 with a relatively small force.

[0065] Here, in the first embodiment, the control unit 110 controls the servo motor so as to apply a braking force when the operation on the operation unit 120 is decelerated and / or accelerated. Specifically, as shown in FIG. 15, the control unit 110 controls the servo motor so as to apply a braking force when the operation on the operation unit 120 is accelerated. That is, the control unit 110 applies the braking force software-wise during acceleration. Further, the control unit 110 controls at least one of the plurality of servo motors to increase the braking force when the operation on the operation unit 120 is decelerated and / or accelerated. Specifically, the control unit 110 controls the servo motor corresponding to the rotation axis for moving the medical instrument 4 by the arm 60 to apply a braking force when the operation on the operation unit 120 is decelerated and / or accelerated. In detail, the control unit 110 controls the servo motors M6a, M6b, and M6c corresponding to the A1, A2, and A3 axes to apply a braking force. The servo motors M6a, M6b, and M6c correspond to operations for three-dimensionally moving the arm 60. Note that the control unit 110 may be applied to axes other than the A1, A2, and A3 axes. For example, the control unit 110 controls the M6g corresponding to the A7 axis to apply a braking force. The servo motor M6g corresponds to an operation for rotating the forceps 4b around the axis along the shaft 4c.

[0066] Specifically, as shown in FIG. 17, the control unit 110 receives the operation speed ω of the operation unit 120. The operation speed ω means the rotation speed of rotation around the A1, A2, or A3 axis. The control unit 110 applies a low-pass filter shown as LPF in FIG. 17 to the input operation speed ω. Further, the control unit 110 calculates the acceleration from the difference in the input rotation speed and applies a low-pass filter to the calculated acceleration. Then, the control unit 110 determines whether the operation unit 120 is accelerating or decelerating based on the operation speed ω and the calculated acceleration. Further, the control unit 110 determines the braking parameter τ based on the determination of acceleration or deceleration. Then, after applying a low-pass filter to the current command value corresponding to the determined braking parameter τ, the control unit 110 outputs the current command value to the servo control units C6a, C6b, and C6. Thereby, a braking force acts on the servo motors M6a, M6b, and M6c.

[0067] In the first embodiment, the control unit 110 determines the braking parameter τ of the servo motors M6a, M6b, and M6c according to the operation speed for the operation unit 120, and controls the servo motors M6a, M6b, and M6c so that a braking force acts using the determined braking parameter τ. In the following description, the rotation on one side around each of the A1, A2, and A3 axes is defined as the rotation in the positive direction, and the rotation on the other side is defined as the rotation in the negative direction.

[0068] In the first embodiment, as shown in FIG. 15, when accelerating the operation, the control unit 110 increases the absolute value of the braking parameter τ as the operation speed ω increases when the absolute value of the operation speed ω is smaller than the fifth threshold, makes the braking parameter τ constant when the absolute value of the operation speed ω is equal to or greater than the fifth threshold and smaller than the sixth threshold, decreases the absolute value of the braking parameter τ as the absolute value of the operation speed ω increases when the absolute value of the operation speed ω is equal to or greater than the sixth threshold and smaller than the seventh threshold, and sets the braking parameter τ to zero when the absolute value of the operation speed ω is equal to or greater than the seventh threshold. Specifically, when accelerating the operation, the control unit 110 determines that the operation speed ω is a1When it is smaller, as the operating speed ω increases, the braking parameter τ is increased, and when the operating speed ω is greater than the threshold value ω a1 or more and smaller than the threshold value ω a2 the braking parameter τ is set to a constant τ a and when the operating speed ω is greater than the threshold value ω a2 or more and smaller than the threshold value ω a3 as the operating speed ω increases, the braking parameter τ is decreased, and when it is greater than or equal to the threshold value ω a3 the braking parameter τ is set to zero. When accelerating the operation, the control unit 110 increases the braking parameter τ as the operating speed ω increases when it is greater than the threshold value -ω a1 and sets the braking parameter τ to a constant -τ a2 when the operating speed ω is greater than or equal to the threshold value -ω a1 and smaller than the threshold value -ω a and decreases the braking parameter τ as the operating speed ω increases when the operating speed ω is greater than or equal to the threshold value -ω a3 and smaller than the threshold value -ω a2 and sets the braking parameter τ to zero when the operating speed ω is less than or equal to the threshold value -ω a3 . Note that the threshold value ω a1 and the threshold value -ω a1 are examples of the fifth threshold value. Also, the threshold value ω a2 and the threshold value -ω a2 are examples of the sixth threshold value. The threshold value ω a3 and the threshold value -ω a3 are examples of the seventh threshold value.

