Surgery Support System

Abstract

To provide a surgery support system capable of moving a surgical instrument as an operator intends.SOLUTION: In a surgery support system 100, a control unit 130 sets an operation unit reference point MP with respect to an operation unit 120, sets a surgical instrument reference point CP with respect to a surgical instrument 4, and performs control so as to move the surgical instrument 4 so that the surgical instrument reference point CP moves as the operation unit reference point MP moves when the operation unit 120 is operated. The operation unit reference point MP is set to a position opposite a distal end G2 of a link part 21d with respect to a proximal end G1 of the link part 21d.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present disclosure relates to a surgical assistance system. [Background technology]

[0002] Conventionally, surgical assistance systems have been disclosed. Patent Document 1 discloses a technique for controlling the movement of a surgical instrument attached to a multi-joint robot arm acting as a slave, based on an operation amount received by an operation unit disposed in a master control device. In Patent Document 1, the operation unit is provided with a grip member to be held by the operator's fingers. The surgical instrument is moved when the operator operates the operation unit while holding the grip member. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] US Patent Application Publication No. 2004 / 0243110 Summary of the Invention [Problem to be solved by the invention]

[0004] In general, in a surgical assistance system, when an operating unit is operated, a surgical instrument is moved so that a reference point set on the surgical instrument moves in response to the movement of the reference point set on the operating unit. It has been found that when the reference point set on the operating unit is set at a gimbal point, which is the intersection of multiple rotation axes of the operating unit, the operating unit does not rotate around the gimbal point even when an attempt is made to rotate the surgical instrument around the reference point set on the surgical instrument. In other words, it has been found that when a surgical instrument is rotated around the reference point set on the surgical instrument, the gimbal point moves over a relatively wide range. This creates a problem in that the operator may not be able to operate the surgical instrument as intended due to a mismatch between the movement of the operator's hand and the movement of the surgical instrument.

[0005] The present disclosure has been made to solve the above-mentioned problems, and aims to provide a surgery assistance system that is capable of moving a surgical instrument as intended by an operator. [Means for solving the problem]

[0006] A surgical assistance system according to a first aspect of the present disclosure includes a surgical apparatus including a robotic arm having a surgical instrument attached to a tip thereof, an operation device including an operation unit that receives an operation for the surgical instrument, and a control device that controls movement of the surgical instrument based on the received operation, wherein the operation unit includes a first link unit, and the control device includes: and is located at a position separated from the operating unit. Set the reference point for the control unit and surgical instruments and is displaced and rotated in synchronization with the displacement and rotation of the surgical instrument. Set the surgical instrument reference point, and when the operating part is operated, Based on the input value from the operation unit, the displacement and rotation of the reference point of the operation unit are calculated by forward kinematics calculation; Control unit reference point Synchronous with displacement and rotation Surgical instrument reference point Displacement and rotation The surgical instrument is controlled to move in this manner, and the operating unit reference point is set at a position opposite to the distal end of the first link portion relative to the proximal end of the first link portion.

[0007] As a result of extensive research, the inventors of the present application have found that, as described above, by setting the operation unit reference point at a position opposite the distal end of the first link unit relative to the proximal end of the first link unit, the surgical instrument can be moved as intended by the operator. That is, because the operation unit reference point is set closer to the operator than the proximal end of the first link unit, the distance between the operation unit reference point and the wrist, which is considered to be the center of rotation when the operator turns the grip member attached to the first link unit, is reduced. This reduces the discrepancy between the movement of the operator's hand and the movement of the surgical instrument, thereby preventing the movement range of the operation unit reference point from becoming too large. As a result, the surgical instrument can be moved as intended by the operator. The fact that the movement range of the operation unit reference point is prevented from becoming too large by setting the operation unit reference point at a position opposite the distal end of the grip member relative to the proximal end of the first link unit has been confirmed through experiments conducted by the inventors, which will be described later.

[0008] A surgery assistance system according to a second aspect of the present disclosure includes a surgical apparatus including a robotic arm having a surgical instrument attached to a tip thereof, an operation device including an operation unit that receives an operation for the surgical instrument, and a control device that controls movement of the surgical instrument based on the received operation, wherein the operation unit includes a first link unit, and the control device includes: and is located at a position separated from the operating unit. Set the reference point for the control unit and surgical instruments and is displaced and rotated in synchronization with the displacement and rotation of the surgical instrument. Set the surgical instrument reference point, and when the operating part is operated, Based on the input value from the operation unit, the displacement and rotation of the reference point of the operation unit are calculated by forward kinematics calculation; Control unit reference point Synchronous with displacement and rotation Surgical instrument reference point Displacement and rotation The surgical instrument is controlled to move in this manner, and in the reference posture of the operation unit, the operation unit reference point is set at a position closer to the operator than the proximal end of the first link unit.

[0009] As a result of extensive research by the inventors of the present disclosure, in a surgery assistance system according to a second aspect of the present disclosure, the operation unit reference point is set at a position closer to the operator than the proximal end of the first link unit, as described above. This reduces the distance between the operation unit reference point and the wrist, which is considered to be the center of rotation when the operator turns the grip member disposed on the first link unit. This reduces the discrepancy between the movement of the operator's hand and the movement of the surgical instrument, thereby preventing the movement range of the operation unit reference point from becoming too large. As a result, a surgery assistance system can be provided that allows the surgical instrument to be moved as intended by the operator.

