Surgical assist robot and surgical assist robot system

Abstract

To provide a surgery support robot whose arm can be operated more easily by an operation tool.SOLUTION: A medical manipulator 1 (surgery support robot) includes an arm 60 and an operation part 80 that operates the arm 60. The operation part 80 includes: an enable switch 81 that permits movement of the arm 60 by being pressed down; and a joy stick 82 with which a movement direction of the arm 60 can be operated. The enable switch 81 and the joy stick 82 are arranged so as to be separated from each other in a range operable by fingers of one hand of an operator O in the operation part 80.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a surgical support robot and a surgical support robot system, and more particularly to a surgical support robot and a surgical support robot system that are equipped with an operating tool for operating an arm. [Background technology]

[0002] Conventionally, surgical support robots have been known (see, for example, Patent Document 1).

[0003] The above-mentioned Patent Document 1 discloses a robot system (surgical support robot) including an articulated probe, a surgical instrument, and a controller (hereinafter referred to as an arm). The surgical instrument is provided at the tip of the articulated probe. The arm is configured to operate (move) the articulated probe and the surgical instrument. The robot system is also provided with a joystick. When an operator operates the joystick, a signal for operating the surgical instrument is output to the arm. The displacement, speed, and acceleration of the surgical instrument are controlled according to the displacement (tilt) of the joystick. The joystick is located at a position separated from the arm (articulated probe, surgical instrument). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-162427 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in a robot system (surgery support robot) such as that described in Patent Document 1, during surgery, a joystick located away from the arm is operated to operate the surgical instrument. Meanwhile, in the pre-surgery preparation stage, the arm is moved to move the surgical instrument close to the patient. In this case, in a robot system such as that described in Patent Document 1, because the joystick is located away from the arm, there is a problem in that it may be difficult to move the arm using the joystick to move the surgical instrument close to the patient.

[0006] The present invention has been made to solve the above-mentioned problems, and one object of the present invention is to provide a surgical support robot and a surgical support robot system whose arms can be easily operated using an operating tool. [Means for solving the problem]

[0007] In order to achieve the above object, a surgical assistance robot according to one aspect of the present invention comprises an arm having a plurality of joints, a plurality of first motors for driving the plurality of joints, and a distal link portion to which a medical instrument is attached; and an operation unit provided on the distal link portion, wherein the operation unit includes a joystick that drives the plurality of first motors to move the arm and thereby move the medical instrument, the joystick controls the movement direction and movement speed of the arm, and further comprises a control unit that operates the arm based on an input signal from the joystick, and the control unit sets an upper limit value for the input signal from the joystick When an input signal exceeding the upper limit is input, the upper limit is used as the input signal. and smoothing the input signal from the joystick. An upper limit is set, and when an input signal exceeding the upper limit is input, the upper limit is used as the input signal. Do cormorant .

[0008] In the surgical support robot according to one aspect of the present invention, the operating unit is provided on the arm as described above. This allows the operator to operate the operating tool in the vicinity of the arm, making it easy to operate the arm using the operating tool.

[0009] Furthermore, when the operating unit is provided on an arm, if the arm moves relatively quickly (abruptly) in response to the operator's operation of the operating tool, the operator's movement may not be able to keep up with the sudden movement of the arm. Specifically, while the arm moves, the operator's hand holding the operating tool is unable to keep up with the movement of the arm and remains stationary, or moves at a speed slower than the movement speed of the arm. In this case, the amount of operation of the operating tool changes against the operator's intention, and the operation direction of the arm changes against the operator's intention. As a result, the movement direction of the arm changes abruptly. Conversely, if the movement speed of the arm suddenly decreases, the operation direction of the operating tool also changes against the operator's intention. When this state occurs repeatedly, the arm behaves in a vibrating manner.

[0010] Therefore, as described above, the operation unit includes an enable switch that allows movement of the arm when pressed and an operating tool that controls the movement direction of the arm, and the enable switch and operating tool are configured to be spaced apart on the operation unit within a range that can be operated with the fingers of one hand of the operator. As a result, the operating tool that controls the movement direction of the arm can be operated with the operator's fingers while the enable switch is pressed, so the distance between the operator's fingers operating the operating tool and the fingers pressing the enable switch is maintained substantially constant. In other words, even when the arm moves relatively quickly, the distance between the operator's fingers gripping the operation unit and the fingers operating the operation unit is maintained substantially constant. As a result, even when the arm moves relatively quickly, the state of the operator's fingers relative to the operation unit is unlikely to change, and the direction of operation of the arm by the operation unit is unlikely to change. As a result, vibration of the arm caused by changes in the operation direction of the operating tool can be suppressed even when the arm moves relatively quickly. [Effects of the Invention]

