Remote Surgery Support System

Abstract

In this remote surgery support system (100), the control device (43) has the operation right of the doctor-side operation device (2). When it is not detected by the sensor (27) that the device is in a used state, based on the second command output from the changeover switch (351), the operation right is switched from the doctor-side operation device (2) to the instructor doctor-side operation device (3). When the doctor-side operation device (2) has the operation right and it is detected by the sensor (27) that the device is in a used state, and when the second command output from the changeover switch (351) is output, the operation right is not switched.

Description

Technical Field

[0001] The present invention relates to a remote surgery support system, and more particularly to a remote surgery support system including a surgeon-side operation device and an instructor-side operation device.

Background Art

[0002] Conventionally, a remote surgery support system including a surgeon-side operation device and an instructor-side operation device has been known. For example, it is described in U.S. Patent No. 9,666,101.

[0003] The above-mentioned U.S. Patent No. 9,666,101 discloses a multi-user medical robot system for training minimally invasive surgery, which includes a mentor-side input device and a trainee-side input device, and the surgical robot can be operated by the mentor-side input device and the trainee-side input device. The mentor-side input device is provided with a switching device that can switch which of the mentor-side input device and the trainee-side input device operates the surgical robot. That is, in the system of U.S. Patent No. 9,666,101, it is possible to switch the operation right of the surgical robot only by the mentor-side input device.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, although the above-mentioned U.S. Patent No. 9,666,101 describes an operation of a surgical robot by a mentor-side input device and a trainee-side input device, there is no description at all about arranging the mentor-side input device in a facility separate from the trainee-side input device and the surgical robot and performing remote surgical assistance by the mentor-side input device. Also, the operation right cannot be switched by the trainee-side input device, and there is no description at all in the above-mentioned U.S. Patent No. 9,666,101 about switching of the operation right suitable for remote surgical assistance. In remote surgical assistance, it is desired that the operation right can be switched safely and smoothly between the instructor-side operation device and the doctor-side operation device arranged in different facilities.

[0006] The present invention has been made to solve the above-described problems, and one object of the present invention is to provide a remote surgical assistance system capable of safely and smoothly switching the operation right between the instructor-side operation device and the doctor-side operation device in remote surgical assistance.

Means for Solving the Problems

[0007] A remote surgery support system according to one aspect of the present invention is installed in a first facility and includes a first manipulator for holding an endoscope and a second manipulator for holding a surgical instrument, a doctor-side operating device installed in the first facility for a doctor to operate the first manipulator and the second manipulator, a supervisor-side operating device installed in a second facility different from the first facility for a supervisor to operate the first manipulator and the second manipulator via an external network, and one or more control devices. The doctor-side operating device includes a first sensor for detecting whether the doctor-side operating device is in a use state, a first display device for displaying an endoscope image acquired by the endoscope, and a first switching device for receiving a doctor's operation and outputting a first command for switching the operation authority between the supervisor-side operating device and the doctor-side operating device. The supervisor-side operating device includes a second sensor for detecting whether the supervisor-side operating device is in a use state, a second display device for displaying an endoscope image transmitted via the external network, and a second switching device for receiving a supervisor's operation and outputting a second command for switching the operation authority between the doctor-side operating device and the supervisor-side operating device. The one or more control devices are configured to switch the operation authority from the doctor-side operating device to the supervisor-side operating device based on a second command output from the second switching device when the doctor-side operating device has the operation authority and it is detected by the first sensor that the device is not in a use state. When the doctor-side operating device has the operation authority, it is detected by the first sensor that the device is in a use state, and a second command is output from the second switching device, the operation authority is not switched.

[0008] In the remote surgery support system according to one aspect of the present invention, as described above, the doctor-side operating device includes a first switching device that receives the operation of the doctor and outputs a first command for switching the operation right between the supervisor-side operating device and the doctor-side operating device. The supervisor-side operating device includes a second switching device that receives the operation of the supervisor and outputs a second command for switching the operation right between the doctor-side operating device and the supervisor-side operating device. Thereby, in either the doctor-side operating device or the supervisor-side operating device, the operation right to operate the first manipulator and the second manipulator can be switched. Further, when the doctor-side operating device has the operation right and it is detected by the first sensor that it is not in the used state, one or more control devices are configured to switch the operation right from the doctor-side operating device to the supervisor-side operating device based on the second command output from the second switching device. Thereby, when the doctor-side operating device having the operation right is not in the used state, the operation right can be switched from the supervisor-side operating device not having the operation right, so that the operation right can be smoothly switched from the doctor-side operating device to the supervisor-side operating device according to the situation. Further, when the doctor-side operating device has the operation right, it is detected by the first sensor that it is in the used state, and the second command is output from the second switching device, one or more control devices are configured not to perform the switching of the operation right. Thereby, when the doctor-side operating device having the operation right is in the used state, the operation right cannot be switched from the supervisor-side operating device not having the operation right, so that it is possible to suppress the switching of the operation right from the doctor-side operating device in the used state to the supervisor-side operating device. As a result, in remote surgery support, the switching of the operation right between the supervisor-side operating device and the doctor-side operating device can be performed safely and smoothly.

Advantages of the Invention

[0009] According to the present invention, in remote surgery support, the switching of the operation right between the supervisor-side operating device and the doctor-side operating device can be performed safely and smoothly.

Brief Description of the Drawings

[0010]

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[0011] Hereinafter, embodiments embodying the present invention will be described with reference to the drawings.

[0012] With reference to FIGS. 1 to 17, the configuration of a remote surgery support system 100 according to an embodiment will be described.

[0013] As shown in FIG. 1, the remote surgery support system 100 includes a surgical robot 1 installed near an operating table 101 on which a patient P is placed, a doctor-side operating device 2 for a doctor A1 to operate the surgical robot 1, and a supervisor-side operating device 3 for a supervisor A2 to operate the surgical robot 1 via an external network N. The surgical robot 1 and the doctor-side operating device 2 are installed in a first facility B1. The supervisor-side operating device 3 is installed in a second facility B2 different from the first facility B1. In the first facility B1, an assistant A3 is arranged as a surgical staff near the surgical robot 1. In addition, an information sharing device 4 for sharing information with the assistant A3 is installed in the first facility B1.

[0014] As shown in FIG. 2, the surgical robot 1 includes one manipulator arm 11 that holds the endoscope 5 and a plurality (three) of manipulator arms 12 that hold the surgical instruments 6. The endoscope 5 images the surgical site inside the patient P. The surgical instrument 6 has an end effector such as forceps attached to its tip. Also, the doctor-side operating device 2 and the instructor doctor-side operating device 3 are provided for operating the manipulator arms 11 and 12. Note that the manipulator arm 11 is an example of the "first manipulator" in the claims. Also, each of the three manipulator arms 12 is an example of the "second manipulator", "third manipulator", and "fourth manipulator".

[0015] The surgical robot 1 is arranged in the operating room of the first facility B1. The surgical robot 1 also includes a medical cart 13, a positioner 14, and an arm base 15. The surgical robot 1 is configured to be movable by the medical cart 13. The medical cart 13 is provided with a control device 16 that controls the operation of the surgical robot 1. The control device 16 controls the operation of the surgical robot 1 based on a command input to the doctor-side operating device 2 or the instructor doctor-side operating device 3. The system control device 17 is arranged inside the medical cart 13 and controls the entire remote surgery support system 100. Specifically, the system control device 17 communicates with and controls each of the control device 16, the control device 28, the control device 38, and the control device 43. The system control device 17 and the control device 16 each include a processing unit such as a CPU that executes a program and a storage unit such as a memory in which the program is stored. Note that the system control device 17 is an example of the "one or more control devices" in the claims.