[0010] A surgery assistance system according to a third aspect of the present disclosure includes a surgical apparatus including a robot arm having a surgical instrument attached to a tip thereof, an operation device including an operation unit that receives an operation for the surgical instrument, and a control device that controls movement of the surgical instrument based on the received operation, wherein the operation unit includes a first link unit, and the control device includes: and is located at a position separated from the operating unit. Set the reference point for the control unit and surgical instruments and is displaced and rotated in synchronization with the displacement and rotation of the surgical instrument. Set the surgical instrument reference point, and when the operating part is operated, Based on the input value from the operation unit, the displacement and rotation of the reference point of the operation unit are calculated by forward kinematics calculation; Control unit reference point Synchronous with displacement and rotation Surgical instrument reference point Displacement and rotationThe operating unit reference point is set at a position opposite to the gimbal point, which is the intersection of multiple rotation axes of the operating unit, relative to the proximal end of the first link unit.

[0011] In a surgery assistance system according to a third aspect of the present disclosure, the inventors of the present application have conducted extensive research and found that, as described above, the operation unit reference point is set at a position opposite the gimbal point, which is the intersection of the multiple rotation axes of the operation unit, rather than the proximal end of the first link unit. This allows the operation unit reference point to be set closer to the operator than the proximal end of the first link unit, thereby reducing the distance between the operation unit reference point and the wrist, which is considered to be the center of rotation when the operator turns the grip member disposed on the first link unit. This reduces the discrepancy between the movement of the operator's hand and the movement of the surgical instrument, thereby preventing the movement range of the operation unit reference point from becoming too large. As a result, a surgery assistance system can be provided that allows the surgical instrument to be moved as intended by the operator. [Effects of the Invention]

[0012] According to the present disclosure, a surgical instrument can be moved as intended by an operator. [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. 1 illustrates a configuration of a robot arm according to an embodiment. [Figure 3] FIG. [Figure 4] FIG. 2 is a perspective view showing a configuration of an arm operating unit according to one embodiment. [Figure 5] FIG. 10 is a diagram for explaining translational movement of a robot arm. [Figure 6] FIG. 10 is a diagram for explaining the rotational movement of the robot arm. [Figure 7] FIG. 2 is a diagram illustrating an operation unit according to an embodiment. [Figure 8]1A and 1B are diagrams illustrating a configuration of a right-hand operation unit according to an embodiment. [Figure 9] 1A and 1B are diagrams illustrating a configuration of a left-handed operation unit according to an embodiment. [Figure 10] FIG. 1 illustrates a foot pedal configuration according to one embodiment. [Figure 11] FIG. 1 is a control block diagram of a surgery assistance system according to one embodiment. [Figure 12] FIG. 2 is a control block diagram of a robot arm according to one embodiment. [Figure 13] FIG. 2 is a control block diagram of a remote control device according to an embodiment. [Figure 14] 10A and 10B are diagrams for explaining an operation when an operation unit receives an operation. [Figure 15] FIG. 10 is a diagram for explaining forward kinematics calculation in which offset transformation is performed last. [Figure 16] FIG. 10 is a diagram for explaining a forward kinematics calculation in which an offset transformation is performed before an A7 axis transformation. [Figure 17] FIG. 10 is a diagram illustrating a touch panel that receives an operation unit reference point. [Figure 18] 10A and 10B are diagrams showing experimental results regarding the range of movement of the reference point of the operation unit when the surgical instrument is rotated. DETAILED DESCRIPTION OF THE INVENTION

[0014] (Configuration of surgical support system) The configuration of a surgery support system 100 according to this embodiment will be described. The surgery support system 100 includes a surgery support robot 1 and a remote control device 2. The surgery support robot 1 and the remote control device 2 are examples of a surgery device and an operation device, respectively.

[0015] In this specification, the longitudinal direction of the shaft 4c 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] In addition, in this specification, the direction along the vertical direction is referred to as the Za direction. One side of the Za direction is referred to as the Za1 side, and the other side is referred to as the Za2 side. The direction perpendicular to the Z direction is referred to as the Xa direction. One side of the Xa direction is referred to as the Xa1 side, and the other side is referred to as the Xa2 side. The direction perpendicular to the Za direction and the Xa direction is referred to as the Ya direction. One side of the Ya direction is referred to as the Ya1 side, and the other side is referred to as the Ya2 side. The Xa direction and the Ya direction are directions along a horizontal plane.

[0017] 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.

[0018] (Configuration of surgical support robot) As shown in FIG. 1, the surgery support robot 1 includes a medical cart 3, a positioner 40, an arm base 50, a plurality of robot arms 60, and an arm operating unit 80.

[0019] The medical cart 3 moves the 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 preparing for surgery before the procedure. The medical cart 3 includes an operation handle 34 that receives steering by the operator.

[0020] The positioner 40 is, for example, a seven-axis articulated robot. The positioner 40 is placed on the 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 three-dimensionally.

[0021] 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.

[0022] 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 and stored. 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.

[0023] 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.

[0024] As shown in FIG. 2, the robot arm 60 includes an arm unit 61, a first link unit 72, a second link unit 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 J8 axis as a linear movement axis. The JT1, JT2, JT3, JT4, JT5, JT6, and JT7 axes are rotational axes of the joint unit 64 of the arm unit 61. The JT7 axis is also the rotational axis of the first link unit 72. The JT8 axis is a linear movement axis along which the translational movement mechanism 70 moves the second link unit 73 relative to the first link unit 72 in the Z direction.