[0069] Also, when the operating speed ω is negative, it means that the servo motor rotates in the reverse direction.

[0070] Also, when the operating speed ω is between the threshold value -ω a1 and the threshold value ω a1 the braking parameter τ increases linearly. Also, when the operating speed ω is between the threshold value ω a2 and the threshold value ω a3 the braking parameter τ decreases linearly. Also, when the operating speed ω is between the threshold value -ω a2 and the threshold value -ω a3 the braking parameter τ increases linearly. When the operating speed ω is 0, the braking parameter τ is 0.

[0071] Also, in the first embodiment, as shown in FIG. 16, when decelerating the operation on the operation unit 120, the control unit 110 controls the servo motor so that the braking parameter τ acts. That is, the control unit 110 causes the braking parameter τ to act software-wise during deceleration. Specifically, when decelerating the operation, the control unit 110 keeps the braking parameter τ constant when the absolute value of the operation speed ω is greater than the first threshold, and reduces the absolute value of the braking parameter τ as the speed decreases when the absolute value of the operation speed ω is less than or equal to the first threshold. Specifically, when decelerating the operation, the control unit 110 sets the braking parameter τ to a constant τ b when the operation speed ω is greater than the threshold ω b and reduces the braking parameter τ as the operation speed ω decreases when the operation speed ω is less than or equal to the threshold ω b . When the operation speed ω is less than the threshold -ω b during deceleration of the operation, the control unit 110 sets the braking parameter τ to a constant -τ b and increases the braking parameter τ as the operation speed ω increases when the operation speed ω is greater than or equal to the threshold -ω b . Note that the threshold ω b and the threshold -ω b are examples of the first threshold.

[0072] Specifically, the braking parameter τ decreases linearly between the threshold ω b and 0. The braking parameter τ increases linearly between the threshold -ω b and 0. When the operation speed ω is 0, the braking parameter τ is 0.

[0073] Also, in the first embodiment, the control unit 110 makes the maximum value of the absolute value of the braking parameter τ b during deceleration of the operation greater than the maximum value of the absolute value of the braking parameter τ a during acceleration of the operation. For example, in the first embodiment, as shown in FIG. 18, the maximum value of the braking parameter τ b during deceleration of the operation indicated by the dotted line is the braking parameter τ during acceleration of the operation indicated by the solid linea It is four times the maximum value.

[0074] Also, in the first embodiment, as shown in FIG. 1, a storage unit 111 for storing the braking parameter τ is provided. The storage unit 111 is provided, for example, in the remote operation device 2. Then, the control unit 110 determines the braking parameter τ based on a table in which the operation speed ω and the braking parameter τ are associated. That is, the relationship between the operation speed ω and the braking parameter τ shown in FIGS. 15 and 16 is stored in the storage unit 111 in the form of a table.

[0075] Also, in the first embodiment, as shown in FIG. 19, a braking parameter selection unit 23a for accepting the selection of the magnitude of the braking parameter τ is provided. The braking parameter selection unit 23a is provided in the remote operation device 2. Specifically, the braking parameter selection unit 23a is the touch panel 23 of the remote operation device 2.

[0076] Next, with reference to FIG. 20, the control flow of the surgical system 100 will be described.

[0077] In step S1, an operation on the operation unit 120 is accepted. As a result, the operation speed ω corresponding to the accepted operation is input to the control unit 110.

