Surgical support robots, surgical support systems and programs

Abstract

To provide a surgery support robot that allows a degree of freedom for setting a contact prohibition range for prohibiting a medical instrument and an arm from coming in contact with a contact prohibited object to be improved, and allows the contact prohibition range to be set easily.SOLUTION: A medical manipulator 1 (a surgery support robot) includes: an arm 60 to which a medical instrument 4 is attached at its tip side; a control part 31 for executing control to operate the arm 60 to which the medical instrument 4 is attached; and a pivot teaching member 7 and an operation part 80 for teaching a teaching point TP in a space where the arm 60 is operated. The control part 31 sets a virtual contact prohibition space VPC in a space around a patient P on the basis of the teaching point TP taught using the pivot teaching member 7 and the operation part 80.SELECTED DRAWING: Figure 12

Description

[Technical Field]

[0001] The present invention relates to a surgical support robot, a surgical support system, and program In particular, a surgical support robot, a surgical support system, and a surgical support system that prevent medical instruments and arms from contacting prohibited objects. program Regarding. [Background technology]

[0002] BACKGROUND ART Conventionally, a surgical support robot is known that prevents medical instruments and arms from coming into contact with prohibited objects (see, for example, Patent Document 1).

[0003] The above-mentioned Patent Document 1 discloses a robot system (surgery support robot) including a manipulator arm (arm) to which a medical instrument is attached at the tip end, and a control device that controls the operation of the manipulator arm. In the robot system of the above-mentioned Patent Document 1, the control device determines the surface of an obstacle (object that should not be contacted) and controls the manipulator to operate so as to increase the distance between the manipulator arm and the surface of the obstacle. This prevents the medical instrument and the manipulator arm from coming into contact with the obstacle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2018-158155 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the above Patent Document 1, the control device defines the surface of the obstacle as a plane extending through the remote center (pivot position). Therefore, for example, when performing surgery on a patient's abdomen, a plane passing through the remote center set on the abdomen is set as the obstacle surface, which causes a problem that it is difficult to set the area around the patient's face as an obstacle.

[0006] The present invention has been made to solve the above-mentioned problems, and one object of the present invention is to provide a surgical support robot, a surgical support system, and a surgical support system that improve the degree of freedom in setting a contact prohibition range for prohibiting a medical instrument and an arm from contacting a contact prohibition object, and that allow the contact prohibition range to be easily set. program The purpose is to provide [Means for solving the problem]

[0007] In order to achieve the above object, a surgical assistance robot according to a first aspect of the present invention comprises an arm to which a medical instrument is attached at a distal end thereof, a control unit that controls the operation of the arm to which the medical instrument is attached, and a teaching unit that teaches a teaching point within a space in which the arm operates; the teaching unit includes an operation unit attached to the arm and configured to receive an operation by an operator to operate the arm and transmit a signal to the control unit; The control unit Based on the teaching points taught using the arm operated by the operation unit, A virtual contact-prohibited space is set in the space around the contact-prohibited object.

[0008] In the surgical support robot according to the first aspect of the present invention, as described above, the control unit sets a virtual contact-prohibited space in the space around the contact-prohibited object based on the teaching points taught using the teaching unit. This allows the contact-prohibited space to be set at any position relative to the pivot position, unlike when a plane passing through the pivot position, which serves as a fulcrum for moving the medical instrument, is set as the obstacle surface. This improves the degree of freedom in setting a contact-prohibited range to prevent the medical instrument and the arm from contacting the contact-prohibited object. Furthermore, by setting a virtual contact-prohibited space in the space around the contact-prohibited object based on the teaching points taught using the teaching unit, it is possible to easily set a contact-prohibited space of an appropriate shape and size for contact-prohibited objects of various shapes and sizes. As a result, the degree of freedom in setting a contact-prohibited range to prevent the medical instrument and the arm from contacting the contact-prohibited object is improved, and the contact-prohibited range can be easily set.

[0009] A surgery assistance system according to a second aspect of the present invention includes a patient-side device including an arm to which a medical instrument is attached at a distal end and a teaching unit for teaching a teaching point within a space in which the arm operates, an operator-side device that accepts operations on the medical instrument, and a control unit that controls the operation of the arm to which the medical instrument is attached; the teaching unit includes an operation unit attached to the arm and configured to receive an operation by an operator to operate the arm and transmit a signal to the control unit; The control unit Based on the teaching points taught using the arm operated by the operation unit, Set up an imaginary no-contact space.

[0010] In the surgery assistance system according to the second aspect of the present invention, as described above, the control unit sets a virtual contact-prohibited space in the space surrounding the contact-prohibited object based on the teaching points taught using the teaching unit. This allows the contact-prohibited space to be set at any position relative to the pivot position, unlike when a plane passing through the pivot position, which serves as a fulcrum for moving the medical instrument, is set as the obstacle surface. This improves the degree of freedom in setting a contact-prohibited range to prevent the medical instrument and the arm from contacting the contact-prohibited object. Furthermore, by setting a virtual contact-prohibited space in the space surrounding the contact-prohibited object based on the teaching points taught using the teaching unit, it is possible to easily set a contact-prohibited space of an appropriate shape and size for contact-prohibited objects of various shapes and sizes. As a result, a surgery assistance system can be provided that improves the degree of freedom in setting a contact-prohibited range to prevent the medical instrument and the arm from contacting the contact-prohibited object and allows for easy setting of the contact-prohibited range.

[0011] A program according to a third aspect of the present invention comprises: a control unit that controls the operation of the arm to which the medical instrument is attached; and a teaching unit that teaches a teaching point within a space in which the arm operates, the teaching unit including an operation unit that is attached to the arm and that receives an operation by an operator to operate the arm and transmits a signal to the control unit; Surgical support robot 、 A program for causing a control unit to execute a control method for operating the , regulation The method is A virtual contact-prohibited space is set based on the teaching points that are taught using the arm operated by the operation unit.

[0012] According to the third aspect of the present invention programIn the method, as described above, a step of setting a virtual contact-prohibited space in the space around the contact-prohibited object based on teaching points taught using the teaching unit is provided. This allows the contact-prohibited space to be set at any position relative to the pivot position, unlike when a plane passing through the pivot position, which serves as a fulcrum for moving the medical instrument, is set as the obstacle surface. This improves the degree of freedom in setting a contact-prohibited range for preventing the medical instrument and the arm from contacting the contact-prohibited object. Furthermore, by setting a virtual contact-prohibited space in the space around the contact-prohibited object based on teaching points taught using the teaching unit, it is possible to easily set a contact-prohibited space of a shape and size suitable for contact-prohibited objects of various shapes and sizes. As a result, the degree of freedom in setting a contact-prohibited range for preventing the medical instrument and the arm from contacting the contact-prohibited object is improved, and the contact-prohibited range can be easily set. program can be provided. [Effects of the Invention]

