Operator-side device

Abstract

An operator-side device (2) comprises a first lever member (21bb) that is attached in a pivotable manner with respect to a support member (21ba), and a first switch (21bf) that is attached to the first lever member (21bb) and that performs a predetermined function.

Description

Technical Field

[0001] This disclosure relates to an operator-side device and a surgical support system, and more particularly, to an operator-side device and a surgical support system that operate a patient-side device including a patient-side arm to which a medical instrument is attached at the tip.

Background Art

[0002] Conventionally, an operator-side device that operates a patient-side device including a patient-side arm to which a medical instrument is attached at the tip is known. Such an operator-side device is disclosed, for example, in U.S. Patent No. 8,638,057.

[0003] U.S. Patent No. 8,638,057 discloses a console that operates a robotic surgical manipulator including a robotic arm to which a surgical tool is attached at the tip. This console includes a master grip that is operated by an operator such as a surgeon with a finger. This master grip is used to generate a control signal for controlling the surgical tool. Further, this master grip includes a tubular support structure, a first grip and a second grip having one end supported by the tubular support structure. A slidable switch that can be operated by the operator's finger is attached to this tubular support structure. This switch executes a clutch function.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

[0005] However, in the console described in U.S. Patent No. 8,638,057, since the switch is attached to the tubular support structure, the operability of the switch operated at the operator's hand may be poor.

[0006] This disclosure is made to solve the above problems, and one object of this disclosure is to provide an operator-side device and a surgical support system capable of improving the operability of a switch that is operated at the operator's hand when the operator of the operator-side device operates a patient-side device including a patient-side arm to which a medical instrument is attached at the tip.

[0007] To achieve the above object, an operator-side device according to a first aspect of this disclosure is an operator-side device that operates a patient-side device including a patient-side arm to which a medical instrument is attached at the tip, and includes an operating arm, a support member connected to the proximal end of the operating arm, a first lever member attached to the support member so as to rotate with respect to the support member, a first switch attached to the first lever member and executing a predetermined function, and a tilt switch attached to the first lever member and arranged to be tilted with respect to the first switch. The first switch and the tilt switch are switches of different types. 。

[0008] As described above, the operator-side device according to the first aspect of this disclosure includes a first switch attached to the first lever member and executing a predetermined function. Thus, unlike the case of attaching the first switch for executing a predetermined function to the support member, the first switch can be moved (rotated) by rotating the first lever, so that the first switch can be moved to a position where it is easy for the operator to operate. As a result, the first switch can be easily operated, so that the operability of the first switch that is operated at the operator's hand when the operator of the operator-side device operates a patient-side device including a patient-side arm to which a medical instrument is attached at the tip can be improved.

[0009] According to a second aspect of this disclosure Operator-side device は、 An operator-side device that operates a patient-side device including a patient-side arm to which a medical instrument is attached at the tip, the operator-side device including an operating arm, a support member connected to the proximal end of the operating arm, a first lever member attached to the support member so as to rotate relative to the support member, a second lever member attached to the support member so as to rotate relative to the support member and disposed so as to face the first lever member via the support member, a switch attached to the first lever member for performing a predetermined function, a magnet disposed on the second lever member at a position facing a through hole provided in the support member, an angle sensor disposed on the support member so as to detect the angle of the second lever member relative to the support member by detecting the magnetic field of the magnet through the through hole, an FPC disposed on the support member and the first lever member so that the angle sensor and the switch are disposed thereon, and a reinforcing plate disposed at the position of the angle sensor of the FPC.

[0011] The operator-side device according to the third aspect of this disclosure is an operator-side device that operates a patient-side device including a patient-side arm to which a medical instrument is attached at the tip, and includes an operating arm, a support member connected to the proximal end of the operating arm, a lever member attached to the support member so as to rotate with respect to the support member, and a first switch attached to the lever member and executing a predetermined function. The lever member above side is provided with the first switch is disposed , On the lower side of the lever member, and a second switch chi for executing a predetermined function are arranged.

[0015] According to the present disclosure, when an operator operates a patient-side device including a patient-side arm to which a medical instrument is attached at the tip, the operability of a switch operated at the operator's hand can be improved.

Brief Description of Drawings

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Mode for Carrying Out the Invention

[0017] Hereinafter, a first embodiment embodying the present disclosure will be described with reference to the drawings.

[0018] [First Embodiment] With reference to FIGS. 1 to 15, the configuration of the surgical system 100 according to the first embodiment will be described.

[0019] As shown in FIG. 1, the surgical system 100 includes a medical manipulator 1 which is a patient-side device, and a remote operation device 2 which is an operator-side device for operating the medical manipulator 1. The medical manipulator 1 includes a medical cart 3 and is configured to be movable. The remote operation device 2 is disposed at a position separated from the medical manipulator 1, and the medical manipulator 1 is configured to be remotely operated by the remote operation device 2. The surgeon inputs a command for causing the medical manipulator 1 to perform a desired operation to the remote operation device 2. The remote operation device 2 transmits the input command to the medical manipulator 1. The medical manipulator 1 operates based on the received command. Further, the medical manipulator 1 is disposed in the operating room which is a sterilized sterilization field. Note that the surgical system 100 is an example of a surgical support system. Also, the medical manipulator 1 and the remote operation device 2 are examples of a patient-side device and an operator-side device, respectively.

[0020] The remote operation device 2 is disposed, for example, inside or outside the operating room. The remote operation device 2 includes an operating manipulator 21, an operation pedal 22, a touch panel 23, a monitor 24, a support arm 25, and a support bar 26. The operating manipulator 21 constitutes an operating handle for an operator to input commands. The operating manipulator 21 receives an operation amount for the medical instrument 4. The monitor 24 is a scope-type display device that displays an image captured by the endoscope 4b. The support arm 25 supports the monitor 24 so that the height of the monitor 24 matches the height of the operator's face. The touch panel 23 is disposed on the support bar 26. The medical manipulator 1 can be operated by the remote operation device 2 by detecting the operator's head by a sensor provided near the monitor 24. The operator operates the operating manipulator 21 and the operation 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 medical manipulator 1. The operating manipulator 21 includes a right-hand operating manipulator 21R and a left-hand operating manipulator 21L.

[0021] As shown in FIGS. 1 and 2, the medical cart 3 is provided with a control unit 31 that controls the operation of the medical manipulator 1 and a storage unit 32 that stores a program or the like for controlling the operation of the medical manipulator 1. Then, based on the command input to the remote operation device 2, the control unit 31 of the medical cart 3 controls the operation of the medical manipulator 1.

[0022] In addition, 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 operation before the treatment.

[0023] The medical manipulator 1 shown in FIGS. 1 and 2 is arranged in the operating room. The medical manipulator 1 includes a medical trolley 3, a positioner 40, an arm base 50, and a plurality of arms 60. The arm base 50 is attached to the tip of the positioner 40. The arm base 50 has a relatively long rod shape. Also, the plurality of arms 60 are each attached to the arm base 50 at the base portion of each arm 60. The plurality of arms 60 are configured to be able to take a folded storage posture. The arm base 50 and the plurality of arms 60 are covered with a sterilization drape and used.

[0024] The positioner 40 is constituted by, for example, a 7-axis articulated robot. Also, the positioner 40 is arranged on the medical trolley 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.

[0025] Also, the positioner 40 includes a base portion 41 and a plurality of link portions 42 connected to the base portion 41. The plurality of link portions 42 are connected to each other by a joint portion 43.

[0026] 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 4a and an endoscope 4b, etc. Note that the arm 60 is an example of a patient-side arm.

[0027] Next, with reference to FIG. 3, the configuration of the arm 60 will be described in detail.

[0028] As shown in FIG. 3, the arm 60 includes an arm portion 61 and a translational movement mechanism portion 70 provided at the tip of the arm portion 61. The arm 60 is configured to move the tip side three-dimensionally with respect to the arm base 50 at the base of the arm 60. The arm 60 has eight degrees of freedom. Specifically, the arm 60 has JT1 to JT7 axes as rotation axes and a JT8 axis as a linear motion axis. Note that the plurality of arms 60 have the same configuration as each other. Further, the arm portion 61 includes a base portion 62, a link portion 63, and a joint portion 64.

[0029] 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 the medical instrument 4 in the direction of insertion into the patient P placed on the operating table 5. Also, the translational movement mechanism portion 70 is configured to translate the medical instrument 4 relative to the arm portion 61. Specifically, the translational movement mechanism portion 70 is provided with a holder 71 for holding the medical instrument 4. A servo motor is housed in the holder 71. The servo motor is configured to rotate a rotating body provided on the driven unit 4aa of the medical instrument 4. When the rotating body of the driven unit 4aa rotates, the medical instrument 4 operates.

[0030] The arm portion 61 is composed of a 7-axis articulated robot arm. Further, the arm portion 61 includes a base portion 62 for attaching the arm portion 61 to the arm base 50, and a plurality of link portions 63 connected to the base portion 62. The plurality of link portions 63 are connected to each other by a joint portion 64.

[0031] The translational movement mechanism portion 70 is configured to translate the medical instrument 4 attached to the holder 71 along the A direction, which is the direction in which the shaft 4ab extends, by translating the holder 71 along the A direction. Specifically, the translational movement mechanism portion 70 includes a base-end side link portion 72 connected to the tip of the arm portion 61, a tip-side link portion 73, and a connecting link portion 74 provided between the base-end side link portion 72 and the tip-side link portion 73. Further, the holder 71 is provided on the tip-side link portion 73.

[0032] And the connecting link portion 74 of the translational movement mechanism portion 70 is configured as a speed doubling mechanism that relatively moves the distal end side link portion 73 along the A direction with respect to the proximal end side link portion 72. Further, when the distal end side link portion 73 is relatively moved along the A direction with respect to the proximal end side link portion 72, the medical instrument 4 attached to the holder 71 is configured to translate along the A direction. Further, the tip of the arm portion 61 is connected to the proximal end side link portion 72 so as to rotate the proximal end side link portion 72 about the B direction orthogonal to the A direction.

[0033] Also, as shown in FIG. 1, an endoscope 4b is attached to one of the plurality of arms 60, for example, arm 60c, and instruments 4a, which are medical instruments other than the endoscope 4b, are attached to the remaining arms 60a, 60b, and 60d. Then, the pivot position is taught in a state where the endoscope 4b is attached to the arm 60 to which the endoscope 4b is attached. Further, the pivot position is taught in a state where a pivot position teaching device is attached to the arm 60 to which an instrument 4a other than the endoscope 4b is attached. Note that the endoscope 4b is attached to any one of the two arms 60b and 60c arranged in the center among the four arms 60 arranged adjacent to each other. That is, the pivot position is set individually for each of the plurality of arms 60.

[0034] Next, with reference to FIGS. 4 to 15, the configuration of the operating manipulator 21 will be described in detail.

[0035] As shown in FIG. 4, the operating manipulator 21 includes an operating manipulator 21L arranged on the left side and operated by the left hand of the operator, and an operating manipulator 21R arranged on the right side and operated by the right hand of the operator, as viewed from an operator such as a surgeon. Note that the configurations of the operating manipulator 21L and the operating manipulator 21R are the same except that the operation handle 21b has a bilaterally symmetric structure.

