Surgery support system, surgery support robot, and method for controlling surgery support system

Abstract

A surgery assistance system (100) has a control device (130) that detects the position and orientation of a trocar (T) on the basis of detection results from detection units (51, 52) and moves a surgical instrument attachment unit (73) toward the trocar (T) on the basis of the detected position and orientation of the trocar (T).

Description

[Technical Field]

[0001] The present disclosure relates to a surgery assistance system, a surgery assistance robot, and a control method for a surgery assistance system. [Background technology]

[0002] Conventionally, surgical assistance systems including robotic arms to which surgical instruments are attached have been known. For example, JP 2017-515522 A discloses a remote-controlled assembly including multiple robotic arms, each of which has a surgical instrument attached, and a touchpad. In JP 2017-515522 A, a reference laser line is emitted from the remote-controlled assembly. An operator moving the remote-controlled assembly pushes and moves the four robotic arms so that the multiple robotic arms are aligned with the reference laser line, following a guidance setup screen prompt displayed on the touchscreen monitor, such as "Push all arms behind the green laser line," and a voice prompt. This positions each robotic arm, to which a surgical instrument is attached, in an appropriate position. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2017-515522 Summary of the Invention

[0004] However, in JP2017-515522A, the operator must push and move each of the four robot arms to place the surgical instruments in the appropriate positions, which increases the operator's workload.

[0005] This disclosure has been made to solve the above-mentioned problems, and aims to provide a surgical support system, a surgical support robot, and a control method for a surgical support system that can reduce the workload of an operator in positioning a robot arm in an appropriate position.

[0006] In order to achieve the above object, a surgery assistance system according to a first aspect of the present disclosure includes a robot arm including a surgical instrument attachment portion to which a surgical instrument is attached, a detection portion for detecting the position and orientation of a trocar inserted into a patient, and a control device, wherein the control device detects the position and orientation of the trocar based on the detection result of the detection portion, and moves the surgical instrument attachment portion toward the trocar based on the detected position and orientation of the trocar. The detection unit includes an imaging unit that images the patient and a distance sensor that detects the distance to the patient. The imaging unit is disposed on an arm base to which the robot arm is attached, and the distance sensor is disposed on the arm base so as to be adjacent to the imaging unit. .

[0007] In the surgery assistance system according to the first aspect of this disclosure, as described above, the control device detects the position and orientation of the trocar based on the detection result of the detection unit, and moves the surgical instrument attachment unit toward the trocar based on the detected position and orientation of the trocar. This automatically moves the surgical instrument attachment unit of the robot arm to an appropriate position based on the detected position and orientation of the trocar, eliminating the need for the operator to manually move the surgical instrument attachment unit of the robot arm. This reduces the operator's workload for positioning the robot arm in an appropriate position. Furthermore, because the robot arm is automatically positioned in an appropriate position, the time required to position the robot arm in an appropriate position can be reduced compared to manually positioning the robot arm in an appropriate position.

[0008] A surgical support robot according to a second aspect of the present disclosure includes a robot arm including a surgical instrument attachment portion to which a surgical instrument is attached, a detection portion for detecting the position and orientation of a trocar inserted into a patient, and a control device, wherein the control device detects the position and orientation of the trocar based on the detection result of the detection portion, and moves the surgical instrument attachment portion toward the trocar based on the detected position and orientation of the trocar. The detection unit includes an imaging unit that images the patient and a distance sensor that detects the distance to the patient. The imaging unit is disposed on an arm base to which the robot arm is attached, and the distance sensor is disposed on the arm base so as to be adjacent to the imaging unit. .

[0009] In the surgical support robot according to the second aspect of this disclosure, as described above, the control device detects the position and orientation of the trocar based on the detection result of the detection unit, and moves the surgical instrument attachment unit toward the trocar based on the detected position and orientation of the trocar. This automatically moves the surgical instrument attachment unit of the robot arm to an appropriate position based on the detected position and orientation of the trocar, eliminating the need for the operator to manually move the surgical instrument attachment unit of the robot arm. This provides a surgical support robot that can reduce the operator's workload for positioning the robot arm in an appropriate position. Furthermore, because the robot arm is automatically positioned in an appropriate position, it is possible to provide a surgical support robot that can reduce the time required to position the robot arm in an appropriate position compared to manually positioning the robot arm in an appropriate position.

[0010] A control method for a surgery assistance system according to a third aspect of the present disclosure is a control method for a surgery assistance system including a robot arm including a surgical instrument attachment portion to which a surgical instrument is attached, a detection portion for detecting a position and orientation of a trocar inserted into a patient, and a control device, the method comprising: The robot includes an imaging unit that images a patient and a distance sensor that detects the distance to the patient, the imaging unit being disposed on an arm base to which the robot arm is attached, and the distance sensor being disposed on the arm base so as to be adjacent to the imaging unit. The method includes detecting the position and orientation of the trocar based on the detection result of the detection unit, and moving the surgical instrument attachment unit toward the trocar based on the detected position and orientation of the trocar.

[0011] A control method for a surgery assistance system according to a third aspect of the present disclosure includes moving a surgical instrument attachment toward a trocar based on the detected position and orientation of the trocar, as described above. This automatically moves the surgical instrument attachment of the robot arm to an appropriate position based on the detected position and orientation of the trocar, eliminating the need for an operator to manually move the surgical instrument attachment of the robot arm. This provides a control method for a surgery assistance system that can reduce the operator's workload for positioning the robot arm in an appropriate position. Furthermore, because the robot arm is automatically positioned in an appropriate position, it is possible to provide a control method for a surgery assistance system that can reduce the time required to position the robot arm in an appropriate position compared to manually positioning the robot arm in an appropriate position.