[0078] In step S2, the control unit 110 calculates the acceleration from the input operation speed ω. Then, based on the input operation speed ω and the calculated acceleration, the control unit 110 determines whether the current operation corresponds to acceleration or deceleration. Specifically, when the operation speed ω is positive and the acceleration is positive, it is determined to be during acceleration. When the operation speed ω is positive and the acceleration is 0, it is determined to be during acceleration. Note that an acceleration of 0 means a constant speed. When the operation speed ω is positive and the acceleration is negative, it is determined to be during deceleration. When the operation speed ω is 0 and the acceleration is positive, it is determined to be during acceleration. When the operation speed ω is 0 and the acceleration is 0, it is determined to be during acceleration. When the operation speed ω is 0 and the acceleration is negative, it is determined to be during deceleration. When the operation speed ω is negative and the acceleration is positive, it is determined to be during deceleration. When the operation speed ω is negative and the acceleration is 0, it is determined to be during deceleration. When the operation speed ω is negative and the acceleration is negative, it is determined to be during acceleration.

[0079] In step S2, if it is determined to be during acceleration, the process proceeds to step S3. In step S3, the braking parameter τ for acceleration shown in FIG. 15 is determined according to the input operation speed ω. Then, the process proceeds to step S5.

[0080] In step S2, if it is determined to be during deceleration, the process proceeds to step S4. In step S4, the braking parameter τ for deceleration shown in FIG. 16 is determined according to the input operation speed ω. Then, the process proceeds to step S5.

[0081] In step S5, the control unit 110 outputs current command values for the servo motors M6a, M6b, and M6c to the servo control units C6a, C6b, and C6c so as to apply a braking force with the determined braking parameter τ. Note that the above steps S2 to S5 are performed, for example, for each control cycle of the control unit 110.

[0082] Next, the braking force that acts when the operator attempts to stop the operation unit 120 will be described.

[0083] First, when the operator attempts to stop the operation unit 120, the operation speed ω decelerates. In this case, a braking force during deceleration acts on the operation unit 120. Then, when the operation speed ω becomes equal to or lower than the threshold value ω b below, the braking force decreases as the operation speed ω decreases. Thereafter, the operation unit 120 stops. In this way, since the braking force acts during deceleration, overshoot due to the inertia of the operation unit 120 when the operator attempts to suddenly stop the operation unit 120 is suppressed.

[0084] Also, there are cases where the hand of the operator operating the operation unit 120 may move unintentionally even when the operator attempts to keep the hand stationary. For example, due to muscle twitching of the operator's hand or the operator's breathing, the hand may move unintentionally. Also, due to inertia, if the operator moves further than the position where they intended to stop, the operator may try to return the operation unit 120 to the desired position unintentionally. In such cases, the operation unit 120 enters an accelerating state. Then, during acceleration, by making a braking force act so as to increase with the increase in the operation speed ω, it becomes possible to suppress the operation unit 120 from moving unintentionally as described above.

[0085] [Effects of the First Embodiment] In the first embodiment, the following effects can be obtained.

[0086] In the first embodiment, as described above, the control unit 110 controls the servo motors M6a, M6b, and M6c so that a braking force acts during deceleration and / or acceleration of the operation on the operation unit 120. Thereby, since the braking force acts during deceleration, overshoot due to the inertia of the operation unit 120 when attempting to suddenly stop the operation unit 120 is suppressed. Also, since the braking force acts during acceleration, movement of the operation unit 120 due to recoil or the like when the operation unit 120 is suddenly stopped is suppressed. As a result, the operation unit 120 of the remote operation device 2 can be stopped at an appropriate position.

[0087] Also, in the first embodiment, as described above, the control unit 110 determines the braking parameter τ of the servo motors M6a, M6b, and M6c according to the operation speed with respect to the operation unit 120, and controls the servo motors M6a, M6b, and M6c to apply a braking force using the determined braking parameter τ. Thereby, by adjusting the braking parameter τ, an appropriate braking force can be applied.

[0088] Also, in the first embodiment, as described above, during deceleration of the operation, when the operation speed ω is greater than the threshold value ω b the braking parameter τ is made constant, and when the operation speed ω is less than the threshold value ω b the braking parameter τ is decreased as the operation speed ω decreases. Also, during deceleration of the operation, when the operation speed ω is less than the threshold value -ω b the braking parameter τ is made constant, and when the operation speed ω is greater than or equal to - the threshold value ω b the braking parameter τ is increased as the operation speed ω increases. Thereby, it is possible to suppress the discomfort of the operation due to the positive / negative switching of the braking parameter τ near when the operation speed ω is zero.