[0036] The operation manipulator 21 includes an operation arm 21a and an operation handle 21b. The operation arm 21a has a link portion 21aa, a link portion 21ab, and a link portion 21ac. The upper end side of the link portion 21aa 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 link portion 21ab is attached to the lower end side of the link portion 21aa so as to be rotatable about an A2 axis along the horizontal direction. One end side of the link portion 21ac is attached to the lower end side of the link portion 21ab so as to be rotatable about an A3 axis along the horizontal direction.

[0037] The operation arm 21a supports the operation handle 21b so as to be movable within a predetermined three-dimensional operation range. Specifically, the operation arm 21a supports the operation handle 21b 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 operation arm 21a.

[0038] Also, as shown in FIG. 5, the operation arm 21a of the right-hand operation manipulator 21R further has a link portion 21ad, a link portion 21ae, and a link portion 21af. One end side of the link portion 21ad is attached to the other end side of the link portion 21ac so as to be rotatable about an A4 axis. One end side of the link portion 21ae is attached to the other end side of the link portion 21ad so as to be rotatable about an A5 axis. One end side of the link portion 21af is attached to the other end side of the link portion 21ae so as to be rotatable about an A6 axis.

[0039] As shown in FIG. 6, the operation handle 21b of the manipulator 21R for the right hand has a support member 21ba, a first lever member 21bb, and a second lever member 21bc. The support member 21ba has a cylindrical shape extending in the Y direction and is connected to the proximal end of the operation arm 21a. The distal end of the support member 21ba is connected to the proximal end of the operation arm 21a so as to rotate about an A7 axis parallel to the Y direction, which is the longitudinal direction of the support member 21ba. That is, the distal end of the support member 21ba is connected to the link portion 21af so as to rotate about the A7 axis. Further, the distal end of the support member 21ba and the proximal end of the operation arm 21a are connected via a flange portion 21c. Note that the A7 axis is an example of the first axis.

[0040] The first lever member 21bb has a plate-like elongated shape and is attached to the support member 21ba so as to be rotatable. The first lever member 21bb is attached to the support member 21ba so as to rotate about an A8 axis perpendicular to the A7 axis. Further, the first lever member 21bb is disposed so as to face the second lever member 21bc via the support member 21ba. Note that the A8 axis is an example of the second axis.

[0041] The second lever member 21bc has a plate-like elongated shape and is attached to the support member 21ba so as to be rotatable. The second lever member 21bc is attached to the support member 21ba so as to rotate about an A9 axis perpendicular to the A7 axis. Further, the second lever member 21bc is disposed so as to face the first lever member 21bb via the support member 21ba. Note that the A9 axis is an example of the third axis.

[0042] Further, a cylindrical finger insertion part 21bd and a rectangular finger pad 21be are arranged on the first lever member 21bb and the second lever member 21bc. The operator inserts a finger into the finger insertion part 21bd and places the finger on the finger pad 21be to operate the operation handle 21b. For example, the thumb O1 of the operator is inserted into the finger insertion part 21bd on the side of the first lever member 21bb, and the middle finger O2 of the operator is inserted into the finger insertion part 21bd on the side of the second lever member 21bc (see Fig. 8).

[0043] Here, in the first embodiment, as shown in Fig. 7, the operation handle 21b of the right-hand manipulator 21R for operation is attached to the first lever member 21bb and further has a first switch 21bf for executing a predetermined function. The first switch 21bf is a clutch switch that executes a clutch function that does not transmit the operation of the operator to the medical manipulator 1. As shown in Fig. 8, the operator operates the first switch 21bf, for example, with the index finger O3 of the right hand that is not operating the first lever member 21bb and the second lever member 21bc. Also, for example, the operator operates the first switch 21bf so as to sandwich it between the thumb O1 of the right hand operating the first lever member 21bb and the index finger O3 of the right hand operating the first switch 21bf.

[0044] Also, in the first embodiment, as shown in FIGS. 7, 9, and 11, the first switch 21bf is disposed at a position closer to the distal end than the proximal end of the first lever member 21bb. Specifically, the first switch 21bf is disposed at the position of the distal end of the first lever member 21bb. Further, the first switch 21bf is disposed at the first end portion 211 of the first lever member 21bb among the first end portion 211 and the second end portion 212 in the Z direction parallel to the A8 axis. That is, the first switch 21bf is disposed at the upper first end portion 211 with respect to the operator's thumb O1 disposed on the first lever member 21bb. In the first embodiment, the first end portion 211 is a portion of one side end in the Z direction parallel to the A8 axis among the distal ends of the first lever member 21bb. The second end portion 212 is a portion of the other side end opposite to the first end portion 211 in the Z direction parallel to the A8 axis among the distal ends of the first lever member 21bb.

[0045] Also, in the first embodiment, as shown in FIGS. 7, 9, 10, and 11, the operation handle 21b is attached to the second lever member 21bc and further has a second switch 21bg that executes a predetermined function. The second switch 21bg has the same function as the first switch 21bf. That is, the second switch 21bg is a clutch switch that executes a clutch function that does not transmit the operator's operation to the medical manipulator 1. The second switch 21bg is disposed at the same position as the first switch 21bf when the support member 21ba is rotated 180 degrees around the A7 axis. That is, the second switch 21bg can be operated in the same manner as the first switch 21bf.

[0046] Also, in the first embodiment, as shown in FIGS. 7, 9, and 11, the second switch 21bg is disposed at a position closer to the distal end than the proximal end of the second lever member 21bc. Specifically, the second switch 21bg is disposed at the position of the distal end of the second lever member 21bc. Further, the second switch 21bg is disposed at the second end portion 214 out of the first end portion 213 and the second end portion 214 of the second lever member 21bc in the Z direction parallel to the A9 axis. That is, the second switch 21bg is disposed at the second end portion 214 on the opposite side to the first switch 21bf. In the first embodiment, the first end portion 213 is the portion of one side end in the Z direction parallel to the A9 axis among the distal ends of the second lever member 21bc. The second end portion 214 is the portion of the other side end on the opposite side to the first end portion 213 in the Z direction parallel to the A9 axis among the distal ends of the second lever member 21bc.

[0047] Also, in the first embodiment, as shown in FIG. 9, the first switch 21bf and the second switch 21bg are disposed at symmetric positions with respect to the A7 axis of the support member 21ba. Specifically, the first switch 21bf and the second switch 21bg are disposed at linearly symmetric positions with respect to the A7 axis of the support member 21ba when viewed from the Z direction parallel to the A8 axis and the A9 axis. More specifically, as shown in FIG. 10, the first switch 21bf and the second switch 21bg are disposed at point-symmetric positions with respect to the rotation center of the A7 axis of the support member 21ba when viewed from the Y direction parallel to the A7 axis.

[0048] Also, in the first embodiment, as shown in FIG. 12, the first switch 21bf is disposed so as to be inclined with respect to the opposing surface 215 facing the support member 21ba of the first lever member 21bb. The first switch 21bf is disposed so as to be inclined by a predetermined angle θ on the side away from the support member 21ba with respect to the surface parallel to the opposing surface 215.

[0049] In the first embodiment, the first lever member 21bb includes a plate-shaped attachment member 216 that is attached to the opposing surface 215 and supports the first switch 21bf so as to be inclined with respect to the opposing surface 215. The attachment member 216 has a first flat plate portion 216a parallel to the opposing surface 215 and a second flat plate portion 216b connected to the first flat plate portion 216a so as to be inclined to bend with respect to the first flat plate portion 216a. The first switch 21bf is attached to the second flat plate portion 216b. The second flat plate portion 216b is arranged so as to be inclined by a predetermined angle θ on the side away from the support member 21ba with respect to the first flat plate portion 216a. Although the inclination configuration of the first switch 21bf has been described, the inclination of the second switch 21bg has the same configuration.

[0050] Also, in the first embodiment, as shown in FIG. 13, the first switch 21bf and the second switch 21bg are push-button types. Specifically, the push-button type first switch 21bf and second switch 21bg are clutch switches that execute a clutch function that does not transmit the operator's operation to the medical manipulator 1 and are redundant switches. The first switch 21bf and the second switch 21bg as redundant switches have one push operation portion 217a and two contact portions 217b. When the push operation portion 217a is pushed, the two contact portions 217b are electrically connected. Then, the clutch function is executed. Further, when conduction of at least one of the two contact portions 217b is not detected, a failure is detected by the remote operation device 2. In FIG. 13, only the first switch 21bf is shown for convenience.

[0051] Also, in the first embodiment, as shown in FIGS. 7 to 11, the operation handle 21b further has a plurality of customization switches 21bh that execute functions other than the clutch function that does not transmit the operator's operation to the medical manipulator 1. By assigning functions to the plurality of customization switches 21bh, the functions to be executed are customized. To the plurality of customization switches 21bh, for example, functions related to the surgery of the patient P such as incision, suction, and water drainage are assigned. Note that the incision function is a function for incising the surgical site of the patient P using a high-frequency current with the instrument 4a. The suction function is a function for sucking the cleaning water that has cleaned the surgical site of the patient P or a liquid such as blood generated at the surgical site of the patient P with the instrument 4a. The water drainage function is a function for supplying the cleaning water for cleaning the surgical site of the patient P to the surgical site of the patient P with the instrument 4a. The operator assigns a desired function to the customization switch 21bh at a desired position by operating the remote control device 2 before the surgery of the patient P.

[0052] In the first embodiment, the plurality (two) of customization switches 21bh are arranged on the first lever member 21bb. Specifically, the plurality of customization switches 21bh are arranged on the first lever member 21bb together with the first switch 21bf. The plurality of customization switches 21bh and the first switch 21bf are arranged in a single switch housing 21bi such that the operating surfaces protrude outward and the contacts are accommodated inside. The plurality of customization switches 21bh are inclined with respect to the opposing surface 215 in the same manner as the first switch 21bf. Also, the plurality of customization switches 21bh are of the push-button type in the same manner as the first switch 21bf. The plurality of customization switches 21bh and the first switch 21bf have different shapes of operating surfaces. Also, the plurality of customization switches 21bh are arranged more proximally than the first switch 21bf. Among the plurality of customization switches 21bh and the first switch 21bf, the first switch 21bf is arranged most distally. Also, a plurality (two) of customization switches 21bh are arranged on the second lever member 21bc as well. Note that the configuration of the plurality of customization switches 21bh on the second lever member 21bc is the same as the configuration of the plurality of customization switches 21bh on the first lever member 21bb.

[0053] Also, as shown in FIG. 14, the operation handle 21b further has a sensor 21bj that detects the angle of the first lever member 21bb and the second lever member 21bc with respect to the support member 21ba. The sensor 21bj is arranged on the support member 21ba and is a hall sensor that detects the magnetic field of a magnet 21bk arranged on the second lever member 21bc. Note that the magnet 21bk may be arranged on the first lever member 21bb. When the first lever member 21bb and the second lever member 21bc rotate with respect to the support member 21ba, the distance between the sensor 21bj and the magnet 21bk changes, and the magnitude of the magnetic field detected by the sensor 21bj changes. Thereby, the sensor 21bj detects the angle of the first lever member 21bb and the second lever member 21bc with respect to the support member 21ba. Note that the sensor 21bj is an example of an angle sensor.