[0016] Also, the medical cart 13 is provided with an input device 18. The input device 18 is configured to receive operations for moving and changing the postures of the manipulator arm 11, the manipulator arm 12, the positioner 14, and the arm base 15, mainly for preparing for the surgery before the operation.

[0017] The positioner 14 is constituted by, for example, a 7-axis articulated robot. Further, the positioner 14 is disposed on the medical cart 13. The positioner 14 moves the arm base 15. Specifically, the positioner 14 is configured to move the position of the arm base 15 three-dimensionally.

[0018] The arm base 15 is attached to the tip of the positioner 14. The arm base 15 has a relatively long bar shape (elongated shape). Further, the manipulator arm 11 and the manipulator arm 12 have their respective base portions attached to the arm base 15. The arm base 15, the manipulator arm 11, and the manipulator arm 12 are covered with a sterilization drape and used.

[0019] As shown in FIG. 1, the doctor-side operation device 2 is disposed, for example, inside or outside the operating room of the first facility B1. Further, the doctor-side operation device 2 includes a doctor-side operation device main body 2a. As shown in FIG. 3, the doctor-side operation device main body 2a includes an operation handle 21, a foot pedal 22, a touch panel 23, a scope-type display device 24, an armrest 25, a voice communication device 26, a sensor 27, a control device 28, and a support arm 30. Note that the operation handle 21 is an example of the "first operation device" in the claims. Further, the scope-type display device 24 is an example of the "first display device" in the claims. Further, the armrest 25 is an example of the "first armrest" in the claims. Further, the voice communication device 26 is an example of the "first voice communication device" in the claims. Further, the sensor 27 is an example of the "first sensor" in the claims. Further, the control device 28 is an example of the "one or more control devices" in the claims.

[0020] The operation handle 21 constitutes a handle for operation for an operator (Doctor A1) to input commands. The operation handle 21 is provided for the operator (Doctor A1) to operate the manipulator arms 11 and 12 (the endoscope 5 and the surgical instrument 6). Further, the operation handle 21 receives the operation amounts for the manipulator arms 11 and 12 (the endoscope 5 and the surgical instrument 6). The operation handle 21 includes a pair of operation handles, i.e., a left-hand operation handle 21L operated by the left hand of the operator (Doctor A1) and a right-hand operation handle 21R operated by the right hand of the operator (Doctor A1). The surgical instrument 6 held by one manipulator arm 12 is operated with the operation handle 21L, and the surgical instrument 6 held by the other manipulator arm 12 is operated with the operation handle 21R.

[0021] In addition, with the operation handle 21, the moving amounts of the endoscope 5 and the surgical instrument 6 are changed (scaled) with respect to the operation amounts received by the operation handle 21. For example, when the magnification of the moving amount is set to 1 / 2, the endoscope 5 and the surgical instrument 6 are controlled to move by a moving distance that is 1 / 2 of the moving distance of the operation handle 21. Thereby, a delicate surgery can be accurately performed.

[0022] The foot pedal 22 includes a plurality of pedals for performing functions related to the endoscope 5 and the surgical instrument 6. The plurality of pedals include, for example, a coagulation pedal, a cutting pedal, a camera pedal, a clutch pedal, and a swap pedal. The plurality of pedals are operated by the foot of an operator (Doctor A1). When the camera pedal is operated, the endoscope 5 held by the manipulator arm 11 at the operation handle 21 can be moved. At this time, the endoscope 5 is operated and moved by both the operation handle 21L and the operation handle 21R. The touch panel 23 receives setting operations related to the doctor-side operation device 2. The touch panel 23 is disposed on the armrest 25. The scope-type display device 24 displays an endoscope image G1 (see FIG. 7) acquired by the endoscope 5. The scope-type display device 24 is an immersive display device that only the operator (Doctor A1) can view the displayed image. The operator (Doctor A1) operates the operation handle 21 and the foot pedal 22 while visually recognizing the affected part through the scope-type display device 24. The support arm 30 supports the scope-type display device 24 so that the height of the scope-type display device 24 can be adjusted according to the height of the face of an operator such as Doctor A1.

[0023] The armrest 25 is formed in a bar shape and is configured such that an operator (Doctor A1) can place an arm when operating the operation handle 21. Further, as shown in FIGS. 3 and 4, a changeover switch 251 is provided on the armrest 25. The changeover switch 251 is provided to receive an operation for switching the operation authority between the instructor doctor-side operation device 3 and the doctor-side operation device 2, which will be described later. Thereby, the operation authority can be easily switched by operating the changeover switch 251 disposed on the armrest 25 where Doctor A1 places an arm. Note that the changeover switch 251 is an example of the "first switching device" and the "first changeover switch" in the claims.

[0024] The voice communication device 26 is provided for Doctor A1 to conduct voice communication with the supervising doctor A2. As shown in FIG. 5, the voice communication device 26 is arranged at a position where the operator (Doctor A1) can conduct voice communication with the voice communication device 36 of the supervising doctor's side operation device 3 while looking into the scope type display device 24. Specifically, the voice communication device 26 is arranged near the head of the operator (Doctor A1) while the operator (Doctor A1) is looking into the scope type display device 24. The voice communication device 26 is integrally arranged on the scope type display device 24 and can be integrally adjusted in height by the support arm 30.

[0025] Also, as shown in FIGS. 4 and 5, the voice communication device 26 includes a microphone 261 and a speaker 262. The microphone 261 receives voice input. The speaker 262 outputs voice. Also, as shown in FIG. 5, the speaker 262 is arranged at a position close to the operator's ear while the operator (Doctor A1) is looking into the scope type display device 24. Also, the microphone 261 is arranged at a position close to the operator's mouth while the operator (Doctor A1) is looking into the scope type display device 24. Also, the microphone 261 and the speaker 262 are integrally arranged on the scope type display device 24.

[0026] As shown in FIG. 5, the sensor 27 is an optical sensor arranged at a position where it can detect the head of Doctor A1 while Doctor A1 is looking into the scope type display device 24 (that is, in the head-in state). Only while the head of Doctor A1 is detected by the sensor 27, the surgical instrument 6 and the manipulator arm 12 are in a usable state operable by the operation handle 21. That is, the sensor 27 detects whether the doctor's side operation device 2 is in a usable state. Also, the sensor 27 detects whether Doctor A1 is head-in on the scope type display device 24 as the usage state of the doctor's side operation device 2. The sensor 27 is integrally arranged on the scope type display device 24. The control device 28 controls the operation of the doctor's side operation device 2. The control device 28 includes a processing unit such as a CPU that executes a program and a storage unit such as a memory that stores the program.

[0027] As described above for the doctor-side operating device 2, the instructor-doctor-side operating device 3 has the same structure as the doctor-side operating device 2. That is, as shown in FIG. 4, the instructor-doctor-side operating device 3 includes an instructor-doctor-side operating device main body 3a. The instructor-doctor-side operating device main body 3a includes an operation handle 31, a foot pedal 32, a touch panel 33, a scope-type display device 34, an armrest 35, a voice communication device 36, a sensor 37, a control device 38, and a support arm. The scope-type display device 34 displays the endoscope image G1 (see FIG. 7) transmitted via the external network N. Also, although the doctor-side operating device 2 and the instructor-doctor-side operating device 3 basically have the same specifications, they are switched between the normal mode and the remote mode and used via the touch panel 23 (33). Note that the operation handle 31 is an example of the "second operating device" in the claims. Also, the scope-type display device 34 is an example of the "second display device" in the claims. Also, the armrest 35 is an example of the "second armrest" in the claims. Also, the voice communication device 36 is an example of the "second voice communication device" in the claims. Also, the sensor 37 is an example of the "second sensor" in the claims. Also, the control device 38 is an example of the "one or more control devices" in the claims.

