Surgery support system and method for controlling the surgery support system

Abstract

To provide a surgery support system that enables the posture of a robot arm to follow an operation through an operation unit even when the operation causes rotation speeds of joint axes to exceed a limit value.SOLUTION: In a surgery support system 100, a control device 130 scales rotation speeds of a plurality of joints axes of a robot arm 60 such that the rotation speeds of the plurality of joint axes are equal to or lower than a limit value with respect to a received operation amount.SELECTED DRAWING: Figure 20

Description

Technical Field

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

Background Art

[0002] Conventionally, a surgical support system including a master handle that receives an operation by an operator has been known. In Patent Document 1, when a surgeon moves the master handle, an end effector attached to a robotic arm moves. In Patent Document 1, scaling is performed so that the movement amount of the end effector is smaller than the movement amount of the master handle moved by the surgeon. Specifically, when the surgeon moves the master handle, the control device calculates a difference value between the position of the master handle after movement and the position of the master handle before movement. Then, the control device multiplies the calculated difference value by a scale factor. The scale factor is smaller than 1. The control device moves the end effector based on the difference value multiplied by the scale factor. Since the scale factor is smaller than 1, the movement amount of the end effector is smaller than the movement amount of the surgeon's master handle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, in a conventional surgical support system such as Patent Document 1, when a surgeon moves the master handle, the rotational speed of the motors included in the plurality of joint axes of the robotic arm may exceed the limit value of the motors. In this case, if a limit is applied only to the motors whose rotational speed exceeds the limit value so that the rotational speed becomes equal to or lower than the limit value, the balance of the rotational amounts of the plurality of joint axes is disrupted, and there is a problem that the posture of the robotic arm cannot follow the operation of the master handle.

[0005] This disclosure has been made to solve the above-described problems, and one object of this disclosure is to provide a surgical support system and a control method for a surgical support system that can cause the posture of the robotic arm to follow the operation of the operation unit even when an operation is performed such that the rotational speed of the joint axis exceeds the limit value.

Means for Solving the Problems

[0006] To achieve the above object, a surgical support system according to a first aspect of this disclosure includes a patient-side device including a robotic arm to which a surgical instrument is attached at its tip, an operator-side device including an operation unit that receives an operation amount for the surgical instrument, and a control device that controls the surgical instrument based on the received operation amount. The control device scales the rotational speeds of the plurality of joint axes of the robotic arm at a predetermined ratio so that the rotational speeds of the plurality of joint axes are equal to or lower than the limit value with respect to the received operation amount. Among them, at least the translational component for the translational movement of the surgical instrument and the rotational component for the rotation of the surgical instrument With respect to the received operation amount, the rotational speeds of the plurality of joint axes of the robotic arm are scaled at a predetermined ratio so that the rotational speeds of the plurality of joint axes are equal to or lower than the limit value. is performed, and the rotation angles of the joint axes of the robotic arm are calculated by performing inverse kinematics calculations on the translational component and the rotational component after scaling .

[0007] In the surgical support robot according to the first aspect of this disclosure, as described above, the control device scales the rotational speeds of the plurality of joint axes of the robotic arm at a ratio so that the rotational speeds of the plurality of joint axes are equal to or lower than the limit value with respect to the received operation amount. predetermined By doing so, since the rotational speeds of the plurality of joint axes of the robotic arm are similarly scaled, it is possible to suppress the disruption of the balance of the rotational amounts of the plurality of joint axes. Therefore, even when an operation is performed such that the rotational speed of the joint axis exceeds the limit value, the posture of the robotic arm can follow the operation of the operation unit.

[0008] A control method for a surgery assistance system according to a second aspect of the present disclosure is a control method for a surgery assistance system including a patient-side device including a robot arm having a surgical instrument attached to a tip thereof, an operator-side device including an operation unit that receives an operation amount for the surgical instrument, and a control device that controls the surgical instrument based on the received operation amount, Among them, at least the translational component for the translational movement of the surgical instrument and the rotational component for the rotation of the surgical instrument , the ratio of the rotation speed at which the rotation speed of the multiple joint axes of the robot arm becomes equal to or less than the limit value is calculated, and the rotation speeds of the multiple joint axes are scaled by a predetermined ratio. is performed, and the rotation angles of the joint axes of the robotic arm are calculated by performing inverse kinematics calculations on the translational component and the rotational component after scaling .

[0009] As described above, a control method for a surgery assistance system according to a second aspect of this disclosure calculates a ratio of rotational speeds at which the rotational speeds of multiple joint axes of a robot arm are equal to or less than a limit value for a received operation amount, and scales the rotational speeds of the multiple joint axes by a predetermined ratio. This scales the rotational speeds of the multiple joint axes of the robot arm in the same manner, thereby preventing imbalance in the rotational amounts of the multiple joint axes. Therefore, a control method for a surgery assistance system can be provided that can cause the posture of the robot arm to follow the operation of the operation unit, even when an operation is performed that causes the rotational speed of the joint axis to exceed the limit value. The surgical support system according to the third aspect of this disclosure includes a patient-side device including a robotic arm having a surgical instrument attached to its tip, an operator-side device including an operation unit that receives an operation amount for the surgical instrument, and a control device that controls the surgical instrument based on the received operation amount. The control device scales the rotational speeds of a plurality of joint axes of the robotic arm at a predetermined ratio so that the rotational speeds of the plurality of joint axes are equal to or lower than a limit value for at least the translational component among the translational component for the translational movement of the surgical instrument and the rotational component for the rotation of the surgical instrument in the received operation amount. The control method of the surgical support system according to the fourth aspect of this disclosure is a control method of a surgical support system including a patient-side device including a robotic arm having a surgical instrument attached to its tip, an operator-side device including an operation unit that receives an operation amount for the surgical instrument, and a control device that controls the surgical instrument based on the received operation amount. For at least the translational component among the translational component for the translational movement of the surgical instrument and the rotational component for the rotation of the surgical instrument in the received operation amount, a ratio of the rotational speed at which the rotational speeds of a plurality of joint axes of the robotic arm are equal to or lower than a limit value is calculated, and the rotational speeds of the plurality of joint axes are scaled at a predetermined ratio. [Effects of the Invention]

[0010] According to the present disclosure, even when an operation is performed that causes the rotation speed of the joint axis to exceed a limit value, the posture of the robot arm can be made to follow the operation of the operation unit. [Brief explanation of the drawings]

[0011]

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Embodiments for Carrying Out the Invention

[0012] Hereinafter, embodiments embodying the present disclosure will be described with reference to the drawings.

[0013] [First Embodiment] With reference to FIGS. 1 to 24, the configuration of the surgical support system 100 according to the first embodiment will be described. The surgical support system 100 includes a medical manipulator 1 which is a patient P-side device, and a remote operation device 2 which is an operator-side device for operating the medical manipulator 1. The medical manipulator 1 includes a medical cart 3 and is configured to be movable. The remote operation device 2 is 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. An operator such as a doctor inputs a command for causing the medical manipulator 1 to perform a desired operation to the remote operation device 2. The remote operation device 2 transmits the input command to the medical manipulator 1. The medical manipulator 1 operates based on the received command. Further, the medical manipulator 1 is disposed in an operating room which is a sterilized sterile field.

[0014] The remote operation device 2 is disposed, for example, inside or outside the operating room. The remote operation device 2 includes an operation unit 120 including an arm 121 and an operation handle 21 shown in FIG. 3, a foot pedal 22, a touch panel 23, a monitor 24, a support arm 25, and a support bar 26. The operation unit 120 constitutes an operation handle for an operator such as a doctor to input commands.

[0015] Also, as shown in FIG. 3, the operation unit 120 includes an operation unit 120L disposed on the left side and operated by the left hand of the operator, and an operation unit 120R disposed on the right side and operated by the right hand of the operator, as viewed from an operator such as a doctor. Note that the configurations of the operation unit 120L and the operation unit 120R are the same.

[0016] The operation unit 120 includes a substantially L-shaped arm 121. The arm 121 has a first link portion 121a, a second link portion 121b, and a third link portion 121c. The upper end side of the first link portion 121a is attached to the main body of the remote operation device 2 so as to be rotatable about an A1 axis along the vertical direction. The upper end side of the second link portion 121b is attached to the lower end side of the first link portion 121a so as to be rotatable about an A2 axis along the horizontal direction. One end side of the third link portion 121c is attached to the lower end side of the second link portion 121b so as to be rotatable about an A3 axis along the horizontal direction. An operation handle 21 is attached to the other end side of the third link portion 121c so as to be rotatable about an A4 axis.

[0017] The arm 121 supports the operation handle 21 so as to be movable within a predetermined three-dimensional operation range. Specifically, the arm 121 supports the operation handle 21 so as to be movable in the vertical direction, the left-right direction, and the front-back direction. The robot arm 60 is moved three-dimensionally so as to correspond to the three-dimensional operation of the arm 121.

[0018] The operating handle 21 is configured to operate the surgical instrument 4. The operating handle 21 also receives an operating amount for the surgical instrument 4. The operating handle 21 includes an operating handle 21L that is located on the left side as viewed from an operator such as a doctor and is operated with the operator's left hand, and an operating handle 21R that is located on the right side and is operated with the operator's right hand.

[0019] 4, the operating handle 21 includes link portions 21a, 21b, 21c, and link portion 21d that is operated by an operator such as a doctor. Link portion 21a rotates around the A4 axis. Link portion 21b rotates around the A5 axis relative to link portion 21a. Link portion 21c rotates around the A6 axis relative to link portion 21b. Link portion 21d rotates around the A7 axis relative to link portion 21c.