[0054] In the first embodiment, the operation handle 21b further includes an FPC (Flexible Printed Circuits) 21bl on which the sensor 21bj, the first switch 21bf, and the second switch 21bg are arranged, and a reinforcing plate 21bm arranged at the position of the sensor 21bj of the FPC 21bl.

[0055] As shown in FIG. 15, the FPC 21bl is arranged from the support member 21ba to the first lever member 21bb or the second lever member 21bc. The FPC 21bl branches into a first portion 218a where the first switch 21bf is arranged and a second portion 218b where the second switch 21bg is arranged. The first portion 218a is folded back in a U shape from the proximal side of the support member 21ba toward the distal side of the first lever member 21bb. The second portion 218b is folded back in a U shape from the proximal side of the support member 21ba toward the distal side of the first lever member 21bb. Further, the FPC 21bl has a third portion 218c which is the portion before branching into the first portion 218a and the second portion 218b. The sensor 21bj is arranged on the third portion 218c. Also, the third portion 218c is reinforced by the reinforcing plate 21bm so as not to bend at the position of the sensor 21bj. Further, the third portion 218c is arranged from the distal side to the proximal side of the support member 21ba.

[0056] Also, at the branching point of the first portion 218a and the second portion 218b of the FPC 21bl, a mounting member 219 to which the FPC 21bl is attached is arranged. The FPC 21bl branches into the first portion 218a and the second portion 218b by being attached to the mounting member 219 so as to be folded back. Also, the mounting member 219 is arranged at a position closer to the center in the X direction of the support member 21ba than the reinforcing plate 21bm. Thereby, it is possible to arrange the branching point of the first portion 218a and the second portion 218b of the FPC 21bl at a position close to the center of the support member 21ba. As a result, it is possible to suppress the U-shaped portions of the first portion 218a and the second portion 218b from being bent excessively large.

[0057] In addition, in the first portion 218a, a plurality of customization switches 21bh are arranged together with the first switch 21bf. That is, two types of switches, namely the first switch 21bf and the plurality of customization switches 21bh, are arranged in the first portion 218a. In the second portion 218b, a plurality of customization switches 21bh are arranged together with the second switch 21bg. That is, two types of switches, namely the second switch 21bg and the plurality of customization switches 21bh, are arranged in the second portion 218b.

[0058] Also, as shown in FIGS. 14 and 15, the support member 21ba has a recess 220 in which a magnet 21bk that protrudes from the second lever member 21bc when the second lever member 21bc is closed is arranged. The recess 220 is arranged at a position facing the sensor 21bj. The recess 220 is recessed toward the sensor 21bj side. Due to the recess 220, the second lever member 21bc on which the magnet 21bk is arranged can be completely closed with respect to the support member 21ba. Further, the recess 220 has an opening 220a at a position facing the sensor 21bj. The opening 220a is a through-hole. The sensor 21bj is exposed to the magnet 21bk through the opening 220a. Also, the magnet 21bk is arranged so as to protrude toward the sensor 21bj side in the second lever member 21bc.

[0059] In addition, the operation handle 21b further includes a first gear 21bn and a second gear 21bo for rotating the first lever member 21bb and the second lever member 21bc in conjunction. The first gear 21bn and the second gear 21bo cause the first lever member 21bb and the second lever member 21bc to open and close relative to the support member 21ba in conjunction. The first gear 21bn is connected to the proximal end of the first lever member 21bb so as to rotate around the A8 axis together with the first lever member 21bb. The second gear 21bo is connected to the proximal end of the second lever member 21bc so as to rotate around the A9 axis together with the second lever member 21bc. The teeth of the first gear 21bn and the second gear 21bo mesh with each other. When the first lever member 21bb and the second lever member 21bc rotate, the first gear 21bn and the second gear 21bo rotate in opposite directions to each other.

[0060] As described above, the first switch 21bf and the plurality of customization switches 21bh provided on the operation handle 21b of the right-hand operation manipulator 21R have been described. The operation handle 21b of the left-hand operation manipulator 21L has the same structure as the operation handle 21b of the right-hand operation manipulator 21R except that it has a bilaterally symmetric structure. That is, the first switch 21bf and the plurality of customization switches 21bh are attached to the second lever member 21bc of the operation handle 21b of the left-hand operation manipulator 21L. The operator operates the first switch 21bf and the plurality of customization switches 21bh so as to sandwich them between the thumb of the left hand that operates the second lever member 21bc and the index finger of the left hand that operates the first switch 21bf.

[0061] [Effects of the First Embodiment] In the first embodiment, the following effects can be obtained.

[0062] In the first embodiment, as described above, the remote operation device 2 includes a first switch 21bf that is attached to the first lever member 21bb and executes a predetermined function. Thus, unlike the case of attaching the first switch 21bf that executes a predetermined function to the support member 21ba, by rotating the first lever, the first switch can be moved (rotated). Therefore, the first switch can be moved to a position where it is easy for the operator to operate. As a result, since the first switch 21bf can be easily operated, the operability of the first switch 21bf that is operated at the operator's hand when the operator operates the medical manipulator 1 including the arm 60 to which the medical instrument 4 is attached at the tip can be improved. Further, the first switch 21bf can be operated so as to be sandwiched between the finger that operates the first lever member 21bb of the operator and the finger that operates the first switch 21bf of the operator. As a result, since the first switch 21bf can be easily operated, the operability of the first switch 21bf that is operated at the operator's hand when the operator operates the medical manipulator 1 including the arm 60 to which the medical instrument 4 is attached at the tip can be improved.

[0063] Also, in the first embodiment, as described above, the distal end of the support member 21ba is connected to the proximal end of the operating arm 21a so as to rotate about an A7 axis parallel to the longitudinal direction of the support member 21ba. The proximal end of the first lever member 21bb is attached to the support member 21ba so as to rotate about an A8 axis perpendicular to the A7 axis. Thereby, the operator can easily operate the support member 21ba so as to rotate about the A7 axis, can easily operate the first lever member 21bb so as to rotate about the A8 axis with respect to the support member 21ba, and can improve the operability of the first switch 21bf that is operated at the operator's hand.

[0064] Also, in the first embodiment, as described above, the first switch 21bf is disposed at a position closer to the distal end than the proximal end of the first lever member 21bb. Thereby, the first switch 21bf can be operated so as to be sandwiched between the tip closer to the tip than the base end of the finger operating the first lever member 21bb of the operator and the finger operating the first switch 21bf of the operator. As a result, the operability of the first switch 21bf operated at the operator's hand can be further improved.

[0065] Also, in the first embodiment, as described above, the first switch 21bf is disposed at the first end portion 211 of the first end portion 211 and the second end portion 212 of the first lever member 21bb in a direction parallel to the A8 axis. Thereby, since the first switch 21bf can be disposed at a position where it can be easily sandwiched between the finger operating the first lever member 21bb of the operator and the finger operating the first switch 21bf of the operator, the first switch 21bf can be easily operated.

[0066] Also, in the first embodiment, as described above, the remote control device 2 includes a second lever member 21bc disposed to face the first lever member 21bb via a support member 21ba, and a second switch 21bg attached to the second lever member 21bc and performing a predetermined function. The distal end of the support member 21ba is connected to the proximal end of the operating arm 21a so as to rotate about an A7 axis parallel to the longitudinal direction of the support member 21ba. The proximal end of the second lever member 21bc is attached to the support member 21ba so as to rotate about an A9 axis perpendicular to the A7 axis. As a result, by attaching the second switch 21bg to the second lever member 21bc, when the support member 21ba rotates about the A7 axis, the second switch 21bg can be operated in the same manner as the first switch 21bf. That is, the second switch 21bg can be operated so as to be sandwiched between the finger of the operator operating the second lever member 21bc and the finger of the operator operating the second switch 21bg. As a result, the second switch 21bg can be easily operated, so that the operability of the second switch 21bg operated at the operator's hand can be improved. In addition, the operator can easily operate the support member 21ba so as to rotate about the A7 axis and can easily operate the second lever member 21bc so as to rotate about the A9 axis with respect to the support member 21ba.

[0067] Also, in the first embodiment, as described above, the second switch 21bg is disposed at a position closer to the distal end than the proximal end of the second lever member 21bc. As a result, when the support member 21ba rotates about the A7 axis, the second switch 21bg can be operated so as to be sandwiched between a position closer to the tip than the base end of the finger of the operator operating the second lever member 21bc and the finger of the operator operating the second switch 21bg. As a result, the operability of the second switch 21bg operated at the operator's hand can be further improved.

[0068] Also, in the first embodiment, as described above, the second switch 21bg is disposed at the second end portion 214 of the first end portion 213 and the second end portion 214 of the second lever member 21bc in a direction parallel to the A9 axis. Thereby, when the support member 21ba rotates around the A7 axis, the second switch 21bg can be disposed at a position where it can be easily pinched between the finger of the operator operating the second lever member 21bc and the finger of the operator operating the second switch 21bg, so that the second switch 21bg can be easily operated.

[0069] Also, in the first embodiment, as described above, the first switch 21bf includes a clutch switch that executes a clutch function that does not transmit the operation of the operator to the medical manipulator 1. Thereby, when the operator wants to execute the clutch function, the clutch function can be easily executed by the first switch 21bf with improved operability that is operated at the operator's hand.

[0070] Also, in the first embodiment, as described above, the first switch 21bf and the second switch 21bg are disposed at symmetric positions with respect to the A7 axis of the support member 21ba. Thereby, since the first switch 21bf and the second switch 21bg are disposed at symmetric positions with respect to the A7 axis of the support member 21ba, the first switch 21bf and the second switch 21bg can be arranged in a well-balanced manner. Further, when the first switch 21bf and the second switch 21bg are disposed at point-symmetric positions with respect to the rotation center of the A7 axis of the support member 21ba, when the support member 21ba rotates 180 degrees around the A7 axis, the first switch 21bf and the second switch 21bg can be disposed at the same position. As a result, when the support member 21ba rotates 180 degrees around the A7 axis, the first switch 21bf and the second switch 21bg can be operated at the same position.

[0071] Also, in the first embodiment, as described above, the first switch 21bf is disposed so as to be inclined with respect to the opposing surface 215 that opposes the support member 21ba of the first lever member 21bb. Thereby, compared with the case where the first switch 21bf is disposed in parallel with the opposing surface 215 that opposes the support member 21ba of the first lever member 21bb, the first switch 21bf can be easily operated. Also by this, the operability of the first switch 21bf can be improved.

[0072] Also, in the first embodiment, as described above, the first lever member 21bb includes a plate-like attachment member 216 that is attached to the opposing surface 215 and supports the first switch 21bf so as to be inclined with respect to the opposing surface 215. The attachment member 216 has a first flat plate portion 216a parallel to the opposing surface 215 and a second flat plate portion 216b connected to the first flat plate portion 216a so as to be inclined to bend with respect to the first flat plate portion 216a. The first switch 21bf is attached to the second flat plate portion 216b. Thereby, with a relatively simple structure, the first switch 21bf can be disposed so as to be inclined with respect to the opposing surface 215. As a result, with a relatively simple structure, the operability of the first switch 21bf can be improved.