[0011] According to the present invention, as described above, the arm can be easily operated by the operating tool. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a diagram showing the configuration of a surgical operation system according to an embodiment of the present invention. [Figure 2] 1 is a diagram showing a configuration of a medical manipulator according to an embodiment of the present invention. [Figure 3] 1A and 1B are diagrams showing the configuration of an arm of a medical manipulator according to an embodiment of the present invention. [Figure 4] 1 is a perspective view showing the configuration of an operation unit of a medical manipulator according to an embodiment of the present invention. FIG. [Figure 5] 1 is a side view showing the configuration of an operation unit of a medical manipulator according to an embodiment of the present invention. FIG. [Figure 6] 1 is a view showing a state in which an operator grips an operation unit of a medical manipulator according to an embodiment of the present invention. FIG. [Figure 7] FIG. 10 is a diagram for explaining translational movement of an arm. [Figure 8] FIG. 10 is a diagram illustrating the rotational movement of the arm. [Figure 9] FIG. 2 is a block diagram showing the configuration of a control unit of a medical manipulator according to an embodiment of the present disclosure. [Figure 10] FIG. 2 is a diagram illustrating a control block of a control unit of a medical manipulator according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0013] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will now be described with reference to the accompanying drawings.

[0014] The configuration of a surgical system 100 according to this embodiment will be described with reference to FIGS. 1 to 10. The surgical system 100 includes a medical manipulator 1, which is a patient-side device, and a remote control device 2, which is an operator-side device for operating the medical manipulator 1. The medical manipulator 1 includes a medical cart 3 and is configured to be movable. The remote control device 2 is located at a distance from the medical manipulator 1, and the medical manipulator 1 is configured to be remotely controlled by the remote control device 2. The surgeon inputs commands to the remote control device 2 to cause the medical manipulator 1 to perform a desired operation. The remote control device 2 transmits the input commands to the medical manipulator 1. The medical manipulator 1 operates based on the received commands. The medical manipulator 1 is located in an operating room, which is a sterilized sterile field. The medical manipulator 1 is an example of a "surgery support robot" as defined in the claims.

[0015] The remote control device 2 is placed, for example, inside or outside an operating room. The remote control device 2 includes an operating manipulator arm 21, an operating pedal 22, a touch panel 23, a monitor 24, a support arm 25, and a support bar 26. The operating manipulator arm 21 constitutes an operating handle through which the surgeon inputs commands. The monitor 24 is a scope-type display device that displays images captured by an endoscope. The support arm 25 supports the monitor 24 so that its height is aligned with the surgeon's face. The touch panel 23 is attached to the support bar 26. The medical manipulator 1 can be operated by the remote control device 2 when a sensor (not shown) provided near the monitor 24 detects the surgeon's head. The surgeon operates the operating manipulator arm 21 and the operating pedal 22 while visually checking the affected area on the monitor 24. This inputs commands to the remote control device 2. The commands input to the remote control device 2 are transmitted to the medical manipulator 1.

[0016] The medical cart 3 is provided with a control unit 31 that controls the operation of the medical manipulator 1 and a storage unit 32 that stores programs and the like for controlling the operation of the medical manipulator 1. Based on commands input to the remote control device 2, the control unit 31 of the medical cart 3 controls the operation of the medical manipulator 1.

[0017] The medical cart 3 is also provided with an input device 33. The input device 33 is configured to receive operations for moving and changing the posture of the positioner 40, the arm base 50, and the multiple arms 60, mainly for preparing for surgery before the procedure.

[0018] As shown in FIGS. 1 and 2, a medical manipulator 1 is placed in an operating room. The medical manipulator 1 includes a medical cart 3, a positioner 40, an arm base 50, and a plurality of arms 60. The arm base 50 is attached to the tip of the positioner 40. The arm base 50 has a relatively long rod shape (long shape). The base of each of the plurality of arms 60 is attached to the arm base 50. The plurality of arms 60 are configured to be able to take a folded position (storage position). The arm base 50 and the plurality of arms 60 are used while covered with a sterile drape (not shown).

[0019] The positioner 40 is configured by, for example, a seven-axis articulated robot. The positioner 40 is placed on the medical cart 3. The positioner 40 is configured to move the position of the arm base 50 in three dimensions.

[0020] The positioner 40 also includes a base portion 41 and a plurality of link portions 42 connected to the base portion 41. The plurality of link portions 42 are connected to each other by joint portions 43.

[0021] 1, a medical instrument 4 is detachably attached to the tip of each of the multiple arms 60. The medical instrument 4 includes, for example, a replaceable instrument, an endoscope assembly (not shown), and the like.