[0025] The arm unit 61 is a seven-axis articulated robot arm. The first link unit 72 is disposed at the tip of the arm unit 61. The arm operating unit 80 is attached to the second link unit 73. The translational movement mechanism unit 70 is disposed between the first link unit 72 and the second link unit 73. A holder 71 for holding a surgical instrument 4 is disposed on the second link unit 73.

[0026] 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 and an endoscope 6 for capturing images of the surgical site. The surgical instrument 4 as an instrument includes a driven unit 4a, forceps 4b, and a shaft 4c connecting the driven unit 4a and the forceps 4b. The driven unit 4a, the shaft 4c, and the forceps 4b are arranged along the Z direction.

[0027] 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 that are arranged in the middle of the four robot arms 60 arranged adjacent to each other.

[0028] (Instrument configuration) As shown in Fig. 3, the tip of the instrument is provided with, for example, forceps 4b. In addition to the forceps 4b, other instruments with joints, 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 instruments without joints, such as cutting blades, cauterizing probes, irrigators, catheters, and suction orifices, are arranged at the tip of the instrument.

[0029] The forceps 4b includes a first support 4e that supports the proximal ends of the jaw members 104a and 104b at the distal end so that they can rotate about the JT11 axis, and a second support 4f that supports the proximal end of the first support 4e at the distal end so that they can rotate about the JT10 axis. The shaft 4c rotates about the JT9 axis. The jaw members 104a and 104b open and close about the JT12 axis. The distal end of the first support 4e, i.e., the Z1 direction side, is U-shaped.

[0030] 2, the arm operating unit 80 is attached to the robot arm 60. Specifically, the arm operating unit 80 is attached to the second link unit 73.

[0031] As shown in FIG. 4, 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 84a, a pivot button 85, and an adjustment button 86.

[0032] The enable switch 81 is a switch that permits or prohibits movement of the robot arm 60 by the joystick 82 and linear switch 83. The joystick 82 is an operating tool for controlling the movement of the surgical instrument 4 by the robot arm 60. The linear switch 83 is a switch for moving the surgical instrument 4 in a direction along the longitudinal direction of the surgical instrument 4. The mode switching button 84 is a button for switching between a mode in which the surgical instrument 4 is moved translationally as shown in FIG. 5 and a mode in which it is moved rotationally as shown in FIG. 6. The mode indicator 84a displays the switched mode. The pivot button 85 is a button for teaching the pivot position PP, which serves as a fulcrum for the movement of the surgical instrument 4 attached to the robot arm 60. The adjustment button 86 is a button for optimizing the position of the robot arm 60.

[0033] (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 a main body 2a, an operation unit 120, a foot pedal 22, a touch panel 23, a monitor 24, a support arm 25, a support bar 26, and a foot detection unit 27.

[0034] As shown in Fig. 1, operation unit 120 is supported by main body 2a. As shown in Fig. 7, operation unit 120 receives an operation amount for surgical instrument 4. Operation unit 120 is arranged on the left side as viewed from an operator such as a doctor and includes left-hand operation unit 120L that is operated with the operator's left hand, and right-hand operation unit 120R that is arranged on the right side and operated with the operator's right hand. Left-hand operation unit 120L and right-hand operation unit 120R have the same configuration.

[0035] The operation unit 120 includes a substantially L-shaped arm 121 and an operation handle 21. The arm 121 has a link portion 121a, a link portion 121b, and a link portion 121c. The upper end side of the link portion 121a is attached to the main body 2a so as to be rotatable around an A1 axis along the vertical direction. The upper end side of the link portion 121b is attached to the lower end side of the link portion 121a so as to be rotatable around an A2 axis along the horizontal direction. One end side of the link portion 121c is attached to the lower end side of the link portion 121b so as to be rotatable around an A3 axis along the horizontal direction. The operation handle 21 is attached to the other end side of the link portion 121c so as to be rotatable around an A4 axis. The link portions are connected by a joint portion 122.

[0036] The arm 121 supports the operating handle 21. The arm 121 supports the operating handle 21 so that it can move within a predetermined three-dimensional operation range. Specifically, the arm 121 supports the operating handle 21 so that it can move in the up-down direction, left-right direction, and front-rear direction. The robot arm 60 moves three-dimensionally in response to the three-dimensional operation of the arm 121.

[0037] The operating handle 21 includes an operating handle 21R, shown in FIG. 8, which is operated by the operator's right hand, and an operating handle 21L, shown in FIG. 9, which is operated by the operator's left hand. FIG. 8 shows the reference position of the right-hand operating unit 120R, and FIG. 9 shows the reference position of the left-hand operating unit 120L. The configuration of the operating handle 21R is the same as the configuration of the operating handle 21L. The operating handle 21 includes link portions 21a, 21b, 21c, and link portion 21d, which is operated by an operator such as a doctor. Link portion 21a rotates around the A4 axis. Link portion 21b is attached to link portion 21a so as to be rotatable around the A5 axis. Link portion 21c is attached to link portion 21b so as to be rotatable around the A6 axis. Link portion 21d is attached to link portion 21c so as to be rotatable around the A7 axis. The link portions are connected by joints 122. Link portion 21a, link portion 21b, and link portion 21c each have an L-shape. Link portion 21a, link portion 21b, link portion 21c, and link portion 21d are examples of a fourth link portion, a third link portion, a second link portion, and a first link portion, respectively. Axis A4, A5, A6, and A7 are examples of a fourth axis, a third axis, a second axis, and a first axis, respectively.