[0028] Also, as shown in FIG. 4, a changeover switch 351 is provided on the armrest 35. The changeover switch 351 is provided to receive an operation for switching the operation right between the instructor-doctor-side operating device 3 and the doctor-side operating device 2. Thereby, the operation right can be easily switched by operating the changeover switch 351 arranged on the armrest 35 on which the instructor doctor A2 places the arm. Note that the changeover switch 351 is an example of the "second changeover device" and the "second changeover switch" in the claims.

[0029] The voice communication device 36 is provided for the supervising doctor A2 to conduct voice communication with the doctor A1. Thereby, smooth communication can be achieved by voice between the doctor operating the doctor-side operating device 2 arranged in the first facility B1 and the supervising doctor A2 operating the supervising doctor-side operating device 3 arranged in the second facility B2. Also, as shown in FIG. 4, the voice communication device 36 includes a microphone 361 and a speaker 362. The microphone 361 receives voice input. The speaker 362 outputs voice. Also, the speaker 362 is arranged at a position close to the ear of the operator (supervising doctor A2) in a state where the operator is looking into the scope-type display device 34. Also, the microphone 361 is arranged at a position close to the mouth of the operator (supervising doctor A2) in a state where the operator is looking into the scope-type display device 34. Also, the microphone 361 and the speaker 362 are integrally arranged on the scope-type display device 34.

[0030] The sensor 37 is an optical sensor arranged at a position where it can detect the head of the supervising doctor A2 in a state where the supervising doctor A2 is looking into the scope-type display device 34 (that is, in a head-in state). Only while the head of the supervising doctor A2 is detected by the sensor 37, the surgical instrument 6 and the manipulator arm 12 are in a usable state operable by the operation handle 31. That is, the sensor 37 detects whether the supervising doctor-side operating device 3 is in a usable state. Also, the sensor 37 detects whether the supervising doctor A2 has his / her head in the scope-type display device 34 as the usage state of the supervising doctor-side operating device 3.

[0031] As shown in FIGS. 1 and 4, the information sharing device 4 is a movable monitor cart. Further, the information sharing device 4 is arranged in the first facility B1. Further, the surgical robot 1 (manipulator arm 11, manipulator arm 12) is connected to the dual unit 7 via the information sharing device 4. Further, the information sharing device 4 includes a display device 41 for displaying the endoscopic image G1 (see FIG. 7) acquired by the endoscope 5 (see FIG. 2). Further, the information sharing device 4 includes a voice communication device 42 for performing voice communication with the voice communication device 26 of the doctor-side operating device 2 and the voice communication device 36 of the instructor doctor-side operating device 3. Further, the information sharing device 4 is arranged closer to the surgical robot 1 than the doctor-side operating device 2. Thereby, the assistant A3 arranged as a surgical staff near the surgical robot 1 can check the endoscopic image G1 and interact with the doctor A1 and the instructor doctor A2. Further, the voice communication device 42 includes a microphone 421 and a speaker 422. The microphone 421 receives voice input. The speaker 422 outputs voice. Further, the display device 41 is, for example, a flat panel display device. Note that the information sharing device 4 is an example of the "GUI generation control device" in the claims. Further, the display device 41 is an example of the "third display device" in the claims. Further, the voice communication device 42 is an example of the "third voice communication device" in the claims.

[0032] Further, the information sharing device 4 includes a control device 43. The control device 43 performs image processing on the endoscopic image G1. The control device 43 includes a processing unit such as a CPU that executes a program and a storage unit such as a memory in which the program is stored. The control device 43 generates a GUI (graphical user interface) to be superimposed on the endoscopic image G1. For example, the control device 43 generates a GUI such as the type of the surgical instrument 6, the operation state of the endoscope 5, the operation state of the surgical instrument 6, the operation state of the foot pedal 22, etc. on the endoscopic image G1 and superimposes it on the endoscopic image G1. Further, the control device 43 generates a GUI for information regarding the operation authority for the instructor doctor-side operating device 3 and the doctor-side operating device 2, which will be described later, and superimposes it on the endoscopic image G1. Note that the control device 43 is an example of the "one or more control devices" in the claims.

[0033] In addition, the control device 43 displays the same image on the scope type display device 24, the scope type display device 34, and the display device 41. That is, the same endoscopic image G1 is displayed on each of the display devices of the scope type display device 24, the scope type display device 34, and the display device 41.

[0034] Also, as shown in FIGS. 4 and 6, in the first facility B1, a dual unit 7, a network device 51, and a remote unit 61 are installed. Note that the dual unit 7 is an example of the "connection unit" in the claims. Also, the network device 51 is an example of the "first network device" in the claims. Also, the remote unit 61 is an example of the "first remote unit" in the claims.

[0035] The dual unit 7 is provided to connect a plurality of operating devices (the doctor-side operating device 2 and the instructor doctor-side operating device 3) to one information sharing device 4 installed in the first facility B1. The dual unit 7 is connected to the remote unit 61, the doctor-side operating device 2, and the surgical robot 1 (the manipulator arm 11 and the manipulator arm 12) via the information sharing device 4. Also, the dual unit 7 has a plurality of physical interfaces (terminals) for connecting to a plurality of operating devices.

[0036] The network device 51 communicates via the external network N. The network device 51 has a processing unit 511 and a communication unit 512. The network device 51 is connected to the remote unit 61 and the external network N. The network device 51 and the remote unit 61 are communicably connected, for example, by wire.

[0037] The remote unit 61 is connected to the network device 51 and converts communication data into a format that can be communicated via the external network N. Also, the remote unit 61 performs processing for events caused by the state of the external network N. Events caused by the state of the external network N include, for example, changes in communication delay time, loss of communication data, and communication data synchronization errors. The remote unit 61 has a processing unit 611 and a communication unit 612. The processing unit 611 of the remote unit 61 converts communication data between the surgical robot 1 and the operating devices (physician-side operating device 2, instructor-physician-side operating device 3) into data that can be communicated via the external network N. Communication data between the surgical robot 1 and the operating devices (physician-side operating device 2, instructor-physician-side operating device 3) includes information such as the operation system, video system, audio system, power supply system, and electric scalpel system. Also, the processing unit 611 of the remote unit 61 reduces the size of relatively large data such as video data and transmits it, and when receiving the data with the reduced size, restores the data. Also, when a data delay occurs due to the influence of communication, the remote unit 61 adjusts the waiting time for waiting for the arrival of those data for a certain period of time.

[0038] Also, as shown in FIGS. 4 and 6, in the second facility B2, a network device 52 and a remote unit 62 are installed. Note that the network device 52 is an example of the "second network device" in the claims. Also, the remote unit 62 is an example of the "second remote unit" in the claims.

[0039] The network device 51 communicates via the external network N. The network device 52 has a processing unit 521 and a communication unit 522. The network device 52 is connected to the remote unit 62 and the external network N. The network device 52 and the remote unit 62 are communicably connected, for example, by wire.

[0040] The remote unit 62 is connected to the network device 52 and converts communication data into a format that can be communicated via the external network N. Further, the remote unit 62 performs processing for events caused by the state of the external network N. Events caused by the state of the external network N include, for example, changes in communication delay time, loss of communication data, communication data synchronization deviation, and the like. The remote unit 62 has a processing unit 621 and a communication unit 622. The processing unit 621 of the remote unit 62 converts the communication data between the operator device 3 on the instructor doctor side and the surgical robot 1 into data that can be communicated via the external network N. Further, the processing unit 621 of the remote unit 62 reduces the size of relatively large-sized data such as video data and transmits it, and when receiving the data with the reduced size, restores the data. Further, when a data delay occurs due to the influence of communication, the remote unit 62 adjusts the waiting time for waiting for the arrival of those data for a certain period of time.