[0022] As shown in FIG. 3, the medical instrument 4 (instrument) includes a driven unit 4a driven by a servo motor M2 mounted on a holder 71 of an arm 60. The instrument also includes an end effector 4b at its tip. The end effector 4b includes, as articulated instruments, forceps, scissors, grabbers, needle holders, microdissectors, stable appliers, tackers, suction and irrigation tools, snare wires, and clip appliers. The end effector 4b also includes, as non-articulated instruments, cutting blades, cauterizing probes, irrigators, catheters, and suction orifices. The medical instrument 4 also includes a shaft 4c connecting the driven unit 4a and the end effector 4b. The driven unit 4a, the shaft 4c, and the end effector 4b are arranged along the Z direction.

[0023] Next, the configuration of the arm 60 will be described in detail.

[0024] 3, the arm 60 includes an arm section 61 (a base section 62, a link section 63, and a joint section 64), and a translational movement mechanism section 70 provided at the tip of the arm section 61. The arm 60 is configured so that the tip side of the arm 60 can be moved three-dimensionally relative to the base side (arm base 50) of the arm 60. The multiple arms 60 have similar configurations.

[0025] In this embodiment, the translational movement mechanism 70 is configured to have the medical instrument 4 attached thereto and to translate the medical instrument 4 relative to the arm 61. Specifically, the translational movement mechanism 70 is provided with a holder 71 that holds the medical instrument 4. The holder 71 houses a servo motor M2 (see FIG. 9). The servo motor M2 is configured to rotate a rotating body provided in the driven unit 4a of the medical instrument 4. The rotation of the rotating body of the driven unit 4a operates the end effector 4b.

[0026] The arm 60 is configured to be detachable from the arm base 50 .

[0027] The arm unit 61 is composed of a seven-axis articulated robot arm. The arm unit 61 also includes a base unit 62 for attaching the arm unit 61 to the arm base 50, and a plurality of link units 63 connected to the base unit 62. The plurality of link units 63 are connected to each other by joint units 64.

[0028] The translational movement mechanism 70 is configured to translate the holder 71 along the Z direction, thereby translating the medical instrument 4 attached to the holder 71 along the Z direction (the direction in which the shaft 4c extends). Specifically, the translational movement mechanism 70 includes a base-end link portion 72 connected to the tip of the arm portion 61, a tip-end link portion 73, and a connecting link portion 74 provided between the base-end link portion 72 and the tip-end link portion 73. The holder 71 is provided on the tip-end link portion 73.

[0029] The connecting link portion 74 of the translational movement mechanism 70 is configured as a speed-doubling mechanism that moves the distal link portion 73 along the Z direction relative to the proximal link portion 72. The distal link portion 73 is moved along the Z direction relative to the proximal link portion 72, thereby causing the medical instrument 4 provided on the holder 71 to translate along the Z direction. The distal end of the arm portion 61 is connected to the proximal link portion 72 so as to rotate the proximal link portion 72 about an axis in the X direction perpendicular to the Z direction.

[0030] In this embodiment, as shown in FIG. 4 , the medical manipulator 1 includes an operation unit 80 provided on the arm 60. The operation unit 80 includes an enable switch 81, a joystick 82 for operating the movement of the medical instrument 4 by the arm 60, and a switch unit 83 for operating the movement of the medical instrument 4 by the arm 60. The enable switch 81 permits movement of the arm 60 by the joystick 82 and the switch unit 83, and when pressed, permits movement of the arm 60. The joystick 82 controls (operates) the movement direction and movement speed of the arm 60. The enable switch 81 and the joystick 82 are disposed on the operation unit 80 at a distance such that they can be operated with the fingers of one hand of an operator O. The operation unit 80 is operated by the operator O (e.g., a nurse or technician) holding and operating the operation unit 80. The operation unit 80 is configured to be operable by the fingers of the operator O when the operator O holds the operation unit 80 and presses the enable switch 81 to allow movement of the arm 60. The joystick 82 and the switch unit 83 are examples of the "operation tool" in the claims.

[0031] Specifically, the enable switch 81 is configured as a push button switch that is pressed by the finger of the operator O. Pressing the enable switch 81 enables control of energizing the servo motors M1 to M3 (see FIG. 9) (control of driving the servo motors M1 to M3). In other words, control of moving the arm 60 becomes possible only while the enable switch 81 is pressed.

[0032] The joystick 82 is configured to be operated by being tilted by the finger of the operator O. The arm 60 is controlled to move in accordance with the direction and angle at which the joystick 82 is tilted. The operator O can tilt the joystick 82 by placing his / her finger on the tip 82a of the joystick 82 and moving his / her finger. The input of a signal resulting from the operation of the joystick 82 is accepted only while the enable switch 81 is pressed. In other words, when the enable switch 81 is not pressed, the arm 60 will not move even if the joystick 82 is operated.