[0012] According to the present disclosure, as described above, it is possible to reduce the workload of the operator in placing the robot arm in an appropriate position. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a diagram illustrating a configuration of a surgery assistance system according to an embodiment. [Figure 2] FIG. 2 is a diagram illustrating a display unit of the medical cart according to one embodiment. [Figure 3] 1 is a diagram showing a configuration of a medical cart according to an embodiment. FIG. [Figure 4] FIG. 1 illustrates a configuration of a robot arm according to an embodiment. [Figure 5] FIG. [Figure 6] FIG. 2 is a perspective view showing a configuration of an arm operating unit according to one embodiment. [Figure 7] FIG. 10 is a diagram for explaining translational movement of a robot arm. [Figure 8] FIG. 10 is a diagram for explaining the rotational movement of the robot arm. [Figure 9] FIG. 1 is a control block diagram of a surgical assistance robot according to one embodiment. [Figure 10] FIG. 2 is a control block diagram of a robot arm according to one embodiment. [Figure 11] FIG. 2 is a control block diagram of a medical cart and a positioner according to one embodiment. [Figure 12] FIG. 10 is a flow chart for explaining a control method for a surgical assistance robot according to one embodiment. [Figure 13] FIG. 10 is a diagram showing a display unit when setting a surgical site on a medical cart according to an embodiment. [Figure 14] 10A and 10B illustrate a display unit as the medical cart approaches a patient according to one embodiment. [Figure 15] FIG. 2 is a diagram showing a state in which a patient is being photographed by an imaging unit. [Figure 16] FIG. 10 is a diagram showing the state before alignment of the trocar and the marking portion displayed on the display unit. [Figure 17] 10 is a diagram showing the state after alignment of the trocar and the marking portion displayed on the display unit. FIG. [Figure 18] FIG. 1 is a diagram showing an endoscope. [Figure 19] FIG. 10 shows a pivot position setting tool. [Figure 20] FIG. 10 is a view showing a state in which the second link portion has been moved near the trocar. [Figure 21] 10A and 10B are diagrams for explaining an operation of storing a pivot position in a storage unit. DETAILED DESCRIPTION OF THE INVENTION

[0014] (Configuration of surgical support system) The configuration of a surgery assistance system 100 according to this embodiment will be described. The surgery assistance system 100 includes a surgery assistance robot 1 and a remote control device 2.

[0015] In this specification, the longitudinal direction of the surgical instrument 4 is referred to as the Z direction. The tip side of the surgical instrument 4 is referred to as the Z1 side, and the base side of the surgical instrument 4 is referred to as the Z2 side. The direction perpendicular to the Z direction is referred to as the X direction. One side of the X direction is referred to as the X1 side, and the other side is referred to as the X2 side. The direction perpendicular to the Z direction and the X direction is referred to as the Y direction. One side of the Y direction is referred to as the Y1 side, and the other side is referred to as the Y2 side.

[0016] As shown in FIG. 1, a surgical support robot 1 is placed in an operating room. A remote control device 2 is placed at a location separated from the surgical support robot 1. An operator such as a doctor inputs commands to the remote control device 2 to cause the surgical support robot 1 to perform a desired operation. The remote control device 2 transmits the input commands to the surgical support robot 1. The surgical support robot 1 operates based on the received commands. The surgical support robot 1 is placed in an operating room, which is a sterilized sterile field.

[0017] (Configuration of surgical support robot) 1, the surgery support robot 1 includes a medical cart 3, a positioner 40, an arm base 50, an imaging unit 51, a distance sensor 52, a plurality of robot arms 60, and an arm operation unit 80. The imaging unit 51 and the distance sensor 52 are examples of a detection unit.

[0018] As shown in Fig. 3, the medical cart 3 moves a positioner 40. The medical cart 3 includes an input device 33. The input device 33 receives operations to move and change the posture of the positioner 40, the arm base 50, and the multiple robot arms 60, mainly for preparation before surgery. The medical cart 3 includes an operation handle 34, and a stabilizer 34c and an electric cylinder 34d shown in Fig. 9.

[0019] 2, the input device 33 is provided with a display unit 33a. The display unit 33a is, for example, a liquid crystal panel. Numbers corresponding to the multiple robot arms 60 are displayed on the display unit 33a. The display unit 33a also displays the type of surgical instrument 4 attached to each of the multiple robot arms 60. A check mark CM indicating that a pivot position PP, which will be described later, has been set is displayed on the display unit 33a.

[0020] 3, a joystick 33b for controlling the movement of the positioner 40 is disposed near the input device 33 of the medical cart 3. By selecting an operation mode displayed on the input device 33 and operating the joystick 33b, the positioner 40 is moved three-dimensionally.

[0021] An enable switch 33c that permits or prohibits movement of the positioner 40 is disposed near the joystick 33b of the medical cart 3. Then, when the enable switch 33c is pressed down to permit movement of the positioner 40, the positioner 40 is moved by operating the joystick 33b.

[0022] The operating handle 34 is disposed near the display unit 33a of the medical cart 3. The operating handle 34 has a throttle 34a that is gripped and rotated by an operator such as a nurse or technician to control the movement of the medical cart 3. Specifically, the operating handle 34 is disposed below the input device 33. The medical cart 3 moves forward when the throttle 34a is rotated from the front side to the back side. The medical cart 3 moves backward when the throttle 34a is rotated from the back side to the front side. The speed of the medical cart 3 changes depending on the amount of rotation of the throttle 34a. The operating handle 34 is configured to be rotatable left and right, indicated by the R direction, and the medical cart 3 rotates as the operating handle 34 is rotated.

[0023] An enable switch 34b that permits or prohibits movement of the medical cart 3 is disposed on the operating handle 34 of the medical cart 3. When the enable switch 34b is pressed down to permit movement of the medical cart 3, the medical cart 3 is moved by operating the throttle 34a of the operating handle 34.

[0024] 1, the positioner 40 is, for example, a seven-axis articulated robot. The positioner 40 is placed on a medical cart 3. The positioner 40 adjusts the position of the arm base 50. The positioner 40 moves the position of the arm base 50 in three dimensions.

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

[0026] The arm base 50 is attached to the tip of the positioner 40. The base ends of the multiple robot arms 60 are attached to the arm base 50. The multiple robot arms 60 can be folded into a stored position. The arm base 50 and the multiple robot arms 60 are covered with a sterile drape when in use. The robot arms 60 also support a surgical instrument 4.