[0020] Furthermore, a pair of grip members 21f are provided on link portion 21d of operating handle 21, and cylindrical finger insertion portions 21e are provided on grip member 21f. The operator inserts his or her fingers into pair of finger insertion portions 21e to operate operating handle 21. The base ends of each of pair of grip members 21f are rotatably connected to link portion 21d, and by increasing or decreasing the angle between pair of grip members 21f, the opening angle between jaw member 104a and jaw member 104b, which will be described later, can be changed.

[0021] Furthermore, the operating handle 21 changes the amount of movement of the robot arm 60 and the surgical instrument 4 in response to the amount of operation received by the operating handle 21. This change is called scaling. For example, if the magnification of the amount of movement is set to 1 / 2, the surgical instrument 4 is controlled to move a distance that is 1 / 2 of the movement distance of the operating handle 21. This allows delicate surgery to be performed accurately.

[0022] As shown in FIG. 5, a plurality of foot pedals 22 are provided to execute functions related to the surgical instrument 4. The plurality of foot pedals 22 are arranged on the base portion 28. The foot pedal 22 includes a switching pedal 22a, a clutch pedal 22b, a camera pedal 22c, an incision pedal 22d, and a coagulation pedal 22e. The switching pedal 22a, the clutch pedal 22b, the camera pedal 22c, the incision pedal 22d, and the coagulation pedal 22e are operated by the operator's foot. The incision pedal 22d includes an incision pedal 22dR for the right robot arm 60 and an incision pedal 22dL for the left robot arm 60. The coagulation pedal 22e includes a coagulation pedal 22eR for the right robot arm 60 and a coagulation pedal 22eL for the left robot arm 60.

[0023] The switching pedal 22a is configured to switch the robot arm 60 operated by the operation handle 21. In the first embodiment, the clutch pedal 22b is configured to execute a clutch operation for temporarily disconnecting the operation connection between the robot arm 60 and the operation handle 21. While the clutch pedal 22b is depressed by the operator, the operation by the operation handle 21 is not transmitted to the robot arm 60. While the camera pedal 22c is depressed by the operator, the operation handle 21 can operate the robot arm 60 to which the endoscope 6 is attached. While the incision pedal 22d or the coagulation pedal 22e is depressed by the operator, the electrosurgical device is activated.

[0024] As shown in FIG. 1, the monitor 24 is a scope-type display device for displaying images captured by the endoscope 6. The support arm 25 supports the monitor 24 so that the height of the monitor 24 matches the height of the face of an operator such as a doctor. The touch panel 23 is arranged on the support bar 26. When a sensor provided near the monitor 24 detects the head of the operator, the medical manipulator 1 can be operated by the remote control device 2. While visually recognizing the affected part by the monitor 24, the operator operates the operation handle 21 and the foot pedal 22. Thereby, a command is input to the remote control device 2. The command input to the remote control device 2 is transmitted to the medical manipulator 1.

[0025] 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 robot arms 60 mainly for preparing for surgery before the operation.

[0026] The medical manipulator 1 shown in FIGS. 1 and 2 is arranged in the operating room. The medical manipulator 1 includes a medical cart 3, a positioner 40, an arm base 50, and a plurality of robot arms 60. The arm base 50 is attached to the tip of the positioner 40. The arm base 50 has a relatively long rod shape. That is, the arm base 50 has an elongated shape. In addition, the base ends of the respective robot arms 60 of the plurality of robot arms 60 are attached to the arm base 50. The plurality of robot arms 60 are configured to be able to take a folded storage posture. The arm base 50 and the plurality of robot arms 60 are covered with a sterilization drape and used. Also, the robot arm 60 supports the surgical instrument 4.

[0027] The positioner 40 is constituted by, for example, a 7-axis articulated robot. Also, the positioner 40 is arranged on the medical cart 3. The positioner 40 moves the arm base 50. Specifically, the positioner 40 is configured to move the position of the arm base 50 three-dimensionally.

[0028] The positioner 40 also 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.

[0029] As shown in FIG. 1, a surgical instrument 4 is attached to the tip of each of the plurality of robot arms 60. The surgical instrument 4 includes, for example, a replaceable instrument, an endoscope 6 shown in FIG. 10 for capturing an image of the surgical site, and the like.

[0030] As shown in FIG. 6, the instrument is provided with a driven unit 4a driven by a servo motor M2 provided in a holder 71 of the robot arm 60. Also, forceps 4b are provided at the tip of the instrument. In addition to the forceps 4b, at the tip of the instrument, as instruments having joints, scissors, forceps, needle holders, micro dissectors, staple applicators, tackers, suction and cleaning tools, snare wires, and clip applicators are arranged. Also, at the tip of the instrument, as instruments having no joints, cutting blades, cautery probes, cleaners, catheters, and suction orifices are arranged. The surgical instrument 4 also includes a shaft 4c that connects the driven unit 4a and the forceps 4b. The driven unit 4a, the shaft 4c, and the forceps 4b are arranged along the Z direction.

[0031] Also, as shown in FIG. 7, the instrument includes a first support 4e that rotatably supports the proximal ends of the jaw members 104a and 104b around the JT11 axis at the distal end, a second support 4f that rotatably supports the proximal end of the first support 4e around the JT10 axis at the distal end, and a shaft 4c connected to the proximal end of the second support 4f. The driven unit 4a, the shaft 4c, the second support 4f, the first support 4e, and the forceps 4b are arranged along the Z direction. The JT11 axis is orthogonal to the Z direction in which the shaft 4c extends. Also, the JT10 axis is spaced from the JT11 axis in the direction in which the shaft 4c extends and is orthogonal to the direction in which the shaft 4c extends and the JT11 axis. Note that the jaw members 104a and 104b are examples of a first jaw member and a second jaw member, respectively. Also, the JT10 axis is an example of a wrist joint that bends a jaw provided on the distal end side of the shaft 4c.

[0032] The forceps 4b is attached to the first support 4e so as to rotate around the axis of the JT11 axis. Also, the second support 4f rotatably supports the first support 4e about the JT10 axis. That is, the first support 4e is attached to the second support 4f so as to rotate around the axis of the JT10 axis. Also, the portion on the Z1 direction side, which is the distal end side of the first support 4e, has a U shape. A TCP1 as a tool center point is set at the center of the JT11 axis of the U-shaped distal end portion of the first support 4e.

[0033] Also, the forceps 4b as the surgical instrument 4 includes a JT9 axis as the rotation axis of the shaft 4c and a JT12 axis as the opening and closing axis of the jaw members 104a and 104b. Note that the rotation axis of the shaft 4c is an axis along the direction in which the shaft 4c extends. A plurality of servo motors M2 are provided on the holder 71 of the robot arm 60, and the rotating body of the driven unit 4a is driven by the plurality of servo motors M2. Thereby, the surgical instrument 4 is driven around the J9 axis to J12 axes. Note that, for example, four servo motors M2 are provided.

[0034] Also, as shown in FIG. 10, the TCP2 of the endoscope 6 is set at the tip of the endoscope 6.

[0035] Also, as shown in FIG. 8, a display unit 33a is arranged on the medical cart 3. The display unit 33a is arranged in the input device 33 of the medical cart 3. Near the display unit 33a of the medical cart 3, a joystick 33b for operating the movement of the positioner 40 is arranged. By selecting the operation mode displayed on the display unit 33a and operating the joystick 33b, the positioner 40 can be operated three-dimensionally. Then, during roll-in, when the joystick 33b is operated, the positioner 40 is moved so that the arm base 50 moves on a two-dimensional plane.

[0036] Also, near the joystick 33b of the medical cart 3, an enable switch 33c for permitting or not permitting the movement of the positioner 40 is arranged. Then, when the enable switch 33c is pressed and the movement of the positioner 40 is permitted and the joystick 33b is operated, the positioner 40 is moved. Specifically, the enable switch 33c is arranged in the input device 33 below the display unit 33a and adjacent to the joystick 33b.

[0037] The medical cart 3 includes an operation handle 35 that receives steering by an operator. Then, the medical cart 3 moves the robot main body 1a based on the received steering. The operation handle 35 is disposed near the display unit 33a of the medical cart 3. The operation handle 35 has a throttle portion 35a that is grasped and rotated by an operator such as a nurse or a technician to operate the movement of the medical cart 3. Specifically, the operation handle 35 is disposed below the input device 33. The throttle portion 35a is disposed on one side of the operation handle 35. When the throttle portion 35a is rotated from the front side to the back side, the medical cart 3 moves forward. When the throttle portion 35a is rotated from the back side to the front side, the medical cart 3 moves backward. Also, the speed of the medical cart 3 is changed according to the amount of rotation of the throttle portion 35a. The operation handle 35 is configured to be rotatable left and right in the R direction, and the medical cart 3 rotates as the operation handle 35 rotates.

[0038] An enable switch 35b for permitting or not permitting the movement of the medical cart 3 is disposed on the operation handle 35 of the medical cart 3. When the enable switch 35b is pressed and the movement of the medical cart 3 is permitted, and the throttle portion 35a of the operation handle 35 is operated, the medical cart 3 is moved.

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

[0040] As shown in FIG. 6, the robot arm 60 includes an arm portion 61 and a translational movement mechanism portion 70 provided at the tip of the arm portion 61. The arm portion 61 includes a base portion 62, a link portion 63, and a joint portion 64. The translational movement mechanism portion 70 includes a base-end side link portion 72 connected to the tip of the arm portion 61, a tip-end side link portion 73, and a connecting link portion 74 provided between the base-end side link portion 72 and the tip-end side link portion 73. The robot arm 60 is configured to move the tip side three-dimensionally with respect to the arm base 50 on the base side of the robot arm 60. Further, the arm portion 61 is composed of a 7-axis articulated robot arm. Note that the plurality of robot arms 60 have the same configuration as each other.