[0033] In this embodiment, the enable switch 81 is provided on the outer peripheral surface 80a of the operation unit 80, and the operator O grasps the outer peripheral surface 80a of the operation unit 80 and presses the enable switch 81 to permit movement of the arm 60. As shown in FIG. 5 , a pair of enable switches 81 are provided on both sides of the outer peripheral surface 80a of the operation unit 80. Specifically, the cross section of the operation unit 80 has a substantially rectangular shape, and the pair of enable switches 81 are provided on opposing surfaces 80b of the operation unit 80. More specifically, the operation unit 80 has a substantially prismatic shape, and the pair of enable switches 81 are provided on side surfaces (surfaces 80b along the longitudinal direction) of the substantially prismatic shape of the operation unit 80. The operator O grasps the outer peripheral surface 80a of the operation unit 80 and presses at least one of the enable switches 81 provided on both sides of the outer peripheral surface 80a of the operation unit 80 to permit movement of the arm 60.

[0034] This reduces the burden on the operator O and improves convenience for the operator O by eliminating the need to press down both of the enable switches 81 provided on both sides of the outer circumferential surface 80a of the operating unit 80.

[0035] In this embodiment, as shown in FIG. 5, the joystick 82 is provided on an end surface 80c that intersects with the outer peripheral surface 80a of the operation unit 80. The joystick 82 is positioned so that it can be operated by the operator O's fingers when the operator O grasps the outer peripheral surface 80a of the operation unit 80 and presses down the enable switch 81 to allow movement of the arm 60. For example, as shown in FIG. 6, the operator O presses down a pair of enable switches 81 provided on the outer peripheral surface 80a of the operation unit 80 with the operator O's thumb and middle finger, and then operates the joystick 82 provided on the end surface 80c of the operation unit 80 with the operator O's index finger. This makes it possible to easily maintain a substantially constant distance between the operator O's thumb and middle finger that grasp the operation unit 80 and the index finger that operates the joystick 82. Note that which fingers are used to operate the enable switch 81 and the joystick 82 is not limited to the above example.

[0036] In this embodiment, the joystick 82 is configured to operate the movement of the medical instrument 4 by the arm 60 so that the tip 4d of the medical instrument 4 (see FIG. 3) moves on a predetermined plane, or to operate the movement of the medical instrument 4 by the arm 60 so that the tip 4d of the medical instrument 4 rotates around the tip 4d. The operation unit 80 also includes a switch unit 83 for operating the movement of the medical instrument 4 by the arm 60 so that the tip 4d of the medical instrument 4 moves along the longitudinal direction of the medical instrument 4. The predetermined plane along which the tip 4d of the medical instrument 4 moves is a plane parallel to the end face 80c of the operation unit 80 (the XY plane in FIG. 4). The longitudinal direction of the medical instrument 4 is the Z direction orthogonal to the XY plane in FIG. 4. The coordinates represented by the X-, Y-, and Z-axes in FIG. 4 are called a tool coordinate system (or a base coordinate system). In addition, when the switch section 83 is pressed while the enable switch 81 is pressed (a state in which movement of the medical instrument 4 by the arm 60 is permitted), the tip 4d of the medical instrument 4 is moved along the longitudinal direction of the medical instrument 4.

[0037] A pair of switch units 83 are provided on both sides of the outer circumferential surface 80a of the operating unit 80. When the operator O grips the outer circumferential surface 80a of the operating unit 80 and presses at least one of the switch units 83 provided on both sides of the outer circumferential surface 80a of the operating unit 80, the translational movement mechanism 70 moves the medical instrument 4 translationally.

[0038] Furthermore, in this embodiment, the joystick 82 is configured so that its movement speed changes depending on the tilted state, and so that when it is tilted to the maximum, the movement speed of the tip 4d of the medical instrument 4 on a predetermined plane is maximized. The time required for the operator O to press the switch unit 83 and for the movement speed of the tip 4d of the medical instrument 4 along the longitudinal direction of the medical instrument 4 perpendicular to the predetermined plane to reach its maximum is longer than the time required for the operator O to operate the joystick 82 and for the movement speed of the tip 4d of the medical instrument 4 to reach its maximum. In other words, when the joystick 82 is operated, the tip 4d of the medical instrument 4 is moved at a relatively high speed. In contrast, when the switch unit 83 is operated, the speed at which the tip 4d of the medical instrument 4 is moved is relatively low.

[0039] In this embodiment, the switch unit 83 includes a switch unit 83a that moves the tip 4d of the medical instrument 4 in the direction parallel to the longitudinal direction of the medical instrument 4, in which the medical instrument 4 is inserted into the patient P, and a switch unit 83b that moves the tip 4d of the medical instrument 4 in the direction opposite to the direction in which the medical instrument 4 is inserted into the patient P. Both the switch unit 83a and the switch unit 83b are configured as push button switches. Both the switch unit 83a and the switch unit 83b have a substantially circular shape.