[0013] According to the present invention, as described above, the degree of freedom in setting the contact prohibition range for prohibiting medical instruments and arms from contacting prohibited objects is improved, and the contact prohibition range can be easily set. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a diagram showing the configuration of a surgery assistance system according to an embodiment of the present invention. [Figure 2] 1 is a diagram showing a configuration of a medical manipulator according to an embodiment of the present invention. [Figure 3] 1A and 1B are diagrams showing the configuration of an arm of a medical manipulator according to an embodiment of the present invention. [Figure 4] FIG. [Figure 5] 1 is a perspective view showing the configuration of an operation unit of a medical manipulator according to an embodiment of the present invention. FIG. [Figure 6] FIG. 1 is a diagram showing an endoscope. [Figure 7] FIG. 10 is a diagram showing a pivot position teaching tool. [Figure 8] FIG. 10 is a diagram for explaining a pivot position. [Figure 9] FIG. 2 is a block diagram showing the configuration of a control unit of the medical manipulator according to the embodiment of the present invention. [Figure 10] FIG. 2 is a diagram showing a rotation axis and a linear motion axis of the arm. [Figure 11] 1A and 1B are diagrams showing the rotational and linear axes of the translational movement mechanism and the medical instrument. [Figure 12] FIG. 1 is a diagram illustrating an example of a contact-prohibited space according to an embodiment of the present invention. [Figure 13] FIG. 10 is a diagram showing an example of a setting screen for a contact-prohibited space according to an embodiment of the present invention. [Figure 14] 10 is a flowchart illustrating a procedure for setting a contact-prohibited space according to an embodiment of the present invention. [Figure 15] 10 is a flowchart illustrating a procedure for checking a contact-prohibited space according to an embodiment of the present invention. [Figure 16] 10A and 10B are diagrams for explaining confirmation of a contact-prohibited space according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0015] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, specific embodiments of the present invention will be described with reference to the accompanying drawings.

[0016] The configuration of a surgery support system 100 according to one embodiment will be described with reference to FIGS. 1 to 15. The surgery support system 100 includes a medical manipulator 1, which is a patient-side device, and a remote control 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 control device 2 is located at a distance from the medical manipulator 1, and the medical manipulator 1 is configured to be remotely controlled by the remote control device 2. The surgeon inputs commands to the remote control device 2 to cause the medical manipulator 1 to perform a desired operation. The remote control device 2 transmits the input commands to the medical manipulator 1. The medical manipulator 1 operates based on the received commands. The medical manipulator 1 is located in an operating room, which is a sterilized sterile field. The medical manipulator 1 is an example of a "surgery support robot" and a "patient-side device" in the claims. The remote control device 2 is an example of the "operator side device" in the claims.

[0017] The remote control device 2 is placed, for example, inside or outside an operating room. The remote control device 2 includes an operating manipulator arm 21, an operating pedal 22, a touch panel 23, a monitor 24, a support arm 25, and a support bar 26. The operating manipulator arm 21 constitutes an operating handle through which the surgeon inputs commands. The operating manipulator arm 21 receives the amount of operation for the medical instrument 4. The monitor 24 is a scope-type display device that displays an image captured by the endoscope 6. The support arm 25 supports the monitor 24 so that its height is aligned with the surgeon's face. The touch panel 23 is attached to the support bar 26. A sensor (not shown) provided near the monitor 24 detects the surgeon's head, enabling the medical manipulator 1 to be operated by the remote control device 2. The surgeon operates the operating manipulator arm 21 and the operating pedal 22 while visually checking the affected area on the monitor 24. This inputs commands to the remote control device 2. A command input to the remote control device 2 is transmitted to the medical manipulator 1. The touch panel 23 is an example of the "input unit" in the claims.

[0018] The medical cart 3 is provided with a control unit 31 that controls the operation of the medical manipulator 1 and a storage unit 32 that stores programs and the like for controlling the operation of the medical manipulator 1. Based on commands input to the remote control device 2, the control unit 31 of the medical cart 3 controls the operation of the medical manipulator 1.

[0019] The medical cart 3 is also provided with an input device 33. The input device 33 is configured to receive operations for moving and changing the posture of the positioner 40, the arm base 50, and the multiple arms 60, mainly for preparing for surgery before the procedure. The input device 33 is an example of the "input unit" in the claims.

[0020] A medical manipulator 1 shown in FIGS. 1 and 2 is placed in an operating room. As shown in FIG. 1, the medical manipulator 1 is configured to perform surgery on a patient P on an operating table 5. The medical manipulator 1 includes a medical cart 3, a positioner 40, an arm base 50, and multiple 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 (long shape). The base of each of the multiple arms 60 is connected to a slide belt (not shown) in the arm base. The slide belt is stretched over multiple pulleys and drive motors (not shown) provided in the arm base, and the base of each arm 60 can move as the slide belt rotates. In other words, the arm base 50 can adjust the spacing between the arms 60 based on a command from the control unit 31. The multiple arms 60 are configured to be able to assume a folded position (storage position). The arm base 50 and the multiple arms 60 are covered with a sterile drape (not shown) when in use.

[0021] The positioner 40 is configured, for example, by a seven-axis articulated robot. The positioner 40 is placed 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 in three dimensions.

[0022] 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 joint portions 43.

[0023] As shown in Fig. 1, a medical instrument 4 is attached to the tip of each of the multiple arms 60. The medical instrument 4 includes, for example, a replaceable instrument, an endoscope 6 (see Fig. 6), etc. The endoscope 6 is an example of the "teaching member" and "medical instrument" in the claims.

[0024] As shown in FIG. 3, the instrument is provided with a driven unit 4a driven by a servo motor M2 (not shown) mounted on a holder 71 of the arm 60. The tip of the instrument is provided with forceps 4b as an example of an end effector. End effectors include, as articulated instruments, forceps, scissors, glass burrs, needle holders, microdissectors, stable appliers, tackers, suction and irrigation tools, snare wires, and clip appliers. End effectors also include, as non-articulated instruments, cutting blades, cauterizing probes, irrigators, catheters, and suction orifices. The forceps 4b has two end effector members 4b1 and 4b2.

[0025] 4, the instrument includes a first support 4e that supports the proximal ends of the end effector members 4b1 and 4b2 rotatably about the J11 axis, a second support 4f that supports the proximal end of the first support 4e rotatably about the J10 axis, 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 Za direction. The J11 axis is perpendicular to the direction in which the shaft 4c extends (the Za direction). The J10 axis is spaced from the J11 axis in the direction in which the shaft 4c extends and is perpendicular to both the direction in which the shaft 4c extends and the J11 axis.

[0026] The forceps 4b are attached to the first support 4e so as to rotate about the rotation axis R1 of the J11 axis. The second support 4f supports the first support 4e rotatably about the J10 axis. That is, the first support 4e is attached to the second support 4f so as to rotate about the rotation axis R2 of the J10 axis. The tip end (Za1 direction side) of the first support 4e has a U-shape. A tool center point (TCP1, clevis) is set in the center of the tip end of the U-shape of the first support 4e in the direction of the rotation axis R1.

[0027] 6, the TCP2 of the endoscope 6 is set at the tip of the endoscope 6. The endoscope 6 is attached to the tip side of the arm 60 and takes images of the surgical site. The endoscope 6 has, for example, a stereo camera and is able to take images of the surgical site as a 3D image.

[0028] Next, the configuration of the arm 60 will be described in detail.

[0029] 3, the arm 60 includes an arm section 61 (a base section 62, a link section 63, and a joint section 64) and a translational movement mechanism section 70 provided at the tip of the arm section 61. The arm 60 is configured to move the tip side of the arm 60 three-dimensionally relative to the base side (arm base 50) of the arm 60. The multiple arms 60 have similar configurations.