[0073] Also, in the first embodiment, as described above, the first switch 21bf is a push-button type. Thereby, unlike a slide type switch, since a predetermined function can be executed simply by pushing the first switch 21bf, when the operator wants to execute a predetermined function, the operator can easily execute the predetermined function by the push-button type first switch 21bf.

[0074] Also, in the first embodiment, as described above, the push-button type first switch 21bf is a clutch switch that executes a clutch function that does not transmit the operator's operation to the medical manipulator 1, and is a duplicated switch. Thereby, since the first switch 21bf as the clutch switch can be made a duplicated switch, when the first switch 21bf as the clutch switch fails, the failure of the first switch 21bf as the clutch switch can be easily detected.

[0075] Also, in the first embodiment, as described above, the remote operation device 2 includes a plurality of customization switches 21bh that execute functions other than the clutch function that does not transmit the operator's operation to the medical manipulator 1. By assigning functions to the plurality of customization switches 21bh, the functions to be executed are customized. Thereby, the operator can assign desired functions related to the operation of the patient P, such as incision, suction, and irrigation, to the plurality of customization switches 21bh in a desired order. As a result, the operator can smoothly perform the operation of the patient P with the plurality of customization switches 21bh according to his / her preference, to which the desired functions have been assigned in the desired order.

[0076] Also, in the first embodiment, as described above, the plurality of customization switches 21bh are arranged on the first lever member 21bb. Thereby, the functions assigned to the plurality of customization switches 21bh can be executed by the operation at the operator's hand. As a result, the operator can easily execute the functions assigned to the plurality of customization switches 21bh.

[0077] In the first embodiment, as described above, the remote control device 2 includes a sensor 21bj that detects the angle of the first lever member 21bb with respect to the support member 21ba, an FPC 21bl on which the sensor 21bj and the first switch 21bf are disposed, and a reinforcing plate 21bm disposed at the position of the sensor 21bj of the FPC 21bl. Thereby, the FPC 21bl can be shared by the sensor 21bj and the first switch 21bf. Further, since the position of the sensor 21bj of the FPC 21bl can be supported by the reinforcing plate 21bm, the sensor 21bj can be stably disposed.

[0078] [Second Embodiment] With reference to FIGS. 16 to 23, the remote control device 302 according to the second embodiment will be described. Note that the same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted. Further, the remote control device 302 is an example of an operator-side device.

[0079] As shown in FIGS. 16 and 17, the remote control device 302 according to the second embodiment includes an operation handle 321b instead of the operation handle 21b of the first embodiment. Hereinafter, the operation handle 321b of the operation manipulator 21R for the right hand will be described. The configurations of the operation manipulator 21L for the left hand and the operation manipulator 21R for the right hand are the same except that the operation handle 321b has a bilaterally symmetric structure.

[0080] The operation handle 321b has a support member 21ba, a first lever member 321bb, and a second lever member 321bc.

[0081] The first lever member 321bb has a plate-like elongated shape and is attached so as to rotate with respect to the support member 21ba. The first lever member 321bb is attached so as to rotate around an A9 axis perpendicular to the A7 axis with respect to the support member 21ba. Further, the first lever member 321bb is disposed so as to face the second lever member 321bc via the support member 21ba. Note that the A9 axis is an example of the second axis.

[0082] The second lever member 321bc has a plate-like and elongated shape and is attached to the support member 21ba so as to be rotatable. The second lever member 321bc is attached to the support member 21ba so as to rotate around an A8 axis perpendicular to the A7 axis. Further, the second lever member 321bc is disposed so as to face the first lever member 321bb via the support member 21ba. Note that the A8 axis is an example of the third axis.

[0083] Also, a finger insertion part 21bd and a finger pad 21be are disposed on the first lever member 321bb and the second lever member 321bc.

[0084] Here, in the second embodiment, the operation handle 321b is attached to the first lever member 321bb and further has a first switch 321bf that executes a predetermined function. The first switch 321bf is a clutch switch that executes a clutch function that does not transmit an operator's operation to the medical manipulator 1. For example, when the operator operates the first lever member 321bb with the middle finger of the right hand and operates the second lever member 321bc with the thumb of the right hand, the operator operates the first switch 321bf with the index finger of the right hand that is not operating the first lever member 321bb and the second lever member 321bc in a closed state (the state shown in FIG. 17).

[0085] Also, in the second embodiment, as shown in FIGS. 16 to 18, the first switch 321bf is disposed at a position closer to the distal end than the proximal end of the first lever member 321bb. Specifically, the first switch 321bf is disposed at the position of the distal end of the first lever member 321bb. Further, the first switch 321bf is disposed at the first end portion 411 of the first end portion 411 and the second end portion 412 of the first lever member 321bb in the Z direction parallel to the A9 axis. In the second embodiment, the first end portion 411 is a portion of one side end in the Z direction parallel to the A9 axis among the distal ends of the first lever member 321bb. The second end portion 412 is a portion of the other side end on the opposite side of the first end portion 411 in the Z direction parallel to the A9 axis among the distal ends of the first lever member 321bb.

[0086] Also, in the second embodiment, the operation handle 321b is attached to the first lever member 321bb and further has a second switch 321bg that executes a predetermined function. In the second embodiment, the first switch 321bf and the second switch 321bg are disposed on the first lever member 321bb. The second switch 321bg has the same function as the first switch 321bf. That is, the second switch 321bg is a clutch switch that executes a clutch function that does not transmit the operator's operation to the medical manipulator 1. For example, when the operator operates the first lever member 321bb with the index finger of the right hand and operates the second lever member 321bc with the thumb of the right hand, the first lever member 321bb and the second lever member 321bc are in a closed state (the state shown in FIG. 17) with respect to the support member 21ba, and the second switch 321bg is operated with the middle finger of the right hand that is not operating the first lever member 321bb and the second lever member 321bc.

[0087] In the second embodiment, the second switch 321bg is disposed at a position closer to the distal end than the proximal end of the first lever member 321bb. Specifically, the second switch 321bg is disposed at the position of the distal end of the first lever member 321bb. Further, the second switch 321bg is disposed at the second end portion 412 of the first end portion 411 and the second end portion 412 of the first lever member 321bb in the Z direction parallel to the A8 axis. That is, the second switch 321bg is disposed at the second end portion 412 on the side opposite to the first switch 321bf.

[0088] In addition, the first switch 321bf and the second switch 321bg are disposed at symmetric positions sandwiching the first lever member 321bb in the Z direction parallel to the A8 axis and the A9 axis. As a result, when the operator prefers to operate the first lever member 321bb with the middle finger of the right hand, it is possible to operate the first switch 321bf with the index finger of the right hand that is not operating the first lever member 321bb. When the operator prefers to operate the first lever member 321bb with the index finger, it is possible to operate the first switch 321bf with the middle finger of the right hand that is not operating the first lever member 321bb. As a result, it is possible to correspond to both an operator who operates the first lever member 321bb with the middle finger of the right hand and an operator who operates the first lever member 321bb with the index finger of the right hand.

[0089] Further, the first switch 321bf and the second switch 321bg are arranged at positions overlapping with the support member 21ba in the Z direction parallel to the A8 axis and the A9 axis with the first lever member 321bb in a closed state with respect to the support member 21ba. For this reason, when the support member 21ba is rotated 180 degrees around the A7 axis with the first lever member 321bb in a closed state with respect to the support member 21ba, the first switch 321bf is arranged at the position of the second switch 321bg and the second switch 321bg is arranged at the position of the first switch 321bf. Thereby, even when the support member 21ba is rotated 180 degrees around the A7 axis, the first switch 321bf and the second switch 321bg can be operated in the same manner.

[0090] Also, in the second embodiment, as shown in FIGS. 16 to 19, the first lever member 321bb is attached to an opposing surface 415 that faces the support member 21ba of the first lever member 321bb, and includes a plate-like attachment member 416 that supports the first switch 321bf and the second switch 321bg on a support surface perpendicular to the opposing surface 415. The attachment member 416 moves integrally with the first lever member 321bb in accordance with the rotation of the first lever member 321bb. Further, the attachment member 416 has a first flat plate portion 416a parallel to the opposing surface 415 and two second flat plate portions 416b connected to the first flat plate portion 416a so as to bend perpendicularly to the first flat plate portion 416a. The two second flat plate portions 416b are connected to one side and the other side of the first flat plate portion 416a in the Z direction parallel to the A8 axis and the A9 axis, respectively. Also, the first switch 321bf and the second switch 321bg are attached to one and the other of the two second flat plate portions 416b so as to face in opposite directions. Further, the two second flat plate portions 416b support the first switch 321bf and the second switch 321bg on a support surface perpendicular to the opposing surface 415. Also, the second flat plate portion 416b is arranged so as to extend from the first flat plate portion 416a toward the side close to the support member 21ba. Note that the attachment member 416 is not provided on the second lever member 321bc.

[0091] Here, in the second embodiment, as shown in FIGS. 19 to 21, the first switch 321bf and the second switch 321bg are roller switches that are operated so that the operator rotates them with a finger. The first switch 321bf and the second switch 321bg as roller switches include a rotating body 417 that is operated so that the operator rotates it with a finger, a biasing portion 418 that biases the rotating body 417 to the initial position (the position shown in FIG. 20), and a sensor 419 that detects the movement of the rotating body 417. Note that in FIGS. 20 and 21, for convenience, only the first switch 321bf is shown.

[0092] The rotating body 417 has a fan shape and an operation surface that is curved in an arc shape. The operation surface of the rotating body 417 slightly protrudes from an opening 424 of a switch housing 321bi described later. Further, the rotating body 417 is supported by a support portion 420 to which a rotating shaft 417a is attached via the rotating shaft 417a so as to rotate around the rotating shaft 417a. The rotating body 417 rotates around the rotating shaft 417a between an initial position (the position shown in FIG. 20) not detected by the sensor 419 and a detection position (the position shown in FIG. 21) detected by the sensor 419. Further, the rotating body 417 has a detected portion 417b that is detected by the sensor 419. The detected portion 417b has a convex shape that protrudes toward the sensor 419 side. The biasing portion 418 is an elastic member that biases the rotating body 417 to the initial position. Specifically, the biasing portion 418 is a compression coil spring. The sensor 419 is a transmissive photosensor having a light emitting portion and a light receiving portion.

[0093] As shown in FIGS. 20 and 21, when the operation surface of the rotating body 417 is operated so as to be pulled by the operator's finger, the rotating body 417 rotates along the rotation direction C1 around the rotating shaft 417a against the biasing force of the biasing portion 418 to the detection position. At this time, the detected portion 417b of the rotating body 417 is inserted between the light emitting portion and the light receiving portion of the sensor 419, and the light from the light emitting portion to the light receiving portion is blocked. Then, the rotating body 417 is detected by the sensor 419. This state is the on state. And in the on state, the clutch function is executed.