[0089] Also, in the first embodiment, as described above, during acceleration of the operation, when the operation speed ω is less than or equal to the threshold value ω a1 the braking parameter τ is increased as the operation speed ω increases, and when the operation speed ω is greater than or equal to - the threshold value ω a1 the braking parameter τ is increased as the operation speed ω increases. Therefore, it is possible to suppress the discomfort of the operation due to the positive / negative switching of the braking parameter near when the operation speed ω is zero. Also, when the operation speed ω is greater than or equal to the threshold value ω a3 or less than or equal to -ω a3 the braking force becomes zero, so the operation at high speed can be made lighter.

[0090] Also, in the first embodiment, as described above, the control unit 110 makes the maximum value of the absolute value of the braking parameter τ during deceleration of the operation greater than the maximum value of the absolute value of the braking parameter τ during acceleration of the operation. Thereby, since the braking force becomes relatively large during deceleration, the operation unit 120 can be stopped more quickly.

[0091] Also, in the first embodiment, the control unit 110 determines the braking parameter τ based on a table stored in the storage unit 111 in which the operating speed ω and the braking parameter τ are associated with each other. Thereby, the control unit 110 can easily determine the braking parameter τ by referring to the table stored in the storage unit 111.

[0092] Also, in the first embodiment, as described above, a braking parameter selection unit 23a that accepts the selection of the magnitude of the braking parameter τ is provided. Thereby, the magnitude of the braking force can be adjusted according to the preference of the operator.

[0093] Also, in the first embodiment, as described above, the braking parameter selection unit 23a is provided in the remote operation device 2. Thereby, since the braking parameter selection unit 23a is arranged in the vicinity of the operator who operates the remote operation device 2, the operator can easily operate the braking parameter selection unit 23a.

[0094] Also, in the first embodiment, as described above, the control unit 110 controls the servo motors M6a, M6b, and M6c to increase the braking force when the operation of the operation unit 120 is decelerated and / or accelerated. Thereby, when the medical instrument 4 is moved by the arm 60, the operation unit 120 of the remote operation device 2 can be stopped at an appropriate position.

[0095] [Second Embodiment] With reference to FIGS. 21 and 22, the braking parameter τ according to the second embodiment will be described.

[0096] In the second embodiment, as shown in FIGS. 21 and 22, when decelerating the operation, the control unit 110 sets the braking parameter τ to zero when the absolute value of the operation speed ω is greater than the second threshold, and when the absolute value of the operation speed ω is less than or equal to the second threshold and greater than the third threshold, the absolute value of the braking parameter τ is increased as the absolute value of the operation speed ω decreases. When the absolute value of the operation speed ω is less than or equal to the third threshold and greater than the fourth threshold, the absolute value of the braking parameter τ is kept constant. When the absolute value of the operation speed ω is less than or equal to the fourth threshold, the absolute value of the braking parameter τ is decreased as the absolute value of the operation speed ω decreases. Specifically, when decelerating the operation, the control unit 110 sets the braking parameter τ to 0 when the operation speed ω is greater than the threshold value ω c3 and sets the braking parameter τ to increase as the operation speed ω decreases when the operation speed ω is less than or equal to the threshold value ω c3 and greater than the threshold value ω c2 . When the operation speed ω is less than or equal to the threshold value ω c2 and greater than the threshold value ω c1 , the braking parameter τ is set to a constant τ c . When the operation speed ω is less than or equal to the threshold value ω c1 , the braking parameter τ is decreased as the operation speed ω decreases. Also, when decelerating the operation, the control unit 110 sets the braking parameter τ to 0 when the operation speed ω is less than the threshold value -ω c3 , and sets the braking parameter τ to decrease as the operation speed ω increases when the operation speed ω is greater than or equal to the threshold value -ω c3 and less than the threshold value -ω c2 . When the operation speed ω is greater than or equal to the threshold value -ω c2 and less than the threshold value -ω c1 , the braking parameter τ is set to a constant τ c . When the operation speed ω is greater than or equal to the threshold value -ω c1 , the braking parameter τ is increased as the operation speed ω increases. Note that the threshold value ω c1 and the threshold value -ω c1 are examples of the fourth threshold. Also, the threshold value ω c2 and the threshold value -ω c2 are examples of the third threshold. The threshold value ω c3 and the threshold value -ω c3 are examples of the second threshold.