[0030] The translational movement mechanism 70 is provided on the distal end side of the arm 61, and has the medical instrument 4 attached thereto. The translational movement mechanism 70 translates the medical instrument 4 in the direction of insertion into the patient P. The translational movement mechanism 70 is configured to translate the medical instrument 4 relative to the arm 61. Specifically, the translational movement mechanism 70 is provided with a holder 71 that holds the medical instrument 4. The holder 71 houses a servo motor M2 (see FIG. 9). The servo motor M2 is configured to rotate a rotating body provided in the driven unit 4a of the medical instrument 4. The rotation of the rotating body of the driven unit 4a operates the forceps 4b.

[0031] The arm unit 61 is composed of a seven-axis articulated robot arm. The arm unit 61 also includes a base unit 62 for attaching the arm unit 61 to the arm base 50, and a plurality of link units 63 connected to the base unit 62. The plurality of link units 63 are connected to each other by joint units 64.

[0032] The translational movement mechanism 70 is configured to translate the holder 71 along the Za direction, thereby translating the medical instrument 4 attached to the holder 71 along the Za direction (the direction in which the shaft 4c extends). Specifically, the translational movement mechanism 70 includes a base-end link portion 72 connected to the tip of the arm portion 61, a tip-end link portion 73, and a connecting link portion 74 provided between the base-end link portion 72 and the tip-end link portion 73. The holder 71 is provided on the tip-end link portion 73.

[0033] The connecting link portion 74 of the translational movement mechanism 70 is configured as a speed-doubling mechanism that moves the distal link portion 73 along the Za direction relative to the proximal link portion 72. The distal link portion 73 is moved along the Za direction relative to the proximal link portion 72, thereby causing the medical instrument 4 provided in the holder 71 to translate along the Za direction. The distal end of the arm portion 61 is connected to the proximal link portion 72 so as to rotate the proximal link portion 72 about an axis in the X direction perpendicular to the Za direction.

[0034] As shown in FIG. 5 , the medical manipulator 1 is attached to the arm 60 and includes an operation unit 80 for operating the arm 60. The operation unit 80 includes an enable switch 81, a joystick 82, and a switch unit 83. The enable switch 81 permits or prohibits movement of the arm 60 by the joystick 82 and the switch unit 83. When an operator (such as a nurse or an assistant) holds the operation unit 80 and presses it, the enable switch 81 enters a state in which movement of the medical instrument 4 by the arm 60 is permitted. A pair of enable switches 81 are provided on both sides of an outer circumferential surface 80a of the operation unit 80. The joystick 82 is configured to be able to operate the movement direction of the arm 60. The operation unit 80 is an example of a "teaching unit" in the claims.

[0035] The switch unit 83 also includes a switch unit 83a that moves the medical instrument 4 in the direction along the longitudinal direction of the medical instrument 4 toward the direction in which the medical instrument 4 is inserted into the patient P, and a switch unit 83b that moves the medical instrument 4 in the direction opposite to the direction in which the medical instrument 4 is inserted into the patient P. The switch units 83a and 83b are both configured as push button switches. The switch units 83 are provided on both sides of the outer circumferential surface 80a of the operating unit 80. Specifically, a pair of switch units 83 (switch unit 83a and switch unit 83b) are provided on both side surfaces of the operating unit 80.

[0036] As shown in FIG. 5, the operation unit 80 also includes a pivot button 85 that teaches a pivot position PP, which serves as a fulcrum (see FIG. 8) for the movement of the medical instrument 4 attached to the arm 60. The pivot button 85 is provided on a surface 80b of the operation unit 80 adjacent to the enable switch 81. When the distal end 6a of the endoscope 6 (see FIG. 6) or the distal end 7a of the pivot teaching member 7 (see FIG. 7) is moved to a position corresponding to the insertion position of the trocar T inserted into the body surface S of the patient P, the pivot button 85 is pressed to teach the pivot position PP, which is then stored in the memory unit 32. Note that when teaching the pivot position PP, the pivot position PP is set as a single point (coordinates), and teaching the pivot position PP does not set the direction of the medical instrument 4. A pair of pivot buttons 85 are provided on both sides of the outer circumferential surface 80a of the operation unit 80. The pivot teaching member 7 is an example of the "teaching portion" in the claims.

[0037] As shown in FIG. 7, the pivot teaching member 7 is attached to the distal end side of the arm 60 and teaches the pivot position PP (see FIG. 8) which is the position that serves as the fulcrum when the medical instrument 4 is moved.

[0038] As shown in FIG. 1 , an endoscope 6 is attached to one arm 60 (for example, arm 60c) of the multiple arms 60, and medical instruments 4 other than the endoscope 6 are attached to the remaining arms 60 (for example, arms 60a, 60b, and 60d). Specifically, during surgery, an endoscope 6 is attached to one arm 60 of the four arms 60, and medical instruments 4 other than the endoscope 6 (such as forceps 4b) are attached to three of the arms 60. A pivot position PP1 is taught to the arm 60 to which the endoscope 6 is attached, with the endoscope 6 attached. Furthermore, a pivot position PP2 is taught to the arm 60 to which the medical instrument 4 other than the endoscope 6 is attached, with the pivot teaching member 7 attached. The endoscope 6 is attached to one of the two arms 60 (arms 60b and 60c) located in the center of the four arms 60 arranged adjacent to each other. That is, the pivot position PP is set individually for each of the multiple arms 60.

[0039] 5, an adjustment button 86 for optimizing the position of the arm 60 is provided on the surface 80b of the operation unit 80. After the pivot position PP for the arm 60 to which the endoscope 6 is attached has been taught, pressing the adjustment button 86 optimizes the position of the other arm 60 (arm base 50). A pair of adjustment buttons 86 are provided on both sides of the outer circumferential surface 80a of the operation unit 80.

[0040] 5, the operation unit 80 also includes a mode switching button 84 for switching between a mode for translating the medical instrument 4 (or the endoscope 6) attached to the arm 60 and a mode for rotating the medical instrument 4 (or the endoscope 6). A mode indicator 84a is provided near the mode switching button 84. The mode indicator 84a displays the switched mode. Specifically, the current mode (translation movement mode or rotation movement mode) is displayed by the mode indicator 84a being lit (rotation movement mode) or turned off (translation movement mode).

[0041] The mode indicator 84a also serves as a pivot position indicator that indicates that the pivot position PP has been taught.

[0042] In the mode in which the arm 60 is moved translationally, the arm 60 is moved so that the tip 4d of the medical instrument 4 moves on the XY plane. In the mode in which the arm 60 is moved rotationally, when the pivot position PP has not been taught, the arm 60 is moved so that the medical instrument 4 rotates around the forceps 4b, and when the pivot position PP has been taught, the arm 60 is moved so that the medical instrument 4 rotates around the pivot position PP as a fulcrum. The medical instrument 4 is rotated with the shaft 4c of the medical instrument 4 inserted into the trocar T.

[0043] 9, the arm 60 is provided with a plurality of servo motors M1, an encoder E1, and a reducer (not shown) corresponding to the plurality of joints 64 of the arm section 61. The encoder E1 is configured to detect the rotation angle of the servo motor M1. The reducer is configured to reduce the rotation speed of the servo motor M1 to increase the torque.