[0041] As shown in FIG. 6, the robot arm 60 includes rotation axes JT1 to JT7 and a linear movement axis J8. The JT1 to JT7 axes correspond to the rotation axes of the joint portion 64 of the arm portion 61. Further, the JT7 axis corresponds to the base-end side link portion 72 of the translational movement mechanism portion 70. The JT8 axis corresponds to an axis for relatively moving the tip-end side link portion 73 of the translational movement mechanism portion 70 along the Z direction with respect to the base-end side link portion 72. That is, the servo motor M1 shown in FIG. 15 is provided so as to correspond to the JT1 to JT7 axes of the robot arm 60. Further, the servo motor M3 is provided so as to correspond to the JT8 axis.

[0042] The translational movement mechanism portion 70 is provided at the tip of the arm portion 61 and the surgical instrument 4 is attached thereto. Further, the translational movement mechanism portion 70 moves translationally in the direction in which the surgical instrument 4 is inserted into the patient P. Further, the translational movement mechanism portion 70 is configured to move the surgical instrument 4 translationally relative to the arm portion 61. Specifically, a holder 71 for holding the surgical instrument 4 is provided in the translational movement mechanism portion 70. A servo motor M2 shown in FIG. 15 is housed in the holder 71.

[0043] As shown in FIG. 9, the medical manipulator 1 is attached to the robot arm 60 and includes an operation unit 80 that operates the robot arm 60. The operation unit 80 includes an enable switch 81, a joystick 82, and a switch unit 83. The enable switch 81 permits or prohibits the movement of the robot arm 60 by the joystick 82 and the switch unit 83. Also, when an operator such as a nurse or an assistant grips and presses the operation unit 80, the enable switch 81 permits the movement of the surgical instrument 4 by the robot arm 60.

[0044] The switch unit 83 includes a switch unit 83a that moves the surgical instrument 4 in the direction of inserting the surgical instrument 4 along the longitudinal direction of the surgical instrument 4 into the patient P, and a switch unit 83b that moves the surgical instrument 4 in the direction opposite to the direction of inserting the surgical instrument 4 into the patient P. Both the switch unit 83a and the switch unit 83b are composed of push-button switches.

[0045] As shown in FIG. 9, the operation unit 80 includes a pivot button 85 that teaches the pivot position PP that becomes the fulcrum shown in FIG. 13 of the movement of the surgical instrument 4 attached to the robot arm 60. The pivot button 85 is provided on the surface 80b of the operation unit 80 so as to be adjacent to the enable switch 81. Then, with the tip of the endoscope 6 shown in FIG. 10 or the pivot position teaching instrument 7 shown in FIG. 11 moved to a position corresponding to the insertion position of the trocar T inserted into the body surface S of the patient P, when the pivot button 85 is pressed, the pivot position PP is taught and stored in the storage unit 32. In the teaching of the pivot position PP, the pivot position PP is set as one point, and the teaching of the pivot position PP does not set the direction of the surgical instrument 4.

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

[0047] As shown in FIG. 9, an adjustment button 86 for optimizing the position of the robot arm 60 is provided on the surface 80b of the operation unit 80. After teaching the pivot position PP for the robot arm 60 to which the endoscope 6 is attached, by pressing the adjustment button 86, the positions of the other robot arms 60 and the arm base 50 are optimized.

[0048] As shown in FIG. 9, the operation unit 80 includes a mode switching button 84 for switching between a mode of linearly moving the surgical instrument 4 attached to the robot arm 60 as shown in FIG. 12 and a mode of rotationally moving the surgical instrument 4 as shown in FIG. 13. Also, a mode indicator 84a is provided near the mode switching button 84. The mode indicator 84a displays the switched mode. Specifically, when the mode indicator 84a is lit, it represents the rotational movement mode, and when it is turned off, it represents the linear movement mode.

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

[0050] As shown in FIG. 12, in the mode of translating the robotic arm 60, the robotic arm 60 is moved so that the tip 4d of the surgical instrument 4 moves on the X-Y plane. Further, as shown in FIG. 13, in the mode of rotating the robotic arm 60, when the pivot position PP is not taught, the robotic arm 60 rotates about the forceps 4b, and when the pivot position PP is taught, the robotic arm 60 is moved so that the surgical instrument 4 rotates about the pivot position PP as a fulcrum. Note that the surgical instrument 4 is rotated with the shaft 4c of the surgical instrument 4 inserted into the trocar T.

[0051] As shown in FIG. 14, the surgical support system 100 includes a control device 130 that controls the entire surgical support system 100. The control device 130 is disposed inside the medical manipulator 1. An arm control unit 31a for controlling the robotic arm 60 is disposed on the robotic arm 60. The arm control unit 31a is disposed on each of the plurality of robotic arms 60. A positioner 40 and a positioner control unit 31b for controlling the medical cart 3 are disposed on the medical cart 3. An operation control unit 110 for controlling the operation unit 120 is disposed on the operation unit 120. The operation control unit 110 is disposed on each of the operation unit 120L and the operation unit 120R. The control device 130 communicates with each of the positioner control unit 31b, the arm control unit 31a, and the operation control unit 110. The control device 130 controls each of the positioner control unit 31b, the arm control unit 31a, and the operation control unit 110.

[0052] As shown in FIG. 15, the arm portion 61 is provided with a plurality of servo motors M1, an encoder E1, and a speed reducer so as to correspond to the plurality of joint portions 64. The encoder E1 is configured to detect the rotation angle of the servo motor M1. The speed reducer is configured to reduce the rotation of the servo motor M1 and increase the torque.

[0053] A servo control unit C1 for controlling the servo motor M1 is arranged on the robot arm 60. Also, an encoder E1 for detecting the rotation angle of the servo motor M1 is electrically connected to the servo control unit C1.

[0054] As shown in FIG. 15, the translational movement mechanism portion 70 is provided with a servo motor M2 for rotating a rotating body provided in the driven unit 4a of the surgical instrument 4, a servo motor M3 for translating the surgical instrument 4, encoders E2 and E3, and a speed reducer. The encoders E2 and E3 are each configured to detect the rotation angle of the servo motor M2 and the servo motor M3. The speed reducer is configured to reduce the rotation of the servo motor M2 and the servo motor M3 and increase the torque.

[0055] A servo control unit C2 for controlling the servo motor M2 that drives the surgical instrument 4 is arranged on the robot arm 60. Also, an encoder E2 for detecting the rotation angle of the servo motor M2 is electrically connected to the servo control unit C2. Also, a servo control unit C3 for controlling the servo motor M3 that translates the translational movement mechanism portion 70 is arranged on the robot arm 60. Also, an encoder E3 for detecting the rotation angle of the servo motor M3 is electrically connected to the servo control unit C3.

[0056] The operation amount received by the operation unit 120 of the remote operation device 2 is input to the control device 130 via the operation control unit 110. Based on the received operation amount and the rotation angles detected by the encoders E1 to E3, the control device 130 generates a position command for driving the robot arm 60 and the surgical instrument 4. The generated position command is input to the servo control units C1 to C3 via the arm control unit 31a. Based on the position command input from the control device 130 via the arm control unit 31a and the rotation angles detected by the encoders E1 to E3, the servo control units C1 to C3 generate a current command and output the current command to the servo motors M1 to M3. Thereby, the robot arm 60 is moved along the operation received by the operation unit 120 of the remote operation device 2.

[0057] As shown in FIG. 14, the control device 130 is configured to operate the robot arm 60 based on the operation received by the joystick 82 of the operation unit 80. Specifically, the arm control unit 31a outputs the input signal input from the joystick 82 to the control device 130. Based on the received input signal and the rotation angle detected by the encoder E1, the control device 130 generates a position command and outputs the position command to the servo control unit C1 via the arm control unit 31a. Based on the position command input from the arm control unit 31a and the rotation angle detected by the encoder E1, the servo control unit C1 generates a current command and outputs the current command to the servo motor M1. Thereby, the robot arm 60 is moved along the operation command input to the joystick 82.

[0058] The control device 130 operates the robot arm 60 based on the input signal from the switch unit 83 of the operation unit 80. Specifically, the arm control unit 31a outputs the input signal input from the switch unit 83 to the control device 130. The control device 130 generates a position command based on the received input signal and the rotation angle detected by the encoder E1 or E3, and outputs the position command to the servo control unit C1 or C3 via the arm control unit 31a. The servo control unit C1 or C3 generates a current command based on the position command input from the arm control unit 31a and the rotation angle detected by the encoder E1 or E3, and outputs the current command to the servo motor M1 or M3. As a result, the robot arm 60 is moved along the operation command input to the switch unit 83.

[0059] As shown in FIG. 16, the positioner 40 is provided with a plurality of servo motors M4, an encoder E4, and a speed reducer so as to correspond to a plurality of joint portions 43 of the positioner 40. The encoder E4 is configured to detect the rotation angle of the servo motor M4. The speed reducer is configured to reduce the rotation of the servo motor M4 and increase the torque.

[0060] The medical cart 3 has front wheels as drive wheels and rear wheels that are steered by an operation handle 35. The rear wheels are arranged closer to the operation handle 35 than the front wheels. Also, on the medical cart 3, a servo motor M5 that drives each of the plurality of front wheels of the medical cart 3, an encoder E5, a speed reducer, and a brake are arranged. The speed reducer is configured to reduce the rotation of the servo motor M5 and increase the torque. Also, a potentiometer P1 shown in FIG. 8 is arranged on the operation handle 35 of the medical cart 3, and based on the rotation angle detected by the potentiometer P1 according to the twist of the throttle portion 35a, the servo motor M5 of the front wheels is driven. Also, the rear wheels of the medical cart 3 are of a double-wheel type, and based on the left and right rotation of the operation handle 35, the rear wheels are steered. Also, a potentiometer P2 shown in FIG. 2 is arranged on the operation handle 35 of the medical cart 3, and a servo motor M5a, an encoder E5a, and a speed reducer are arranged on the rear wheels of the medical cart 3. The speed reducer is configured to reduce the rotation of the servo motor M5a and increase the torque. Based on the rotation angle detected by the potentiometer P2 according to the left and right rotation of the operation handle 35, the servo motor M6 is driven. That is, the steering of the rear wheels 3b by the left and right rotation of the operation handle 35 is configured to be power-assisted by the servo motor M5a.