[0027] In this embodiment, the imaging unit 51 and the distance sensor 52 are arranged on the arm base 50. The imaging unit 51 and the distance sensor 52 detect the position and orientation of a trocar T inserted into the patient P. The imaging unit 51 is a monocular camera. The imaging unit 51 photographs the patient P. The distance sensor 52 is arranged adjacent to the imaging unit 51 on the arm base 50. The distance sensor 52 is, for example, a TOF sensor. The trocar T is not a port, which is a hole made in the patient P, but a medical instrument inserted into a port. The trocar T is also called a trocar, a trocar, or a cannula.

[0028] 9, a status indicator 53 and an arm status indicator 54 are arranged on the arm base 50. The status indicator 53 displays the status of the surgery assistance system 100. The arm status indicator 54 displays the status of the robot arm 60.

[0029] There are provided a plurality of robot arms 60. Specifically, there are four robot arms 60a, 60b, 60c, and 60d. The robot arms 60a, 60b, 60c, and 60d have the same configuration as each other.

[0030] As shown in FIG. 4, the robot arm 60 includes an arm 61, a first link 72, a second link 73, and a translational movement mechanism 70. The robot arm 60 has JT1, JT2, JT3, JT4, JT5, JT6, and JT7 axes as rotational axes and a JT8 axis as a linear movement axis. The JT1 to JT7 axes are rotational axes of the joint 64 of the arm 61. The JT7 axis is also the rotational axis of the first link 72. The JT8 axis is a linear movement axis along which the translational movement mechanism 70 moves the second link 73 relative to the first link 72 in the Z direction. The second link 73 is an example of a surgical instrument attachment.

[0031] The arm unit 61 is a seven-axis articulated robot arm. The first link unit 72 is located at the tip of the arm unit 61. The arm operating unit 80, which will be described later, is attached to the second link unit 73. The translational movement mechanism unit 70 is located between the first link unit 72 and the second link unit 73. A holder 71 that holds the surgical instrument 4 is located on the second link unit 73.

[0032] A surgical instrument 4 is attached to the tip of each of the multiple robot arms 60. The surgical instrument 4 includes, for example, replaceable instruments, an endoscope 6 for capturing images of the surgical site, and a pivot position setting instrument 7 for setting a pivot position PP (described below). The surgical instrument 4 as an instrument includes a driven unit 4a, forceps 4b, and a shaft 4c. The endoscope 6 and pivot position setting instrument 7 are an example of a surgical instrument that includes a shaft.

[0033] As shown in Fig. 1, an endoscope 6 is attached to the tip of one of the multiple robot arms 60, for example, robot arm 60c, and surgical instruments 4 other than the endoscope 6 are attached to the tips of the remaining robot arms, for example, robot arms 60a, 60b, and 60d. The endoscope 6 is attached to one of the two robot arms 60b and 60c, which are located in the middle of the four robot arms 60 arranged adjacent to each other. The robot arms 60a, 60b, and 60d are examples of first robot arms. The robot arm 60c is an example of a second robot arm.

[0034] (Instrument configuration) As shown in Fig. 5, the tip of the instrument is provided with, for example, forceps 4b. In addition to the forceps 4b, other jointed instruments such as scissors, graspers, needle holders, microdissectors, stable appliers, tackers, suction and irrigation tools, snare wires, and clip appliers are arranged at the tip of the instrument. Other non-jointed instruments such as cutting blades, cauterizing probes, irrigators, catheters, and suction orifices are arranged at the tip of the instrument.

[0035] The forceps 4b includes a first support 4e and a second support 4f. The first support 4e supports the base ends of the jaw members 104a and 104b rotatably about the JT11 axis. The second support 4f supports the base end of the first support 4e rotatably about the JT10 axis. The shaft 4c rotates about the JT9 axis. The jaw members 104a and 104b open and close about the JT11 axis.

[0036] (Arm operation unit configuration) 6, the arm operating unit 80 is attached to the robot arm 60 and operates the robot arm 60. Specifically, the arm operating unit 80 is attached to the second link unit 73.

[0037] The arm operating unit 80 includes an enable switch 81 , a joystick 82 , a linear switch 83 , a mode switching button 84 , a mode indicator 84 a , a pivot button 85 , and an adjustment button 86 .

[0038] The enable switch 81 permits or prohibits movement of the robot arm 60 using the joystick 82 and linear switch 83. When the enable switch 81 is pressed while the arm operation unit 80 is being held by an operator such as a nurse or assistant, movement of the surgical instrument 4 by the robot arm 60 is permitted.

[0039] The joystick 82 is an operating tool for controlling the movement of the surgical instrument 4 by the robot arm 60. The joystick 82 controls the movement direction and movement speed of the robot arm 60. The robot arm 60 moves according to the direction and angle at which the joystick 82 is tilted.

[0040] The linear switch 83 is a switch for moving the surgical instrument 4 in the Z direction, which is the longitudinal direction of the surgical instrument 4. The linear switch 83 includes a linear switch 83a for moving the surgical instrument 4 in the direction of inserting it into the patient P, and a linear switch 83b for moving the surgical instrument 4 in the direction away from the patient P. Both the linear switch 83a and the linear switch 83b are push button switches.

[0041] The mode switching button 84 is a push button switch for switching between a translational movement mode (shown in FIG. 7) of the surgical instrument 4 and a rotational movement mode (shown in FIG. 8). As shown in FIG. 7, in the translational movement mode of the robot arm 60, the robot arm 60 is moved so that the tip 4d of the surgical instrument 4 moves on the XY plane. As shown in FIG. 8, in the rotational movement mode of the robot arm 60, when the pivot position PP is not stored in the memory unit 32, the robot arm 60 is moved so that the surgical instrument 4 rotates around the center of the JT11 axis of the forceps 4b as a fulcrum. When the pivot position PP is stored in the memory unit 32, the robot arm 60 is moved so that the surgical instrument 4 rotates around 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. The mode switching button 84 is located on the Z-direction surface of the arm operating unit 80.