[0041] Here, in the present embodiment, the operation authority between the operator device 2 on the doctor side installed in the first facility B1 and the instructor doctor side operator device 3 installed in the second facility B2 is switched, and either operator device is used to operate the surgical robot 1 (manipulator arm 11, manipulator arm 12) installed in the first facility B1. Note that by default (initial setting), the operator device 2 on the doctor side is always set to have the operation authority, and the system control device 17 is configured to first set the operator device 2 on the doctor side to have the operation authority when using the remote surgery support system. That is, the system control device 17 is configured to set the operation authority by default (initial setting) to the operator device 2 on the doctor side installed in the first facility B1 where the doctor who is the person in charge of the surgery in the remote surgery support belongs.

[0042] In addition, the switching switch 251 of the doctor-side operation device 2 receives the operation of doctor A1 and outputs a first command for switching the operation authority between the supervisor-side operation device 3 and the doctor-side operation device 2. Further, the switching switch 351 of the supervisor-side operation device 3 receives the operation of supervisor A2 and outputs a second command for switching the operation authority between the doctor-side operation device 2 and the supervisor-side operation device 3. Thereby, in either the doctor-side operation device 2 or the supervisor-side operation device 3, the operation authority for operating the surgical robot 1 (manipulator arm 11, manipulator arm 12) can be switched.

[0043] The switching switch 251 is, for example, a hard switch provided on the armrest 25. Further, the switching switch 351 is, for example, a hard switch provided on the armrest 35.

[0044] In addition, when the doctor-side operation device 2 has the operation authority, the control device 43 displays first information Ga indicating that the doctor-side operation device 2 has the operation authority on the scope type display device 24 and the scope type display device 34. Further, when the supervisor-side operation device 3 has the operation authority, the control device 43 displays second information Gb indicating that the supervisor-side operation device 3 has the operation authority on the scope type display device 24 and the scope type display device 34. Specifically, when the doctor-side operation device 2 has the operation authority, as shown in FIGS. 7 and 8, the control device 43 generates an image in which the first information Ga is superimposed as a GUI on the endoscope image G1, and displays it on the scope type display device 24 and the scope type display device 34. Further, when the supervisor-side operation device 3 has the operation authority, as shown in FIG. 9, the control device 43 generates an image in which the second information Gb is superimposed as a GUI on the endoscope image G1, and displays it on the scope type display device 24 and the scope type display device 34. Thereby, in either the doctor-side operation device 2 or the supervisor-side operation device 3, it is possible to easily confirm which one has the operation authority for operating the surgical robot 1 (manipulator arm 11, manipulator arm 12).

[0045] In addition, when the operation right is switched from the instructor doctor side operation device 3 to the doctor side operation device 2, the control device 43 changes the second information Gb (see FIG. 9) displayed on the scope type display device 24 and the scope type display device 34 to the first information Ga (see FIG. 8). Further, the control device 43 is configured to change the first information Ga (see FIG. 8) displayed on the scope type display device 24 and the scope type display device 34 to the second information Gb (see FIG. 9) when the operation right is switched from the doctor side operation device 2 to the instructor doctor side operation device 3. Thereby, when the operation right to operate the surgical robot 1 (manipulator arm 11, manipulator arm 12) is switched between the instructor doctor side operation device 3 and the doctor side operation device 2, the display of the first information Ga and the second information Gb for confirming the party having the operation right is switched accordingly, so that the doctor A1 and the instructor doctor A2 can easily recognize that the operation right has been switched.

[0046] The first information Ga includes, for example, information indicating the doctor side operation device 2 as shown in FIG. 8. Further, the second information Gb includes information indicating the instructor doctor side operation device 3 as shown in FIG. 9. That is, in the example shown in FIG. 8, as the information indicating the doctor side operation device 2, the display of "SC1" is emphasized and the display of "SC2" is lightly displayed. Also, in the example shown in FIG. 9, as the information indicating the instructor doctor side operation device 3, the display of "SC2" is emphasized and the display of "SC1" is lightly displayed. Thereby, when there is an operation right for the doctor side operation device 2, it is possible to easily confirm that there is an operation right for the doctor side operation device 2 based on the first information Ga including the information indicating the doctor side operation device 2. Also, when there is an operation right for the instructor doctor side operation device 3, it is possible to easily confirm that there is an operation right for the instructor doctor side operation device 3 based on the second information Gb including the information indicating the instructor doctor side operation device 3.

[0047] In addition, when the doctor-side operating device 2 has the operation right, the control device 43 displays the first information Ga on the display device 41 of the information sharing device 4. Further, when the instructor doctor-side operating device 3 has the operation right, the control device 43 displays the second information Gb on the display device 41 of the information sharing device 4. Thereby, on the information sharing device 4 arranged near the surgical robot 1 (manipulator arm 11, manipulator arm 12), the first information Ga and the second information Gb indicating which of the doctor-side operating device 2 and the instructor doctor-side operating device 3 has the operation right can be displayed. Therefore, assistants and technicians located near the surgical robot 1 (manipulator arm 11, manipulator arm 12) can easily recognize which has the operation right.

[0048] Also, in another embodiment, when the instructor doctor-side operating device 3 has the operation right and it is not detected by the sensor 37 that the instructor doctor-side operating device 3 is in a used state, the system control device 17 switches the operation right to the doctor-side operating device 2 in response to the first command output from the changeover switch 251 of the doctor-side operating device 2. Further, when the doctor-side operating device 2 has the operation right and it is not detected by the sensor 27 that the doctor-side operating device 2 is in a used state, the system control device 17 switches the operation right to the instructor doctor-side operating device 3 in response to the second command output from the changeover switch 351 of the instructor doctor-side operating device 3. Thereby, when the operating device having the operation right is not in a used state, the operation right can be switched from the operating device not having the operation right, so that the operation right can be switched safely and smoothly.

[0049] In other words, when the doctor-side operating device 2 has the operation right, it is detected by the sensor 27 that the doctor-side operating device 2 is in a used state, and the second command is output from the changeover switch 351, the system control device 17 does not perform the operation right switch. Further, when the instructor doctor-side operating device 3 has the operation right, it is detected by the sensor 37 that the instructor doctor-side operating device 3 is in a used state, and the first command is output from the changeover switch 251, the system control device 17 does not perform the operation right switch.

[0050] Further, when the doctor-side operation device 2 has the operation right, the system control device 17 switches the operation right from the doctor-side operation device 2 to the instructor doctor-side operation device 3 based on the first command output from the changeover switch 251 regardless of the detection result of the sensor 37 as to whether the instructor doctor-side operation device 3 is in a used state or not. Also, when the instructor doctor-side operation device 3 has the operation right, the system control device 17 is configured to switch the operation right from the instructor doctor-side operation device 3 to the doctor-side operation device 2 based on the second command output from the changeover switch 351 regardless of the detection result of the sensor 27 as to whether the doctor-side operation device 2 is in a used state or not. Thereby, the operation right can be smoothly switched from the operation device side having the operation right.

[0051] Also, when the operation right is switched from the instructor doctor-side operation device 3 to the doctor-side operation device 2, or when the operation right is switched from the doctor-side operation device 2 to the instructor doctor-side operation device 3, the system control device 17 notifies the instructor doctor-side operation device 3 and the doctor-side operation device 2 of the operation right switch. That is, when the operation right is switched from the instructor doctor-side operation device 3 to the doctor-side operation device 2, the system control device 17 notifies the instructor doctor-side operation device 3 of the operation right switch. Also, when the operation right is switched from the doctor-side operation device 2 to the instructor doctor-side operation device 3, the system control device 17 notifies the doctor-side operation device 2 of the operation right switch. For example, the control device 43 in cooperation with the system control device 17 causes the scope-type display device 24 of the doctor-side operation device 2 and the scope-type display device 34 of the instructor doctor-side operation device 3 to display that the operation right is switched. Also, the system control device 17 causes the speaker 262 of the doctor-side operation device 2 and the speaker 362 of the instructor doctor-side operation device 3 to notify by voice that the operation right is switched. Thereby, doctors A1 and instructor doctor A2 can easily recognize that the operation right is switched by the notification of the operation right switch.