[0061] The medical cart 3 moves in the front-rear direction by driving the front wheels. Also, when the operation handle 35 of the medical cart 3 is rotated, the rear wheels are steered and the medical cart 3 rotates in the left-right direction.

[0062] As shown in FIG. 16, a servo control unit C4 for controlling a servo motor M4 that moves the positioner 40 is disposed in the positioner 40. An encoder E4 for detecting the rotation angle of the servo motor M4 is electrically connected to the servo control unit C4. Further, a servo control unit C5 for controlling a servo motor M5 that drives the front wheels of the medical cart 3 is disposed in the medical cart 3. An encoder E5 for detecting the rotation angle of the servo motor M5 is electrically connected to the servo control unit C5. A servo control unit C5a for controlling a servo motor M5a that power-assists the steering of the rear wheels of the medical cart 3 is disposed. An encoder E5a for detecting the rotation angle of the servo motor M5a is electrically connected to the servo control unit C5a.

[0063] As shown in FIG. 14, operation information regarding setting of the preparation position and the like is input from the input device 33 to the control device 130 via the positioner control unit 31b. The control device 130 generates a position command based on the operation information input from the input device 33 and the rotation angle detected by the encoder E4, and outputs the position command to the servo control unit C4 via the positioner control unit 31b. The servo control unit C4 generates a current command based on the position command input from the positioner control unit 31b and the rotation angle detected by the encoder E4, and outputs the current command to the servo motor M4. Thereby, the positioner 40 is moved along with the operation command input to the input device 33. Similarly, based on the operation information from the input device 33, the control device 130 moves the medical cart 3.

[0064] As shown in FIG. 17, the remote control device 2 includes an operation control unit 110. The operation unit 120 is provided with servo control units C6a to C6g for controlling servo motors M6a to M6g provided corresponding to axes A1 to A7 which are the rotation axes of the operation unit 120 including the arm 121 and the operation handle 21. Further, encoders E6a to E6g for detecting the rotation angles of the servo motors M6a to M6g are electrically connected to the servo control units C6a to C6g. Note that the servo motors M6a to M6g, the servo control units C6a to C6g, and the encoders E6a to E6g are provided in the operation unit 120L and the operation unit 120R, respectively.

[0065] The control device 130 controls the servo motors M6a to M6g via the operation control unit 110 so as to generate a torque that cancels the gravitational torque generated on the rotation axes A1 to A7 of the servo motors M6a to M6g according to the posture of the operation unit 120. Thereby, the operator can operate the operation unit 120 with a relatively small force.

[0066] The control device 130 controls the servo motors M6a to M6g via the operation control unit 110 so as to generate a torque on the rotation axes A1 to A7 of the servo motors M6a to M6g according to the operation of the operation unit 120 and assist the operation of the operator. Thereby, the operator can operate the operation unit 120 with a relatively small force.

[0067] As shown in the left figure of FIG. 18, when the operator inserts fingers into the pair of finger insertion portions 21e of the grip member 21f and translates the operation handle 21, as shown in the left figure of FIG. 19, the surgical instrument 4 translates. That is, the postures of the joe members 104a and 104b do not change, and the positions of the proximal ends of the joe members 104a and 104b translate. The position of the proximal end is the JT11 axis. Further, the joe members 104a and 104b translate with the pivot position PP as a fulcrum. Further, the robot arm 60 and the shaft 4c move so that the joe members 104a and 104b translate with the pivot position PP as a fulcrum.

[0068] As shown in the central figure of FIG. 18, when the operator inserts fingers into the pair of finger insertion portions 21e of the grip member 21f and rotates and moves the operation handle 21, as shown in the central figure of FIG. 19, the surgical instrument 4 causes the joystick members 104a and 104b to rotate. Further, the joystick members 104a and 104b rotate about the pivot position PP. Further, the robot arm 60 and the shaft 4c move so that the joystick members 104a and 104b rotate about the pivot position PP.

[0069] Also, as shown in the right figures of FIGS. 18 and 19, both translational movement and rotation may be performed by a single operation.

[0070] Next, the control of the control device 130 when the operation unit 120 receives an operation by the operator will be described. Note that the control of the control device 130 described below is similarly performed for any of the robot arms 60, namely, the robot arm 60c with the endoscope 6 attached to the tip, and the robot arms 60a, 60b, and 60d with surgical instruments 4 other than the endoscope 6 attached to the tip. The same applies to the driving of the surgical instrument 4.

[0071] As shown in FIG. 20, an operation by the operator is received by the operation unit 120. Thereby, a homogeneous transformation matrix corresponding to the received operation is generated. The homogeneous transformation matrix consists of a 4×4 matrix. The homogeneous transformation matrix includes a translation component for the translational movement of the surgical instrument 4 and a rotation component for the rotation of the surgical instrument 4. The control device 130 calculates the difference between the current position of the surgical instrument 4 and the target position received by the operation unit 120. Note that the position corresponds to the translation component of the homogeneous transformation matrix. The control device 130 calculates the difference between the current posture of the surgical instrument 4 and the target posture received by the operation unit 120. Note that the posture corresponds to the rotation component of the homogeneous transformation matrix. The control device 130 calculates a target homogeneous transformation matrix based on the calculated difference value. That is, the homogeneous transformation matrix is updated. The control device 130 performs inverse kinematics calculation on the updated homogeneous transformation matrix. The control device 130 calculates the rotation angle of the joint axis for the robot arm 60 and the surgical instrument 4 by the inverse kinematics calculation. In this way, the control device 130 controls the translational movement and rotation of the surgical instrument 4 based on the received operation amount.

[0072] Here, in the first embodiment, the remote operation device 2 receives an operator-set scaling value for the translational movement of the surgical instrument 4 by the operator. For example, the operator-set scaling value is received by the touch panel 23 of the remote operation device 2. The control device 130 performs operator-set scaling on the translation component of the operation received by the operation unit 120. Here, the operator-set scaling means moving the surgical instrument 4 by multiplying the operation amount by which the operator operates the operation unit 120 by the ratio corresponding to the operator-set scaling value. For example, when the operator-set scaling value is set to 3:1, if the operation amount of the operator is 3, the surgical instrument 4 is translated by 1. The operator-set scaling is not performed on the rotation component. Note that the touch panel 23 is an example of a reception unit. Also, the operator-set scaling is an example of the second scaling.

[0073] The remote control device 2 accepts operator-set scaling values for the robot arms 60a, 60b, and 60d to which surgical instruments 4 other than the endoscope 6 are attached. In the first embodiment, when an operator-set scaling value for one of the robot arms 60a, 60b, and 60d is accepted by the remote control device 2, the control device 130 changes the operator-set scaling value for the robot arm 60c to which the endoscope 6 is attached in conjunction with the accepted operator-set scaling value. For example, when an operator-set scaling value of 3:1 is accepted for one of the robot arms 60a, 60b, and 60d, an operator-set scaling value of 3:1 is automatically set for the robot arm 60c.

[0074] In the first embodiment, when an operation to increase the operator-defined scaling value for one of the robot arms 60a, 60b, and 60d is accepted from the remote operation device 2, the control device 130 increases the operator-defined scaling value for the robot arm 60c. For example, when a change to increase the operator-defined scaling value for one of the robot arms 60a, 60b, and 60d from 3:1 to 2:1 is accepted, the control device 130 automatically increases the operator-defined scaling value for the robot arm 60c from 3:1 to 2.3:1. Furthermore, when a change to increase the operator-defined scaling value for one of the robot arms 60a, 60b, and 60d from 2:1 to 1.5:1 is accepted, the control device 130 automatically increases the operator-defined scaling value for the robot arm 60c from 2.3:1 to 2:1.

[0075] Here, in the first embodiment, the control device 130 performs translational scaling on at least the translational movement component among the received operation amounts of the translational movement component and the rotational component of the surgical instrument 4. Specifically, in the first embodiment, the control device 130 performs translational scaling on the translational movement component and rotational scaling on the rotational component. The control device 130 performs translational scaling on the translational movement component of the surgical instrument 4 with respect to the translational movement component on which the operator-set scaling has been performed. The control device 130 performs only rotational scaling on the rotation of the surgical instrument 4. Note that translational scaling and rotational scaling are an example of first scaling.

[0076] In the first embodiment, the control device 130 performs translational scaling and rotational scaling so that the rotational speeds of the joint axes of the robot arm 60 and the surgical instrument 4 are equal to or lower than the limit value. Note that when the rotational speeds of the joint axes of the robot arm 60 and the surgical instrument 4 are less than the limit value, the control device 130 does not perform translational scaling and rotational scaling. The control device 130 performs only the operator-set scaling described later. A detailed description of translational scaling and rotational scaling will be given later. Note that the joint axes of the surgical instrument 4 mean a plurality of joint axes of the surgical instrument 4 including the roll rotation axis of the shaft 4c and the JT10 axis which is the rotation axis of the wrist joint.

[0077] In the first embodiment, the control device 130 scales the rotational speeds of the plurality of joint axes of the robot arm 60 and the surgical instrument 4 by a ratio so that the rotational speeds of the plurality of joint axes are equal to or lower than the limit value with respect to the received operation amount. predetermined Specifically, the control device 130 scales the rotational speeds of the plurality of joint axes of the robot arm 60 and the surgical instrument 4 by the same ratio for translational and rotational scaling so that the rotational speeds of the plurality of joint axes are equal to or lower than the limit value with respect to the received operation amount. That is, translational and rotational scaling are performed using the same translational and rotational scaling values for the plurality of joint axes on which translational and rotational scaling are performed.