[0044] 9, the translational movement mechanism 70 is provided with a servo motor M2 for rotating a rotor provided in the driven unit 4a of the medical instrument 4, a servo motor M3 for translationally moving the medical instrument 4, encoders E2 and E3, and a reducer (not shown). The encoders E2 and E3 are configured to detect the rotation angles of the servo motors M2 and M3, respectively. The reducers are configured to decelerate the rotation of the servo motors M2 and M3 to increase the torque.

[0045] The positioner 40 is also provided with a plurality of servo motors M4, an encoder E4, and a reducer (not shown) to correspond to the plurality of joints 43 of the positioner 40. The encoder E4 is configured to detect the rotation angle of the servo motor M4. The reducer is configured to reduce the rotation speed of the servo motor M4 to increase the torque.

[0046] The medical cart 3 is also provided with a servo motor M5, an encoder E5, a reducer (not shown), and a brake (not shown) that drive each of the front wheels (not shown) of the medical cart 3. The encoder E5 is configured to detect the rotation angle of the servo motor M5. The reducer is configured to decelerate the rotation of the servo motor M5 and increase the torque.

[0047] The throttle unit 34a of the medical cart 3 is provided with a potentiometer P1 (see FIG. 1), and a servomotor M5 for the front wheels is driven based on the rotation angle detected by the potentiometer P1 in response to the twist of the throttle unit 34a. The rear wheels (not shown) of the medical cart 3 are dual-wheeled, and are steered based on the left-right (R direction) rotation of the operating handle 34. The operating handle 34 of the medical cart 3 is provided with a potentiometer P2 (see FIG. 2), and the rear wheels of the medical cart 3 are provided with a servomotor M6, an encoder E6, and a reducer (not shown). The reducer is configured to decelerate the rotation of the servomotor M6 and increase the torque. The servomotor M6 is driven based on the rotation angle detected by the potentiometer P2 in response to the left-right (R direction) rotation of the operating handle 34. That is, the steering of the rear wheels by turning the operating handle 34 left and right (in the R direction) is power-assisted by the servo motor M6.

[0048] The front wheels of the medical cart 3 are driven to move forward and backward, and the rear wheels are steered by turning the operating handle 34 of the medical cart 3, causing the medical cart 3 to turn left and right.

[0049] The control unit 31 of the medical cart 3 includes an arm control unit 31a that controls the movement of the multiple arms 60 based on commands, and a positioner control unit 31b that controls the movement of the positioner 40 and the drive of the front and rear wheels (not shown) of the medical cart 3 based on commands. A servo control unit C1 that controls a servo motor M1 that drives the arm 60 is electrically connected to the arm control unit 31a. An encoder E1 that detects the rotation angle of the servo motor M1 is also electrically connected to the servo control unit C1.

[0050] The arm control unit 31a is also electrically connected to a servo control unit C2 for controlling a servo motor M2 for driving the medical instrument 4. The servo control unit C2 is also electrically connected to an encoder E2 for detecting the rotation angle of the servo motor M2. The arm control unit 31a is also electrically connected to a servo control unit C3 for controlling a servo motor M3 for translationally moving the translational movement mechanism 70. The servo control unit C3 is also electrically connected to an encoder E3 for detecting the rotation angle of the servo motor M3.

[0051] Then, the operation command input to the remote operation device 2 is input to the arm control unit 31a. The arm control unit 31a generates a position command based on the input operation command and the rotation angle detected by the encoder E1 (E2, E3), and outputs the position command to the servo control unit C1 (C2, C3). The servo control unit C1 (C2, C3) generates a torque command based on the position command input from the arm control unit 31a and the rotation angle detected by the encoder E1 (E2, E3), and outputs the torque command to the servo motor M1 (M2, M3). As a result, the arm 60 moves in accordance with the operation command input to the remote operation device 2.

[0052] Furthermore, the arm control unit 31a operates the arm 60 based on an input signal from a joystick 82 of the operation unit 80. Specifically, the arm control unit 31a generates a position command based on the input signal (operation command) input from the joystick 82 and the rotation angle detected by the encoder E1, and outputs the position command to the servo control unit C1. The servo control unit C1 generates a torque command based on the position command input from the arm control unit 31a and the rotation angle detected by the encoder E1, and outputs the torque command to the servo motor M1. As a result, the arm 60 moves in accordance with the operation command input to the joystick 82.

[0053] The arm control unit 31a is configured to operate the arm 60 based on an input signal from a switch unit 83 of the operation unit 80. Specifically, the arm control unit 31a generates a position command based on the input signal (operation command) input from the switch unit 83 and the rotation angle detected by the encoder E1 or E3, and outputs the position command to the servo control unit C1 or C3. The servo control unit C1 or C3 generates a torque command based on the position command input from the arm control unit 31a and the rotation angle detected by the encoder E1 or E3, and outputs the torque command to the servo motor M1 or M3. As a result, the arm 60 moves in accordance with the operation command input to the switch unit 83.

[0054] 9, the positioner control unit 31b is electrically connected to a servo control unit C4 for controlling a servo motor M4 that moves the positioner 40. The servo control unit C4 is also electrically connected to an encoder E4 for detecting the rotation angle of the servo motor M4. The positioner control unit 31b is also electrically connected to a servo control unit C5 for controlling a servo motor M5 that drives the front wheels (not shown) of the medical cart 3. The servo control unit C5 is also electrically connected to an encoder E5 for detecting the rotation angle of the servo motor M5. The positioner control unit 31b is also electrically connected to a servo control unit C6 for controlling a servo motor M6 that drives the rear wheels (not shown) of the medical cart 3. The servo control unit C6 is also electrically connected to an encoder E6 for detecting the rotation angle of the servo motor M6.

[0055] Furthermore, an operation command from the input device 33 is input to the positioner control unit 31b. The positioner control unit 31b generates a position command based on the operation command input from the input device 33 and the rotation angle detected by the encoder E4, and outputs the position command to the servo control unit C4. The servo control unit C4 generates a torque command based on the position command input from the positioner control unit 31b and the rotation angle detected by the encoder E4, and outputs the torque command to the servo motor M4. As a result, the positioner 40 moves in accordance with the operation command input to the input device 33. Although detailed description will be omitted, the positioner control unit 31b moves the medical cart 3 in accordance with the operation command from the operating handle 34 using a similar procedure.

[0056] 1, the surgery support system 100 is also provided with a monitor cart 8. The monitor cart 8 includes a display unit 8a. The display unit 8a of the monitor cart 8 displays the same image as the image displayed on the monitor 24 of the remote control device 2. In other words, the image displayed on the monitor 24 and viewed by the surgeon can be viewed by workers (nurses, assistants, etc.) around the medical manipulator 1 and the patient P on the display unit 8a of the monitor cart 8.

[0057] (Arm axis) Next, the shaft of the arm 60 will be described with reference to FIG.

[0058] In this embodiment, as shown in FIG. 10, the arm 60 is provided with seven or more joint axes (eight axes in this embodiment). Specifically, the arm 60 is provided with J1 to J7 axes as rotation axes and J8 axis as a linear motion axis. The J1 to J7 axes correspond to the rotation axes of the joint unit 64 of the arm unit 61. The J7 axis corresponds to the base end link unit 72 of the translational movement mechanism 70 (see FIG. 3). The J8 axis corresponds to an axis that moves the tip end link unit 73 of the translational movement mechanism 70 relative to the base end link unit 72 in the Za direction (see FIG. 3). That is, the servo motor M1 shown in FIG. 9 is provided to correspond to the J1 to J7 axes of the arm 60. The servo motor M3 is provided to correspond to the J8 axis.