[0038] The operating handle 21 includes a pair of grip members 21f that can be opened and closed by the operator. The grip members 21f are made of elongated, plate-like lever members, and the proximal ends of the pair of grip members 21f are rotatably connected to the proximal end G1 of the link portion 21d. Cylindrical finger insertion portions 21e are disposed on the grip members 21f. The operator inserts the fingers of his right hand into the pair of finger insertion portions 21e to operate the operating handle 21R. The operator inserts the fingers of his left hand into the pair of finger insertion portions 21e to operate the operating handle 21L. The base ends of the pair of grip members 21f are connected to the link portion 21d, and the opening angle between the jaw member 104a and the jaw member 104b can be changed by increasing or decreasing the angle between the pair of grip members 21f. A magnet is disposed on one side of the grip members 21f, and a Hall sensor is disposed on the link portion 21d. When the operator opens or closes grip member 21f, the magnet and Hall sensor function as angle detection sensor 21g, and the Hall sensor outputs the opening angle, as shown in Fig. 11. Note that angle detection sensor 21g may be provided by disposing a Hall sensor on grip member 21f and a magnet on link portion 21d. Alternatively, a magnet or Hall sensor may be disposed on both grip members 21f as angle detection sensor 21g.

[0039] The intersection of the multiple rotation axes of operation unit 120 is called gimbal point GP. Specifically, gimbal point GP is the point where axis A4, axis A5, axis A6, and axis A7 intersect. Gimbal point GP is located on link unit 21d to which pair of grip members 21f are attached. A gimbal point GP exists separately for left-hand operation unit 120L and right-hand operation unit 120R.

[0040] In the reference posture, the A4 and A6 axes of the operating unit 120 are aligned along the Za direction. The A5 axis is aligned along the Ya direction. The A7 axis is aligned along the Xa direction. As shown in FIG. 8, in the reference posture, the link portion 21a and the link portion 21b of the operating handle 21R are arranged along the Ya-Za plane and on the Ya1 side of the A7 axis. In the reference posture, the link portion 21c is arranged along the Xa-Za plane. In the reference posture, the link portion 21d is arranged along the A7 axis.

[0041] 9, in the reference posture, the link portions 21a and 21b of the operating handle 21L are disposed along the Ya-Za plane and on the Ya2 side of the A7 axis. In the reference posture, the link portion 21c is disposed along the Xa-Za plane. In the reference posture, the link portion 21d is disposed along the A7 axis.

[0042] As shown in FIG. 10 , a plurality of foot pedals 22 are provided to perform functions related to the surgical instrument 4. The plurality of foot pedals 22 are arranged on a base 28. The foot pedals 22 include a switching pedal 22a, a clutch pedal 22b, a camera pedal 22c, an incision pedal 22d, and a coagulation pedal 22e. The switching pedal 22a, the clutch pedal 22b, the camera pedal 22c, the incision pedal 22d, and the coagulation pedal 22e are operated by the operator's feet. The incision pedal 22d includes a incision pedal 22dR for the right robot arm 60 and a incision pedal 22dL for the left robot arm 60. The coagulation pedal 22e includes a coagulation pedal 22eR for the right robot arm 60 and a coagulation pedal 22eL for the left robot arm 60.

[0043] The switching pedal 22a switches the robot arm 60 operated by the operating handle 21. The clutch pedal 22b performs a clutch operation that temporarily disconnects the operational connection between the robot arm 60 and the operating handle 21. While the clutch pedal 22b is depressed by the operator, the operation by the operating handle 21 is not transmitted to the robot arm 60. Furthermore, while the operator is depressing the camera pedal 22c, the operating handle 21 can be used to operate the robot arm 60 to which the endoscope 6 is attached. While the operator is depressing the incision pedal 22d or the coagulation pedal 22e, the electrosurgical device is activated.

[0044] The foot detection unit 27 detects the feet of the operator operating the foot pedal 22. The foot detection unit 27 detects the feet in a hover state located above the foot pedal 22. The foot detection unit 27 is disposed on the base unit 28.

[0045] As shown in FIG. 1, the monitor 24 is a scope-type display device for displaying an image captured by the endoscope 6. A support arm 25 supports the monitor 24 so that the height of the monitor 24 is at the same height as the face of an operator such as a doctor. The touch panel 23 is disposed on a support bar 26. A sensor provided near the monitor 24 detects the operator's head, enabling the remote control device 2 to operate the surgical support robot 1. The operator operates the operation unit 120 and foot pedals 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. The touch panel 23 is an example of a reception unit.

[0046] (Control system configuration) As shown in FIG. 11, 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.

[0047] The control device 130 communicates with each of the arm control unit 31a, the positioner control unit 31b, and the operation control unit 110 inside the medical cart 3. The control device 130 controls each of the arm control unit 31a, the positioner control unit 31b, and the operation control unit 110. The control device 130 is connected to the arm control unit 31a, the positioner control unit 31b, and the operation control unit 110 via a LAN or the like. Note that although FIG. 11 depicts the control device 130 separately from the medical cart 3, FIG. 11 is a diagram for explaining the control block, and in reality, the control device 130 is disposed inside the medical cart 3 as shown in FIG. 1.

[0048] An arm control unit 31a is provided for each of the multiple robot arms 60. Note that, although Fig. 11 shows the arm control unit 31a as being provided inside the robot arm 60, Fig. 11 is a diagram for explaining the control block, and in reality, the arm control unit 31a is provided inside the medical cart 3, as shown in Fig. 1. That is, the arm control units 31a provided inside the medical cart 3 are equal in number to the number of the multiple robot arms 60.

[0049] 12, the arm 61 is provided with a plurality of servo motors M1, an encoder E1, and a reducer so as to correspond to a 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.