[0094] Also, when the operation by the operator on the operation surface of the rotating body 417 is released, the rotating body 417 is rotated to the initial position along the rotation direction C2 opposite to the rotation direction C1 around the rotation axis 417a by the biasing force of the biasing portion 418. At this time, the detected portion 417b of the rotating body 417 is pulled out from between the light emitting portion and the light receiving portion of the sensor 419, and the blocking of the light from the light emitting portion to the light receiving portion is released so that the light can pass through. Then, the rotating body 417 is no longer detected by the sensor 419. This state is the off state. And in the off state, the clutch function is not executed.

[0095] Also, in the second embodiment, as shown in FIGS. 16 to 18, a first switch 321bf and a third switch 321bh are arranged on the first lever member 321bb. The third switch 321bh is a customization switch whose function to be executed is customized by assigning a function. Functions related to the operation of the patient P such as clutch, incision, suction, water discharge, image switching, and camera zoom are assigned to the third switch 321bh, for example. Details of the assignment of functions to the third switch 321bh will be described later.

[0096] Also, in the second embodiment, the third switch 321bh is arranged so as to be inclined with respect to the first switch 321bf. Specifically, the third switch 321bh is arranged so as to be inclined with respect to the Y direction which is the longitudinal direction of the support member 21ba. Also, the third switch 321bh is arranged more distally than the first switch 321bf.

[0097] Further, as shown in FIGS. 19 to 21, the third switch 321bh is a push-button type that is operated by an operator pressing it with a finger. The push-button type third switch 321bh includes an operating body 421 that is operated by an operator pressing it with a finger, a biasing portion 422 that biases the operating body 421 to the initial position (the position shown in FIG. 20), and a sensor 423 that detects the movement of the operating body 421. In FIGS. 20 and 21, for convenience, a state in which both the first switch 321bf and the third switch 321bh are operated is shown, but it is not necessary for both the first switch 321bf and the third switch 321bh to be operated simultaneously, and the first switch 321bf and the third switch 321bh can be operated independently of each other.

[0098] The operating body 421 has an operating surface that is inclined with respect to the first switch 321bf. The operating surface of the operating body 421 protrudes in the inclined direction from the opening 425 of the switch housing 321bi described later. Further, the operating body 421 is supported so as to move in the inclined direction. The operating body 421 moves in the inclined direction between an initial position (the position shown in FIG. 20) where it is not detected by the sensor 423 and a detection position (the position shown in FIG. 21) where it is detected by the sensor 423. The operating body 421 has a detected portion 421a that is detected by the sensor 423. The detected portion 421a has a convex shape that protrudes toward the sensor 423 side. The biasing portion 422 is an elastic member that biases the operating body 421 to the initial position. Specifically, the biasing portion 422 is a compression coil spring. The sensor 423 is a transmissive photosensor having a light emitting portion and a light receiving portion.

[0099] As shown in FIGS. 20 and 21, when the operating surface of the operating body 421 is operated so as to be pushed by the operator's finger, the operating body 421 is linearly moved along the inclined direction C3 to the detection position while resisting the biasing force of the biasing portion 422. At this time, the detected portion 421a of the operating body 421 is inserted between the light emitting portion and the light receiving portion of the sensor 423, and the light from the light emitting portion to the light receiving portion is blocked. Then, the operating body 421 is detected by the sensor 423. This state is the on state. And the function assigned to the third switch 321bh is executed.

[0100] Further, when the operation by the operator on the operation surface of the operation body 421 is released, the operation body 421 is linearly moved to the initial position along the inclination direction C4 opposite to the inclination direction C3 by the biasing force of the biasing portion 422. At this time, the detected portion 421a of the operation body 421 is pulled out from between the light emitting portion and the light receiving portion of the sensor 423, the blocking of the light from the light emitting portion to the light receiving portion is released, and the light can pass through. Then, the operation body 421 is no longer detected by the sensor 423. This state is the off state. And the function assigned to the third switch 321bh is not executed. Note that, in the third switch 321bh, the on state and the off state may be reversed. That is, it may be in the off state when the operation body 421 is detected by the sensor 423, and may be in the on state when the operation body 421 is not detected by the sensor 423. Also, in the third switch 321bh, the on state and the off state may be switched each time the operation body 421 is detected by the sensor 423.

[0101] Also, in the second embodiment, as shown in FIGS. 19 to 21, the third switch 321bh and the first switch 321bf are arranged in one switch housing 321bi. The switch housing 321bi constitutes a finger rest on which the operator's finger is placed. Further, the switch housing 321bi is arranged on a first lever member 321bb that is operated by the operator's index finger or middle finger. That is, in the present embodiment, the remote operation device 302 is attached to the first lever member 321bb and includes a finger rest on which the operator's finger is placed. Note that the switch housing 321bi is an example of a housing.

[0102] The switch housing 321bi covers the first switch 321bf and the third switch 321bh from one side in the Z direction parallel to the A8 axis and the A9 axis. The switch housing 321bi has a shape extending in the Y direction which is the longitudinal direction of the support member 21ba. Further, the switch housing 321bi has an opening 424 for arranging the first switch 321bf and an opening 425 for arranging the third switch 321bh.

[0103] Further, the switch housing 321bi has a side surface portion 426 and an inclined surface portion 427 as portions that function as a finger rest. The side surface portion 426 is a side surface portion disposed on the side of the first lever member 321bb of the switch housing 321bi in the X direction, and extends in the Z direction parallel to the A8 axis and the A9 axis and in the Y direction which is the longitudinal direction of the support member 21ba. On the side surface portion 426, when the operator places the middle finger of the right hand on the first lever member 321bb, it is possible to place and rest the index finger of the right hand that is not operating the first lever member 321bb from the side. Further, the inclined surface portion 427 is disposed more proximally than the openings 424 and 425 in the Y direction and is inclined with respect to the Y direction. Specifically, the inclined surface portion 427 is inclined so as to be recessed from one side in the Z direction toward the other side. On the inclined surface portion 427, when the operator places the middle finger of the right hand on the first lever member 321bb, it is possible to place and rest the index finger of the right hand that is not operating the first lever member 321bb from one side in the Z direction. Note that both the side surface portion 426 and the inclined surface portion 427 are portions where the first switch 321bf and the third switch 321bh are not disposed in the switch housing 321bi, and even if the operator places a finger on the side surface portion 426 and the inclined surface portion 427 to rest, there is no risk of accidentally operating the first switch 321bf and the third switch 321bh.

[0104] Also, the third switch 321bh is disposed with respect to the second switch 321bg. The configuration of the third switch 321bh and the switch housing 321bi with respect to the second switch 321bg is the same as the configuration of the third switch 321bh and the switch housing 321bi with respect to the first switch 321bf.

[0105] In addition, in the switch housing 321bi disposed with respect to the second switch 321bg, it is possible to place and rest the operator's finger as follows. That is, on the side surface portion 426, when the operator places the middle finger of the right hand on the first lever member 321bb, it is possible to place and rest the ring finger of the right hand that is not operating the first lever member 321bb from the side. Also, on the side surface portion 426, when the operator places the index finger of the right hand on the first lever member 321bb, it is possible to place and rest the middle finger of the right hand that is not operating the first lever member 321bb from the side. Similarly, on the inclined surface portion 427, when the operator places the middle finger of the right hand on the first lever member 321bb, it is possible to place and rest the ring finger of the right hand that is not operating the first lever member 321bb from the other side in the Z direction. Also, on the inclined surface portion 427, when the operator places the index finger of the right hand on the first lever member 321bb, it is possible to place and rest the middle finger of the right hand that is not operating the first lever member 321bb from the other side in the Z direction.

[0106] Also, although the first switch 321bf, the second switch 321bg, and the third switch 321bh provided on the operation handle 321b of the operation manipulator 21R for the right hand have been described, the operation handle 321b of the operation manipulator 21L for the left hand has the same structure as the operation handle 321b of the operation manipulator 21R for the right hand except that it has a bilaterally symmetric structure. Note that the first switch 321bf of the operation manipulator 21R for the right hand and the first switch 321bf of the operation manipulator 21L for the left hand may be able to clutch the arm 60 operated by the operation manipulator 21R for the right hand and the arm 60 operated by the operation manipulator 21L for the left hand independently of each other. That is, when the first switch 321bf of the operation manipulator 21R for the right hand is operated, the arm 60 operated by the operation manipulator 21R for the right hand may be clutched, and when the first switch 321bf of the operation manipulator 21L for the left hand is operated, the arm 60 operated by the operation manipulator 21L for the left hand may be clutched.

[0107] Here, with reference to FIG. 22, the operation pedal 22 operated by the operator's foot will be described. A plurality of operation pedals 22 are provided to execute functions related to the medical instrument 4. The operation pedal 22 includes a switching pedal 22a, a clutch pedal 22b, a camera pedal 22c, a cutting pedal 22d, and a coagulation pedal 22e. The switching pedal 22a, the clutch pedal 22b, the camera pedal 22c, the cutting pedal 22d, and the coagulation pedal 22e are operated by the operator's foot. Further, the cutting pedal 22d includes a cutting pedal 22dR for the right arm 60 and a cutting 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. Note that the camera pedal 22c is an example of a foot pedal.

[0108] The switching pedal 22a switches the arm 60 operated by the operation handle 21b. The clutch pedal 22b executes a clutch function that does not transmit the operator's operation to the medical manipulator 1. While the clutch pedal 22b is depressed by the operator, the operation by the operation handle 21b is not transmitted to the arm 60. Also, while the camera pedal 22c is depressed by the operator, the operation handle 21b can operate the arm 60 to which the endoscope 4b is attached. While the cutting pedal 22d or the coagulation pedal 22e is depressed by the operator, the electrosurgical device is activated.

[0109] Here, in the second embodiment, the first switch 321bf, when operated simultaneously with the camera pedal 22c, executes a function different from the clutch function, which is a predetermined function. Specifically, the first switch 321bf, when operated simultaneously with the camera pedal 22c, executes a function related to the image captured by the endoscope 4b. Further, when the first switch 321bf is operated simultaneously with the camera pedal 22c, the first switch 321bf executes different functions according to the way of operating the first switch 321bf. More specifically, when the first switch 321bf is operated simultaneously with the camera pedal 22c, the first switch 321bf executes different functions according to at least one of the operation time of the first switch 321bf and the number of operations of the first switch 321bf.

[0110] For example, when the first switch 321bf is operated simultaneously with the camera pedal 22c and a long-press operation where the operation time of the first switch 321bf is equal to or longer than a predetermined time is performed, the first switch 321bf executes a function of switching the image captured by the endoscope 4b. For example, in a surgery performed by administering indocyanine green (ICG), which is a fluorescent substance, to the patient P, the ICG fluorescence image and the normal image that is not the ICG fluorescence image are switched.

[0111] Also, for example, when the first switch 321bf is operated simultaneously with the camera pedal 22c and a short-press operation where the operation time of the first switch 321bf is less than a predetermined time is performed, the first switch 321bf executes a function of zooming in on the image captured by the endoscope 4b. Also, for example, when the first switch 321bf is operated simultaneously with the camera pedal 22c and short-press operations where the operation time of the first switch 321bf is less than a predetermined time are performed twice, the first switch 321bf executes a function of zooming out on the image captured by the endoscope 4b.