[0042] The mode indicator 84a displays the switched mode. When the mode indicator 84a is lit, it indicates the rotational movement mode, and when it is off, it indicates the translational movement mode. The mode indicator 84a also serves as a pivot position indicator that indicates that the pivot position PP has been set. The mode indicator 84a is located on the surface of the arm operation unit 80 facing in the Z direction.

[0043] The pivot button 85 is a push button switch for setting a pivot position PP that serves as a fulcrum for the movement of the surgical instrument 4 attached to the robot arm 60.

[0044] The adjustment button 86 is a button for optimizing the position of the robot arm 60. After setting the pivot position PP for the robot arm 60 to which the endoscope 6 is attached, pressing the adjustment button 86 optimizes the positions of the other robot arms 60 and the arm base 50.

[0045] (remote control device) 1, the remote control device 2 is placed, for example, inside or outside an operating room. The remote control device 2 includes an operation unit 120 including an arm 121 and an operation handle 21, 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 that allows an operator such as a doctor to input commands.

[0046] The operating unit 120 is a handle for operating the surgical instrument 4. The operating unit 120 also receives an amount of operation for the surgical instrument 4. When viewed from an operator such as a doctor, the operating unit 120 includes an operating unit 120L located on the left side and operated with the operator's left hand, and an operating unit 120R located on the right side and operated with the operator's right hand. The operating units 120L and 120R include operating handles 21L and 21R, respectively.

[0047] The monitor 24 is a scope-type display device for displaying an image captured by the endoscope 6. The support arm 25 supports the monitor 24 so that its height is at the same height as the face of an operator such as a doctor. The touch panel 23 is mounted on a support bar 26. The surgical support robot 1 can be operated by the remote control device 2 when a sensor provided near the monitor 24 detects the operator's head. The operator operates the operation unit 120 and foot pedal 22 while visually checking the affected area on the monitor 24. This inputs commands to the remote control device 2. The commands input to the remote control device 2 are transmitted to the surgical support robot 1.

[0048] (Control system configuration) As shown in FIG. 9, the surgery assistance system 100 includes a control device 130, an arm control unit 31a, a positioner control unit 31b, and an operation control unit 110.

[0049] The control device 130 is disposed inside the medical cart 3 so as to communicate with the arm control unit 31a and the positioner control unit 31b, and controls the entire surgery support system 100. Specifically, the control device 130 communicates with and controls each of the arm control unit 31a, the positioner control unit 31b, and the operation control unit 110. The control device 130, the arm control unit 31a, the positioner control unit 31b, and the operation control unit 110 are connected via a LAN or the like. The control device 130 is disposed inside the medical cart 3.

[0050] An arm control unit 31a is provided for each of the plurality of robot arms 60. That is, inside the medical cart 3, a plurality of arm control units 31a corresponding to the number of the plurality of robot arms 60 are provided.

[0051] As shown in Fig. 9, the input device 33 is connected to the control device 130 via a LAN or the like. The status indicator 53, the arm status indicator 54, the operating handle 34, the throttle 34a, the joystick 33b, the stabilizer 34c, and the electric cylinder 34d are serially connected to the positioner control unit 31b via a communication network that allows them to share information with each other via a wiring 145. Note that Fig. 9 shows the status indicator 53, the arm status indicator 54, and the like as if they were all connected to one wiring 145, but in reality, a wiring 145 is provided for each of the status indicator 53, the arm status indicator 54, the operating handle 34, the throttle 34a, the joystick 33b, the stabilizer 34c, and the electric cylinder 34d.

[0052] As shown in FIG. 10, the arm 61 is provided with a plurality of servo motors M1, an encoder E1, and a reducer to correspond to the plurality of joints 64. The encoder E1 detects the rotation angle of the servo motor M1. The reducer reduces the rotation of the servo motor M1 to increase the torque. Inside the medical cart 3, a servo control unit C1 for controlling the servo motor M1 is disposed adjacent to the arm control unit 31a. The servo control unit C1 is electrically connected to the encoder E1 for detecting the rotation angle of the servo motor M1.

[0053] The second link section 73 is provided with a servo motor M2 for rotating a driven member disposed in the driven unit 4a of the surgical instrument 4, an encoder E2, and a reducer. The encoder E2 detects the rotation angle of the servo motor M2. The reducer reduces the rotation speed of the servo motor M2 to increase the torque. The medical cart 3 is also provided with a servo control section C2 for controlling the servo motor M2 that drives the surgical instrument 4. The servo control section C2 is electrically connected to an encoder E2 for detecting the rotation angle of the servo motor M2. Note that multiple servo motors M2, encoders E2, and servo control sections C2 are provided.

[0054] The translational movement mechanism 70 is provided with a servo motor M3 for translating the surgical instrument 4, an encoder E3, and a reducer. The encoder E3 detects the rotation angle of the servo motor M3. The reducer decelerates the rotation of the servo motor M3 to increase the torque. The medical cart 3 is also provided with a servo control unit C3 for controlling the servo motor M3 for translating the surgical instrument 4. The encoder E3 for detecting the rotation angle of the servo motor M3 is electrically connected to the servo control unit C3.

[0055] 11, the positioner 40 is provided with a plurality of servo motors M4, an encoder E4, and a reducer so as to correspond to a 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.

[0056] The medical cart 3 has front wheels as drive wheels and rear wheels steered by an operating handle 34. The rear wheels are located closer to the operating handle 34 than the front wheels. The medical cart 3 is also equipped with a servo motor M5 that drives each of the front wheels of the medical cart 3, an encoder E5, a reducer, and a brake. The reducer is configured to reduce the rotation speed of the servo motor M5 and increase the torque. A potentiometer P1 shown in FIG. 3 is also provided on the operating handle 34 of the medical cart 3, and the servo motor M5 of the front wheels is driven based on the rotation angle detected by the potentiometer P1 in response to the twist of the throttle 34a. The rear wheels of the medical cart 3 are dual-wheel type, and are steered based on the left and right rotation of the operating handle 34. 3 is disposed on the rotation shaft of the operating handle 34 of the medical cart 3, and a servomotor M5a, an encoder E5a, and a reducer are disposed on the rear wheels of the medical cart 3. The reducer is configured to reduce the rotation speed of the servomotor M5a to increase the torque. The servomotor M5a is driven based on the rotation angle detected by the potentiometer P2 in response to the left and right rotation of the operating handle 34. In other words, steering of the rear wheels 3b by the left and right rotation of the operating handle 34 is configured to be power-assisted by the servomotor M5a.