[0097] Also, when the operation speed ω is between the threshold value ω c3 and the threshold value ω c2 , and between the threshold value -ω c3 and the threshold value -ω c2 , the absolute value of the braking parameter τ increases linearly. Also, when the operation speed ω is between the threshold value ω c1 and 0, and between the threshold value -ω c1 and 0, the absolute value of the braking parameter τ decreases linearly. When the operation speed ω is 0, the braking parameter τ is 0. Note that the braking parameter τ during acceleration in the second embodiment is the same as that in the first embodiment shown in FIG. 15. That is, in the second embodiment, the braking parameter τ during acceleration and the braking parameter τ during deceleration change in the same manner. Note that, as shown in FIG. 22, the maximum value of the absolute value of the braking parameter τ c during deceleration is, for example, more than four times larger than the maximum value of the absolute value of the braking parameter τ a during acceleration.

[0098] For example, as shown in FIG. 18, when the braking parameter τ during deceleration is a relatively large constant value τ b as in the first embodiment at high speed, and the braking parameter τ during acceleration is 0 as in the first embodiment at high speed, when the acceleration state and the deceleration state of the operation on the operation unit 120 are switched, due to the large difference between the braking parameter τ b during deceleration and 0 of the braking parameter value during acceleration, there may be a sense of discomfort in the operation on the operation unit 120. Therefore, in the second embodiment, as shown in FIG. 21, by setting the braking parameter τ during deceleration to 0 at high speed to be the same as the braking parameter τ during acceleration, it is possible to suppress the sense of discomfort in the operation when the acceleration state and the deceleration state are switched.

[0099] [Effects of the Second Embodiment] In the second embodiment, the following effects can be obtained.

[0100] In the second embodiment, as described above, when decelerating the operation on the operation unit 120, by reducing the difference between the braking parameter τ during deceleration and the braking parameter τ during acceleration, the discomfort of the operation can be reduced. Also, when the operation speed ω is the threshold ω c1 In the following cases, as the operation speed ω decreases, the braking parameter τ decreases, and when it is the threshold -ω c1 or more, as the operation speed ω increases, the braking parameter τ increases. Therefore, it is possible to suppress the discomfort of the operation due to the positive / negative switching of the braking parameter when the operation speed ω is near zero.

[0101] [Modification Example] It should be noted that the embodiments disclosed this time should be considered as illustrative in all respects and not restrictive. The scope of the present disclosure is shown not by the description of the above embodiments but by the claims, and further includes all changes or modifications within the meaning and scope equivalent to the claims.

[0102] For example, in the first embodiment described above, an example was shown in which the braking parameter τ is set to 0 when the operation speed ω is greater than the threshold ωa3 or less than the threshold -ωa3 during the acceleration of the operation. However, the present disclosure is not limited to this. For example, when the operation speed ω is greater than the threshold ωa3 or less than the threshold -ωa3, the braking parameter τ may be set to a value other than 0.

[0103] Also, in the first embodiment described above, when the operation speed ω is between the threshold ω a1 and the threshold ω a2 and between the threshold -ω a1 and the threshold -ω a2 an example was shown in which the braking parameter τ is constant. However, the present disclosure is not limited to this. For example, when the operation speed ω becomes greater than the threshold ω a1 the braking parameter τ may be decreased, and when it becomes less than the threshold -ω a1 the braking parameter τ may be increased.

[0104] Also, in the second embodiment described above, when the operation speed ω is the threshold ω c1and the threshold value ω c2 between them, and the threshold value -ω c1 and the threshold value -ω c2 between them, an example where the braking parameter τ is constant has been shown, but the present disclosure is not limited to this. For example, when the operation speed ω becomes greater than the threshold value ω c1 the braking parameter τ may be decreased, and when it becomes smaller than the threshold value -ω c1 the braking parameter τ may be increased.