[0112] Note that the functions executed when the first switch 321bf on the right hand and the first switch 321bf on the left hand are simultaneously operated with the camera pedal 22c may be different. For example, when the camera pedal 22c and the first switch 321bf on the right hand are simultaneously operated, a function of zooming in on the image captured by the endoscope 4b may be executed, and when the camera pedal 22c and the first switch 321bf on the left hand are simultaneously operated, a function of zooming out on the image captured by the endoscope 4b may be executed.

[0113] Here, with reference to FIG. 23, the assignment of functions to the third switch 321bh will be described. As shown in FIG. 23, when assigning a function to the third switch 321bh, a setting screen 428 is displayed on the touch panel 23 or the monitor 24 or the like. The setting screen 428 has a function selection bar 428a and 428b, a surgical procedure name selection bar 428c, a save button 428d, and a load button 428e.

[0114] The function selection bar 428a is a bar for selecting a function to be assigned to the third switch 321bh on the right hand. A plurality of functions assignable to the third switch 321bh on the right hand are displayed in a pull-down format and selectable in the function selection bar 428a. Of the plurality of functions displayed in the pull-down format in the function selection bar 428a, any function selected by the operator is assigned to the third switch 321bh on the right hand.

[0115] The function selection bar 428b is a bar for selecting a function to be assigned to the third switch 321bh on the left hand. A plurality of functions assignable to the third switch 321bh on the left hand are displayed in a pull-down format and selectable in the function selection bar 428b. Of the plurality of functions displayed in the pull-down format in the function selection bar 428b, any function selected by the operator is assigned to the third switch 321bh on the left hand.

[0116] The surgical procedure name selection column 428c is a column for selecting a surgical procedure name. A plurality of surgical procedure names are displayed in the surgical procedure name selection column 428c so that they can be selected. Among the plurality of surgical procedure names displayed in the surgical procedure name selection column 428c, the function of the right third switch 321bh selected in the function selection column 428a and the function of the left third switch 321bh selected in the function selection column 428b are associated with any surgical procedure name selected by the operator and stored in the storage unit 429 provided in the remote control device 302. Thereby, it is possible to manage the function of the right third switch 321bh and the function of the left third switch 321bh for each surgical procedure name displayed in the surgical procedure name selection column 428c. The storage unit 429 is a non-volatile storage device such as a flash memory.

[0117] The save button 428d is a display button for the operator to save the settings. When the save button 428d is operated, the function of the right third switch 321bh selected in the function selection column 428a and the function of the left third switch 321bh selected in the function selection column 428b are associated with the surgical procedure name selected in the surgical procedure name selection column 428c and stored in the storage unit 429 as save data. Further, when the remote control device 302 is powered on, it reads out the previously used save data from the storage unit 429. Thereby, when using the previously used save data, it is not necessary to reset the function of the third switch 321bh.

[0118] The load button 428e is a display button for the operator to read out the settings. When the load button 428e is operated with a surgical procedure name selected in the surgical procedure name selection column 428c, the save data corresponding to the surgical procedure name selected in the surgical procedure name selection column 428c is read out from the storage unit 429. Then, the function of the right third switch 321bh and the function of the left third switch 321bh associated with the surgical procedure name selected in the surgical procedure name selection column 428c are set as the functions of the respective switches.

[0119] Note that the other configurations of the second embodiment are the same as those of the first embodiment described above.

[0120] [Effects of the Second Embodiment] In the second embodiment, the following effects can be obtained.

[0121] In the second embodiment, as described above, the remote operation device 302 is attached to the first lever member 321bb and includes a first switch 321bf that executes a predetermined function. Accordingly, similarly to the first embodiment, when an operator of the remote operation device 302 operates the medical manipulator 1 including the arm 60 to which the medical instrument 4 is attached at the tip, the operability of the first switch 21bf that is operated at the operator's hand can be improved.

[0122] Further, in the second embodiment, as described above, the first switch 321bf is a roller switch. Accordingly, the operator can operate so as to rotate the first switch 321bf as a roller switch, and thus can easily operate the first switch 321bf as a roller switch.

[0123] Further, in the second embodiment, as described above, the roller switch includes a rotating body 417 that is operated by the operator to rotate, a biasing portion 418 that biases the rotating body 417 to the initial position, and a sensor 419 that detects the movement of the rotating body 417. Accordingly, when the operator operates, the sensor 419 can detect the movement of the rotating body 417. Further, when the operator does not operate or when the operator releases the finger after the operation, the biasing portion 418 biases the rotating body 417 to the initial position so that the sensor 419 does not detect the movement of the rotating body 417.

[0124] Further, in the second embodiment, as described above, the first switch 321bf and the third switch 321bh are arranged on the first lever member 321bb. Accordingly, since the first switch 321bf and the third switch 321bh are arranged on the first lever member 321bb, the operator can properly use the first switch 321bf and the third switch 321bh.

[0125] Also, in the second embodiment, as described above, the third switch 321bh is arranged to be inclined with respect to the first switch 321bf. Thereby, since the third switch 321bh can be operated from a direction inclined with respect to the first switch 321bf, it is possible to effectively suppress the occurrence of an operation error between the third switch 321bh and the first switch 321bf.

[0126] Also, in the second embodiment, as described above, the remote control device 302 includes a camera pedal 22c that is operated by the operator's foot. Further, the first switch 321bf executes a function different from a predetermined function when operated simultaneously with the camera pedal 22c. Thereby, not only can a predetermined function be executed by the first switch 321bf, but also a function different from the predetermined function can be executed by the simultaneous operation of the first switch 321bf and the camera pedal 22c. As a result, various functions can be executed by effectively using the first switch 321bf.

[0127] Also, in the second embodiment, as described above, when the first switch 321bf is operated simultaneously with the camera pedal 22c, different functions are executed according to the way of operating the first switch 321bf. Thereby, since different functions can be executed according to the way of operating the first switch 321bf during the simultaneous operation of the first switch 321bf and the camera pedal 22c, the first switch 321bf can be used more effectively to execute more various functions.

[0128] Also, in the second embodiment, as described above, when the first switch 321bf is operated simultaneously with the camera pedal 22c, different functions are executed according to at least one of the operation time of the first switch 321bf and the number of operations of the first switch 321bf. Thereby, different functions can be easily executed according to at least one of the operation time of the first switch 321bf and the number of operations of the first switch 321bf during the simultaneous operation of the first switch 321bf and the camera pedal 22c.

[0129] Also, in the second embodiment, as described above, the first lever member 321bb is attached to the opposing surface 415 facing the support member 21ba of the first lever member 321bb, and further includes a plate-shaped attachment member 416 that supports the first switch 321bf perpendicular to the opposing surface 415. Thereby, compared with the case where the first switch 321bf is arranged parallel to the opposing surface 415 facing the support member 21ba of the first lever member 321bb, the first switch 321bf can be easily operated, so the operability of the first switch 321bf can be improved.

[0130] Also, in the second embodiment, as described above, the remote control device 302 includes a switch housing 321bi in which the first switch 321bf is arranged. Further, the switch housing 321bi constitutes a finger rest on which the operator's finger is placed. Thereby, the operator can place the finger on the switch housing 321bi as a finger rest to rest, so that the fatigue of the operator's finger can be reduced. Further, since the switch housing 321bi in which the first switch 321bf is arranged is used as a finger rest, an increase in the number of parts can be suppressed compared with the case where a finger rest is provided separately from the switch housing 321bi.

[0131] Also, in the second embodiment, as described above, the switch housing 321bi is arranged on the first lever member 321bb that is operated by the index finger or middle finger of the operator. Here, when the operator operates the first lever member 321bb with the index finger, the middle finger and ring finger other than the index finger become the operator's fingers that can be rested by the finger rest. Also, when the operator operates the first lever member 321bb with the middle finger, the index finger and ring finger other than the middle finger become the operator's fingers that can be rested by the finger rest. Therefore, by configuring as described above, since the switch housing 321bi is arranged on the first lever member 321bb on the side where there are operator's fingers that can be rested other than the operator's finger (index finger or middle finger) that operates the first lever member 321bb, the switch housing 321bi as a finger rest can be effectively used.

[0132] Also, in the second embodiment, as described above, a first switch 321bf and a second switch 321bg for executing a predetermined function are arranged on the first lever member 321bb. Thus, since the first switch 321bf and the second switch 321bg are arranged on the first lever member 321bb, it is possible to suppress the complication of the structure and to easily arrange the first switch 321bf and the second switch 321bg as compared with the case where the second switch 321bg is arranged on a member other than the first lever member 321bb.

[0133] Note that other effects of the second embodiment are the same as those of the first embodiment.

[0134] [Third Embodiment] With reference to FIGS. 24 to 29, a remote operation device 502 according to the third embodiment will be described. Note that the same components as those in the first embodiment are denoted by the same reference numerals and detailed description thereof is omitted. Also, the remote operation device 502 is an example of an operator-side device.

[0135] As shown in FIGS. 24 and 25, the remote operation device 502 according to the third embodiment includes an operation handle 521b instead of the operation handle 321b of the second embodiment. Hereinafter, the operation handle 521b of the operation manipulator 21R for the right hand will be described. Also, the configurations of the operation manipulator 21L for the left hand and the operation manipulator 21R for the right hand are the same except that the operation handle 521b has a bilaterally symmetric structure.

[0136] Here, in the third embodiment, as shown in FIGS. 24 to 26, the operation handle 521b has a first switch 521bf and a second switch 521bg instead of the first switch 321bf and the second switch 321bg of the second embodiment. The first switch 521bf and the second switch 521bg are attached to the first lever member 321bb and execute a predetermined function. Specifically, the first switch 521bf is a clutch switch that executes a clutch function that does not transmit the operator's operation to the medical manipulator 1. Note that the first switch 521bf and the second switch 521bg have the same configuration as the first switch 321bf and the second switch 321bg of the second embodiment except for the switch structure. For this reason, the switch structure of the first switch 521bf and the second switch 521bg will be described in detail.

[0137] Here, in the third embodiment, as shown in FIGS. 27 to 29, the first switch 521bf and the second switch 521bg are seesaw switches that are operated by the operator pressing with a finger. The first switch 521bf and the second switch 521bg as seesaw switches include a seesaw body 617 that is operated by the operator pressing with a finger, a biasing portion 618 that biases the seesaw body 617 to the initial position (the position shown in FIG. 28), and a sensor 619 that detects the movement of the seesaw body 617. Note that in FIGS. 28 and 29, only the first switch 521bf is shown for convenience.