[0057] 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.

[0058] As shown in FIG. 11, the medical cart 3 is provided with a servo control unit C4 for controlling the servo motor M4 that moves 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. The medical cart 3 is also provided with a servo control unit C5 for controlling the servo motor M5 that drives the front wheels of 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. The medical cart 3 is also provided with a servo control unit C5a for controlling the servo motor M5a that power-assists the steering of the rear wheels of the medical cart 3. An encoder E5a for detecting the rotation angle of the servo motor M5a is electrically connected to the servo control unit C5a.

[0059] As shown in FIG. 9 , the control device 130 controls the robot arm 60 based on an operation received by the arm operation unit 80. For example, the control device 130 controls the robot arm 60 based on an operation received by a joystick 82 of the arm operation unit 80. Specifically, the arm control unit 31a outputs an input signal input from the joystick 82 to the control device 130. The control device 130 generates a position command based on the received input signal and a rotation angle detected by the encoder E1, and outputs the position command to the servo control unit C1 via the arm control unit 31a. The servo control unit C1 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, and outputs the current command to the servo motor M1. As a result, the robot arm 60 moves in accordance with the operation command input to the joystick 82.

[0060] The control device 130 controls the robot arm 60 based on an input signal from the linear switch 83 of the arm operation unit 80. Specifically, the arm control unit 31a outputs the input signal input from the linear switch 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 moves in accordance with the operation command input to the linear switch 83.

[0061] The positioner control unit 31b is disposed in the medical cart 3. The positioner control unit 31b controls the positioner 40 and the medical cart 3. The positioner 40 is provided with a servo motor SM, an encoder EN, and a reducer so as to correspond to the multiple joints 43 of the positioner 40. The servo control unit SC that controls the servo motor SM of the positioner 40 is disposed in the medical cart 3. The medical cart 3 is provided with a servo motor SM that drives each of the multiple front wheels of the medical cart 3, an encoder EN, a reducer, a servo control unit SC, and a brake.

[0062] The operation control unit 110 is disposed in the main body of the remote operation device 2. The operation control unit 110 controls the operation unit 120. The operation control unit 110 is disposed to correspond to each of the operation units 120L and 120R. The operation unit 120 is provided with a servo motor SM, an encoder EN, and a reducer to correspond to the multiple joints of the operation unit 120. The servo control unit SC that controls the servo motor SM of the operation unit 110 is disposed in the main body of the remote operation device 2 adjacent to the operation control unit 110.

[0063] (Method for controlling a surgical assistance system) Next, we will explain the control method of the surgery assistance system 100. Note that four trocars T4 are placed in advance on the body surface S of a patient P placed on an operating table 5. Furthermore, no surgical instrument 4 is attached to the robot arm 60.

[0064] As shown in Fig. 12, in step S1, preparations are made for positioning the surgical support robot 1. Specifically, as shown in Fig. 13, the area to be operated on, such as the abdomen, and the insertion direction of the surgical support robot 1 relative to the patient P are selected on the touch panel of the display unit 33a.

[0065] Next, in step S2, the roll-in button displayed on the display unit 33a is pressed, as shown in Fig. 13. This sets the roll-in mode, and the movement of the arm base 50 and the robot arm 60 is controlled so that the surgical support robot 1 assumes a roll-in posture. The roll-in posture is a posture in which the robot arms 60 are folded so as not to interfere with the patient P when the surgical support robot 1 moves to position the robot arms 60 above the patient P, a posture in which the arm base 50 is positioned by the positioner 40 so that the imaging unit 51 provided on the arm base 50 can image vertically downward, and a posture in which the arm base 50 is positioned by the positioner 40 so that the arrangement direction of the robot arms 60 corresponds to the information on the surgical site and the information on the insertion direction selected in step S1. That is, after the roll-in button displayed on the display unit 33a is pressed to switch to roll-in mode, the enable switch 33c is pressed to allow movement of the positioner 40, and the joystick 33b is operated, and the control device 130 automatically moves the positioner 40 and each robot arm 60 so that the surgical support robot 1 assumes a roll-in posture.

[0066] Next, in step S3, as shown in FIG. 14, after the robot arm 60 has moved, the screen of the display unit 33a switches to an image captured by the imaging unit 51. Then, as shown in FIG. 15, the medical cart 3 is moved closer to the operating table 5 so that the imaging unit 51 provided on the arm base 50 can capture images of the operating table 5 and the patient P placed on the operating table 5. Specifically, an operator such as a nurse or technician operates the operating handle 34 while viewing the image displayed on the display unit 33a to move the medical cart 3 close to the patient P. As a result, the trocar T is positioned directly below the imaging unit 51. Then, as shown in FIG. 16, the trocar T is positioned inside the substantially circular first mark portion MK1 on the display unit 33a. Also, as shown in Figure 17, on the display unit 33a, with one trocar T placed inside the approximately circular first mark portion MK1, the operator operates the positioner 40 using the joystick 33b so that the remaining trocars T are placed along the first line portion L1 or the second line portion L2 of the second mark portion MK2.

[0067] Next, in step S4, after the operator moves the medical cart 3, the positioner 40, the arm base 50, and the robot arm 60 toward the patient P based on the image captured by the imaging unit 51, the control device 130 detects the position and orientation of the trocar T based on at least the image of the patient P captured by the imaging unit 51. Specifically, the control device 130 detects the two-dimensional coordinates of the trocar T on a horizontal plane based on the image of the patient P captured by the imaging unit 51. The control device 130 detects the distance to the trocar T in the vertical direction based on the detection result of the distance sensor 52. As a result, the control device 130 obtains the three-dimensional coordinates of the trocar T. Furthermore, the control device 130 obtains the orientation of the trocar T based on the image of the patient P captured by the imaging unit 51. Note that the orientation of the trocar T refers to, for example, the longitudinal direction of the trocar T. The control device 130 detects the positions and orientations of all four trocars T. The medical cart 3, the positioner 40, the arm base 50, and the robot arm 60 are an example of a robot main body.