[0050] A servo control unit C1 for controlling the servo motor M1 is disposed on the robot arm 60. An encoder E1 for detecting the rotation angle of the servo motor M1 is electrically connected to the servo control unit C1.

[0051] As shown in FIG. 12, 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 robot arm 60 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.

[0052] As shown in Figure 12, the translational movement mechanism 70 is provided with a servo motor M3 for translationally moving 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 robot arm 60 is also provided with a servo control unit C3 for controlling the servo motor M3 for translationally moving 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.

[0053] 13, 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, a reducer, and a servo control unit SC, which correspond to the multiple joints 43 of the positioner 40. The medical cart 3 is provided with a servo motor SM, an encoder EN, a reducer, a servo control unit SC, and a brake, which drive each of the multiple front wheels of the medical cart 3.

[0054] As shown in Fig. 13, servo motors M6a, M6b, M6c, M6d, M6e, M6f, and M6g are arranged in operation unit 120 to correspond to the rotation axes A1, A2, A3, A4, A5, A6, and A7, respectively. Servo controllers C6a, C6b, C6c, C6d, C6e, C6f, and C6g are arranged to control the servo motors. Encoders E6a, E6b, E6c, E6d, E6e, E6f, and E6g are electrically connected to the servo controllers to detect the rotation angles of the servo motors. The servo motors, servo controllers, and encoders are provided in left-hand operation unit 120L and right-hand operation unit 120R, respectively. In addition, in Figure 11, the operation control unit 110 is shown as being located inside the operation unit 120, but Figure 11 is a diagram for explaining the control block, and in reality, the operation control unit 110 is located inside the main body 2a of the remote control device 2, as shown in Figure 1.

[0055] The control device 130 controls each servo motor via the operation control unit 110 to generate a torque that cancels out the gravitational torque generated on the rotation axis of each servo motor according to the attitude of the operation unit 120. This enables the operator to operate the operation unit 120 with a relatively small force.

[0056] The control device 130 controls each servo motor via the operation control unit 110 to generate torque on each rotation axis of each servo motor in response to the operation of the operation unit 120, thereby assisting the operation by the operator, thereby enabling the operator to operate the operation unit 120 with a relatively small force.

[0057] In this embodiment, the control device 130 sets an operation unit reference point MP for the operation unit 120. The operation unit reference point MP is also called a mapping point. The control device 130 sets a surgical instrument reference point CP for the surgical instrument 4. When the operation unit 120 is operated, the control device 130 controls the surgical instrument 4 to move so that the surgical instrument reference point CP moves in response to the movement of the operation unit reference point MP. The action of moving the surgical instrument 4 so that the surgical instrument reference point CP moves in response to the movement of the operation unit reference point MP is called "following." As shown in FIG. 3, the surgical instrument reference point CP is set at the center of the Z1-direction side of the first support 4e in the JT12 axis direction. The surgical instrument reference point CP is also called a tool center point or a clevis point.

[0058] In this embodiment, as shown in FIG. 8, the operation unit reference point MP is set at a position opposite the distal end G2 of the link portion 21d with respect to the proximal end G1 of the link portion 21d. The proximal end G1 of the link portion 21d is the end portion on the Xa1 side of the link portion 21d. The distal end G2 of the link portion 21d is the end portion on the Xa2 side of the link portion 21d. The position opposite the distal end G2 from the proximal end G1 includes not only a position on the A7 axis, but also a range on the Y1a direction side of the A7 axis and a range on the Y2a direction side of the A7 axis. The operation unit reference point MP as described above is set for a robot arm 60 to which a surgical instrument 4 other than the endoscope 6 is attached.

[0059] Specifically, the control device 130 sets the operation unit reference point MP as an offset value from the coordinates of the gimbal point GP in the operation unit coordinate system. The offset value to be added is defined as the amount of displacement in the coordinate system defined on the link unit 21d or 21c of the operation unit 120.

[0060] In this embodiment, the operation unit reference point MP is set at a position closer to the operator than the proximal end G1 of the link portion 21d. Specifically, when the operator is holding the grip member 21f, the operation unit reference point MP is located near the operator's wrist. The term "near the wrist" is a concept that includes the position of the wrist itself and a position near the wrist.

[0061] In this embodiment, the operation unit reference point MP is set at a position opposite to the gimbal point GP, which is the intersection of multiple rotation axes of the operation unit 120, with respect to the proximal end G1 of the link unit 21d. The gimbal point GP is located on the Xa2 direction side with respect to the proximal end G1 of the link unit 21d. The gimbal point GP is located between the proximal end G1 and the distal end G2 of the link unit 21d.

[0062] In this embodiment, the operation unit reference point MP is set at a position opposite the distal end G2 of the grip member 21f with respect to the proximal end G1 of the link portion 21d and at a position offset from the A7 axis. The position offset from the A7 axis refers to a range on the Y1a direction side of the A7 axis and a range on the Y2a direction side of the A7 axis.

[0063] In this embodiment, in the reference posture of operation unit 120, operation unit reference point MP is set at a position opposite to distal end G2 of grip member 21f with respect to proximal end G1 of link unit 21d and at a position opposite to link unit 21a with respect to the A7 axis. Here, operation unit reference point MP is set individually for right-handed operation unit 120R and left-handed operation unit 120L. As shown in FIG. 8, in the reference posture of right-handed operation unit 120R, operation unit reference point MP is set at a position opposite to distal end G2 of grip member 21f with respect to proximal end G1 of link unit 21d and at a position on the Ya2 side opposite to link unit 21a with respect to the A7 axis. As shown in Figure 9, in the reference posture of the left-hand operating unit 120L, the operating unit reference point MP is set at a position opposite the distal end G2 of the grip member 21f with respect to the proximal end G1 of the link portion 21d, and on the Ya1 side opposite the link portion 21a with respect to the A7 axis.