[0052] In addition, after the operation authority is switched from the instructor doctor side operation device 3 to the doctor side operation device 2, when the sensor 27 detects that the doctor side operation device 2 is in a use state, the system control device 17 and the control device 28 are configured to start the operation of the manipulator arm 12 by the operation handle 21 in response to the operation handle 21 receiving a predetermined operation. Further, after the operation authority is switched from the doctor side operation device 2 to the instructor doctor side operation device 3, when the sensor 37 detects that the instructor doctor side operation device 3 is in a use state, the system control device 17 and the control device 38 are configured to start the operation of the manipulator arm 12 by the operation handle 31 in response to the operation handle 31 receiving a predetermined operation. Thereby, after the operation authority is switched, when it is in a use state and after a predetermined operation is performed, the manipulator arm 12 can be operated by the operation device having the operation authority, so that the operation can be started after the preparation on the side having the operation authority is completed. The predetermined operation received by the operation handle 21 or 31 is an operation of aligning the posture of the operation handle 21 or 31 with the posture of the surgical instrument 6, for example, a matching grip operation such as an operation of closing the fingers or an operation of rotating the wrist.

[0053] In addition, when the doctor-side operating device 2 has the operation right, the system control device 17 enables the operation of the operation handle 31 of the instructor doctor-side operating device 3, but controls so that the surgical robot 1 (manipulator arm 11, manipulator arm 12) does not operate by the operation of the operation handle 31. Further, when the instructor doctor-side operating device 3 has the operation right, the system control device 17 enables the operation of the operation handle 21 of the doctor-side operating device 2, but controls so that the surgical robot 1 (manipulator arm 11, manipulator arm 12) does not operate by the operation of the operation handle 21. Thereby, since the surgical robot 1 (manipulator arm 11, manipulator arm 12) cannot be operated from the operating device that does not have the operation right, it is possible to more reliably suppress the operation of the surgical robot 1 (manipulator arm 11, manipulator arm 12) against the intention of the operator on the side having the operation right. Further, when the instructor doctor-side operating device 3 has the operation right, since the operation of the operation handle 21 of the doctor-side operating device 2 is possible, doctor A1 can move the operation handle 21 in accordance with the movement of the surgical instrument 6 displayed on the scope type display device 24.

[0054] Also, when the physician-side operation device 2 has the operation right, the system control device 17 and the control device 28 control so that the surgical robot 1 (manipulator arm 11, manipulator arm 12) does not operate by the operation of the operation handle 21 when it is not detected by the sensor 27 that the physician-side operation device 2 is in a use state, and control so that the surgical robot 1 (manipulator arm 11, manipulator arm 12) operates by the operation of the operation handle 21 when it is detected by the sensor 27 that the physician-side operation device 2 is in a use state. Further, when the instructor physician-side operation device 3 has the operation right, the system control device 17 and the control device 38 control so that the surgical robot 1 (manipulator arm 11, manipulator arm 12) does not operate by the operation of the operation handle 31 when it is not detected by the sensor 37 that the instructor physician-side operation device 3 is in a use state, and control so that the surgical robot 1 (manipulator arm 11, manipulator arm 12) operates by the operation of the operation handle 31 when it is detected by the sensor 37 that the instructor physician-side operation device 3 is in a use state.

[0055] Further, the control devices 28 and 38 receive a selection of positions for displaying the first information Ga and the second information Gb. For example, as shown in FIG. 10, the first information Ga and the second information Gb can be selected from among the upper left position P1 of the screen, the lower left position P2 of the screen, the lower right position P3 of the screen, and the upper right position P4 of the screen. As shown in FIG. 11, the control devices 28 and 38 display on the touch panels 23 and 33 a screen for receiving a selection of positions for displaying the first information Ga and the second information Gb, and receive the selection by the operator. For example, the control device 28 displays on the touch panel 23 a first screen for receiving a selection of positions for displaying the first information Ga and the second information Gb. Further, when the control device 28 receives a selection of positions for displaying the first information Ga and the second information Gb via the first screen, the control device 28 controls the scope type display device 24 to display the first information Ga and the second information Gb at the selected positions. Also, the control device 38 displays on the touch panel 33 a first screen for receiving a selection of positions for displaying the first information Ga and the second information Gb. Further, when the control device 38 receives a selection of positions for displaying the first information Ga and the second information Gb via the first screen, the control device 38 controls the scope type display device 34 to display the first information Ga and the second information Gb at the selected positions.

[0056] In addition, when the doctor-side operating device 2 has the operation right, the control device 43 displays the detection result detected by the sensor 27 on the scope-type display device 34 of the instructor doctor-side operating device 3. Specifically, as shown in FIG. 12, when the sensor 27 does not detect that doctor A1 has his head in the scope-type display device 24, the control device 43 generates an image in which a display G2b (see FIG. 14) is superimposed on the endoscope image G1 as a GUI, and displays it on the scope-type display device 24 and the scope-type display device 34. Further, when the sensor 27 detects that doctor A1 has his head in the scope-type display device 24, the control device 43 generates an image in which a display G2a (see FIG. 13) is superimposed on the endoscope image G1 as a GUI, and displays it on the scope-type display device 24 and the scope-type display device 34. The display G2a and the display G2b are distinguishable from each other. For example, the display G2a and the display G2b are displayed in different colors. In addition, when the doctor-side operating device 2 has the operation right, the control device 43 displays a GUI including the first information Ga on the scope-type display device 24 and the scope-type display device 34.

[0057] In addition, when the instructor doctor-side operating device 3 has the operation right, the control device 43 displays the detection result detected by the sensor 37 on the scope-type display device 24 of the doctor-side operating device 2. Specifically, when the sensor 37 does not detect that instructor doctor A2 has his head in the scope-type display device 34, the control device 43 generates an image in which a display G2b (see FIG. 14) is superimposed on the endoscope image G1 as a GUI, and displays it on the scope-type display device 24 and the scope-type display device 34. Further, when the sensor 37 detects that instructor doctor A2 has his head in the scope-type display device 34, the control device 43 generates an image in which a display G2a (see FIG. 13) is superimposed on the endoscope image G1 as a GUI, and displays it on the scope-type display device 24 and the scope-type display device 34. Thereby, it is possible to easily confirm whether or not the operating device having the operation right is in use in the operating device not having the operation right. In addition, when the instructor doctor-side operating device 3 has the operation right, the control device 43 displays a GUI including the second information Gb on the scope-type display device 24 and the scope-type display device 34.

[0058] Further, when the doctor-side operation device 2 has the operation right, the control device 43 may display, on the scope type display device 24 and the scope type display device 34, the first information Ga indicating that the doctor-side operation device 2 has the operation right and the detection results detected by the sensors 27 and 37. Further, when the instructor doctor-side operation device 3 has the operation right, the control device 43 may display, on the scope type display device 24 and the scope type display device 34, the second information Gb indicating that the instructor doctor-side operation device 3 has the operation right and the detection results detected by the sensors 27 and 37. For example, when the doctor-side operation device 2 has the operation right, the sensor 27 has detected the head of doctor A1, and the sensor 37 has not detected the head of instructor doctor A2, as shown in FIG. 15, the control device 43 generates an image in which the first information Ga, the display G2a, and the display G2b are superimposed as a GUI on the endoscope image G1, and causes the scope type display device 24 and the scope type display device 34 to display the image.