[0068] Next, in step S5, the control device 130 associates the four trocars T with the four robot arms 60. That is, the control device 130 sets which robot arm 60 the surgical instrument 4 attached to will be inserted into each of the four trocars T.

[0069] Next, in step S6, the control device 130 transitions the multiple robot arms 60 to a setup posture. Note that the setup posture differs from the roll-in posture in which each robot arm 60 is folded, and refers to a posture in which the distance between the robot arms 60 is increased so that it is easy to attach the endoscope 6 shown in FIG. 18 or the pivot position setting device 7 shown in FIG. 19 to each of the multiple robot arms 60. Note that the pivot position setting device 7 is an instrument that is attached in place of an instrument to the tip of the robot arm 60 to which the instrument is attached when setting the pivot position PP.

[0070] 20 , the control device 130 moves the second link portion 73 toward the trocar T based on the detected position and orientation of the trocar T. Specifically, the control device 130 moves the robot arm 60 to move the second link portion 73 toward the trocar T.

[0071] 21 , based on the detected position and orientation of the trocar T, the control device 130 moves the second link unit 73 so that the shaft 4c of the surgical instrument 4 is positioned on a plane SF along the vertical direction and including the axis L11 of the trocar T. That is, the control device 130 moves the second link unit 73 so that the shaft 4c of the surgical instrument 4 is positioned on the plane SF that includes the axis L11 and is perpendicular to the body surface S of the patient P.

[0072] In this embodiment, the control device 130 moves the second link unit 73 to a position for attaching the endoscope 6 or the pivot position setting instrument 7 to the second link unit 73 to set the pivot position PP based on the detected position and orientation of the trocar T. That is, the control device 130 moves the second link unit 73 to the vicinity of the trocar T. The pivot position PP is a position that serves as a fulcrum for the movement of the surgical instrument 4 attached to the robot arm 60. The position for attaching the endoscope 6 or the pivot position setting instrument 7 is, for example, a position where the endoscope 6 or the pivot position setting instrument 7 does not come into contact with the patient P even when attached to the robot arm 60, and where the tip of the endoscope 6 or the pivot position setting instrument 7 is located near the body surface S of the patient P.

[0073] In this embodiment, the control device 130 moves the second link portions 73 of the robot arm 60c to which the endoscope 6 is attached and the robot arms 60a, 60b, and 60d to which surgical instruments 4 other than the endoscope 6 are attached, toward the trocar T based on the detected position and orientation of the trocar T. For example, the robot arms 60 are moved toward the trocar T all at once. Alternatively, the robot arms 60 may move sequentially. After moving each robot arm 60, the operator attaches the endoscope 6 or the pivot position setting instrument 7 to each of the multiple robot arms 60.

[0074] Next, in step S7, in this embodiment, the control device 130 accepts fine adjustment of the position of the robot arm 60 with the endoscope 6 or the pivot position setting device 7 attached to the second link unit 73. The operator performs fine adjustment of the position of the robot arm 60 by operating the joystick 82 or the linear switch 83. After accepting the fine adjustment of the position of the robot arm 60, the control device 130 accepts an instruction to set the pivot position PP. Specifically, as shown in FIG. 21 , the arm operating unit 80 operates the robot arm 60 to move the tip of the endoscope 6 or the pivot position setting device 7 attached to the tip side of the robot arm 60 to a position corresponding to the insertion position of the trocar T inserted into the body surface S of the patient P. In this state, the pivot button 85 is pressed, and the control device 130 stores the pivot position PP in the memory unit 32. The pivot position PP is stored as a single coordinate, and setting the pivot position PP does not set the direction of the surgical instrument 4.

[0075] [Effects of this embodiment] The control device 130 detects the position and orientation of the trocar T based on the detection results of the imaging unit 51 and the distance sensor 52, and moves the second link unit 73 toward the trocar T based on the detected position and orientation of the trocar T. As a result, the second link unit 73 of the robot arm 60 is automatically moved to an appropriate position based on the detected position and orientation of the trocar T, eliminating the need for the operator to manually move the second link unit 73 of the robot arm 60. This reduces the workload of the operator in placing the robot arm 60 in an appropriate position. Furthermore, because the robot arm 60 is automatically placed in an appropriate position, the time required to place the robot arm 60 in an appropriate position can be reduced compared to manually placing the robot arm 60 in an appropriate position.

[0076] The control device 130 detects the position and orientation of the trocar T based on the image captured by the imaging unit 51 and the distance to the patient P detected by the distance sensor 52. This makes it possible to easily detect the position and orientation of the trocar T based on the image captured by the imaging unit 51 and the distance to the patient P detected by the distance sensor 52.

[0077] In this embodiment, the control device 130 moves the second link unit 73 based on the detected position and orientation of the trocar T so that the shaft 4c of the surgical instrument 4 is positioned on a plane SF along the vertical direction including the axis L11 of the trocar T. This allows the orientation of the shaft 4c of the surgical instrument 4 and the orientation of the trocar T to be aligned.

[0078] After the medical cart 3 is moved toward the patient P based on the image captured by the imaging unit 51, the control device 130 detects the position and orientation of the trocar T based on at least the image of the patient P captured by the imaging unit 51, and moves the second link unit 73 toward the trocar T based on the detected position and orientation of the trocar T. This allows the operation of moving the medical cart 3 toward the patient P and the operation of moving the second link unit 73 toward the trocar T to be performed consecutively, thereby further shortening the time required for the operation to position the robot arm 60 in an appropriate position.

[0079] The control device 130 moves the second link unit 73 to a position for attaching the surgical instrument 4 or the pivot position setting instrument 7 to the second link unit 73 to set the pivot position PP, based on the detected position and orientation of the trocar T. This reduces the workload of the operator in placing the robot arm 60 in an appropriate position to set the pivot position PP.