[0040] A pivot button 85 is provided on the surface 80b of the operation unit 80 adjacent to the enable switch 81. The pivot button 85 is configured to set a pivot point. The pivot point is the fulcrum around which the arm 60 moves. An adjustment button 86 is also provided on the surface 80b of the operation unit 80 to optimize the position of the arm 60.

[0041] Furthermore, in this embodiment, before the pivot position PP is set, the switch unit 83 is operated to move the arm unit 61, thereby translating the distal end 4d of the medical instrument 4. After the pivot position PP is set, the switch unit 83 is operated to move the arm unit 61, thereby translating the distal end 4d of the medical instrument 4 until the distal end 4d of the medical instrument 4 moves a predetermined distance from the pivot position PP. Then, after the distal end 4d of the medical instrument 4 moves a predetermined distance from the pivot position PP, the translational movement mechanism 70 moves, thereby translating the distal end 4d of the medical instrument 4. In other words, after the distal end 4d of the medical instrument 4 moves a predetermined distance from the pivot position PP, only the translational movement mechanism 70 moves, without moving the arm unit 61.

[0042] In this embodiment, as shown in FIG. 4, the operation unit 80 includes a mode switching button 84 that switches between a translational movement mode in which the tip 4d of the medical instrument 4 attached to the arm 60 moves translationally within a predetermined plane (see FIG. 7) and a rotational movement mode in which the tip 4d of the medical instrument 4 moves rotationally around the tip 4d (see FIG. 8). In the operation unit 80, the mode switching button 84 is disposed near the joystick 82. Specifically, the mode switching button 84 is disposed adjacent to the joystick 82 on the end surface 80c of the operation unit 80. The mode switching button 84 is formed by a push button switch. A mode indicator 84a is disposed near the mode switching button 84. The current mode (translational movement mode or rotational movement mode) is indicated by turning the mode indicator 84a on or off.

[0043] As shown in Fig. 7, in a translational movement mode in which the tip 4d of the medical instrument 4 is translated, the arm 60 is moved by the joystick 82 so that the tip 4d of the medical instrument 4 moves on the XY plane. Also, as shown in Fig. 8, in a rotational movement mode in which the medical instrument 4 is rotated about the tip 4d, when a pivot position PP has not been taught, the medical instrument 4 is rotated about the tip 4d of the end effector 4b. When a pivot position PP has been taught, the arm 60 is moved by the joystick 82 so that the medical instrument 4 is rotated about the pivot position PP. Note that once the pivot point (pivot position PP) is set, the translational movement mode cannot be set. Also, when the shaft 4c of the medical instrument 4 is inserted into the trocar T, the medical instrument 4 is rotated while the shaft 4c is constrained about the pivot position PP.

[0044] That is, the joystick 82 is configured to operate the arm 60 in one of two modes: a translational movement mode in which the arm 60 moves the medical instrument 4 so that the tip 4d of the medical instrument 4 attached to the arm 60 moves translationally within a predetermined plane (see Figure 7), and a rotational movement mode in which the arm 60 moves the medical instrument 4 so that the medical instrument 4 moves rotationally around the tip 4d of the medical instrument 4 (see Figure 8).

[0045] 3, in this embodiment, the operation unit 80 is provided on the translational movement mechanism 70. The operation unit 80 is provided on the translational movement mechanism 70 so as to be adjacent to the medical instrument 4 attached to the translational movement mechanism 70. Specifically, the operation unit 80 is provided on the distal link portion 73 of the translational movement mechanism 70. The operation unit 80 is disposed so as to be adjacent to the driven unit 4a of the medical instrument 4.

[0046] 9, the arm 60 is provided with a plurality of servo motors M1, an encoder E1, and a reducer (not shown) corresponding to the plurality of joints 64 of the arm section 61. The encoder E1 is configured to detect the rotation angle of the servo motor M1. The reducer is configured to reduce the rotation speed of the servo motor M1 to increase the torque.

[0047] 9, the translational movement mechanism 70 is provided with a servo motor M2 for rotating a rotor provided in the driven unit 4a of the medical instrument 4, a servo motor M3 for translationally moving the medical instrument 4, encoders E2 and E3, and a reducer (not shown). The encoders E2 and E3 are configured to detect the rotation angles of the servo motors M2 and M3, respectively. The reducers are configured to decelerate the rotation of the servo motors M2 and M3 to increase the torque.

[0048] The positioner 40 is also provided with a plurality of servo motors M4, an encoder E4, and a reducer (not shown) to correspond to the plurality of joints 43 of the positioner 40. The encoder E4 is configured to detect the rotation angle of the servo motor M4. The reducer is configured to reduce the rotation speed of the servo motor M4 to increase the torque.

[0049] The medical cart 3 is also provided with a servo motor M5, an encoder E5, and a reducer (not shown) that drive each of a plurality of front wheels (not shown) of the medical cart 3. The encoder E5 is configured to detect the rotation angle of the servo motor M5. The reducer is configured to decelerate the rotation of the servo motor M5 to increase the torque.