[0059] Further, when the doctor-side operation device 2 has the operation right, the control device 43 may display on the scope type display device 34 of the instructor doctor-side operation device 3 whether it is switchable based on the detection result detected by the sensor 27. Specifically, as shown in FIG. 16, when the doctor-side operation device 2 has the operation right and the sensor 27 has not detected that doctor A1 has entered the head into the scope type display device 24, the control device 43 generates an image in which the display G3a (see FIG. 16) indicating that it is switchable is superimposed as a GUI on the endoscope image G1, and causes the scope type display device 24 and the scope type display device 34 to display the image. Further, when the doctor-side operation device 2 has the operation right and the sensor 27 has detected that doctor A1 has entered the head into the scope type display device 24, the control device 43 generates an image in which the display G3b (see FIG. 17) indicating that it is not switchable is superimposed as a GUI on the endoscope image G1, and causes the scope type display device 24 and the scope type display device 34 to display the image. The display G3a and the display G3b are distinguishable from each other. For example, the display G3a and the display G3b are displayed in different colors.

[0060] Further, when the instructor doctor side operation device 3 has the operation right, the control device 43 may be configured to display on the scope type display device 24 of the doctor side operation device 2 whether switching is possible based on the detection result detected by the sensor 37. Specifically, when the instructor doctor side operation device 3 has the operation right and the sensor 37 does not detect that the instructor doctor A2 has his / her head in the scope type display device 34, the control device 43 generates an image in which a display G3a (see FIG. 16) indicating that switching is possible is superimposed on the endoscopic image G1 as a GUI and displays it on the scope type display device 24 and the scope type display device 34. Further, when the instructor doctor side operation device 3 has the operation right and the sensor 37 detects that the instructor doctor A2 has his / her head in the scope type display device 34, the control device 43 generates an image in which a display G3b (see FIG. 17) indicating that switching is not possible is superimposed on the endoscopic image G1 as a GUI and displays it on the scope type display device 24 and the scope type display device 34. Thereby, in an operation device that does not have the operation right, it is possible to easily confirm whether the operation right can be switched.

[0061] Also, the control devices 28 and 38 receive a selection from the screen shown in FIG. 11 displayed on the touch panels 23 and 33 for the positions to display the displays G2a, G2b, G3a, and G3b in the same manner as the selection of the positions to display the first information Ga and the second information Gb.

[0062] With reference to FIG. 18, the switching permission determination process by the control device 43 will be described.

[0063] In step S1 of FIG. 18, the system control device 17 determines whether the operator (physician A1 or supervising physician A2) has his / her head in the operating device (physician-side operating device 2 or supervising physician-side operating device 3) that has the operation right. Specifically, the system control device 17 determines whether the operator (physician A1 or supervising physician A2) has his / her head in based on the detection result of the sensor 27 or 37. If the operator (physician A1 or supervising physician A2) has his / her head in, the process proceeds to step S2; if not, the process proceeds to step S3.

[0064] In step S2, the system control device 17 determines that the operation right cannot be switched. Based on the determination result that the operation right cannot be switched, the control device 43 displays information indicating that the operation right cannot be switched (display G3b (see FIG. 17)) on the scope-type display devices 24 and 34. In step S4, the system control device 17 determines that the operation right can be switched. Based on the determination result that the operation right can be switched, the control device 43 displays information indicating that the operation right can be switched (display G3a (see FIG. 16)) on the scope-type display devices 24 and 34.

[0065] [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 invention is shown not by the description of the above embodiments but by the claims, and further includes all changes (modification examples) within the meaning and scope equivalent to the claims.

[0066] For example, in the above embodiment, an example of a configuration in which the first information includes information indicating the physician-side operating device and the second information includes information indicating the supervising physician-side operating device is shown, but the present invention is not limited to this. In the present invention, the first information may include at least one of information indicating the physician-side operating device, information indicating the physician, and information regarding the first facility. Also, the second information may include at least one of information indicating the supervising physician-side operating device, information indicating the supervising physician, and information regarding the second facility.

[0067] For example, as shown in FIG. 19, the first information may include the name of the doctor (in the example shown in FIG. 19, "AAA") as information indicating the doctor. Also, the second information may include the name of the supervising doctor (in the example shown in FIG. 19, "BBB") as information indicating the supervising doctor. Further, the first information and the second information may include numbers, symbols, character strings, icons, or images indicating the doctor or the supervising doctor.

[0068] Also, as shown in FIG. 20, the first information may include the region of the first facility (in the example shown in FIG. 20, "Kobe") as information regarding the first facility. Also, the second information may include the region of the second facility (in the example shown in FIG. 20, "Osaka") as information regarding the second facility. Further, the first information and the second information may include the name of the facility, numbers, symbols, or character strings indicating the facility.

[0069] In the above embodiment, an example where the changeover switch is a hard switch provided on the armrest has been shown, but the present invention is not limited to this. For example, the changeover switch may be a switch displayed on a touch panel, or may be the foot pedal 22. Also, the operation right may be switched by voice recognition. Further, the changeover switch may be arranged on the surgical robot 1 or the information sharing device 4 so that a person other than the doctor or the supervising doctor can operate it, and a person other than the doctor or the supervising doctor may perform the changeover operation.

[0070] In the above embodiment, an example where the control process of the present invention is performed by a plurality of control devices has been shown, but the present invention is not limited to this. For example, the control process of the present invention may be performed by one control device.

[0071] In the above embodiment, an example where a scope type display device is provided as the first display device and the second display device of the present invention has been shown, but the present invention is not limited to this. For example, as the first display device and the second display device of the present invention, a flat panel display device other than the scope type display device may be provided.

[0072] In the above-described embodiment, an example in which sensors for detecting the heads of doctors or supervisors are provided as the first sensor and the second sensor of the present invention has been shown. However, the present invention is not limited to this. For example, as the first sensor and the second sensor of the present invention, a gaze detection sensor for detecting the gaze of a doctor or supervisor may be provided, or a sensor for detecting that a doctor or supervisor is touching a predetermined position of the operation handle may be provided.

[0073] In the above-described embodiment, an example in which a voice communication device integrally arranged with a scope-type display device is provided as the first voice communication device and the second voice communication device of the present invention has been shown. However, the present invention is not limited to this. For example, as the first voice communication device and the second voice communication device of the present invention, a voice communication device separate from the scope-type display device may be provided.

[0074] In the above-described embodiment, an example in which a voice communication device is provided in the information sharing device has been shown. However, the present invention is not limited to this. For example, as an alternative to the voice communication device of the information sharing device, a voice communication device may be provided in a surgical robot.

[0075] In the above-described embodiment, an example in which the instructor-side operation device 3 is installed in the second facility B2 has been shown. However, the present invention is not limited to this. In the present invention, a doctor-side operation device and a surgical robot are arranged in the second facility B2. When the normal mode is selected from the mode selection, the surgical robot in the second facility B2 is operated by the doctor-side operation device in the second facility B2. When the remote mode is selected from the mode selection, the doctor-side operation device in the second facility B2 functions as an instructor-side operation device, and the surgical robot in the first facility B1 may be operated by the doctor-side operation device in the second facility B2.

[0076] [Aspect] Those skilled in the art will understand that the above-described exemplary embodiments are specific examples of the following aspects.