[0078] In the first embodiment, the control device 130 performs the first translational scaling on the translational movement component using the translational scaling value used in the previous control cycle. Further, the control device 130 performs the first rotational scaling on the rotational component using the rotational scaling value used in the previous control cycle. Thereby, the first update of the homogeneous transformation matrix is performed. Then, the control device 130 calculates the rotation angles of the joint axes of the robot arm 60 and the surgical instrument 4 by performing the first inverse kinematics calculation on the translational movement component after the translational scaling and the rotational component after the rotational scaling. The control device 130 updates the translational scaling value and the rotational scaling value so that the rotational speed of the joint axis of the robot arm 60 is equal to or lower than the limit value. The control device 130 performs the second translational scaling using the updated translational scaling value and the second rotational scaling using the updated rotational scaling value. Thereby, the second update of the homogeneous transformation matrix is performed. Thereafter, the control device 130 calculates the rotation angles of the joint axes of the robot arm 60 and the surgical instrument 4 by performing the second inverse kinematics calculation on the translational movement component and the rotational component. Since the translational scaling value and the rotational scaling value are automatically adjusted by the control device 130, they cannot be adjusted by the operation of the operator. Note that the unit delay in FIG. 20 means using the translational and rotational scaling values used in the previous control cycle. Note that the initial values of the translational scaling value and the rotational scaling value are set to 1. However, it is not limited to this as long as it is a positive value.

[0079] (Translational Scaling) As shown in FIG. 21, the control device 130 calculates the translational movement component to be used in the current control cycle by linearly interpolating the translational movement component used in the previous control cycle and the translational movement component corresponding to the operation amount received by the operation unit 120 based on the translational scaling value. Thereby, translational scaling is performed. In the first translational scaling, the translational scaling value used in the previous control cycle is used. In the second translational scaling, a translational scaling value updated so that the rotational speed of the joint axis of the robot arm 60 is equal to or lower than the limit value is used.

[0080] Even when translational scaling is performed, the moving direction of the surgical instrument 4 does not change, but the moving amount of the surgical instrument 4 becomes smaller than the operation amount of the operator with respect to the operation unit 120. On the other hand, since operator setting scaling is also performed on the translational movement component of the surgical instrument 4, even if the moving amount of the surgical instrument 4 decreases due to translational scaling, the discomfort of the operator is small.

[0081] (Rotational Scaling) As shown in FIG. 22, the control device 130 calculates the rotation component to be used in the current control cycle by performing spherical linear interpolation that interpolates along the spherical surface the rotation component used in the previous control cycle and the rotation component corresponding to the operation amount received by the operation unit 120 based on the rotational scaling value. Thereby, rotational scaling is performed. In the first rotational scaling, the rotational scaling value used in the previous control cycle is used. In the second rotational scaling, a rotational scaling value updated so that the rotational speed of the joint axis of the robot arm 60 is equal to or lower than the limit value is used.

[0082] Even if the rotational speed of the joint axes of the robotic arm 60 is limited to a value equal to or lower than the limit value by rotational scaling, the surgical instrument 4 does not rotate immediately after the limitation of the rotational speed as if it were received by the operation unit 120. The surgical instrument 4 gradually rotates from immediately after the limitation of the rotational speed so as to catch up with the received operation. The surgical instrument 4 finally rotates so as to correspond to the received operation. Since it is important that the posture of the surgical instrument 4 becomes the posture intended by the operator, it is important for the surgical instrument 4 to finally assume a posture corresponding to the received operation. Note that the posture is the direction in which the forceps 4b or scissors as the surgical instrument 4 faces.

[0083] (Update of translational scaling value and rotational scaling value) With reference to FIG. 23, the update of the translational scaling value and the rotational scaling value will be described. In step S1, the control device 130 performs first translational scaling on the translational movement component using the previous translational scaling value, and performs first rotational scaling on the rotational component using the rotational scaling value used in the previous control cycle. Then, the control device 130 calculates the rotation angles of the joint axes of the robotic arm 60 and the surgical instrument 4 by performing first inverse kinematics calculation on the homogeneous transformation matrix on which the first translational scaling and the first rotational scaling have been performed.

[0084] In the first embodiment, in step S2, the control device 130 calculates the rotation angles of a plurality of joint axes of the robotic arm 60 and the surgical instrument 4. The control device 130 calculates the rotational speed of each of the plurality of joint axes based on the rotation angle of each of the plurality of joint axes. The control device 130 calculates the absolute value of the ratio of the calculated rotational speed of each axis to the limit value for each axis. The control device 130 sets the maximum value among the calculated absolute values of the ratios for each axis as max_speed_ratio.

[0085] In step S3, the control device 130 determines whether or not the maximum rotational speed among the rotational speeds of the plurality of joint axes is equal to or higher than the limit value. Specifically, the control device 130 determines whether or not max_speed_ratio is 1 or more.

[0086] In the case of yes in step S3, proceed to step S4. That is, when the maximum rotation speed among the rotation speeds of the plurality of joint axes is greater than or equal to the limit value, in step S4, the control device 130 changes the translational scaling value and the rotational scaling value so that they become smaller. Specifically, in the first embodiment, the control device 130 sets the value obtained by dividing the translational scaling value used in the previous control cycle by the value based on the maximum rotation speed as the changed translational scaling value. The control device 130 sets the value obtained by dividing the rotational scaling value used in the previous control cycle by the value based on the maximum rotation speed as the changed rotational scaling value. Specifically, the control device 130 sets the value obtained by dividing the previous translational scaling value by max_speed_ratio as the updated translational scaling value. The control device 130 sets the value obtained by dividing the previous rotational scaling value by max_speed_ratio as the updated rotational scaling value. Then, proceed to step S6.

[0087] In the case of "no" in step S3, the process proceeds to step S5. That is, when the maximum rotational speed among the rotational speeds of the plurality of joint axes is smaller than the limit value, the control device 130 changes the translational scaling value and the rotational scaling value so that the translational scaling value and the rotational scaling value become larger. Specifically, in the first embodiment, the control device 130 multiplies the translational scaling value used in the previous control cycle by the smaller of the value obtained by dividing the translational scaling value used in the previous control cycle by the value based on the maximum rotational speed and a predetermined value greater than 1 preset, and sets the result as the changed translational scaling value. The control device 130 multiplies the rotational scaling value used in the previous control cycle by the smaller of the value obtained by dividing the rotational scaling value used in the previous control cycle by the value based on the maximum rotational speed and a predetermined value greater than 1 preset, and sets the result as the changed rotational scaling value. Specifically, the control device 130 multiplies the translational scaling value used in the previous control cycle by the smaller of the value obtained by dividing the translational scaling value used in the previous control cycle by max_speed_ratio and 1 + SCALING_ADJUSTMENT_RATIO, and sets the result as the changed translational scaling value. The control device 130 multiplies the rotational scaling value used in the previous control cycle by the smaller of the value obtained by dividing the rotational scaling value used in the previous control cycle by max_speed_ratio and 1 + SCALING_ADJUSTMENT_RATIO, and sets the result as the changed rotational scaling value. SCALING_ADJUSTMENT_RATIO is, for example, 0.03.

[0088] Next, in step S6, the control device 130 performs the second translational scaling based on the updated translational scaling value and performs the second rotational scaling based on the updated rotational scaling value. Then, the control device 130 performs the second inverse kinematics calculation on the translational movement component subjected to the second translational scaling and the rotational component subjected to the second rotational scaling.

[0089] Next, in step S7, the control device 130 calculates the rotation angles of the joint axes of the robot arm 60 and the surgical instrument 4. Also, the translational scaling and the rotational scaling are performed using the same algorithm shown in steps S1 to S7 above.

[0090] (Joints axes subject to translational and rotational scaling) In the first embodiment, for the robot arms 60a, 60b, and 60d to which the surgical instrument 4 other than the endoscope 6 is attached at the tip, the control device 130 performs translational scaling and rotational scaling on a plurality of joint axes other than the joint axes related to the opening and closing of the jaw members 104a and 104b of the surgical instrument 4. The joint axes related to the opening and closing of the jaw members 104a and 104b are the JT11 axis and the JT12 axis. Also, the plurality of joint axes other than the joint axes related to the opening and closing of the jaw members 104a and 104b are the JT1 axis to the JT10 axis.

[0091] In the first embodiment, as shown in FIG. 24, for the robot arms 60a, 60b, and 60d to which the surgical instrument 4 other than the endoscope 6 is attached at the tip, the control device 130, in addition to a plurality of joint axes other than the joint axes related to the opening and closing of the jaw members 104a and 104b of the surgical instrument 4, performs translational scaling and rotational scaling on a virtual axis B around which the surgical instrument 4 rotates. Note that the predetermined point is the point where the straight line L1 along the direction in which the shaft 4c extends and the straight line L2 along the vertical direction intersect. That is, when the surgical instrument 4 moves so as to rotate around the axis B, the control device 130 performs translational scaling and rotational scaling so that the rotation speed of the joint axes of the robot arm 60 and the surgical instrument 4 becomes equal to or lower than the limit value. That is, translational scaling and rotational scaling are performed so that the angular velocity of the angle θ formed by the straight line L1 and the straight line L2 becomes equal to or lower than the limit value.

[0092] For the robot arm 60c to which the endoscope 6 is attached at the tip, the control device 130 performs translational scaling and rotational scaling on the JT1 axis to the JT9 axis and the virtual axis B.

[0093] By operating the operation unit 80 attached to the robot arm 60, the operator can move the robot arm 60 and the surgical instrument 4 so as to approach a specific posture. Note that the specific posture is a posture in which the robot arm 60 and the surgical instrument 4 cannot be controlled. For example, a posture in which the robot arm 60 and the surgical instrument 4 are fully extended is a specific posture. When the robot arm 60 and the surgical instrument 4 approach the specific posture, the rotational speed of the joint axis rapidly increases. On the other hand, by performing translational scaling and rotational scaling, a rapid increase in the rotational speed of the joint axis can be suppressed.