[0050] The control unit 31 of the medical cart 3 includes an arm control unit 31a that controls the movement of the multiple arms 60 based on commands, and a positioner control unit 31b that controls the movement of the positioner 40 and the drive of the front wheels (not shown) of the medical cart 3 based on commands. A servo control unit C1 that controls a servo motor M1 that drives the arm 60 is electrically connected to the arm control unit 31a. An encoder E1 that detects the rotation angle of the servo motor M1 is also electrically connected to the servo control unit C1.

[0051] The arm control unit 31a is also electrically connected to a servo control unit C2 for controlling a servo motor M2 for driving the medical instrument 4. The servo control unit C2 is also electrically connected to an encoder E2 for detecting the rotation angle of the servo motor M2. The arm control unit 31a is also electrically connected to a servo control unit C3 for controlling a servo motor M3 for translationally moving the translational movement mechanism 70. The servo control unit C3 is also electrically connected to an encoder E3 for detecting the rotation angle of the servo motor M3.

[0052] Then, the operation command input to the remote operation device 2 is input to the arm control unit 31a. The arm control unit 31a generates a position command based on the input operation command and the rotation angle detected by the encoder E1 (E2, E3), and outputs the position command to the servo control unit C1 (C2, C3). The servo control unit C1 (C2, C3) generates a torque command based on the position command input from the arm control unit 31a and the rotation angle detected by the encoder E1 (E2, E3), and outputs the torque command to the servo motor M1 (M2, M3). As a result, the arm 60 is moved in accordance with the operation command input to the remote operation device 2.

[0053] Moreover, in this embodiment, the control unit 31 (arm control unit 31a) is configured to operate the arm 60 based on an input signal from a joystick 82 of the operation unit 80. Specifically, the arm control unit 31a generates a position command based on the input signal (operation command) input from the joystick 82 and the rotation angle detected by the encoder E1, and outputs the position command to the servo control unit C1. The servo control unit C1 generates a torque command based on the position command input from the arm control unit 31a and the rotation angle detected by the encoder E1, and outputs the torque command to the servo motor M1. As a result, the arm 60 is moved in accordance with the operation command input to the joystick 82.

[0054] In this embodiment, the control unit 31 (arm control unit 31a) is configured to perform control to reduce changes in the movement speed of the arm 60 by performing at least one of setting an upper limit value for the input signal from the joystick 82 and smoothing the input signal from the joystick 82. Specifically, the control unit 31 sets an upper limit value for the input signal from the joystick 82, and when an input signal exceeding the upper limit value is input, the control unit 31 controls the movement of the arm 60 using the upper limit value as the input signal. Furthermore, the control unit 31 smoothes the input signal from the joystick 82, for example, using an LPF (Low-pass filter). Note that in this embodiment, the control unit 31 both sets an upper limit value for the input signal from the joystick 82 and smooths the input signal from the joystick 82. Furthermore, the control unit 31 (arm control unit 31a) controls the movement of the arm 60 based on the equation of motion for control shown in the following mathematical formula.

[0055]

number

[0056] Furthermore, the control unit 31 (arm control unit 31a) controls the movement of the arm 60 based on the control block shown in Fig. 10. That is, the control unit 31 (arm control unit 31a) subtracts the product of the velocity (first derivative of x) and the viscosity coefficient c from the input signal F(s) from the joystick 82. Then, the subtracted value is multiplied by the inertia coefficient 1 / m. Then, if the multiplied value (= 1 / m (F(s) - c × velocity) = acceleration = second derivative of x) exceeds the upper limit value, the acceleration is set to the upper limit value. Then, the acceleration is integrated to calculate the velocity (first derivative of x), and the velocity is integrated again to calculate the position X(s).

[0057] The positioner control unit 31b is also electrically connected to a servo control unit C4 for controlling a servo motor M4 that moves the positioner 40. The servo control unit C4 is also electrically connected to an encoder E4 for detecting the rotation angle of the servo motor M4. The positioner control unit 31b is also electrically connected to a servo control unit C5 for controlling a servo motor M5 that drives the front wheels (not shown) of the medical cart 3. The servo control unit C5 is also electrically connected to an encoder E5 for detecting the rotation angle of the servo motor M5.

[0058] Furthermore, an operation command related to setting a standby position or the like is input from the input device 33 to the positioner control unit 31b. The positioner control unit 31b generates a position command based on the operation command input from the input device 33 and the rotation angle detected by the encoder E4, and outputs the position command to the servo control unit C4. The servo control unit C4 generates a torque command based on the position command input from the positioner control unit 31b and the rotation angle detected by the encoder E4, and outputs the torque command to the servo motor M4. This causes the positioner 40 to move in accordance with the operation command input to the input device 33. Similarly, the positioner control unit 31b moves the medical cart 3 based on the operation command from the input device 33.