[0077] (Item 1) A first manipulator that is installed in a first facility and holds an endoscope, and a second manipulator that holds a surgical instrument, An operation device for a doctor, which is installed in the first facility and used by a doctor to operate the first manipulator and the second manipulator, and An operation device for a supervisor doctor, which is installed in a second facility different from the first facility and used by the supervisor doctor to operate the first manipulator and the second manipulator via an external network, and One or more control devices, The operation device for the doctor A first sensor for detecting whether the operation device for the doctor is in a use state, and A first display device for displaying an endoscopic image acquired by the endoscope, and A first switching device that receives an operation of the doctor and outputs a first command for switching an operation right between the operation device for the supervisor doctor and the operation device for the doctor, The operation device for the supervisor doctor A second sensor for detecting whether the operation device for the supervisor doctor is in a use state, and A second display device for displaying the endoscopic image transmitted via the external network, and A second switching device that receives an operation of the supervisor doctor and outputs a second command for switching an operation right between the operation device for the doctor and the operation device for the supervisor doctor, The one or more control devices When the operation device for the doctor has an operation right and is not detected as being in a use state by the first sensor, it is configured to switch the operation right from the operation device for the doctor to the operation device for the supervisor doctor based on the second command output from the second switching device, When the operation device for the doctor has an operation right and is detected as being in a use state by the first sensor and the second command is output from the second switching device, it is configured not to perform switching of the operation right. A remote surgery support system.

[0078] (Item 2) The one or more control devices When the instructor-side operating device has the operation right and it is not detected by the second sensor that it is in a used state, it is configured to switch the operation right from the instructor-side operating device to the doctor-side operating device based on the first command output from the first switching device. The remote surgical support system according to item 1, wherein when the instructor-side operating device has the operation right and it is detected by the second sensor that it is in a used state, and when the first command is output from the first switching device, it is configured not to perform the switching of the operation right.

[0079] (Item 3) When the instructor-side operating device has the operation right, the one or more control devices are configured to display the detection result detected by the second sensor on the first display device of the doctor-side operating device, and when the doctor-side operating device has the operation right, to display the detection result detected by the first sensor on the second display device of the instructor-side operating device. The remote surgical support system according to item 1 or item 2.

[0080] (Item 4) When the instructor-side operating device has the operation right, the one or more control devices are configured to display on the first display device of the doctor-side operating device whether it is switchable based on the detection result detected by the second sensor, and when the doctor-side operating device has the operation right, to display on the second display device of the instructor-side operating device whether it is switchable based on the detection result detected by the first sensor. The remote surgical support system according to any one of items 1 to 3.

[0081] (Item 5) When the one or more control devices determine that the doctor-side operating device has the operation right, the first display device and the second display device display first information indicating that the doctor-side operating device has the operation right. When the instructor doctor-side operating device has the operation right, the first display device and the second display device display second information indicating that the instructor doctor-side operating device has the operation right. The remote surgery support system according to any one of Items 1 to 4, which is configured as described above.

[0082] (Item 6) The one or more control devices When the doctor-side operating device has the operation right and it is not detected by the second sensor that the device is in use, the operation right is configured to be switched from the doctor-side operating device to the instructor doctor-side operating device based on the first command output from the first switching device. When the instructor doctor-side operating device has the operation right and it is not detected by the first sensor that the device is in use, the operation right is configured to be switched from the instructor doctor-side operating device to the doctor-side operating device based on the second command output from the second switching device. The remote surgery support system according to any one of Items 1 to 5, which is configured as described above.

[0083] (Item 7) The first display device includes an immersive display device. The first sensor is configured to detect whether the doctor has his / her head in the first display device as the usage state of the doctor-side operating device. The second display device includes an immersive display device. The second sensor is configured to detect whether the instructor doctor has his / her head in the second display device as the usage state of the instructor doctor-side operating device. The remote surgery support system according to any one of Items 1 to 6, which is configured as described above.

[0084] (Item 8) The doctor-side operating device includes a first voice communication device for the doctor to have voice communication with the instructor doctor. The remote surgery support system according to any one of Items 1 to 7, wherein the instructor-side operation device includes a second voice communication device for the instructor to perform voice communication with the doctor.

[0085] (Item 9) An information sharing device that is arranged in the first facility, includes a third display device and a third voice communication device, and is arranged closer to the first manipulator and the second manipulator than the doctor-side operation device. The third display device is configured to display the endoscopic image acquired by the endoscope. The remote surgery support system according to Item 8, wherein the third voice communication device is configured to perform voice communication with the first voice communication device and the second voice communication device.

[0086] (Item 10) When the operation authority is switched from the instructor-side operation device to the doctor-side operation device, or when the operation authority is switched from the doctor-side operation device to the instructor-side operation device, the one or more control devices are configured to notify the instructor-side operation device and the doctor-side operation device of the operation authority switch. The remote surgery support system according to any one of Items 1 to 9.

[0087] (Item 11) The doctor-side operation device includes a first armrest. The first switching device includes a first switching switch arranged on the first armrest. The instructor-side operation device includes a second armrest. The second switching device includes a second switching switch arranged on the second armrest. The remote surgery support system according to any one of Items 1 to 10.

[0088] (Item 12) The doctor-side operation device includes a first operation device for the doctor to operate the second manipulator. The instructor-side operating device includes a second operating device for the instructor to operate the second manipulator. The one or more control devices After the operation authority is switched from the instructor-side operating device to the doctor-side operating device, when it is detected by the first sensor that it is in a used state, when the first operating device receives a predetermined operation, the first operating device is configured to start operating the second manipulator. The remote surgery support system according to any one of items 1 to 11, wherein after the operation authority is switched from the doctor-side operating device to the instructor-side operating device, when it is detected by the second sensor that it is in a used state, when the second operating device receives a predetermined operation, the second operating device is configured to start operating the second manipulator.

[0089] (Item 13) The doctor-side operating device includes a first operating device for the doctor to operate the first manipulator or the second manipulator. The instructor-side operating device includes a second operating device for the instructor to operate the first manipulator or the second manipulator. The one or more control devices are configured to control such that when the instructor-side operating device has the operation authority, the operation of the first operating device is possible, but the first manipulator and the second manipulator do not operate by the operation of the first operating device. The remote surgery support system according to any one of items 1 to 12.

[0090] (Item 14) Further provided with a third manipulator for holding a surgical instrument and a fourth manipulator for holding a surgical instrument, installed in the first facility. The doctor-side operating device is configured to operate the first manipulator, the second manipulator, the third manipulator, and the fourth manipulator. The guiding doctor side operating device is configured to operate the first manipulator, the second manipulator, the third manipulator, and the fourth manipulator via the external network, and the remote surgery support system according to any one of items 1 to 13.

[0091] (Item 15) The one or more control devices set the operation right for operating the first manipulator and the second manipulator in the doctor side operating device by initial setting, and the remote surgery support system according to any one of items 1 to 14.

[0092] (Item 16) The first network device installed in the first facility, The first remote unit installed in the first facility, connected to the first network device, and converting communication data into a format that can be communicated via the network, The connection unit installed in the first facility, to which the first remote unit, the doctor side operating device, the first manipulator, and the second manipulator are connected, The second network device installed in the second facility and communicating with the first network device via the external network, The second remote unit installed in the second facility, connected to the guiding doctor side operating device and the second network device, and converting communication data into a format that can be communicated via the network, and the remote surgery support system according to any one of items 1 to 15.

[0093] (Item 17) The one or more control devices include a GUI generation control device installed in the first facility and generating a GUI to be superimposed on the endoscopic image, and the first manipulator and the second manipulator are connected to the connection unit via the GUI generation control device, and the remote surgery support system according to item 16.