[0064] In this embodiment, in the reference posture of operation unit 120, operation unit reference point MP is set at a position opposite to distal end G2 of grip member 21f with respect to proximal end G1 of link portion 21d, opposite link portion 21a with respect to the A7 axis, and on an axis perpendicular to the A7 axis in the horizontal direction. As shown in FIG. 8, in the reference posture of right-handed operation unit 120R, operation unit reference point MP is set on a BR axis perpendicular to the A7 axis in the horizontal direction. As shown in FIG. 9, in the reference posture of left-handed operation unit 120L, operation unit reference point MP is set on a BL axis perpendicular to the A7 axis in the horizontal direction. The BR axis and the BL axis are axes parallel to the A5 axis.

[0065] In the direction along the A7 axis, the operation unit reference point MP is set, for example, within a range of 0 to 100 mm from the proximal end G1 of grip member 21f toward the Xa1 side. Also, as shown in FIG. 8, in right-handed operation unit 120R, the operation unit reference point MP is set, for example, within a range of 0 to 80 mm from the A7 axis toward the Ya2 side in the direction along the BR axis. Also, as shown in FIG. 9, in left-handed operation unit 120L, the operation unit reference point MP is set, for example, within a range of 0 to 80 mm from the A7 axis toward the Ya1 side in the direction along the BL axis.

[0066] (Method of calculating the manipulated variable) A method for calculating input values ​​of the operation unit 120 when an operation by the operator is accepted will be described. As shown in FIG. 14, an operation by the operator is accepted by the operation unit 120. As a result, axis values ​​of the A1, A2, A3, A4, A5, A6, and A7 axes of the operation unit 120 are input to the operation control unit 110. The control device 130 performs forward kinematics calculation based on the axis values ​​input to the operation control unit 110. As a result, a homogeneous transformation matrix representing the displacement and rotation of the operation unit reference point MP from the reference posture is updated as an input value from the operation unit 120. The forward kinematics calculation is a means for calculating the displacement and rotation of a focused portion of the mechanism from the axis values ​​of the link mechanism. Specific details of the forward kinematics calculation will be described later. The control device 130 converts the homogeneous transformation matrix representing the input from the operation unit 120 according to the field of view direction of the endoscope 6. The obtained homogeneous transformation matrix includes a translational component for the translational movement of the surgical instrument 4 and a rotational component for the rotation of the surgical instrument 4, which produce a movement corresponding to the input of the operation unit 120 within the field of view of the endoscope 6. The control device 130 performs scaling on the translational component and the rotational component. Scaling means multiplying the translational component and the rotational component by a scaling value, which is the ratio between the operation amount received by the operation unit 120 and the actual movement amount of the surgical instrument 4. The control device 130 calculates a target homogeneous transformation matrix based on the scaled translational component and rotational component. The control device 130 performs inverse kinematics calculation on the target homogeneous transformation matrix. The control device 130 calculates each target axis value of the robot arm 60 and the surgical instrument 4 through the inverse kinematics calculation.

[0067] As shown in Fig. 15, in the forward kinematics calculation, a 4-by-4 identity matrix is ​​sequentially multiplied by homogeneous transformation matrices that represent transformations determined from the axis values ​​of the A1-axis, A2-axis, A3-axis, A4-axis, A5-axis, A6-axis, and A7-axis, and transformations corresponding to the addition of offsets, so as to correspond to the operation received by the operation unit 120. This results in a final homogeneous transformation matrix that represents the displacement and rotation of the operation unit reference point MP from the reference posture. In the example shown in Fig. 15, the operation unit reference point MP is displaced as the grip member 21f rotates around the A7 axis.

[0068] 16, in the forward kinematics calculation, a 4-by-4 identity matrix is ​​sequentially multiplied by homogeneous transformation matrices representing transformations determined from the axis values ​​of the A1, A2, A3, A4, A5, and A6 axes, transformations corresponding to the addition of offsets, and transformations determined from the rotation of the A7 axis, so as to correspond to the operation received by the operation unit 120. This results in a final homogeneous transformation matrix representing the displacement and rotation of the operation unit reference point MP from the reference posture. In the example shown in FIG. 16, even if the grip member 21f rotates around the A7 axis, the operation unit reference point MP does not displace.

[0069] 17, the touch panel 23 of the remote control device 2 accepts changes to the operation unit reference point MP. The touch panel 23 includes a plurality of selection units 23a for selecting one of a plurality of preset operation unit reference points MP.

[0070] In this embodiment, the touch panel 23 accepts a change to the operation unit reference point MP before the start of surgery by the surgery assistance system 100. In other words, the touch panel 23 does not accept a change to the operation unit reference point MP during following. Note that the touch panel 23 may accept a change to the operation unit reference point MP during surgery by the surgery assistance system 100.