[0059] Next, the procedure for treatment using the medical manipulator 1 will be described. In treatment using the medical manipulator 1, first, the medical cart 3 is moved to a predetermined position in the operating room by the operator O. Next, the operator O operates the touch panel included in the input device 33 to operate the positioner 40, thereby moving the arm base 50, so that the arm base 50 and the operating table 5 or the patient P have a desired positional relationship. The arm 60 is also moved so that a cannula sleeve (an operation channel for inserting surgical instruments, etc., into a body cavity) placed on the body surface of the patient P and the medical instrument 4 have a predetermined positional relationship. The operator O also operates the joystick 82, so that the multiple arms 60 are moved to desired positions. Then, with the positioner 40 stationary, the multiple arms 60 and the medical instrument 4 are operated based on commands from the remote control device 2. In this way, treatment is performed using the medical manipulator 1.

[0060] [Effects of this embodiment] In this embodiment, the following effects can be obtained.

[0061] In this embodiment, as described above, the operation unit 80 is provided on the arm 60. This allows the operator O to operate the joystick 82 and the switch unit 83 in the vicinity of the arm 60, and therefore allows the operator O to easily operate the arm 60 with an operation tool.

[0062] Furthermore, in this embodiment, as described above, the operation unit 80 includes an enable switch 81 that permits movement of the arm 60 when pressed, and a joystick 82 that controls (operates) the movement direction and movement speed of the arm 60. The enable switch 81 and the joystick 82 are configured to be spaced apart on the operation unit 80 within a range that can be operated with the fingers of one hand of the operator O. As a result, the joystick 82 that controls the movement direction and movement speed of the arm 60 can be operated with the fingers of the operator O while the enable switch 81 is pressed, so the distance between the fingers of the operator O that operate the operation unit 80 and the fingers that press the enable switch 81 is maintained at a substantially constant value. In other words, even if the arm 60 moves at a relatively high speed, the distance between the fingers of the operator O that hold the joystick 82 and the fingers that operate the operation unit 80 is maintained at a substantially constant value. As a result, even if the arm 60 moves at a relatively high speed, the state of the fingers of the operator O relative to the operation unit 80 is unlikely to change, and therefore the direction of the arm 60 controlled by the operation unit 80 is unlikely to change. As a result, even when the arm 60 moves at a relatively high speed, vibration of the arm 60 caused by changes in the direction of the joystick 82 can be suppressed.

[0063] Furthermore, in this embodiment, as described above, the joystick 82 controls the movement direction and movement speed of the arm 60. This makes it possible to suppress vibration of the arm 60 caused by changes in the direction of the joystick 82 and changes in the amount of operation.

[0064] Furthermore, in this embodiment, as described above, the enable switch 81 allows movement of the arm 60 when the operator O grips the outer peripheral surface 80a of the operation unit 80 and presses the enable switch 81. As a result, the operator O can easily press the enable switch 81 to allow movement of the arm 60 simply by gripping the outer peripheral surface 80a of the operation unit 80 so as to cover it with his or her fingers.

[0065] Furthermore, in this embodiment, as described above, the operator O grips the outer peripheral surface 80a of the operation unit 80 and presses at least one of the enable switches 81 provided on both sides of the outer peripheral surface 80a of the operation unit 80 to permit movement of the arm 60. As a result, since the enable switches 81 are provided on both sides of the outer peripheral surface 80a of the operation unit 80, the operator O can be prompted to grip the outer peripheral surface 80a of the operation unit 80 with his or her fingers covering it. Furthermore, if the configuration is such that movement of the arm 60 is permitted by pressing only one of the enable switches 81, the operator O can perform the movement operation of the arm 60 by pressing the enable switch 81 that is easier to press, thereby improving convenience of operation.

[0066] Furthermore, in this embodiment, as described above, the cross section of the operation unit 80 has a substantially rectangular shape, and the pair of enable switches 81 are respectively provided on the mutually opposing surfaces 80b of the operation unit 80. As a result, since the pair of enable switches 81 are respectively provided on the mutually opposing surfaces 80b of the operation unit 80, the operator O can easily press the enable switches 81 by gripping the operation unit 80 so as to sandwich the mutually opposing surfaces 80b.

[0067] Furthermore, in this embodiment, as described above, the joystick 82 is provided on the end surface 80c that intersects with the outer peripheral surface 80a of the operation unit 80, and is disposed in a position that can be operated by the finger of the operator O when the operator O grasps the outer peripheral surface 80a of the operation unit 80 and presses down the enable switch 81 to allow movement of the arm 60. This allows the operator O to operate the joystick 82, which is provided on the end surface 80c that intersects with the outer peripheral surface 80a of the operation unit 80, with the index finger or the like of the operator O while pressing down the enable switch 81, which is provided on the outer peripheral surface 80a of the operation unit 80, with the thumb, middle finger or the like of the operator O. This makes it possible to easily maintain a substantially constant distance between the thumb, middle finger or the like that grasp the operation unit 80 and the index finger that operates the operation unit 80.