Description of reference numerals

[0094] 1: Surgical robot, 2: Physician-side operating device, 3: Instructor doctor-side operating device, 4: Information sharing device (GUI generation control device), 5: Endoscope, 6: Surgical instrument, 7: Dual unit (connection unit), 11: Manipulator arm (first manipulator), 12: Manipulator arm (second manipulator, third manipulator, fourth manipulator), 16: Control device (one or more control devices), 21: Operating handle (first operating device), 24: Scope-type display device (first display device), 25: Armrest (first armrest), 26: Voice communication device (first voice communication device), 27: Sensor (first sensor), 28: Control device (one or more control devices), 31: Operating handle (second operating device), 34: Scope-type display device (second display device), 35: Armrest (second armrest), 36: Voice communication device (second voice communication device), 37: Sensor (second sensor), 38: Control device (one or more control devices), 41: Display device (third display device), 42: Voice communication device (third voice communication device), 43: Control device (one or more control devices), 51: Network device (first network device), 52: Network device (second network device), 61: Remote unit (first remote unit), 62: Remote unit (second remote unit), 100: Remote surgery support system, 251: Switch (first switching device, first switch), 351: Switch (second switching device, second switch), A1: Physician, A2: Instructor doctor, B1: First facility, B2: Second facility, N: External network

Claims

1. A first manipulator installed in the first facility for holding an endoscope and a second manipulator for holding a surgical instrument, A doctor-side operation device installed in the first facility for a doctor to operate the first manipulator and the second manipulator, An instructor-side operation device installed in a second facility different from the first facility for an instructor to operate the first manipulator and the second manipulator via an external network, One or more control devices, The doctor-side operation device, A first sensor for detecting whether the doctor-side operation device is in a used state, A first display device for displaying an endoscope image acquired by the endoscope, A first switching device that receives an operation of the doctor and outputs a first command for switching the operation right between the instructor-side operation device and the doctor-side operation device, The instructor-side operation device, A second sensor for detecting whether the instructor-side operation device is in a used state, A second display device for displaying the endoscope image transmitted via the external network, A second switching device that receives an operation of the instructor and outputs a second command for switching the operation right between the doctor-side operation device and the instructor-side operation device, The one or more control devices, When the doctor-side operation device has the operation right and it is not detected by the first sensor that it is in a used state, it is configured to switch the operation right from the doctor-side operation device to the instructor-side operation device based on the second command output from the second switching device, A remote surgery support system configured not to switch the operation right when the doctor-side operation device has the operation right, it is detected by the first sensor that it is in a used state, and the second command is output from the second switching device.

2. The one or more control devices, When the instructor-side operation device has the operation right and it is not detected by the second sensor that it is in a used state, it is configured to switch the operation right from the instructor-side operation device to the doctor-side operation device based on the first command output from the first switching device, The remote surgical support system according to claim 1, wherein the instructor-side operation device has the operation right, the second sensor has detected that it is in a used state, and when the first command is output from the first switching device, it is configured not to switch the operation right.

3. When the instructor-side operation device has the operation right, the one or more control devices are configured to display the detection result detected by the second sensor on the first display device of the doctor-side operation device, and when the doctor-side operation device has the operation right, the detection result detected by the first sensor is displayed on the second display device of the instructor-side operation device. The remote surgical support system according to claim 1.

4. When the instructor-side operation device has the operation right, the one or more control devices are configured to display on the first display device of the doctor-side operation device whether switching is possible based on the detection result detected by the second sensor, and when the doctor-side operation device has the operation right, whether switching is possible based on the detection result detected by the first sensor is displayed on the second display device of the instructor-side operation device. The remote surgical support system according to claim 1.

5. When the doctor-side operation device has the operation right, the one or more control devices are configured to display first information indicating that the doctor-side operation device has the operation right on the first display device and the second display device, and when the instructor-side operation device has the operation right, second information indicating that the instructor-side operation device has the operation right is displayed on the first display device and the second display device. The remote surgical support system according to claim 1.

6. The one or more control devices are configured to switch the operation right from the doctor-side operation device to the instructor-side operation device based on the first command output from the first switching device when the doctor-side operation device has the operation right and the second sensor has not detected that it is in a used state, and configured to switch the operation right from the instructor-side operation device to the doctor-side operation device based on the second command output from the second switching device when the instructor-side operation device has the operation right and the first sensor has not detected that it is in a used state. The remote surgical support system according to claim 1.

7. The first display device includes an immersive display device. The first sensor is configured to detect whether the doctor has his / her head in the first display device as the usage state of the doctor-side operating device. The second display device includes an immersive display device. The second sensor is configured to detect whether the instructor doctor has his / her head in the second display device as the usage state of the instructor doctor-side operating device. The remote surgical support system according to claim 1.

8. The doctor-side operating device includes a first voice communication device for the doctor to perform voice communication with the instructor doctor. The instructor doctor-side operating device includes a second voice communication device for the instructor doctor to perform voice communication with the doctor. The remote surgical support system according to claim 1.

9. An information sharing device is further provided, which is arranged at the first facility, includes a third display device and a third voice communication device, and is arranged closer to the first manipulator and the second manipulator than the doctor-side operating device. The third display device is configured to display the endoscopic image acquired by the endoscope. The third voice communication device is configured to perform voice communication with the first voice communication device and the second voice communication device. The remote surgical support system according to claim 8.

10. When the operation authority is switched from the instructor doctor-side operating device to the doctor-side operating device, or when the operation authority is switched from the doctor-side operating device to the instructor doctor-side operating device, the one or more control devices are configured to notify the instructor doctor-side operating device and the doctor-side operating device of the operation authority switch. The remote surgical support system according to claim 1.

11. The doctor-side operating device includes a first armrest. The first switching device includes a first switching switch arranged on the first armrest. The instructor doctor-side operating device includes a second armrest. The second switching device includes a second switching switch arranged on the second armrest. The remote surgical support system according to claim 1.

12. The doctor-side operating device includes a first operating device for the doctor to operate the second manipulator. The instructor doctor-side operating device includes a second operating device for the instructor doctor to operate the second manipulator. The one or more control devices After the operation right is switched from the instructor doctor side operation device to the doctor side operation device, when it is detected by the first sensor that it is in a use state, the first operation device starts operating the second manipulator in response to receiving a predetermined operation. The remote surgery support system according to claim 1, wherein after the operation right is switched from the doctor side operation device to the instructor doctor side operation device, when it is detected by the second sensor that it is in a use state, the second operation device starts operating the second manipulator in response to receiving a predetermined operation.

13. The doctor side operation device includes a first operation device for the doctor to operate the first manipulator or the second manipulator. The instructor doctor side operation device includes a second operation device for the instructor doctor to operate the first manipulator or the second manipulator. The remote surgery support system according to claim 1, wherein when the instructor doctor side operation device has the operation right, the one or more control devices are configured to enable the operation of the first operation device, but control so that the first manipulator and the second manipulator do not operate by the operation of the first operation device.

14. Further includes a third manipulator installed in the first facility and holding a surgical instrument and a fourth manipulator holding a surgical instrument. The doctor side operation device is configured to operate the first manipulator, the second manipulator, the third manipulator, and the fourth manipulator. The remote surgery support system according to claim 1, wherein the instructor doctor side operation device is configured to operate the first manipulator, the second manipulator, the third manipulator, and the fourth manipulator via the external network.

15. The remote surgery support system according to claim 1, wherein the one or more control devices set the operation right for operating the first manipulator and the second manipulator to the doctor side operation device in the initial setting.

16. A first network device installed in the first facility; A first remote unit installed in the first facility, connected to the first network device, and converting communication data into a format that can be communicated via the network. A connection unit installed in the first facility, to which the first remote unit, the doctor-side operating device, the first manipulator, and the second manipulator are connected; A second network device installed in the second facility and communicating with the first network device via the external network; A second remote unit installed in the second facility, connected to the instructor doctor-side operating device and the second network device, and converting communication data into a format that can be communicated via the network. The remote surgical support system according to claim 1, comprising:

17. The one or more control devices include a GUI generation control device that is installed in the first facility and generates a GUI to be superimposed on the endoscopic image, and the first manipulator and the second manipulator are connected to the connection unit via the GUI generation control device. The remote surgical support system according to claim 16.

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