[0094] Next, with reference to FIG. 25, a control method of the surgical support system 100 will be described.

[0095] In step S11, an operation is received by the operation unit 120.

[0096] In step S12, the control device 130 performs operator-set scaling on the translational movement component of the homogeneous transformation matrix corresponding to the operation amount of the received operation. Note that the operator-set scaling value has been received in advance by the touch panel 23 of the remote operation device 2.

[0097] In step S13, the control device 130 performs first translational scaling on the translational movement component and the rotational component of the homogeneous transformation matrix after the operator-set scaling is performed, using the previous translational scaling value, and performs first rotational scaling using the previous rotational scaling value.

[0098] In step S14, the control device 130 performs first inverse kinematics calculation on the homogeneous transformation matrix after the first translational scaling and the first rotational scaling to calculate the rotation angles of the joint axes of the robot arm 60 and the surgical instrument 4.

[0099] In step S15, the control device 130 updates the translational scaling value and the rotational scaling value so that the rotational speeds of the joint axes of the robotic arm 60 and the surgical instrument 4 are equal to or lower than the limit value.

[0100] In step S16, the control device 130 performs a second translational scaling on the translational movement component and the rotational component of the homogeneous transformation matrix using the updated translational scaling value, and performs a second rotational scaling using the updated rotational scaling value.

[0101] In step S17, the control device 130 calculates the rotation angles of the joint axes of the robotic arm 60 and the surgical instrument 4 by performing an inverse kinematics calculation for the second time on the homogeneous transformation matrix after the second translational scaling and the second rotational scaling. The operations in steps S11 to S17 are repeated for each control cycle.

[0102] [Effects of the First Embodiment] In the first embodiment, the following effects can be obtained.

[0103] In the first embodiment, as described above, the control device 130 scales the rotational speeds of the plurality of joint axes of the robotic arm 60 and the surgical instrument 4 in proportion to the received operation amount so that the rotational speeds of the plurality of joint axes are equal to or lower than the limit value. predetermined Thereby, since the rotational speeds of the plurality of joint axes of the robotic arm 60 and the surgical instrument 4 are similarly translated and scaled, it is possible to suppress the imbalance of the rotation amounts of the plurality of joint axes. Therefore, even when an operation is performed such that the rotational speed of the joint axis exceeds the limit value, the postures of the robotic arm 60 and the surgical instrument 4 can be made to follow the operation of the operation unit 120. rotation scaled, it is possible to suppress the imbalance of the rotation amounts of the plurality of joint axes. Therefore, even when an operation is performed such that the rotational speed of the joint axis exceeds the limit value, the postures of the robotic arm 60 and the surgical instrument 4 can be made to follow the operation of the operation unit 120.

[0104] In the first embodiment, as described above, the control device 130 performs translational and rotational scaling of the rotational speeds of the plurality of joint axes of the robotic arm 60 and the surgical instrument 4 at the same ratio so that the rotational speeds of the plurality of joint axes are equal to or lower than the limit value with respect to the received operation amount. Thereby, it is possible to further suppress the imbalance of the rotation amounts of the plurality of joint axes.

[0105] In the first embodiment, as described above, the control device 130 performs translational and rotational scaling on at least the translational component for the translational movement of the surgical instrument 4 and the rotational component for the rotation of the surgical instrument 4 among the received operation amounts so that the rotational speeds of the plurality of joint axes of the robotic arm 60 and the surgical instrument 4 are equal to or lower than the limit value, and performs inverse kinematics calculation on the translational component and the rotational component after performing the translational and rotational scaling, thereby calculating the rotation angles of the joint axes of the robotic arm and the surgical instrument. Here, when the rotation angle is corrected so that the rotation speed becomes equal to or lower than the limit value after calculating the rotation angles of the joint axes of the robotic arm 60 and the surgical instrument 4, the movement trajectory of the surgical instrument 4 may deviate from the trajectory intended by the operator. For example, when the surgical instrument 4 is being translated, the direction of the translational movement may be obliquely shifted due to the limitation of the rotation speed. In addition, in the surgical support system, the robotic arm 60 is driven so that the surgical instrument 4 rotates about a preset pivot position PP. However, the surgical instrument 4 may rotate about a position shifted from the pivot position PP due to the limitation of the rotation speed. Therefore, as described above, by performing inverse kinematics calculation on the translational component and the rotational component after performing translational and rotational scaling, the rotation angles of the joint axes of the robotic arm 60 and the surgical instrument 4 are calculated, so that it is possible to suppress the movement trajectory of the surgical instrument 4 from deviating from the trajectory intended by the operator.

[0106] In the first embodiment, as described above, the control device 130 performs translational and rotational scaling using the translational and rotational scaling values used in the previous control cycle, and performs inverse kinematics calculations on the translational movement component and the rotational component after performing the translational and rotational scaling, thereby calculating the rotation angles of the joint axes of the robotic arm 60 and the surgical instrument 4. The translational and rotational scaling values are updated so that the rotational speeds of the joint axes of the robotic arm 60 and the surgical instrument 4 are equal to or less than the limit value, and inverse kinematics calculations are performed on the translational movement component and the rotational component after performing the translational and rotational scaling using the updated translational and rotational scaling values, thereby calculating the rotation angles of the joint axes of the robotic arm 60 and the surgical instrument 4. As a result, since the translational and rotational scaling values are updated so that the rotational speed of the joint axis is equal to or less than the limit value, it is possible to suppress the deviation of the movement trajectory of the surgical instrument 4 from the trajectory intended by the operator while suppressing the rotational speed of the joint axis from exceeding the limit value.

[0107] In the first embodiment, as described above, the control device 130 calculates the rotation angles of a plurality of joint axes, calculates the rotational speeds of each of the plurality of joint axes based on the rotation angles of each of the plurality of joint axes, and when the maximum rotational speed among the rotational speeds of each of the plurality of joint axes is equal to or greater than the limit value, the translational and rotational scaling values are changed so that the translational and rotational scaling values become smaller. As a result, since the translational and rotational scaling values are changed based on the maximum rotational speed, even when there are a plurality of joint axes whose rotational speeds are equal to or greater than the limit value, the rotational speeds of all the joint axes whose rotational speeds are equal to or greater than the limit value can be made smaller than the limit value.

[0108] In the first embodiment, as described above, the control device 130 sets the value obtained by dividing the translational and rotational scaling values used in the previous control cycle by the value based on the maximum rotational speed as the changed translational and rotational scaling values. As a result, since the changed translational and rotational scaling values become relatively small, it is possible to quickly suppress the rotational speed from becoming equal to or greater than the limit value.

[0109] In the first embodiment, as described above, when the maximum rotational speed among the rotational speeds of the plurality of joint axes is smaller than the limit value, the control device 130 changes the translational and rotational scaling values so that the translational and rotational scaling values increase. As a result, when the rotational speed does not exceed the limit value, translational and rotational scaling are performed so as to approach the received operation amount. Therefore, the movement amount of the surgical instrument 4 can be made to approach the operation amount of the operator's operation.

[0110] In the first embodiment, as described above, the control device 130 multiplies the translational and rotational scaling values used in the previous control cycle by the smaller of the value obtained by dividing the translational and rotational scaling values used in the previous control cycle by the value based on the maximum rotational speed and a predetermined value greater than 1 set in advance, and sets the result as the changed translational and rotational scaling values. Thereby, since the difference between the translational and rotational scaling values before and after the change becomes relatively small, the movement amount of the surgical instrument 4 can be smoothly brought closer to the operation amount of the operator's operation.

[0111] In the first embodiment, as described above, the control device 130 calculates the translational movement component to be used in the current control cycle by linearly interpolating between the translational movement component used in the previous control cycle and the translational movement component corresponding to the operation amount received by the operation handle 21 based on the changed translational and rotational scaling values. Thereby, since the translational movement component to be used in the current control cycle is calculated by relatively simple linear interpolation, the control burden on the control device 130 can be reduced.

[0112] In the first embodiment, as described above, the control device 130 calculates the rotational component to be used in the current control cycle by performing spherical linear interpolation that interpolates between the rotational component used in the previous control cycle and the rotational component corresponding to the operation amount received by the operation handle 21 along the spherical surface based on the changed translational and rotational scaling values. Thereby, since the rotational component to be used in the current control cycle is calculated by relatively simple spherical linear interpolation, the control burden on the control device 130 can be reduced.

[0113] In the first embodiment, as described above, the control device 130 performs translational and rotational scaling for both the translational movement component and the rotational component. In the surgical support system 100, when the distance between the pivot position PP and the tip of the surgical instrument 4 is small, the robotic arm 60 moves relatively largely in order to move the tip of the surgical instrument 4 by a desired distance. In such a case, since the rotational speed of the joint axis of the robotic arm 60 becomes relatively large, performing translational and rotational scaling for both the translational movement component and the rotational component is particularly effective in suppressing the rotational speed of the joint axis of the robotic arm 60 from becoming excessively large.

[0114] In the first embodiment, as described above, the control device 130 performs operator-set scaling for the translational movement component based on the received operator-set scaling value, and performs translational scaling for the translational movement component for which the operator-set scaling has been performed. Thereby, by changing the operator-set scaling value, it is possible to adjust the amount of movement of the translational movement of the surgical instrument 4 according to the preference of the operator.

[0115] In the first embodiment, as described above, when the control device 130 receives the operator-set scaling values for the robotic arms 60a, 60b, and 60d by the reception unit, the control device 130 changes the operator-set scaling value for the robotic arm 60c in conjunction with the received operator-set scaling values. Thereby, the operator-set scaling values for each of the robotic arm 60c and the robotic arms 60a, 60b, and 60d are changed in conjunction. For this reason, it is possible to suppress the deviation between the operating feeling of the operator with respect to the robotic arm 60c and the operating feeling of the operator with respect to the robotic arms 60a, 60b, and 60d.