[0138] The seesaw body 617 has a rectangular parallelepiped shape and has a flat operation surface. The operation surface of the seesaw body 617 protrudes from the opening 424 of the switch housing 321bi such that the proximal end is higher than the distal end. Further, the seesaw body 617 is supported by a support portion 620 to which a rotation shaft 617a is attached via the rotation shaft 617a so as to rotate around the rotation shaft 617a. The rotation shaft 617a is disposed at the distal end of the seesaw body 617. Further, the seesaw body 617 rotates around the rotation shaft 617a between an initial position (the position shown in FIG. 28) not detected by the sensor 619 and a detection position (the position shown in FIG. 29) detected by the sensor 619. Further, the seesaw body 617 has a detected portion 617b detected by the sensor 619. The detected portion 617b has a convex shape protruding toward the sensor 619 side. The biasing portion 618 is an elastic member that biases the seesaw body 617 to the initial position. Specifically, the biasing portion 618 is a compression coil spring. The sensor 619 is a transmissive photosensor having a light emitting portion and a light receiving portion.

[0139] As shown in FIGS. 28 and 29, when the operation surface of the seesaw body 617 is operated so as to be pushed by the finger of the operator, the seesaw body 617 is rotated to the detection position along the rotation direction C1 around the rotation shaft 617a against the biasing force of the biasing portion 618. At this time, the detected portion 617b of the seesaw body 617 is inserted between the light emitting portion and the light receiving portion of the sensor 619, and the light from the light emitting portion to the light receiving portion is blocked. Then, the seesaw body 617 is detected by the sensor 619. This state is the on state. And in the on state, the clutch function is executed.

[0140] Also, when the operation by the operator on the operation surface of the seesaw body 617 is released, the seesaw body 617 is rotated back to the initial position along the rotation direction C2 opposite to the rotation direction C1 around the rotation shaft 617a by the biasing force of the biasing portion 618. At this time, the detected portion 617b of the seesaw body 617 is pulled out from between the light emitting portion and the light receiving portion of the sensor 619, and the blocking of the light from the light emitting portion to the light receiving portion is released so that the light can pass through. Then, the seesaw body 617 is no longer detected by the sensor 619. This state is the off state. And in the off state, the clutch function is not executed.

[0141] As described above, the first switch 521bf and the second switch 521bg provided on the operation handle 521b of the operation manipulator 21R for the right hand have been described. The operation handle 521b of the operation manipulator 21L for the left hand has the same structure as the operation handle 521b of the operation manipulator 21R for the right hand except that it has a symmetric structure.

[0142] In addition, other configurations of the third embodiment are the same as those of the second embodiment described above.

[0143] [Effects of the Third Embodiment] In the third embodiment, the following effects can be obtained.

[0144] In the third embodiment, as described above, the remote operation device 502 is attached to the first lever member 321bb and includes the first switch 521bf that executes a predetermined function. Thereby, similarly to the first embodiment, the operability of the first switch 521bf that is operated at the operator's hand when the operator of the remote operation device 302 operates the medical manipulator 1 including the arm 60 to which the medical instrument 4 is attached at the tip can be improved.

[0145] Further, in the third embodiment, as described above, the first switch 521bf is a seesaw switch. As a result, the operator can operate by pressing the first switch 521bf as a seesaw switch, so that the first switch 521bf as a seesaw switch can be easily operated.

[0146] Further, in the third embodiment, as described above, the seesaw switch includes a seesaw body 617 that is operated by the operator to be pressed with a finger, a biasing portion 618 that biases the seesaw body 617 to the initial position, and a sensor 619 that detects the movement of the seesaw body 617. As a result, when the operator operates, the sensor 619 can detect the movement of the seesaw body 617. Further, when the operator does not operate or when the operator releases the finger after the operation, the biasing portion 618 biases the seesaw body 617 to the initial position so that the movement of the seesaw body 617 by the sensor 619 is not detected.

[0147] Note that other effects of the third embodiment are the same as those of the second embodiment described above.

[0148] [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 scope of claims rather than the description of the above-described embodiments, and further includes all changes (modification examples) within the meaning and scope equivalent to the scope of claims.

[0149] For example, in the first to third embodiments described above, an example in which the operation handle has a first lever member and a second lever member is shown, but the present disclosure is not limited to this. For example, as in the first modification example shown in FIG. 30, the operation handle 21b may have only the first lever member 21bb.

[0150] In the first embodiment described above, an example is shown in which the first switch is attached to the first lever member and the second switch is attached to the second lever member. In the second and third embodiments, examples are shown in which the first switch and the second switch are attached to the first lever member. However, the present disclosure is not limited to this. For example, the first switch may be attached to the first lever member, and the second switch may not be attached to the first lever member or the second lever member.

[0151] In the first embodiment described above, an example is shown in which the first switch is disposed at the first end portion of the first lever member and the second switch is disposed at the second end portion of the second lever member. In the second and third embodiments, examples are shown in which the first switch is disposed at the first end portion of the first lever member and the second switch is disposed at the second end portion of the first lever member. However, the present disclosure is not limited to this. For example, the first switch may be disposed at the second end portion of the first lever member, or may be disposed at the first end portion and the second end portion of the first lever member. Also, the second switch may be disposed at the first end portion of the second lever member, or may be disposed at the first end portion and the second end portion of the second lever member.

[0152] In the first to third embodiments described above, examples are shown in which the first switch and the second switch are clutch switches. However, the present disclosure is not limited to this. For example, the first switch and the second switch may be switches that execute functions other than the clutch function.

[0153] In the first embodiment described above, an example is shown in which the first switch and the second switch are supported so as to be inclined with respect to the opposing surface. In the second and third embodiments, examples are shown in which the first switch and the second switch are supported by a support surface perpendicular to the opposing surface. However, the present disclosure is not limited to this. For example, the first switch and the second switch may be supported by a support surface parallel to the opposing surface.

[0154] In addition, in the above-described first embodiment, an example in which the first switch and the second switch are push-button type is shown. In the above-described second embodiment, an example in which the first switch and the second switch are roller switches is shown. In the above-described third embodiment, an example in which the first switch and the second switch are seesaw switches is shown. However, the present disclosure is not limited thereto. For example, the first switch and the second switch may be slide switches or the like other than push-button type switches, roller switches, and seesaw switches.

[0155] In addition, in the above-described first embodiment, an example in which the first switch and the second switch are dual switches is shown. However, the present disclosure is not limited thereto. For example, the first switch and the second switch may not be dual switches.

[0156] In addition, in the above-described first to third embodiments, an example in which the remote control device includes a customization switch is shown. However, the present disclosure is not limited thereto. For example, the remote control device may not include a customization switch.

[0157] In addition, in the above-described first embodiment, an example in which the customization switch is arranged on the first lever member and the second lever member is shown. In the above-described second and third embodiments, an example in which the customization switch is arranged on the first lever member is shown. However, the present disclosure is not limited thereto.

[0158] For example, as in the second modification example shown in FIG. 31, a plurality (three) of customization switches 121bh may be arranged on a flange portion 21c that connects the proximal end of the operating arm 21a and the support member 21ba. Thereby, since the plurality of customization switches 121bh can be arranged on the flange portion 21c where it is relatively easy to secure a space for arranging the plurality of customization switches 121bh, the plurality of customization switches 121bh can be easily arranged. Further, in the second modification example shown in FIG. 31, the plurality of customization switches 121bh are arranged above the outer peripheral surface of the flange portion 21c, but the arrangement positions of the plurality of customization switches 121bh are not particularly limited. The plurality of customization switches 121bh may be arranged below the outer peripheral surface of the flange portion 21c, or may be arranged at a lateral position of the outer peripheral surface of the flange portion 21c.

[0159] Also, for example, as in the third modification example shown in FIG. 32, a plurality (three) of customization switches 221bh may be arranged on the support member 21ba. Thereby, the functions assigned to the plurality of customization switches 221bh can be executed by an operation at the operator's hand.

[0160] Further, in the above-described second and third embodiments, an example is shown in which the first switch arranged on the first lever member executes a function different from a predetermined function by being operated simultaneously with the foot pedal, but the present disclosure is not limited to this. For example, a switch that executes a predetermined function arranged other than the first lever member may execute a function different from the predetermined function by being operated simultaneously with the foot pedal.

[0161] Further, in the above-described second embodiment, an example is shown in which the first switch arranged on the first lever member is a roller switch, and in the above-described third embodiment, an example is shown in which the first switch arranged on the first lever member is a seesaw switch, but the present disclosure is not limited to this. For example, a switch that executes a predetermined function arranged other than the first lever member may be a roller switch or a seesaw switch.

[0162] In addition, in the above-described second and third embodiments, an example in which the housing in which the first switch is disposed constitutes a finger rest has been shown, but the present disclosure is not limited thereto. For example, no switch may be disposed in the finger rest.

[0163] In addition, in the above-described second and third embodiments, an example in which a first switch and a third switch as a customization switch are disposed on the first lever member has been shown, but the present disclosure is not limited thereto. For example, a third switch other than the first switch and the customization switch may be disposed on the first lever member.

[0164] In addition, in the above-described second and third embodiments, an example in which the foot pedal operated simultaneously with the first switch is a camera pedal has been shown, but the present disclosure is not limited thereto. For example, the foot pedal operated simultaneously with the first switch may be other than the camera pedal.

[0165] [Aspect] Those skilled in the art will understand that the above-described exemplary embodiments are specific examples of the following aspects.

[0166] (Item 1) An operator-side device that operates a patient-side device including a patient-side arm having a medical instrument attached to its tip, an operating arm, a support member connected to the proximal end of the operating arm, a first lever member attached to the support member so as to rotate with respect to the support member, a first switch attached to the first lever member and performing a predetermined function.

[0167] (Item 2) The distal end of the support member is connected to the proximal end of the operating arm so as to rotate about a first axis parallel to the longitudinal direction of the support member, and the proximal end of the first lever member is attached to the support member so as to pivot about a second axis perpendicular to the first axis. The operator-side device according to item 1.

[0168] (Item 3) The first switch is disposed at a position closer to the distal end than the proximal end of the first lever member. The operator-side device according to item 2.

[0169] (Item 4) The first switch is disposed at at least one of the first end portion and the second end portion of the first lever member in a direction parallel to the second axis. The operator-side device according to item 3.

[0170] (Item 5) A second lever member disposed to face the first lever member via the support member; A second switch attached to the second lever member and performing the predetermined function. The operator-side device according to any one of items 1 to 4 includes: The distal end of the support member is connected to the proximal end of the operating arm so as to rotate about a first axis parallel to the longitudinal direction of the support member. The proximal end of the second lever member is attached to the support member so as to pivot about a third axis perpendicular to the first axis. The operator-side device according to any one of items 1 to 4.

[0171] (Item 6) The second switch is disposed at a position closer to the distal end than the proximal end of the second lever member. The operator-side device according to item 5.

[0172] (Item 7) The second switch is disposed at at least one of the first end portion and the second end portion of the second lever member in a direction parallel to the third axis. The operator-side device according to item 5 or item 6.

[0173] (Item 8) The operator-side device according to any one of Items 1 to 7, wherein the first switch includes a clutch switch that executes a clutch function that does not transmit an operator's operation to the patient-side device.

[0174] (Item 9) The operator-side device according to any one of Items 5 to 7, wherein the first and second switches are arranged at symmetric positions with respect to the first axis of the support member.

[0175] (Item 10) The operator-side device according to any one of Items 1 to 9, wherein the first switch is arranged so as to be inclined with respect to the opposing surface of the first lever member that faces the support member.