[0059] (Shaft of medical instrument (forceps)) Next, the shaft of the medical instrument 4 (forceps 4b) will be described with reference to FIG.

[0060] 11, the medical instrument 4 (forceps 4b) includes a J9 axis as the rotation axis of the shaft 4c (the axis along the extension direction of the shaft 4c), a J10 axis as the rotation axis of the second support 4f connected to the shaft 4c, a J11 axis as the axis about which the forceps 4b rotates relative to the first support 4e, and a J12 axis as the opening / closing axis of the forceps 4b. The holder 71 of the arm 60 is provided with a plurality of servo motors M2 (for example, four), and the driven units 4a are driven by the plurality of servo motors M2. This drives the medical instrument 4 around the J9 to J12 axes.

[0061] (Configuration of the control unit for preventing contact with the arm) Next, a specific configuration of the control unit 31 for contact prevention control that operates the arm 60 so that the medical instrument 4 and the arm 60 do not enter the contact prevention space VPC will be described. The control unit 31 controls the operation of the medical instrument 4 based on the operation received by the operating manipulator arm 21.

[0062] The control unit 31 controls the operation of the arm 60 to which the medical instrument 4 is attached. The control unit 31 also sets a virtual contact prohibition space VPC in the space around the contact prohibition object (patient P) based on the teaching point TP taught using the endoscope 6 or pivot teaching member 7 and the operation unit 80. The control unit 31 also performs contact prohibition control to operate the arm 60 so that the medical instrument 4 and arm 60 do not enter the contact prohibition space VPC. The control unit 31 may also perform contact prohibition control by operating the arm 60 and arm base 50 so that the medical instrument 4 and arm 60 do not enter the contact prohibition space VPC.

[0063] The control unit 31 calculates the posture of the medical instrument 4 and the arm 60 based on the operation command value of the surgeon received by the operating manipulator arm 21, the rotation angle extracted from the encoder E4 of the positioner 40, and the rotation angle extracted from the encoders E1 and E3 of the arm 60 holding the endoscope 6. If the calculated posture of the medical instrument 4 and the arm 60 falls within the contact-prohibited space VPC, the control unit 31 notifies the operator that they are within the contact-prohibited space VPC, and either performs control to maintain the current value of the rotation angle detected by the encoder E1 (E2, E3) without accepting any operation, or performs control to operate the medical instrument 4 by changing the path of the arm 60 so that the medical instrument 4 and the arm 60 do not fall within the contact-prohibited space VPC. The control unit 31 also calculates the posture of the medical instrument 4 and the arm 60 based on the operation command value of the operator received by the operating unit 80 and the rotation angle extracted from the encoder E4 of the positioner 40. If the calculated posture of the medical instrument 4 and arm 60 falls within the contact-prohibited space VPC, the control unit 31 notifies the operator that they are within the contact-prohibited space VPC, but performs control to operate the medical instrument 4 and arm 60 based on the operation command value of the operation unit 80. In other words, when the control unit 31 operates the arm 60 using the operating manipulator arm 21, it performs contact prohibition control to operate the arm 60 so that the medical instrument 4 and arm 60 do not enter the contact-prohibited space VPC. On the other hand, when the control unit 31 operates the arm 60 using the operation unit 80, it performs control to operate the arm 60 based on the operation of the operation unit 80, even if the medical instrument 4 and arm 60 fall within the contact-prohibited space VPC.

[0064] 12, the endoscope 6 (see FIG. 6) or pivot teaching member 7 (see FIG. 7) as a teaching unit and the operation unit 80 (see FIG. 5) teach teaching points TP (TP1, TP2, and TP3) in the space in which the arm 60 operates. Specifically, a contact-prohibited space VPC is set based on the teaching point TP taught by the pivot teaching member 7 (see FIG. 7) attached to the distal end of the arm 60 operated by the operation unit 80, or the distal end 6a (see FIG. 6) of the endoscope 6. In other words, the distal end 7a of the pivot teaching member 7 attached to the distal end of the arm 60 or the distal end 6a of the endoscope 6 is moved to a position to be taught by operating the operation unit 80, thereby teaching the teaching point TP.

[0065] In this embodiment, the control unit 31 sets a virtual contact prohibition space VPC in the space around the contact prohibition object (patient P) based on a teaching point TP taught using the teaching unit (endoscope 6 or pivot teaching member 7, operation unit 80). Also, in this embodiment, the control unit 31 performs contact prohibition control to operate the arm 60 so that the medical instrument 4 and arm 60 do not enter the set contact prohibition space VPC.

[0066] Furthermore, the control unit 31 sets the contact-prohibited space VPC based on the teaching point TP taught using the arm 60 operated by the operation unit 80. Specifically, the control unit 31 sets the contact-prohibited space VPC based on the teaching point TP taught by the pivot teaching member 7 attached to the tip side of the arm 60 operated by the operation unit 80 or the tip end 6a of the endoscope 6.

[0067] 12, the control unit 31 sets the contact-prohibited space VPC to cover the periphery of the patient P as a contact-prohibited object. Specifically, the control unit 31 sets the contact-prohibited space VPC to cover the periphery of a region of the patient P other than the surgical region. The control unit 31 also sets the contact-prohibited space VPC to cover the periphery of the region of the patient P on the side where the arm 60 is placed (the side where it is deployed) according to the surgical region. For example, if the abdomen is the surgical region, the control unit 31 sets the contact-prohibited space VPC to cover the periphery of the head of the patient P. If the head is the surgical region, the control unit 31 sets the contact-prohibited space VPC to cover the periphery of the upper body of the patient P.

[0068] 12, the control unit 31 sets a contact-prohibited space VPC that covers the periphery of the head of the patient P based on teaching points TP including the left shoulder, right shoulder, and positions a predetermined distance above the head of the patient P. Specifically, the control unit 31 sets the contact-prohibited space VPC based on teaching point TP1 at the left shoulder position, teaching point TP2 at the right shoulder position, and teaching point TP3 at a position 5 cm above the head.

[0069] The control unit 31 also sets a contact-prohibited space VPC based on the teaching points TP (TP1, TP2, and TP3) and an input operation of the length of the patient P in the body axis direction (cover length). When setting the contact-prohibited space VPC, a registration operation by the operator is accepted by the input device 33 and the touch panel 23. Specifically, an operation to register the teaching points TP taught by the teaching unit (endoscope 6 or pivot teaching member 7, operation unit 80) is accepted by the input device 33 and the touch panel 23. An input operation of the length of the patient P in the body axis direction (cover length) is accepted by the input device 33 and the touch panel 23. It may be possible to switch between the input device 33 and the touch panel 23 from which to accept the operation.

[0070] 12, the control unit 31 sets a semi-cylindrical contact-prohibited space VPC around the contact-prohibited object (patient P). Specifically, the control unit 31 determines the diameter and position of the semi-cylindrical shape based on the positions of both shoulders and 5 cm above the head when viewed in the body axis direction of the patient P, and determines the axial length of the semi-cylindrical shape from the shoulder position based on the cover length, thereby setting the contact-prohibited space VPC.