[0071] (experiment) With reference to FIG. 18, an experiment will be described to determine how the operation unit reference point moves when the surgical instrument 4 is rotated. In the experiment, as shown in FIG. 8, the following operation unit reference points were used: gimbal point GP; point MP1 on the Xa1 side of the proximal end G1 of link portion 21d and on the A7 axis; and point MP on the Xa1 side of the proximal end G1 of link portion 21d and shifted toward the Ya2 side from the A7 axis. Note that point MP is the operation unit reference point MP in the above embodiment. In the experiment, the operation unit 120 was operated with the pair of grip members 21f closed. As a result of the experiment, it was confirmed that when the operation unit reference point was set to the gimbal point GP, the gimbal point GP moved over a relatively large range. When the control unit 120 is operated with the intention of not moving the gimbal point GP, the control unit 120 should not move around the A1, A2, and A3 axes. However, experiments have confirmed that the control unit 120 does move around the A1, A2, and A3 axes. It has also been confirmed that when the control unit reference point is set to point MP1, the range of movement of point MP1 is smaller than when the control unit reference point is set to gimbal point GP. It has also been confirmed that when the control unit reference point is set to point MP, the range of movement of point MP is even smaller than when the control unit reference point is set to point MP1. In other words, it has been confirmed that by setting the control unit reference point to point MP, the surgical instrument 4 can be moved as intended by the operator.

[0072] [Effects of this embodiment] The operation unit reference point MP is set at a position opposite the distal end G2 of the link portion 21d relative to the proximal end G1 of the link portion 21d. This allows the operation unit reference point MP to be set closer to the operator than the proximal end G1 of the link portion 21d, thereby reducing the distance between the operation unit reference point MP and the wrist, which is considered to be the center of rotation when the operator turns the grip member 21f arranged on the link portion 21d. This reduces the discrepancy between the movement of the operator's hand and the movement of the surgical instrument 4, thereby preventing the movement range of the operation unit reference point MP from becoming too large. As a result, the surgical instrument 4 can be moved as intended by the operator.

[0073] The operation unit reference point MP is set at a position opposite the distal end G2 of the grip member 21f with respect to the proximal end G1 of the link portion 21d and offset from the A7 axis. This reduces the distance between the operation unit reference point MP and the wrist, allowing the surgical instrument 4 to be moved more as intended.

[0074] In the reference posture of the operating unit 120, the operating unit reference point MP is set at a position opposite to the distal end G2 of the link unit 21d with respect to the proximal end G1 of the link unit 21d and at a position opposite to the link unit 21a with respect to the A7 axis. As a result, in the reference posture of the operating unit 120, the wrist of the operator is positioned opposite to the link unit 21a with respect to the A7 axis, and therefore the distance between the operating unit reference point MP and the wrist can be easily reduced.

[0075] In the reference position of right-handed operation unit 120R, operation unit reference point MP is set at a position opposite distal end G2 of link unit 21d with respect to proximal end G1 of link unit 21d, opposite link unit 21a with respect to the A7 axis, and on the BR axis that is horizontally perpendicular to the A7 axis. As a result, in the reference position of right-handed operation unit 120R, the operator's wrist is positioned near the BR axis that is horizontally perpendicular to the A7 axis, making it easy to reduce the distance between operation unit reference point MP and the wrist. A similar effect is achieved for left-handed operation unit 120L.

[0076] A touch panel 23 is provided for accepting changes to the operation unit reference point MP, which allows the operation unit reference point MP to be set appropriately in accordance with the operator's physique.

[0077] The touch panel 23 includes a plurality of selection sections 23a for selecting one of a plurality of preset operation unit reference points MP, which allows the operator to easily select the operation unit reference point MP, unlike when the operator inputs the coordinates of the operation unit reference point MP.

[0078] The touch panel 23 accepts a change to the operation unit reference point MP before the start of surgery using the surgery assistance system 100. This allows the operation unit 120 to be used during surgery with the operation unit reference point MP set to an appropriate position.

[0079] The operation unit reference point MP is set separately for right-handed operation unit 120R and left-handed operation unit 120L. This allows the operator to move surgical instrument 4 as intended regardless of whether right-handed operation unit 120R or left-handed operation unit 120L is used.

[0080] [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 further includes all modifications and variations within the meaning and scope of the claims.

[0081] In the above embodiment, an example was shown in which the control device 130 was disposed on the medical cart 3, but the present disclosure is not limited to this. For example, the control device 130 may be disposed in a part other than the medical cart 3.

[0082] In the above embodiment, an example was shown in which the operation unit reference point MP was set at a position opposite the distal end G2 of link portion 21d with respect to the proximal end G1 of link portion 21d and at a position offset from the A7 axis, but the present disclosure is not limited to this. For example, the operation unit reference point MP may be set at a position opposite the distal end G2 of link portion 21d with respect to the proximal end G1 of link portion 21d and on the A7 axis.

[0083] In the above embodiment, an example has been shown in which, in the reference posture of the operation unit 120, the operation unit reference point MP is set at a position opposite to the link unit 21a with respect to the A7 axis, but the present disclosure is not limited to this. For example, the operation unit reference point MP may be set at a position opposite to the distal end G2 of the grip member 21f with respect to the proximal end G1 of the link unit 21d and closer to the link unit 21a with respect to the A7 axis.

[0084] In the above embodiment, an example has been shown in which, in the reference posture of the operation unit 120, the operation unit reference point MP is set on the BR axis or the BL axis that is orthogonal to the A7 axis in the horizontal direction, but the present disclosure is not limited to this. For example, in the reference posture of the operation unit 120, the operation unit reference point MP may be set at a position shifted from the BR axis or the BL axis that is orthogonal to the A7 axis in the horizontal direction.

[0085] In the above embodiment, the touch panel 23 includes a plurality of selection units 23a for selecting one of a plurality of preset operation unit reference points MP. However, the present disclosure is not limited to this. For example, the operator may input the coordinates of the operation unit reference point MP into the touch panel 23.