[0080] The control device 130 moves the second link unit 73, to which the surgical instrument 4 is not attached, toward the trocar T, and after the surgical instrument 4 or the pivot position setting instrument 7 is attached to the second link unit 73 and fine adjustment of the position of the robot arm 60 is received, the control device 130 receives an instruction to set the pivot position PP. As a result, the control device 130 receives the fine adjustment of the position of the robot arm 60, allowing the operator to set the pivot position PP at an appropriate position.

[0081] The photographing unit 51 and the distance sensor 52 are disposed on the arm base 50. As a result, the photographing unit 51 and the distance sensor 52 move together with the robot arm 60, so that the robot arm 60 can be easily aligned with the position and orientation of the trocar T detected by the photographing unit 51 and the distance sensor 52.

[0082] The distance sensor 52 is disposed adjacent to the imaging unit 51 on the arm base 50. This reduces the distance between the imaging unit 51 and the distance sensor 52, thereby improving the detection accuracy of the position and orientation of the trocar T.

[0083] Based on the detected position and orientation of the trocar T, the control device 130 moves the second link portions 73 of the robot arm 60c to which the endoscope 6 is attached and the robot arms 60a, 60b, and 60d to which surgical instruments 4 other than the endoscope 6 are attached, toward the trocar T. This reduces the workload of the operator in arranging the multiple robot arms 60 in appropriate positions, even when multiple robot arms 60 are arranged.

[0084] [Variations] It should be noted that the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present disclosure is defined by the claims, not by the description of the above embodiments, and includes all modifications and variations within the meaning and scope of the claims.

[0085] In the above embodiment, an example was shown in which the imaging unit 51 and the distance sensor 52 were used as a detection unit for detecting the position and orientation of the trocar T inserted into the patient P, but the present disclosure is not limited to this. For example, the position and orientation of the trocar T may be detected by a device other than the imaging unit 51 and the distance sensor 52.

[0086] In the above embodiment, an example has been shown in which a TOF sensor is used as the distance sensor 52, but the present disclosure is not limited to this. For example, an optical (LiDAR: light detection and ranging) sensor, a radio wave (RADAR) sensor, an ultrasonic sensor, or the like may be used as the distance sensor 52, or a distance sensor using a phase difference detection method or a triangulation method may be used.

[0087] In the above embodiment, an example was shown in which both the imaging unit 51 and the distance sensor 52 were used, but the present disclosure is not limited to this. For example, a stereo camera may be used as the imaging unit 51, and the position and orientation of the trocar T may be detected based on the detection results of the stereo camera. This allows the position and orientation of the trocar T to be detected only by the imaging unit 51, without providing the distance sensor 52.

[0088] In the above embodiment, an example has been described in which the imaging unit 51 and the distance sensor 52 are disposed on the arm base 50, but the present disclosure is not limited to this. For example, the imaging unit 51 and the distance sensor 52 may be disposed at a location other than the arm base 50.

[0089] In the above embodiment, an example has been shown in which the imaging unit 51 and the distance sensor 52 are arranged adjacent to each other on the arm base 50, but the present disclosure is not limited to this. For example, the imaging unit 51 and the distance sensor 52 may be arranged at positions far apart from each other on the arm base 50.

[0090] In the above embodiment, an example was shown in which the control device 130 was disposed inside the medical cart 3, but the present disclosure is not limited to this. For example, the control device 130 may be disposed outside the medical cart 3.

[0091] In the above embodiment, an example was shown in which the second link unit 73 was moved so that the shaft 4c of the surgical instrument 4 was positioned on a plane SF along the vertical direction that includes the axis L11 of the trocar T, based on the position and orientation of the trocar T detected by the control device 130. However, the present disclosure is not limited to this. For example, the control device 130 may set the axis L11 of the trocar T based on the detected position and orientation of the trocar T, and move the second link unit 73 so that the shaft 4c of the surgical instrument 4 is positioned on the axis L11 of the trocar T. This allows the orientation of the shaft 4c of the surgical instrument 4 and the orientation of the trocar T to be more accurately aligned.

[0092] Furthermore, in the above embodiment, 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.

[0093] In the above embodiment, 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.

[0094] In the above embodiment, the surgical support robot 1 includes the medical cart 3, the positioner 40, and the arm base 50, but 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 surgical support robot 1 may be configured with only the robot arm 60.

[0095] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, special-purpose processors, integrated circuits, application-specific integrated circuits (ASICs), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuitry. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. Where the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or processor.

[0096] [Aspect] It will be appreciated by those skilled in the art that the exemplary embodiments described above are examples of the following aspects.

[0097] (Item 1) a robot arm including a surgical instrument attachment portion to which a surgical instrument is attached; a detection unit for detecting the position and orientation of a trocar inserted into a patient; a control device; The control device Detecting the position and orientation of the trocar based on the detection result of the detection unit; A surgical assistance system that moves the surgical instrument attachment portion toward the trocar based on the detected position and orientation of the trocar.

[0098] (Item 2) the detection unit includes at least an imaging unit that images the patient and a distance sensor that detects the distance to the patient; Item 1. The surgical support system according to item 1, wherein the control device detects the position and orientation of the trocar based on at least an image of the patient captured by the imaging unit.

[0099] (Item 3) the surgical instrument further comprises a shaft; The control device 3. The surgical support system according to claim 1, wherein the surgical instrument mounting portion is moved based on the detected position and orientation of the trocar so that the shaft of the surgical instrument is positioned on a plane along a vertical direction including the axis of the trocar.

[0100] (Item 4) The control device Item 4. The surgical support system described in item 3, wherein the axis of the trocar is set based on the detected position and orientation of the trocar, and the surgical instrument mounting portion is moved so that the shaft of the surgical instrument is positioned on the axis of the trocar.

[0101] (Item 5) Further comprising a robot main body, the detection unit includes at least an imaging unit that images the patient and a distance sensor that detects the distance to the patient; The control device After the robot main body is moved toward the patient based on the image captured by the imaging unit, the position and orientation of the trocar are detected based on at least the image of the patient captured by the imaging unit; A surgical support system described in any one of items 1 to 4, which moves the surgical instrument attachment portion toward the trocar based on the detected position and orientation of the trocar.