[0116] In the first embodiment, as described above, when the control device 130 receives an operation to increase the operator setting scaling value for the robot arms 60a, 60b, and 60d by the reception unit, the control device 130 increases the operator setting scaling value for the robot arms 60a, 60b, and 60d. Thereby, the operator setting scaling values for the robot arm 60c and each of the robot arms 60a, 60b, and 60d are changed in conjunction with each other in the same direction. For this reason, it is possible to effectively suppress the divergence between the operation feeling of the operator with respect to the robot arm 60c and the operation feeling of the operator with respect to the robot arms 60a, 60b, and 60d.

[0117] In the first embodiment, as described above, the control device 130 performs translational and rotational scaling on a plurality of joint axes other than the joint axes related to the opening and closing of the jaw members 104a and 104b of the surgical instrument 4. Here, when translational and rotational scaling are performed due to the opening and closing of the jaw member 104a and the jaw member 104b, translational and rotational scaling may be performed unnecessarily on the operation of the robot arm 60. Therefore, in the first embodiment, by performing translational and rotational scaling on a plurality of joint axes other than the joint axes related to the opening and closing of the jaw members 104a and 104b of the surgical instrument 4, it is possible to suppress unnecessary translational and rotational scaling from being performed on the operation of the robot arm 60.

[0118] In the first embodiment, as described above, the control device 130 performs translational and rotational scaling on a virtual axis B around which the robot arm 60 and the surgical instrument 4 rotate. Thereby, it is possible to suppress the entire robot arm 60 from moving excessively fast with respect to the virtual axis B.

[0119] In the first embodiment, as described above, the predetermined point is the point where the straight line L1 along the direction in which the shaft 4c extends and the straight line L2 along the vertical direction intersect. Thereby, it is possible to suppress the robot arm 60 and the surgical instrument 4 from moving excessively fast around the point where the straight line L1 along the direction in which the shaft 4c extends and the straight line L2 along the vertical direction intersect.

[0120] [Second Embodiment] With reference to FIG. 26, the update of the translational scaling value and the rotational scaling value according to the second embodiment will be described.

[0121] As shown in FIG. 26, in step S21, the control device 130 performs the first translational scaling on the translational movement component using the previous translational scaling value, and performs the first rotational scaling on the rotational component using the rotational scaling value used in the previous control cycle. Then, the control device 130 calculates the rotation angles of the joint axes of the robot arm 60 and the surgical instrument 4 by performing the first inverse kinematics calculation on the homogeneous transformation matrix on which the first translational scaling and the first rotational scaling have been performed.

[0122] In step S22, the control device 130 calculates the rotation angles of the plurality of joint axes of the robot arm 60 and the surgical instrument 4. The control device 130 calculates the rotational speed of each of the plurality of joint axes based on the rotation angle of each of the plurality of joint axes. The control device 130 calculates the absolute value of the ratio of each axis of the calculated rotational speed to the limit value for each axis. The control device 130 sets the maximum value among the calculated absolute values of the ratios for each axis as max_speed_ratio.

[0123] In step S23, the control device 130 determines whether the maximum rotational speed among the rotational speeds of the plurality of joint axes is greater than the limit value. Specifically, the control device 130 determines whether max_speed_ratio is greater than 1.

[0124] If yes in step S23, proceed to step S24. The control device 130 sets the value obtained by multiplying the translational scaling value used in the previous control cycle by 1 - SCALING_ADJUSTMENT_RATIO as the changed translational scaling value. Also, the control device 130 sets the value obtained by multiplying the rotational scaling value used in the previous control cycle by 1 - SCALING_ADJUSTMENT_RATIO as the changed rotational scaling value. Next, proceed to step S25.

[0125] In step S25, the control device 130 performs translational scaling using the changed translational scaling value and performs the second inverse kinematics calculation on the homogeneous transformation matrix after performing rotational scaling using the changed rotational scaling value. Then, return to step S22.

[0126] If no in step S23, proceed to step S27. In step S27, the control device 130 determines whether max_speed_ratio is less than 1. If yes in step S27, proceed to step S26, and the control device 130 outputs the rotation angles of the joint axes of the robot arm 60 and the surgical instrument 4.

[0127] If yes in step S27, the control device 130 proceeds to step S28 and sets the value obtained by multiplying the translational scaling value used in the previous control cycle by 1 + SCALING_ADJUSTMENT_RATIO as the changed translational scaling value. Also, the control device 130 sets the value obtained by multiplying the rotational scaling value used in the previous control cycle by 1 + SCALING_ADJUSTMENT_RATIO as the changed rotational scaling value.

[0128] In step S29, if the changed translational scaling value is greater than the first reference value, the control device 130 sets the changed translational scaling to the first reference value. If the changed rotational scaling value is greater than the second reference value, the control device 130 sets the changed rotational scaling to the second reference value. The first reference value is a predetermined scaling reference value. The second reference value is 1. Thereafter, after proceeding to step S25, the process returns to step S22.

[0129] After the loops of steps S22, S23, S24, and S25, or the loops of S22, S23, S27, S28, S29, and S25 have been repeated SCALING_ADJUSTMENT_LOOPMAX times, the process proceeds to step S26, and the control device 130 outputs the rotation angles of the joint axes of the robot arm 60 and the surgical instrument 4. Note that SCALING_ADJUSTMENT_LOOPMAX is the number of times repeated within one cycle of the arithmetic operation of the control period of the control device 130. SCALING_ADJUSTMENT_LOOPMAX is, for example, 5 times. By repeatedly performing the above loop calculations, the rotational speed of the joint axis approaches the limit value within a range where it does not exceed the limit value. Also, the translational scaling and the rotational scaling are performed using the same algorithm shown in the above steps S21 to S29.

[0130] [Modification Example] It should be noted that the embodiments disclosed this time should be considered as illustrative in all respects and not restrictive. The scope of the present disclosure is indicated by the claims rather than the description of the above embodiments, and further includes all changes or modifications within the meaning and scope equivalent to the claims.

[0131] For example, in the above-described first and second embodiments, an example was shown in which the rotational angles of the joint axes of the robot arm 60 and the surgical instrument 4 are calculated by performing inverse kinematics calculations on the translational movement component and the rotational component after performing translational and rotational scaling. However, the present disclosure is not limited to this. As shown in FIG. 27, after performing the operator-set scaling, the homogeneous transformation matrix is updated. Then, the rotational angles of the plurality of joint axes of the robot arm 60 and the surgical instrument 4 are calculated. Thereafter, the rotational speeds of the plurality of joint axes may be scaled at the same ratio so that the rotational speeds of the plurality of joint axes of the robot arm 60 and the surgical instrument 4 are below the limit value. For example, assume that the maximum value of the rotational speeds of the plurality of joint axes with respect to the operation amount received by the operation unit 120 is 10. Assume that in order to make the rotational speed of the joint axis whose rotational speed was the maximum value below the limit value, the rotational speed of the joint axis was limited to a ratio of 8 / 10. In this case, the rotational speeds of the other joint axes are also scaled at a ratio of 8 / 10. Also, the joint axes that are subject to the rotational speed limit are, for example, the JT1 axis to the JT10 axis.

[0132] Also, in the above-described first and second embodiments, an example was shown in which operations such as translational scaling, rotational scaling, and inverse kinematics calculations are performed by the control device 130 that controls the entire surgical support system 100. However, the present disclosure is not limited to this. Operations such as translational scaling, rotational scaling, and inverse kinematics calculations may be performed by a control device other than the control device 130 that controls the entire surgical support system 100.

[0133] Also, in the above-described first and second embodiments, an example was shown in which the control device 130 is disposed inside the medical manipulator 1. However, the present disclosure is not limited to this. For example, the control device 130 may be disposed outside the medical manipulator 1.

[0134] Also, in the above-described first and second embodiments, an example was shown in which the control device 130 performs both translational scaling and rotational scaling. However, the present disclosure is not limited to this. For example, the control device 130 may perform only translational scaling.

[0135] In addition, in the first and second embodiments described above, an example in which translational scaling and rotational scaling are performed for a plurality of joint axes of the robotic arm 60 and the surgical instrument 4 has been shown. However, the present disclosure is not limited to this. For example, translational scaling and rotational scaling may be performed only for one joint axis among the plurality of joint axes of the robotic arm 60 and the surgical instrument 4.

[0136] In addition, in the first and second embodiments described above, an example in which the translational movement component used in the previous control cycle and the translational movement component corresponding to the operation amount received by the operation unit 120 are linearly interpolated has been shown. However, the present disclosure is not limited to this. The translational movement component used in the previous control cycle and the translational movement component corresponding to the operation amount received by the operation unit 120 may be interpolated by a method other than linear interpolation.

[0137] In addition, in the first and second embodiments described above, an example in which spherical linear interpolation is performed for the rotation component used in the previous control cycle and the rotation component corresponding to the operation amount received by the operation unit 120 has been shown. However, the present disclosure is not limited to this. For example, element interpolation of Euler angles may be performed on the rotation component used in the previous control cycle and the rotation component corresponding to the operation amount received by the operation unit 120. The Euler angles mean the rotation angles RX, RY, and RZ around the X-axis, Y-axis, and Z-axis, respectively. Element interpolation of Euler angles means performing spline interpolation of the rotation around each axis in the previous control cycle and the current control cycle. For example, for the robotic arm 60c to which the endoscope 6 is attached at the tip, the rotation angle of the joint may be calculated using the variables of RX, RY, RZ, and Z. The control device 130 interpolates the variables of RX, RY, RZ, and Z in the previous control cycle and the current control cycle for the robotic arm 60c. Thereby, the control device 130 calculates the rotation angle of the joint axis of the robotic arm 60c.