[0105] Also, in the above first and second embodiments, an example where the maximum value of the absolute value of the braking parameter τ during deceleration of the operation is greater than the maximum value of the absolute value of the braking parameter τ during acceleration of the operation has been shown, but the present disclosure is not limited to this. For example, the maximum value of the absolute value of the braking parameter τ during deceleration of the operation and the maximum value of the absolute value of the braking parameter τ during acceleration of the operation may be made the same.

[0106] Also, in the above first and second embodiments, an example where the braking parameter selection unit 23a is provided in the remote operation device 2 has been shown, but the present disclosure is not limited to this. For example, the braking parameter selection unit 23a may be provided in a device other than the remote operation device 2.

[0107] Also, in the above first and second embodiments, an example where control for applying a braking force is performed by the control unit 110 of the remote operation device 2 has been shown, but the present disclosure is not limited to this. For example, control for applying a braking force may be performed by a control unit other than the remote operation device 2.

[0108] In addition, in the above-described first and second embodiments, an example was shown in which the change in the braking parameter τ is the same when the operation speed ω decreases and when the operation speed ω increases. However, the present disclosure is not limited to this. For example, hysteresis as shown in FIG. 23 may be applied to the braking parameter τ in the first and second embodiments. That is, the change in the braking parameter τ may be made different between the case where the operation speed ω changes from the positive side to the negative side and the case where it changes from the negative side to the positive side, and the braking parameter τ may not be changed in the vicinity of the operation speed ω being 0. Thereby, even when the operation speed ω changes so as to vibrate between the positive side and the negative side in the vicinity of 0, the braking parameter τ does not change in the vicinity of the operation speed ω being 0, so that the sense of strangeness of the operation can be suppressed. Note that the sense of strangeness of the operation is, for example, a sense of strangeness such as vibration.

[0109] Also, in the above-described first and second embodiments, the change in the braking parameter τ may not be made larger than a predetermined value before and after the cycle of the control period. Thereby, it is possible to suppress the sense of strangeness of the operation such as vibration caused by a large change in the magnitude of the braking parameter τ.

[0110] In addition, in the above-described first and second embodiments, an example was shown in which four arms 60 are provided. However, the present disclosure is not limited to this. In the present disclosure, the number of arms 60 may be any other number as long as at least one or more are provided.

[0111] In addition, in the above-described first and second embodiments, an example was shown in which the arm unit 61 and the positioner 40 are configured by a 7-axis articulated robot. 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.

[0112] In the above-described first and second embodiments, an example in which the medical manipulator 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 medical manipulator 1 may be configured only by the arm 60.

[0113] The functions of the elements disclosed in this specification can be executed using a circuit or a 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 that is 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, a unit, or a means is hardware that executes the listed functions, or hardware that is programmed to execute the listed functions. The hardware may be the hardware disclosed in this specification, or other known hardware that is programmed or configured to execute the listed functions. When the hardware is a processor considered to be a type of circuit, the circuit, the means, or the unit is a combination of hardware and software, and the software is used for the configuration of the hardware and / or the processor.

Explanation of Reference Numerals

[0114] 1 Medical manipulator (patient-side device) 2 Remote operation device (operator-side device) 4 Medical instrument 23a Braking force selection unit 60 Arm 110 Control unit 120 Operation unit 100 Surgical system (surgical support system) M6a~M6g Servo motor (drive unit) ω a1 , -ω a1Threshold value (the fifth threshold value) ω a2 、 -ω a2 Threshold value (the sixth threshold value) ω a3 、 -ω a3 Threshold value (the seventh threshold value) ω b 、 -ω b Threshold value (the first threshold value) ω c1 、 -ω c1 Threshold value (the fourth threshold value) ω c2 、 -ω c2 Threshold value (the third threshold value) ω c3 、 -ω c3 Threshold value (the second threshold value)