[0102] (Item 6) The control device 6. A surgical assistance system according to any one of items 1 to 5, wherein the surgical instrument mounting unit is moved to a position for mounting the surgical instrument or a pivot position setting instrument to the surgical instrument mounting unit in order to set a pivot position that serves as a fulcrum for the movement of the surgical instrument attached to the robot arm, based on the detected position and orientation of the trocar.

[0103] (Item 7) The control device Moving the surgical instrument mounting portion without the surgical instrument attached toward the trocar; Item 7. The surgical assistance system according to item 6, wherein the surgical instrument or the pivot position setting instrument is attached to the surgical instrument attachment portion, and then receives a fine adjustment of the position of the robot arm and then receives an instruction to set the pivot position.

[0104] (Item 8) further comprising an arm base to which the robot arm is attached; 8. The surgical support system according to any one of items 1 to 7, wherein the detection unit is disposed on the arm base.

[0105] (Item 9) the detection unit includes an imaging unit that images the patient and a distance sensor that detects the distance to the patient; the imaging unit is disposed on the arm base, Item 9. The surgical assistance system according to item 8, wherein the distance sensor is arranged adjacent to the imaging unit on the arm base.

[0106] (Item 10) the robot arm is a first robot arm, a second robotic arm to which an endoscope is attached; The surgical support system described in any one of items 1 to 9, wherein the control device moves the surgical instrument attachment portion of each of the first robot arm and the second robot arm toward the trocar based on the detected position and orientation of the trocar.

[0107] (Item 11) a robot arm including a surgical instrument attachment portion to which a surgical instrument is attached; a detection unit for detecting the position and orientation of a trocar inserted into a patient; a control device; The control device Detecting the position and orientation of the trocar based on the detection result of the detection unit; A surgical support robot that moves the surgical instrument attachment portion toward the trocar based on the detected position and orientation of the trocar.

[0108] (Item 12) A control method for a surgery assistance system including a robot arm including a surgical instrument attachment portion to which a surgical instrument is attached, a detection portion for detecting the position and orientation of a trocar inserted into a patient, and a control device, comprising: Detecting the position and orientation of the trocar based on the detection result of the detection unit; A method for controlling a surgical assistance system, comprising: moving the surgical instrument attachment portion toward the trocar based on the detected position and orientation of the trocar.

Claims

1. a robot arm including a surgical instrument attachment portion to which a surgical instrument is attached; a detection unit for detecting the position and orientation of a trocar inserted into a patient; a control device; The control device Detecting the position and orientation of the trocar based on the detection result of the detection unit; moving the surgical instrument mount toward the trocar based on the detected position and orientation of the trocar; the detection unit includes an imaging unit that images the patient and a distance sensor that detects the distance to the patient; the imaging unit is disposed on an arm base to which the robot arm is attached, A surgical assistance system, wherein the distance sensor is arranged adjacent to the imaging unit on the arm base.

2. The surgical support system described in Claim 1, wherein the control device detects the position and orientation of the trocar based on an image of the patient captured by the imaging unit.

3. the surgical instrument further comprises a shaft; The control device The surgical support system of claim 1, wherein the surgical instrument mounting portion is moved based on the detected position and orientation of the trocar so that the shaft of the surgical instrument is positioned on a plane perpendicular to the surface of the patient's body that includes the axis of the trocar.

4. The control device The surgical support system of claim 3, wherein the axis of the trocar is set based on the detected position and orientation of the trocar, and the surgical instrument mounting portion is moved so that the shaft of the surgical instrument is positioned on the axis of the trocar.

5. Further comprising a robot main body, The control device After the robot main body is moved toward the patient based on the image captured by the imaging unit, the position and orientation of the trocar are detected based on the image of the patient captured by the imaging unit; The surgical assistance system according to claim 1 , wherein the surgical instrument attachment portion is moved toward the trocar based on the detected position and orientation of the trocar.

6. The control device 2. The surgical assistance system of claim 1, wherein the surgical instrument mounting unit is moved to a position where the surgical instrument or pivot position setting instrument is attached to the surgical instrument mounting unit in order to set a pivot position that serves as a fulcrum for the rotational movement of the surgical instrument attached to the robot arm based on the detected position and orientation of the trocar.

7. The control device Moving the surgical instrument mounting portion without the surgical instrument attached toward the trocar; The surgical assistance system according to claim 6, wherein the surgical instrument or the pivot position setting instrument is attached to the surgical instrument attachment portion, and then receives a fine adjustment of the position of the robot arm, and then receives an instruction to set the pivot position.

8. the robot arm is a first robot arm, a second robotic arm to which the endoscope is attached; The surgical assistance system of claim 1 , wherein the control device moves the surgical instrument attachment portions of the first robot arm and the second robot arm toward the trocar based on the detected position and orientation of the trocar.

9. a robot arm including a surgical instrument attachment portion to which a surgical instrument is attached; a detection unit for detecting the position and orientation of a trocar inserted into a patient; a control device; The control device Detecting the position and orientation of the trocar based on the detection result of the detection unit; moving the surgical instrument mount toward the trocar based on the detected position and orientation of the trocar; the detection unit includes an imaging unit that images the patient and a distance sensor that detects the distance to the patient; the imaging unit is disposed on an arm base to which the robot arm is attached, The distance sensor is disposed adjacent to the imaging unit on the arm base.

10. A control method for a surgery assistance system including a robot arm including a surgical instrument attachment portion to which a surgical instrument is attached, a detection portion for detecting the position and orientation of a trocar inserted into a patient, and a control device, comprising: Detecting the position and orientation of the trocar based on the detection result of the detection unit, which includes an imaging unit that images the patient and a distance sensor that detects the distance to the patient, the imaging unit being disposed on an arm base to which the robot arm is attached, and the distance sensor being disposed adjacent to the imaging unit on the arm base; A method for controlling a surgical assistance system, comprising: moving the surgical instrument attachment portion toward the trocar based on the detected position and orientation of the trocar.

Images