[0138] Furthermore, in the above first and second embodiments, examples have been shown in which the operator-set scaling values of the robot arms 60a, 60b, and 60d, to the distal end of which a surgical instrument 4 other than the endoscope 6 is attached, and the robot arm 60c, to the distal end of which an endoscope 6 is attached, are changed in conjunction with each other, but the present disclosure is not limited to this. For example, the operator-set scaling values of the robot arms 60a, 60b, and 60d, to the distal end of which a surgical instrument 4 other than the endoscope 6 is attached, and the operator-set scaling value of the robot arm 60c, to the distal end of which an endoscope 6 is attached, may be set separately.

[0139] Furthermore, in the above-described first and second embodiments, an example in which four robot arms 60 are provided is shown, but the present disclosure is not limited to this. In the present disclosure, the number of robot arms 60 may be any other number as long as there is at least one or more.

[0140] In the first and second embodiments, the arm unit 61 and the positioner 40 are configured as a seven-axis articulated robot, but the present disclosure is not limited to this. For example, the arm unit 61 and the positioner 40 may be configured as an articulated robot with an axis configuration other than a seven-axis articulated robot. An example of an axis configuration other than a seven-axis articulated robot is a six-axis or eight-axis robot.

[0141] In the first and second embodiments, the medical manipulator 1 includes the medical cart 3, the positioner 40, and the arm base 50. However, the present disclosure is not limited to this. For example, the medical cart 3, the positioner 40, and the arm base 50 are not necessarily required, and the medical manipulator 1 may include only the robot arm 60.

[0142] In the above-described first and second embodiments, the control device 130 has shown an example in which the rotational speeds of the plurality of joint axes are translated and rotationally scaled at the same ratio with respect to the received operation amount. However, the present disclosure is not limited to this. For example, the control device 130 may translate and rotationally scale the rotational speeds of the plurality of joint axes at a fixed ratio determined for each of the plurality of joint axes with respect to the received operation amount so as to suppress the imbalance of the rotation amounts of the plurality of joint axes.

[0143] The functions of the elements disclosed in this specification can be executed using a circuit or a processing circuit including a general-purpose processor, a dedicated processor, an integrated circuit, an ASIC (Application Specific Integrated Circuits), a conventional circuit, and / or a combination thereof that is configured or programmed to execute the disclosed functions. Since a processor includes transistors and other circuits, it is regarded as a processing circuit or a circuit. In the present disclosure, a circuit, a unit, or a means is hardware that executes the listed functions, or is hardware programmed to execute the listed functions. The hardware may be the hardware disclosed in this specification, or may be other known hardware that is programmed or configured to execute the listed functions. When the hardware is a processor considered to be a type of circuit, the circuit, the means, or the unit is a combination of hardware and software, and the software is used for the configuration of the hardware and / or the processor.

Explanation of Reference Numerals

[0144] 1 Medical Manipulator (Patient-Side Device) 2 Remote Operation Device (Operator-Side Device) 4 Surgical Instrument 4c Shaft 23 Touch Panel (Reception Unit) 60 Robot Arm 60a, 60b, 60d Robot Arm (Second Robot Arm) 60c Robot arm (first robot arm) 100 Surgical support system 104a Joe member (first Joe member) 104b Joe member (second Joe member) 120 Operation unit 130 Control device B Virtual axis L1 Straight line along the direction in which the shaft extends L2 Straight line along the vertical direction

Claims

1. A patient-side device including a robotic arm with a surgical instrument attached to its tip, An operator-side device including an operation unit that receives an operation amount for the surgical instrument, A control device that controls the surgical instrument based on the received operation amount, comprising: The control device, Among the received operation amounts, for at least the translational movement component for the translational movement of the surgical instrument and among the rotational components for the rotation of the surgical instrument, the rotational speeds of a plurality of joint axes of the robotic arm are scaled at a predetermined ratio so that they are below a limit value, A surgical support system that calculates the rotation angles of the joint axes of the robotic arm by performing inverse kinematics calculations on the translational movement component and the rotational component after the scaling.

2. The control device, For the received operation amount, the rotational speeds of a plurality of joint axes of the robotic arm are scaled at the same ratio so that they are below a limit value. The surgical support system according to Claim 1.

3. The control device, For at least the translational movement component among the translational movement component and the rotational component, perform first scaling using the first scaling value used in the previous control cycle, Calculate the rotation angles of the joint axes of the robotic arm by performing inverse kinematics calculations on the translational movement component and the rotational component after the first scaling, Update the first scaling value so that the rotational speeds of the joint axes of the robotic arm are below a limit value, Calculate the rotation angles of the joint axes of the robotic arm by performing inverse kinematics calculations on the translational movement component and the rotational component after performing the first scaling using the updated first scaling value. The surgical support system according to Claim 1.

4. The control device, Calculate the rotation angles of the plurality of joint axes, Calculate the rotational speed of each of the plurality of joint axes based on the rotation angle of each of the plurality of joint axes, When the maximum rotational speed among the rotational speeds of each of the plurality of joint axes is equal to or greater than the limit value, change the first scaling value so that the first scaling value becomes smaller. The surgical support system according to Claim 3.

5. The surgical support system according to claim 4, wherein the control device sets, as the changed first scaling value, a value obtained by dividing the first scaling value used in the previous control cycle by a value based on the maximum rotational speed.

6. The control device The surgical support system according to any one of claims 3 to 5, wherein when the maximum rotational speed among the rotational speeds of the plurality of joint axes is smaller than a limit value, the control device changes the first scaling value so that the first scaling value increases.

7. The surgical support system according to claim 6, wherein the control device sets, as the changed first scaling value, a value obtained by multiplying the first scaling value used in the previous control cycle by the smaller of a value obtained by dividing the first scaling value used in the previous control cycle by a value based on the maximum rotational speed and a predetermined value greater than 1 set in advance.

8. The surgical support system according to any one of claims 3 to 7, wherein the control device calculates the translational movement component to be used in the current control cycle by linearly interpolating the translational movement component used in the previous control cycle and the translational movement component corresponding to the operation amount received by the operation unit based on the changed first scaling value.

9. The surgical support system according to any one of claims 3 to 8, wherein the control device calculates the rotational component to be used in the current control cycle by performing spherical linear interpolation that interpolates, along a spherical surface, the rotational component used in the previous control cycle and the rotational component corresponding to the operation amount received by the operation unit based on the changed first scaling value.

10. The surgical instrument includes a shaft and a wrist joint that bends a jaw provided on the distal end side of the shaft. The control device performs the first scaling on at least the translational movement component of the plurality of joint axes of the surgical instrument including the roll rotation axis of the shaft and the rotation axis of the wrist joint, calculates the rotation angle of the joint axis of the surgical instrument by performing inverse kinematics calculation on the translational movement component and the rotational component after the first scaling, and updates the first scaling value so that the rotation speed of the joint axis of the surgical instrument is equal to or lower than a limit value. Performing inverse kinematics calculations on the translational component and the rotational component after performing the first scaling using the updated first scaling value to calculate the rotation angle of the joint axis of the surgical instrument, the surgical support system according to any one of claims 3 to 9.

11. The control device performs the first scaling on a virtual axis around which the surgical instrument rotates, the surgical support system according to any one of claims 3 to 10.

12. The control device performs the first scaling on both the translational component and the rotational component, the surgical support system according to any one of claims 3 to 11.

13. Further comprising a receiving unit that receives a second scaling value for the translational movement of the surgical instrument by the operator, The control device, Based on the received second scaling value, performs a second scaling on the translational component, Performs the first scaling on the translational component on which the second scaling has been performed, the surgical support system according to any one of claims 3 to 12.

14. The robotic arm, A first robotic arm having an endoscope attached to its tip, and A second robotic arm having the surgical instrument other than the endoscope attached to its tip, and the control device changes the second scaling value for the first robotic arm in conjunction with the received second scaling value when the second scaling value for the second robotic arm is received by the receiving unit, the surgical support system according to claim 13.

15. A control method for a surgical support system including a patient-side device including a robotic arm having a surgical instrument attached to its tip, an operator-side device including an operation unit that receives an operation amount for the surgical instrument, and a control device that controls the surgical instrument based on the received operation amount, Among the received operation amounts, calculate the ratio of the rotational speed at which the rotational speeds of the plurality of joint axes of the robotic arm are below the limit value for at least the translational component among the translational component for the translational movement of the surgical instrument and the rotational component for the rotation of the surgical instrument, Scale the rotational speeds of the plurality of joint axes at a predetermined ratio, ​ A control method for a surgical support system that calculates the rotation angles of the joint axes of the robotic arm by performing inverse kinematics calculations on the translational movement component and the rotational component after the scaling.

16. A patient-side device including a robotic arm with a surgical instrument attached to its tip, an operator-side device including an operation unit that receives an operation amount for the surgical instrument, and a control device that controls the surgical instrument based on the received operation amount. The control device performs scaling of the rotational speeds of the plurality of joint axes of the robotic arm at a predetermined ratio such that the rotational speeds of at least the translational movement component among the translational movement component for the translational movement of the surgical instrument and the rotational component for the rotation of the surgical instrument in the received operation amount are equal to or less than a limit value. A surgical support system.

17. A control method for a surgical support system including a patient-side device including a robotic arm with a surgical instrument attached to its tip, an operator-side device including an operation unit that receives an operation amount for the surgical instrument, and a control device that controls the surgical instrument based on the received operation amount, calculates a ratio of the rotational speed at which the rotational speeds of the plurality of joint axes of the robotic arm are equal to or less than a limit value for at least the translational movement component among the translational movement component for the translational movement of the surgical instrument and the rotational component for the rotation of the surgical instrument in the received operation amount, and scales the rotational speeds of the plurality of joint axes at a predetermined ratio. A control method for a surgical support system.

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