Claims

Claim 1 A surgical support system, comprising: a patient-side device including an arm to which a medical instrument is attached at its tip; an operator-side device including an operation handle that receives an operation by an operator and a support arm that supports the operation handle and has a rotation axis; a control unit, wherein the operation unit includes a drive unit for assisting the operation of the operation handle by the operator, and the control unit determines deceleration and acceleration of the operation handle with respect to the operation based on a difference in rotation speed around the rotation axis of the support arm, and controls the drive unit to apply a braking force using braking parameters of the drive unit that are different from each other when the operation handle decelerates and accelerates with respect to the operation. A surgical support system. Claim 2 The surgical support system according to claim 1, wherein the control unit determines the braking parameter of the drive unit according to an operation speed with respect to the operation handle, and controls the drive unit to apply the braking force using the determined braking parameter. Claim 3 The surgical support system according to claim 2, wherein when the operation handle decelerates, the control unit keeps the braking parameter constant when the absolute value of the operation speed is greater than a first threshold, and decreases the absolute value of the braking parameter as the speed decreases when the absolute value of the operation speed is less than or equal to the first threshold. Claim 4 When the operation handle decelerates, the control unit sets the braking parameter to zero when the absolute value of the operation speed is greater than a second threshold, increases the absolute value of the braking parameter as the absolute value of the operation speed decreases when the absolute value of the operation speed is less than or equal to the second threshold and greater than a third threshold, keeps the absolute value of the braking parameter constant when the absolute value of the operation speed is less than or equal to the third threshold and greater than a fourth threshold, and decreases the absolute value of the braking parameter as the absolute value of the operation speed decreases when the absolute value of the operation speed is less than or equal to the fourth threshold. The surgical support system according to claim 2. Claim 5 When the operation handle accelerates, the control unit When the absolute value of the operation speed is less than the fifth threshold value, as the operation speed increases, the absolute value of the braking parameter is increased; when the absolute value of the operation speed is greater than or equal to the fifth threshold value and less than the sixth threshold value, the braking parameter is kept constant; when the absolute value of the operation speed is greater than or equal to the sixth threshold value and less than the seventh threshold value, as the absolute value of the operation speed increases, the absolute value of the braking parameter is decreased; and when the absolute value of the operation speed is greater than or equal to the seventh threshold value, the braking parameter is set to zero. The surgical support system according to any one of claims 2 to 4.

6. The control unit makes the maximum value of the absolute value of the braking parameter during deceleration of the operation handle greater than the maximum value of the absolute value of the braking parameter during acceleration of the operation handle. The surgical support system according to any one of claims 2 to 5.

7. The surgical support system further comprises a storage unit for storing the braking parameter. The control unit determines the braking parameter based on a table in which the operation speed and the braking parameter are associated with each other. The surgical support system according to any one of claims 2 to 6.

8. The surgical support system further comprises a braking parameter selection unit for receiving a selection of the magnitude of the braking parameter. The surgical support system according to any one of claims 2 to 7.

9. The braking parameter selection unit is provided in the operator-side device. The surgical support system according to claim 8.

10. The operation unit includes a plurality of rotating shafts. A plurality of driving units are provided corresponding to each of the plurality of rotating shafts. The control unit controls at least one of the plurality of driving units to increase the braking force during deceleration and / or acceleration of the operation handle with respect to the operation. The surgical support system according to any one of claims 1 to 9.

11. An operator-side device for operating a patient-side device including an arm to which a medical instrument is attached at the tip, An operation unit having an operation handle for receiving an operation by an operator and a support arm for supporting the operation handle and having a rotating shaft, A control unit, The operation unit includes a driving unit for assisting the operation of the operation handle by the operator. The control unit determines deceleration and acceleration of the operation handle for the operation based on the difference in the rotational speed around the rotation axis of the support arm, and controls the drive unit to apply a braking force by using braking parameters of the drive unit that are different from each other when the operation handle decelerates and accelerates for the operation. An operator-side device.

12. A patient-side device including an arm to which a medical instrument is attached at the tip, an operator-side device including an operation handle that receives an operation by an operator, and an operation unit that supports the operation handle and has a rotation axis, The operation unit includes a drive unit for assisting the operation of the operation handle by the operator. A control method for a surgical support system, A step of receiving the operation on the operation unit; A method for controlling a surgical support system, comprising: determining deceleration and acceleration of the operation handle for the operation based on a difference in a rotational speed around a rotation axis of the support arm, and using braking parameters of the drive unit that are different from each other when the operation handle decelerates and accelerates for the operation. And a step of controlling the drive unit to apply a braking force.

Images