[0086] 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.

[0087] 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.

[0088] In addition, in the above embodiment, an example has been shown in which the surgery 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 surgery support robot 1 may be configured with only the robot arm 60.

[0089] 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. [Explanation of symbols]

[0090] 1. Surgical support robot (surgical device) 2 Remote control device (operation device) 4 Surgical instruments 21a Link part (4th link part) 21b Link part (third link part) 21c Link part (second link part) 21d Link part (first link part) 21f Grip material 23 Touch panel (reception area) 23a Selection section 60 Robot Arm 100 Surgical Support System 120 Operation section 120R Right-hand operation unit 120L left hand control unit 130 Control device CP surgical instrument reference point G1 proximal end G2 distal end GP Gimbal Point MP control unit reference point

Claims

1. a surgical device including a robotic arm having a surgical instrument attached to its tip; an operating device including an operating unit that accepts operations on the surgical instrument; a control device that controls the movement of the surgical instrument based on the received operation, the operating unit includes a first link unit, The control device setting an operation unit reference point that is displaced and rotated in synchronization with the displacement and rotation of the operation unit and is located at a position separated from the operation unit; a surgical instrument reference point that is displaced and rotated in synchronization with the displacement and rotation of the surgical instrument and is located on the surgical instrument; When the operation unit is operated, the displacement and rotation of the operation unit reference point are calculated by forward kinematics calculation based on the input value from the operation unit, and the surgical instrument is controlled to be moved so that the surgical instrument reference point is displaced and rotated in synchronization with the displacement and rotation of the operation unit reference point; A surgical assistance system, wherein the operating unit reference point is set at a position opposite the distal end of the first link unit relative to the proximal end of the first link unit.

2. The operation unit includes: a second link portion to which the first link portion is attached so as to be rotatable about a first axis; The surgical support system of claim 1, wherein the operating unit reference point is set at a position opposite the distal end of the first link portion and offset from the first axis relative to the proximal end of the first link portion.

3. the second link portion rotates around a second axis along a vertical direction, The operation unit includes: a third link portion connected to the second link portion and rotatable about a third axis that is horizontal and perpendicular to the first axis; a fourth link portion connected to the third link portion and configured to rotate about a fourth axis along the vertical direction, 3. The surgical support system of claim 2, wherein in the reference posture of the operating unit, the operating unit reference point is set at a position opposite the distal end of the first link unit with respect to the proximal end of the first link unit and at a position opposite the fourth link unit with respect to the first axis.

4. 4. The surgical support system of claim 3, wherein, in the reference posture of the operating unit, the operating unit reference point is set at a position opposite the distal end of the first link unit with respect to the proximal end of the first link unit, at a position opposite the fourth link unit with respect to the first axis, and on an axis that is horizontally perpendicular to the first axis.

5. The surgery support system according to claim 1 , wherein the operating device further comprises a grip member having a proximal end rotatably connected to the proximal end of the first link portion.

6. The surgery support system according to claim 1 , further comprising a reception unit that receives a change to the operation unit reference point.

7. The surgery assistance system according to claim 6 , wherein the reception unit includes a plurality of selection units for selecting one of a plurality of preset operation unit reference points.

8. The surgery assistance system according to claim 6 or 7, wherein the reception unit receives a request to change the operation unit reference point before a surgery is started by the surgery assistance system.

9. the operation unit includes a right-hand operation unit and a left-hand operation unit, The surgery support system according to claim 1 , wherein the operation unit reference point is set individually for the right-hand operation unit and the left-hand operation unit.

10. a surgical device including a robotic arm having a surgical instrument attached to its tip; an operating device including an operating unit that accepts operations on the surgical instrument; a control device that controls the movement of the surgical instrument based on the received operation, the operating unit includes a first link unit, The control device setting an operation unit reference point that is displaced and rotated in synchronization with the displacement and rotation of the operation unit and is located at a position separated from the operation unit; a surgical instrument reference point that is displaced and rotated in synchronization with the displacement and rotation of the surgical instrument and is located on the surgical instrument; When the operation unit is operated, the displacement and rotation of the operation unit reference point are calculated by forward kinematics calculation based on the input value from the operation unit, and the surgical instrument is controlled to be moved so that the surgical instrument reference point is displaced and rotated in synchronization with the displacement and rotation of the operation unit reference point; A surgical support system, wherein in the reference posture of the operating unit, the operating unit reference point is set at a position closer to the operator than the proximal end of the first link unit.

11. a surgical device including a robotic arm having a surgical instrument attached to its tip; an operating device including an operating unit that accepts operations on the surgical instrument; a control device that controls the movement of the surgical instrument based on the received operation, the operating unit includes a first link unit, The control device setting an operation unit reference point that is displaced and rotated in synchronization with the displacement and rotation of the operation unit and is located at a position separated from the operation unit; a surgical instrument reference point that is displaced and rotated in synchronization with the displacement and rotation of the surgical instrument and is located on the surgical instrument; When the operation unit is operated, the displacement and rotation of the operation unit reference point are calculated by forward kinematics calculation based on the input value from the operation unit, and the surgical instrument is controlled to be moved so that the surgical instrument reference point is displaced and rotated in synchronization with the displacement and rotation of the operation unit reference point; A surgical assistance system in which the operating unit reference point is set at a position opposite to the gimbal point, which is the intersection of multiple rotation axes of the operating unit, relative to the proximal end of the first link unit.

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