[0071] Furthermore, the control unit 31 performs control to issue a warning when at least one of the medical instrument 4 and the arm 60 enters the contact-prohibited space VPC. Specifically, the control unit 31 performs control to display a warning on the monitor 24 of the remote control device 2 and the display unit 8a of the monitor cart 8 when at least one of the medical instrument 4 and the arm 60 enters the contact-prohibited space VPC. Furthermore, the control unit 31 performs control to emit an alarm sound from speakers (not shown) built into the remote control device 2, the medical cart 3, and the monitor cart 8, warning that the medical instrument 4 and the arm 60 have entered the contact-prohibited space VPC.

[0072] The control unit 31 also performs contact prohibition control to operate the multiple arms 60 so that the multiple medical instruments 4 and the multiple arms 60 do not enter the contact prohibition space VPC. Specifically, the control unit 31 is configured to set the contact prohibition space VPC based on a teaching point TP that is taught using one of the multiple arms 60 operated by one of the multiple operation units 80 attached to each of the multiple arms 60. The control unit 31 is also configured to perform contact prohibition control to operate the multiple arms 60 so that the multiple medical instruments 4 and the multiple arms 60 do not enter the contact prohibition space VPC.

[0073] (Procedure for setting up contact-free spaces) Next, a procedure for setting the contact-prohibited space VPC will be described with reference to Figures 13 and 14. The contact-prohibited space VPC is set before the pivot position PP is set. This is because, once the pivot position PP is set, the movement of the arm 60 is restricted by the pivot position PP and it cannot move freely.

[0074] In step S1 of Fig. 14, the operator performs an operation to open the contact-prohibited space setting screen (see Fig. 13). The operation is accepted by the input device 33 of the medical cart 3 or the touch panel 23 of the remote control device 2. In step S2, the operator attaches the pivot teaching member 7 to the tip of the arm 60. If the teaching point TP is to be taught using the tip of the endoscope 6, the pivot teaching member 7 does not have to be attached at this point.

[0075] In step S3, the operator operates the operation unit 80 to move the tip 7a (see FIG. 7) of the pivot teaching member 7 to the position of teaching point TP1 (see FIG. 12) on the left shoulder of the patient P. In step S4, the operator performs a registration operation of the left shoulder position on the operation screen (see FIG. 13).

[0076] In step S5, the operator operates the operation unit 80 to move the tip 7a (see FIG. 7) of the pivot teaching member 7 to the position of teaching point TP2 (see FIG. 12) on the right shoulder of the patient P. In step S6, the operator performs a registration operation of the right shoulder position on the operation screen (see FIG. 13).

[0077] In step S7, the operator operates the operation unit 80 to move the tip 7a (see FIG. 7) of the pivot teaching member 7 to the position of teaching point TP3 (see FIG. 12) 5 cm above the head of the patient P. In step S8, the operator performs a registration operation of the position 5 cm above the head on the operation screen (see FIG. 13).

[0078] In step S9, the operator inputs the cover length and performs a registration operation of the cover length. Then, in step S10, the spatial shape of the displayed contact-prohibited space VPC is confirmed, and a setting registration operation of the contact-prohibited space VPC is performed.

[0079] (Procedure for checking contact-free spaces) Next, a procedure for checking the contact-prohibited space VPC will be described with reference to FIGS.

[0080] In step S11 of FIG. 15, the operator operates the operation unit 80 to move the tip 7a (see FIG. 7) of the pivot teaching member 7 to the left shoulder position CP1 (see FIG. 16) of the patient P. Because the left shoulder position CP1 is within the contact-prohibited space VPC, the control unit 31 controls the monitor 24 of the remote control device 2 and the display unit 8a of the monitor cart 8 to display a warning that the pivot teaching member 7 has entered the contact-prohibited space VPC. The control unit 31 also controls to emit an alarm sound to warn that the pivot teaching member 7 has entered the contact-prohibited space VPC. In step S12, the operator confirms that the warning has been properly notified.

[0081] In step S13, the operator operates the operation unit 80 to move the tip 7a (see FIG. 7) of the pivot teaching member 7 to the right shoulder position CP2 (see FIG. 16) of the patient P. Because the right shoulder position CP2 is within the contact-prohibited space VPC, the control unit 31 controls the monitor 24 of the remote control device 2 and the display unit 8a of the monitor cart 8 to display a warning that the pivot teaching member 7 has entered the contact-prohibited space VPC. The control unit 31 also controls to emit an alarm sound to warn that the pivot teaching member 7 has entered the contact-prohibited space VPC. In step S14, the operator confirms that the warning has been properly notified.

[0082] In step S15, the operator operates the operation unit 80 to move the tip 7a (see FIG. 7) of the pivot teaching member 7 to a position CP3 (see FIG. 16) 5 cm above the head of the patient P. Because the position CP3 5 cm above the head of the patient P is within the contact-prohibited space VPC, the control unit 31 controls the monitor 24 of the remote control device 2 and the display unit 8a of the monitor cart 8 to display a warning that the pivot teaching member 7 has entered the contact-prohibited space VPC. The control unit 31 also controls the generation of an alarm sound to warn that the pivot teaching member 7 has entered the contact-prohibited space VPC. In step S16, the operator confirms that the warning has been properly notified.

[0083] In step S17, the operator operates the operation unit 80 to move the tip 7a (see FIG. 7) of the pivot teaching member 7 to the jaw position CP4 (see FIG. 16) of the patient P. Because jaw position CP4 is within the contact-prohibited space VPC, the control unit 31 controls the monitor 24 of the remote control device 2 and the display unit 8a of the monitor cart 8 to display a warning that the pivot teaching member 7 has entered the contact-prohibited space VPC. The control unit 31 also controls the generation of an alarm sound to warn that the pivot teaching member 7 has entered the contact-prohibited space VPC. In step S18, the operator confirms that the warning has been properly notified.

[0084] In step S19, the operator operates the operating unit 80 to move the tip 7a (see FIG. 7) of the pivot teaching member 7 to a cover rear end position CP5 (see FIG. 16) (position in the direction from the head) within the reach of the tip 7a of the pivot teaching member 7. Because the cover rear end position CP5 is within the contact-prohibited space VPC, the control unit 31 controls the monitor 24 of the remote control device 2 and the display unit 8a of the monitor cart 8 to display a warning that the pivot teaching member 7 has entered the contact-prohibited space VPC. The control unit 31 also controls the generation of an alarm sound to warn that the pivot teaching member 7 has entered the contact-prohibited space VPC. In step S20, the operator confirms that the warning has been properly notified. Then, the procedure for checking the contact-prohibited space VPC ends. Then, the pivot position teaching operation using the pivot teaching member 7 is performed.

[0085] (Effects of this embodiment) In this embodiment, the following effects can be obtained.

[0086] In this embodiment, as described above, the control unit 31 sets a virtual contact-prohibited space VPC in the space around the contact-prohibited object (patient P) based on the teaching point TP taught using the teaching unit (endoscope 6 or pivot teaching member 7, operation unit 80). This allows the contact-prohibited space VPC to be set at any position relative to the pivot position PP, which serves as a fulcrum for moving the medical instrument 4, unlike when a plane passing through the pivot position PP is set as an obstacle surface. This improves the degree of freedom in setting a contact-prohibited range for prohibiting the medical instrument 4 and the arm 60 from contacting the contact-prohibited object (patient P). Furthermore, by setting a virtual contact-prohibited space VPC in the space around the contact-prohibited object (patient P) based on the teaching point TP taught using the teaching unit (endoscope 6 or pivot teaching member 7, operation unit 80), it is possible to easily set contact-prohibited spaces VPC of appropriate shapes and sizes for contact-prohibited objects of various shapes and sizes. As a result, the degree of freedom in setting the contact prohibition range for prohibiting the medical instrument 4 and the arm 60 from contacting the contact prohibition object is improved, and the contact prohibition range can be set easily.