[0176] (Item 11) The first lever member further includes a plate-shaped attachment member that is attached to the opposing surface and supports the first switch so as to be inclined with respect to the opposing surface. The attachment member has a first flat plate portion parallel to the opposing surface and a second flat plate portion connected to the first flat plate portion and inclined so as to bend with respect to the first flat plate portion. The operator-side device according to Item 10, wherein the first switch is attached to the second flat plate portion.

[0177] (Item 12) The operator-side device according to any one of Items 1 to 11, wherein the first switch is a push-button type.

[0178] (Item 13) The operator-side device according to Item 12, wherein the push-button type first switch is a clutch switch that executes a clutch function that does not transmit an operator's operation to the patient-side device and is a redundant switch.

[0179] (Item 14) The operator-side device according to any one of Items 1 to 11, wherein the first switch is a roller switch.

[0180] (Item 15) The roller switch includes a rotating body that is operated by an operator to rotate, a biasing portion that biases the rotating body to an initial position, and a sensor that detects the movement of the rotating body, and is the operator-side device according to Item 14.

[0181] (Item 16) The first switch is a seesaw switch, and is the operator-side device according to any one of Items 1 to 11.

[0182] (Item 17) The seesaw switch includes a seesaw body that is operated by an operator to press with a finger, a biasing portion that biases the seesaw body to an initial position, and a sensor that detects the movement of the seesaw body, and is the operator-side device according to Item 16.

[0183] (Item 18) The operator-side device further includes a customization switch that executes a function other than the clutch function that does not transmit the operation of the operator to the patient-side device. The customization switch is the operator-side device according to any one of Items 1 to 17, and the function to be executed is customized by assigning a function.

[0184] (Item 19) The customization switch is arranged on the first lever member, and is the operator-side device according to Item 18.

[0185] (Item 20) The customization switch is arranged on the support member or a flange portion that connects the proximal end of the operating arm and the support member, and is the operator-side device according to Item 18.

[0186] (Item 21) The first lever member is provided with the first switch and a third switch, and is the operator-side device according to any one of Items 1 to 17.

[0187] (Item 22) The operator-side device according to item 21, wherein the third switch is arranged so as to be inclined with respect to the first switch.

[0188] (Item 23) The operator-side device according to any one of items 1 to 22, further comprising a foot pedal operated by the operator's foot, wherein the first switch, when operated simultaneously with the foot pedal, executes a function different from the predetermined function.

[0189] (Item 24) The operator-side device according to item 23, wherein the first switch, when operated simultaneously with the foot pedal, executes different functions according to the manner of operation of the first switch.

[0190] (Item 25) The operator-side device according to item 24, wherein the first switch, when operated simultaneously with the foot pedal, executes different functions according to at least one of the operation time of the first switch and the number of operations of the first switch.

[0191] (Item 26) The operator-side device according to any one of items 1 to 9 and items 12 to 25, further comprising a plate-shaped attachment member that is attached to a facing surface of the first lever member facing the support member and supports the first switch on a support surface perpendicular to the facing surface.

[0192] (Item 27) an angle sensor that detects an angle of the first lever member with respect to the support member, a flexible printed circuit (FPC) on which the angle sensor and the first switch are arranged, and a reinforcing plate arranged at a position of the angle sensor on the FPC, the operator-side device according to any one of items 1 to 26.

[0193] (Item 28) Further comprising a housing in which the first switch is disposed, The housing constitutes a finger rest on which an operator's finger is placed, and the operator-side device according to any one of Items 1 to 27.

[0194] (Item 29) The housing is disposed on the first lever member operated by the index finger or middle finger of the operator, and the operator-side device according to Item 28.

[0195] (Item 30) The first lever member is provided with the first switch and a second switch for executing the predetermined function, and the operator-side device according to any one of Items 1 to 4, Items 8, and Items 10 to 29.

[0196] (Item 31) An operator-side device for operating a patient-side device including a patient-side arm to which a medical instrument is attached at the tip, An operating arm, A support member connected to the proximal end of the operating arm, A lever member attached to the support member so as to rotate, A finger rest attached to the lever member and on which an operator's finger is placed, and the operator-side device.

[0197] (Item 32) A patient-side device including a patient-side arm to which a medical instrument is attached at the tip, An operator-side device for operating the patient-side device, and The operator-side device includes An operating arm, A support member connected to the proximal end of the operating arm, A lever member attached to the support member so as to rotate, A switch attached to the lever member and for executing a predetermined function, and a surgical support system.

[0198] (Item 33) A patient-side device including a patient-side arm to which a medical instrument is attached at the tip, and an operator-side device for operating the patient-side device. The operator-side device includes an operating arm, a support member connected to the proximal end of the operating arm, a lever member attached to be rotatable with respect to the support member, and a finger rest attached to the lever member and on which an operator's finger is placed. A surgical support system.

Explanation of Signs

[0199] 1 Medical manipulator (patient-side device) 2, 302, 502 Remote operation device (operator-side device) 4 Medical instrument 21a Operating arm 21ba Support member 21bb, 321bb First lever member 21bc, 321bc Second lever member 21bf, 321bf, 521bf First switch 21bg, 321bg, 521bg Second switch 21bh, 121bh, 221bh Customization switch 21bj Sensor (angle sensor) 21bl FPC 21bm Reinforcing plate 21c Flange portion 22c Camera pedal (foot pedal) 60 Arm (patient-side arm) 100 Surgical system (surgical support system) 211, 411 First end of the first lever member 212, 412 Second end of the first lever member 213 First end of the second lever member 214 Second end of the second lever member 215, 415 Opposing surface 216, 416 Mounting member 216a First flat plate part 216b Second flat plate part 321bh Third switch 321bi Switch housing (housing, finger rest) 417 Rotating body 418 Biasing part (of roller switch) 419 Sensor (of roller switch) 617 Seesaw body 618 Biasing part (of seesaw switch) 619 Sensor (of seesaw switch) A7 Axis (first axis) A8 Axis (second axis, third axis) A9 Axis (third axis, second axis)

Claims

1. An operator-side device for operating a patient-side device including a patient-side arm to which a medical instrument is attached at its tip, comprising: an operating arm; a support member connected to the proximal end of the operating arm; a first lever member attached to the support member so as to rotate with respect to the support member; a first switch attached to the first lever member and performing a predetermined function; a tilt switch attached to the first lever member and arranged to be tilted with respect to the first switch, wherein the first switch and the tilt switch are switches of different types, the operator-side device.

2. The distal end of the support member is connected to the proximal end of the operating arm so as to rotate about a first axis parallel to the longitudinal direction of the support member, and the proximal end of the first lever member is attached to the support member so as to rotate about a second axis perpendicular to the first axis, the operator-side device according to claim 1.

3. The tilt switch is arranged at a position closer to the distal end of the first lever member than the first switch, the operator-side device according to claim 1.

4. The first switch and the tilt switch are arranged at at least one of the first end portion and the second end portion of the first lever member in a direction parallel to the second axis, the operator-side device according to claim 2.

5. The first switch and the tilt switch are arranged at both the first end portion and the second end portion of the first lever member in a direction parallel to the second axis, the operator-side device according to claim 2.

6. a second lever member arranged to face the first lever member via the support member; a second switch attached to the second lever member and performing the predetermined function, the distal end of the support member is connected to the proximal end of the operating arm so as to rotate about a first axis parallel to the longitudinal direction of the support member, the proximal end of the second lever member is attached to the support member so as to rotate about a third axis perpendicular to the first axis, the operator-side device according to claim 1.

7. The first switch is a clutch switch that performs a clutch function of not transmitting an operator's operation to the patient-side device, the tilt switch is a customization switch whose function to be executed is customized by assigning a function, the operator-side device according to claim 1.

8. The first switch is a roller switch, and the tilt switch is a push-button switch. The operator-side device according to claim 1.

9. The roller switch includes a rotating body that is operated to be rotated by an operator, a first biasing portion that biases the rotating body to an initial position, and a first sensor that detects movement of the rotating body. The push-button switch includes an operating body that is operated to be pressed by an operator's finger, a second biasing portion that biases the operating body to an initial position, and a second sensor that detects movement of the operating body. The operating body is configured to move in an inclined direction inclined with respect to the longitudinal direction of the one lever member. The operator-side device according to claim 8.

10. The apparatus further includes a housing in which the first switch and the tilt switch are disposed. The operating surface of the operating body is disposed so as to protrude in the inclined direction from the opening of the housing. The operator-side device according to claim 9.

11. The first switch is a seesaw switch, and the tilt switch is a push-button switch. The operator-side device according to claim 1.

12. The first lever member further includes a plate-shaped mounting member having a mounting surface parallel to a facing surface facing the support member of the first lever member, and a support surface perpendicular to the mounting surface for supporting the first switch and the tilt switch. The operator-side device according to claim 1.

13. The first lever member further includes a plate-shaped mounting member having a mounting surface parallel to a facing surface facing the support member of the first lever member, a first support surface perpendicular to the mounting surface, and a second support surface perpendicular to the mounting surface. The first support surface and the second support surface support the first switch and the tilt switch, respectively. The operator-side device according to claim 1.

14. An angle sensor that detects an angle of the first lever member with respect to the support member. An FPC in which the angle sensor and the first switch are disposed. The apparatus further includes a reinforcing plate disposed at a position of the angle sensor of the FPC. The operator-side device according to claim 1.

15. The apparatus further includes a housing in which the first switch and the tilt switch are disposed. The housing constitutes a finger rest on which an operator's finger is placed. The operator-side device according to claim 1.

16. An operator-side device for operating a patient-side device including a patient-side arm to which a medical instrument is attached at the tip, an operating arm, a support member connected to the proximal end of the operating arm, a first lever member attached to the support member so as to rotate with respect to the support member, a second lever member attached to the support member so as to rotate with respect to the support member and disposed so as to face the first lever member via the support member, a switch attached to the first lever member for performing a predetermined function, a magnet disposed on the second lever member at a position facing a through hole provided in the support member, an angle sensor disposed on the support member for detecting an angle of the second lever member with respect to the support member by detecting a magnetic field of the magnet through the through hole, an FPC disposed on the support member and the first lever member so that the angle sensor and the switch are disposed thereon, a reinforcing plate disposed at a position of the angle sensor of the FPC, the operator-side device comprising.

17. The operator-side device according to claim 16, further comprising a customization switch attached to the first lever member, the function to be executed being customized by assigning a function.

18. The operator-side device according to claim 16, wherein the angle sensor is a Hall sensor.

19. An operator-side device for operating a patient-side device including a patient-side arm to which a medical instrument is attached at the tip, an operating arm, a support member connected to the proximal end of the operating arm, a lever member attached to the support member so as to rotate with respect to the support member, a first switch attached to the lever member for performing a predetermined function, wherein the first switch is disposed above the lever member, and a second switch for performing the predetermined function is disposed below the lever member, the operator-side device.

20. an angle sensor for detecting an angle of the lever member with respect to the support member, an FPC on which the angle sensor and the first switch are disposed, a reinforcing plate disposed at a position of the angle sensor of the FPC, the operator-side device according to claim 19, further comprising.

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