[0087] Furthermore, in this embodiment, as described above, the control unit 31 sets the contact-prohibited space VPC based on the teaching point TP taught using the arm 60 operated by the operation unit 80. This allows the teaching point TP to be taught while operating the arm 60 with the operation unit 80 and moving the arm 60, so the position of the teaching point TP can be taught easily and accurately.

[0088] Furthermore, in this embodiment, as described above, the control unit 31 sets the contact-prohibited space VPC based on the teaching point TP taught by the pivot teaching member 7 attached to the tip side of the arm 60 operated by the operation unit 80, or the tip 6a of the endoscope 6. This eliminates the need to separately provide a dedicated member for teaching the teaching point TP for setting the contact-prohibited space VPD, thereby preventing an increase in the number of parts and preventing the device configuration from becoming complicated.

[0089] Furthermore, in this embodiment, as described above, the control unit 31 sets the contact prohibition space VPC so as to cover the periphery of the patient P as a contact prohibition object. This differs from the case where the patient P is covered with a lifting rack (cover) to prevent the medical instruments 4 and the arm 60 from coming into contact with the patient P, and a virtual contact prohibition space VPC can be set around the patient P to prevent the medical instruments 4 and the arm 60 from coming into contact with the patient P. This prevents the medical instruments 4 and the arm 60 from coming into contact with the lifting rack. As a result, it is possible to prevent damage to or displacement of the medical instruments 4 and the arm 60 due to the medical instruments 4 and the arm 60 coming into contact with the lifting rack.

[0090] Furthermore, in this embodiment, as described above, the control unit 31 sets the contact prohibition space VPC so as to cover the periphery of a region other than the surgical region of the patient P. This allows the medical instrument 4 to be inserted into the surgical region of the patient P, while preventing the medical instrument 4 and the arm 60 from contacting regions other than the surgical region of the patient P.

[0091] Furthermore, in this embodiment, as described above, the control unit 31 sets the contact-prohibited space VPC so as to cover the periphery of the head of the patient P. This makes it possible to prevent the arm 60 from coming into contact with the head of the patient P when inserting the medical instrument 4 into the abdomen of the patient P to perform surgery and tilting the medical instrument 4 to position the arm 60 toward the head, for example, when dissecting the peritoneum of the patient P.

[0092] Furthermore, in this embodiment, as described above, the control unit 31 sets a contact-prohibited space VPC that covers the periphery of the head of the patient P based on teaching points TP including the left shoulder, right shoulder, and a position a predetermined distance above the head of the patient P. This makes it possible to set a contact-prohibited space VPC that corresponds to the length of the patient P's head in the left-right direction from the teaching points on the shoulders of the patient P. Furthermore, it is possible to set a contact-prohibited space VPC that corresponds to the height of the patient P's head using teaching points TP that are a predetermined distance above the head of the patient P.

[0093] Furthermore, in this embodiment, as described above, the control unit 31 sets the contact-prohibited space VPC based on the teaching point TP taught using the teaching unit (endoscope 6 or pivot teaching member 7, operation unit 80) and the input operation of the length in the body axis direction of the patient P. This makes it possible to set the contact-prohibited space VPC according to the length in the body axis direction of the head of each individual patient P by inputting the length in the body axis direction of the patient P.

[0094] Furthermore, in this embodiment, as described above, the control unit 31 sets a semi-cylindrical contact-prohibited space VPC around the contact-prohibited object (patient P). This allows the contact-prohibited space VPC to have a relatively simple semi-cylindrical shape, thereby preventing the process of setting the contact-prohibited space VPC from becoming complicated.

[0095] In this embodiment, as described above, the control unit 31 performs control to issue a warning when at least one of the medical instrument 4 and the arm 60 enters the contact-prohibited space VPC. This allows the operator to easily check whether or not they have entered the contact-prohibited space VPC.

[0096] Furthermore, in this embodiment, as described above, the operation unit 80 includes the joystick 82 that can operate the movement direction of the arm 60. This allows the arm 60 to be easily moved to a desired position by operating the joystick 82, and therefore the arm 60 can be used to easily teach a teaching point TP for setting the contact-prohibited space VPC.

[0097] Furthermore, in this embodiment, as described above, the operation unit 80 includes an enable switch 81 that, when pressed, permits movement of the arm 60. As a result, movement of the arm 60 by the operation unit 80 is permitted when the enable switch 81 is pressed, and therefore, unintentional movement of the arm 60 can be prevented when the enable switch 81 is not pressed.

[0098] Furthermore, in this embodiment, as described above, the input device 33 and the touch panel 23 are provided for registering the teaching point TP taught by the teaching unit (endoscope 6 or pivot teaching member 7, operation unit 80). This allows the teaching point TP taught by the teaching unit (endoscope 6 or pivot teaching member 7, operation unit 80) to be easily registered by operating the input device 33 and the touch panel 23.

[0099] Furthermore, in this embodiment, as described above, the arm 60 has seven or more joint axes. Here, the posture of the arm 60 for maintaining the pivot position PP, which is the position that serves as the fulcrum when moving the medical instrument 4, can be determined by the amount of rotation (amount of movement) of the six joint axes of the arm 60. Therefore, providing seven or more joint axes of the arm 60 results in redundant axes. That is, the arm 60b can take different postures while maintaining the pivot position PP. Therefore, providing seven or more joint axes of the arm 60 makes it possible to change the posture of the arm 60b so as to suppress interference with the arm 60c while maintaining the pivot position PP. Furthermore, providing seven or more joint axes of the arm 60 makes it possible to change the posture of the arm 60 so as to avoid the contact-prohibited space VPC while maintaining the pivot position PP.

[0100] Furthermore, in this embodiment, as described above, when the control unit 31 operates the arm 60 using the operating manipulator arm 21, it performs contact prohibition control to operate the arm 60 so that the medical instrument 4 and arm 60 do not enter the contact-prohibited space VPC. Furthermore, when the control unit 31 operates the arm 60 using the operation unit 80, it performs control to operate the arm 60 based on the operation of the operation unit 80. As a result, even if the medical instrument 4 or arm 60 unintentionally enters the contact-prohibited space VPC due to some factor, the arm 60 can be operated by the operation unit 80, and therefore the medical instrument 4 or arm 60 can be taken out of the contact-prohibited space VPC.

[0101] (Variation) The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims rather than the above description of the embodiments, and further includes all modifications (variations) within the meaning and scope of the claims.

[0102] For example, in the above embodiment, an example of a configuration in which a teaching point for setting a contact-prohibited space is taught by moving the arm using an operation unit is shown, but the present invention is not limited to this. In the present invention, a laser light generator and a camera may be provided on the arm, arm base, or positioner, and a teaching point may be taught using a laser generated from the laser light generator, and the control unit may acquire the teaching point based on an image of the laser light captured by the camera. Also, a camera may be provided on the arm, arm base, or positioner, and a contact-prohibited object may be recognized based on an image captured by the camera, and a contact-prohibited space may be set around the recognized contact-prohibited object.

[0103] In the above embodiment, an example of a configuration in which a semi-cylindrical contact-prohibited space is set has been shown, but the present invention is not limited to this. In the present invention, for example, the contact-prohibited space may have a polygonal prism shape, a cone shape, or a polygonal pyramid shape.

[0104] In the above embodiment, the prohibited object is the patient, but the present invention is not limited to this. For example, the prohibited object may be the operating table, equipment near the operating table, or an instrument attached to the patient.

[0105] In the above embodiment, an example of a configuration in which a contact-prohibited space surrounding the patient's head is set based on teaching points including the patient's left shoulder, right shoulder, and a position a predetermined distance above the head is described. However, the present invention is not limited to this. In the present invention, a contact-prohibited space surrounding the patient's head may be set based on teaching points including at least one of the patient's left shoulder, right shoulder, and a position a predetermined distance above the head. Furthermore, a contact-prohibited space may be set using teaching points of other parts of the patient, such as the patient's ears, nose, chin, or top of the head.

[0106] In the above embodiment, an example of a configuration in which teaching points for setting a contact-prohibited space are registered based on operations from an input device and a touch panel provided separately from the operation unit for moving the arm is shown, but the present invention is not limited to this. In the present invention, a button for registering teaching points may be provided on the operation unit for moving the arm, and teaching points for setting a contact-prohibited space may be registered by operating the operation unit.

[0107] In the above embodiment, an example of a configuration in which a pivot teaching member or an endoscope is used to teach teaching points for setting a contact-prohibited space is shown, but the present invention is not limited to this. In the present invention, a configuration in which teaching points for setting a contact-prohibited space are taught using a medical instrument such as surgical forceps attached to the tip of an arm may also be used.

[0108] In addition, although the above embodiment shows an example in which four arms are provided, the present invention is not limited to this and may have any number of arms as long as there is at least one.

[0109] In the above embodiment, the arm unit and the positioner are configured as a seven-axis articulated robot, but the present invention is not limited to this. For example, the arm unit and the positioner may be configured as an articulated robot with an axis configuration other than a seven-axis articulated robot (for example, six axes or eight axes).

[0110] In the above embodiment, all of the arms are configured as seven-axis articulated robots, but the present invention is not limited to this. For example, some of the four arms may be configured as seven-axis articulated robots.

[0111] In the above embodiment, the medical manipulator includes a medical cart, a positioner, an arm base, and an arm, but the present invention is not limited to this. For example, the medical cart, the positioner, and the arm base are not necessarily required, and the medical manipulator may be configured with only an arm. [Explanation of symbols]

[0112] 1. Medical manipulators (surgical support robots, patient-side devices) 2 Remote control device (operator side device) 4 Medical equipment 6 Endoscopes (teaching components, medical instruments) 7 Pivot teaching member (teaching part) 23 Touch panel (input section) 31 Control Unit 33 Input device (input section) 60, 60a, 60b, 60c, 60d arms 80 Operation unit (teaching unit) 81 Enabling switch 82 Joystick 100 Surgical Support System PP pivot position TP, TP1, TP2, TP3 teaching points

Claims

1. an arm to which a medical instrument can be attached at its tip; a control unit that controls the operation of the arm to which the medical instrument is attached; a teaching unit for teaching a teaching point within a space in which the arm operates, the teaching unit includes an operation unit attached to the arm, which receives an operation by an operator to operate the arm and transmits a signal to the control unit; The control unit of the surgical support robot sets a virtual contact-prohibited space based on the teaching point taught using the arm operated by the operation unit.

2. the teaching unit further includes at least one of a pivot teaching member attached to the distal end of the arm and configured to teach a pivot position, which is a position that serves as a fulcrum when moving the medical instrument, and an endoscope attached to the distal end of the arm and configured to capture images of a surgical site; 2. The surgical support robot according to claim 1, wherein the control unit sets the contact-prohibited space based on the teaching point taught by the pivot teaching member attached to the tip side of the arm or the tip end of the endoscope.

3. 3. The surgical support robot according to claim 1, wherein the control unit sets the contact-prohibited space based on the teaching point taught using the teaching unit and an input operation of a length in the patient's body axis direction.

4. The surgical support robot according to any one of claims 1 to 3, wherein the control unit sets the contact-prohibited space in a semi-cylindrical shape.

5. The surgical support robot according to any one of claims 1 to 4, wherein the control unit performs control to issue a warning when at least one of the medical instrument and the arm enters the contact-prohibited space.

6. The surgical support robot according to any one of claims 1 to 5, wherein the control unit performs contact prevention control to operate the arm so that the medical instrument and the arm do not enter the contact prevention space.

7. The surgical support robot according to any one of claims 1 to 6, wherein the operation unit includes a joystick capable of operating the movement direction of the arm.

8. The surgical support robot according to any one of claims 1 to 7, wherein the operation unit includes an enable switch that allows movement of the arm when pressed.

9. The surgical support robot according to any one of claims 1 to 8, further comprising an input unit for registering the teaching point taught by the teaching unit.

10. The surgical support robot according to any one of claims 1 to 9, wherein the arm has seven or more joint axes.

11. a plurality of arms are provided, and the medical instrument is attached to a distal end side of each of the plurality of arms; The surgical support robot according to any one of claims 1 to 5, wherein the control unit performs contact prohibition control to operate the multiple arms so that the multiple medical instruments and the multiple arms do not enter the contact prohibition space.

12. A plurality of the arms to which the medical instrument is attached at the tip side are provided, a plurality of the operation units are provided, and the operation units are attached to the plurality of arms, respectively; the control unit is configured to set the contact-prohibited space based on the teaching point that is taught using one of the plurality of arms operated by one of the plurality of operation units, The surgical support robot according to any one of claims 1 to 5, wherein the control unit performs contact prohibition control to operate the multiple arms so that the multiple medical instruments and the multiple arms do not enter the contact prohibition space.

13. a patient-side device including an arm to which a medical instrument is attached at its distal end and a teaching unit for teaching a teaching point within a space in which the arm operates; an operator side device that accepts operations on the medical instrument; a control unit that controls the operation of the arm to which the medical instrument is attached, the teaching unit includes an operation unit attached to the arm, which receives an operation by an operator to operate the arm and transmits a signal to the control unit; The control unit sets a virtual contact-prohibited space based on the teaching point taught using the arm operated by the operation unit.

14. The surgical support system of claim 13, wherein when the arm is operated by the operator-side device, the control unit performs contact prohibition control to operate the arm so that the medical instrument and the arm do not enter the contact prohibition space, and when the arm is operated by the operation unit, the control unit performs control to operate the arm based on operation of the operation unit even if the medical instrument and the arm enter the contact prohibition space.

15. A program that causes a control unit to execute a control method for operating a surgical support robot, the robot comprising: an arm to which a medical instrument is attached at its tip; a control unit that controls the operation of the arm to which the medical instrument is attached; and a teaching unit for teaching a teaching point within a space in which the arm operates, the teaching unit including an operation unit attached to the arm and receiving an operation by an operator to operate the arm and transmitting a signal to the control unit, The control method includes: A program that sets a virtual contact-prohibited space based on the teaching point that is taught using the arm operated by the operation unit.

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