[0068] Furthermore, in this embodiment, as described above, the arm 60 includes the arm section 61 consisting of a seven-axis articulated robot arm, and the translational movement mechanism 70 that is provided at the tip of the arm section 61, has the medical instrument 4 attached thereto, and translates the medical instrument 4 relative to the arm section 61. As a result, the operation section 80 is disposed near the medical instrument 4 (the translational movement mechanism 70 to which the medical instrument 4 is attached), and therefore the operation of moving the arm 60 so as to move the medical instrument 4 to a desired position can be easily performed by the operation section 80.

[0069] Furthermore, in this embodiment, as described above, the operation unit 80 is provided on the translational movement mechanism 70 so as to be adjacent to the medical instrument 4. This ensures that the operation unit 80 is positioned near the medical instrument 4, making it easier to use the operation unit 80 to move the arm 60 so as to move the medical instrument 4 to a desired position.

[0070] Furthermore, in this embodiment, as described above, the operation unit 80 is provided with a joystick 82 that can be operated with the finger of the operator O. As a result, the joystick 82 can be operated with a relatively small force, and therefore the joystick 82 can be easily operated with the finger of the operator O when the operator O holds the outer peripheral surface 80a of the operation unit 80 and presses the enable switch 81 to allow movement of the arm 60.

[0071] In this embodiment, the operation unit 80 further includes a switch unit 83 for operating the arm 60 so that the tip 4d of the medical instrument 4 moves along the longitudinal direction of the medical instrument 4. As a result, by using the joystick 82 and the switch unit 83 together, the arm 60 can be moved three-dimensionally.

[0072] Furthermore, in this embodiment, as described above, the joystick 82 controls the movement direction and movement speed of the arm 60, and the medical manipulator 1 further includes the control unit 31 that controls the arm 60 based on an input signal from the joystick 82. The control unit 31 is configured to perform control to reduce changes in the movement speed of the arm 60 by performing at least one of setting an upper limit value for the input signal from the joystick 82 and smoothing the input signal from the joystick 82. As a result, even if the arm 60 moves at a higher speed and the amount of operation of the operator O's finger on the operation unit 80 changes, the control unit 31 performs at least one of setting an upper limit value for the input signal from the joystick 82 and smoothing the input signal from the joystick 82, thereby more effectively suppressing vibration of the arm 60 caused by changes in the amount of operation of the joystick 82.

[0073] [Variations] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims rather than the above description of the embodiments, and further includes all modifications (variations) within the meaning and scope of the claims.

[0074] For example, in the above embodiment, an example was shown in which the operation unit 80 is provided with a joystick 82 operable by the finger of the operator O, but the present disclosure is not limited to this. For example, the operation unit 80 may be provided with an acceleration sensor operable by the finger of the operator O, and the arm 60 may be moved based on an input signal input to the acceleration sensor. Alternatively, the operation unit 80 may be provided with a force sensor operable by the finger of the operator O, and the arm 60 may be moved based on an input signal input to the force sensor. Furthermore, for example, a strain gauge type force sensor or a piezoelectric type force sensor is used as the force sensor. Furthermore, a three-axis force sensor capable of detecting forces and moments in three directions or a six-axis force sensor capable of detecting forces and moments in six directions is used as the force sensor.

[0075] In the above embodiment, an example has been shown in which the movement of the arm 60 is permitted by pressing down one of the pair of enable switches 81 provided on both sides of the outer circumferential surface 80a of the operation unit 80, but the present disclosure is not limited to this. For example, a configuration may be adopted in which the movement of the arm 60 is permitted by pressing down both of the pair of enable switches 81 provided on both sides of the outer circumferential surface 80a of the operation unit 80.

[0076] In the above embodiment, a pair of enable switches 81 are provided on both sides of the outer circumferential surface 80a of the operation unit 80, but the present disclosure is not limited to this. For example, one enable switch 81 may be provided on one side of the outer circumferential surface 80a of the operation unit 80.

[0077] In addition, in the above embodiment, an example was shown in which the cross section of the operation unit 80 has a substantially rectangular shape (the operation unit 80 has a substantially prismatic shape), but the present disclosure is not limited to this. For example, the operation unit 80 may have a substantially cylindrical shape.

[0078] In the above embodiment, the joystick 82 is provided on the end surface 80c that intersects with the outer peripheral surface 80a of the operation unit 80, but the present disclosure is not limited to this. In the present disclosure, the joystick 82 may be provided in a position that can be operated by the finger of the operator O when the operator O holds the operation unit 80 so as to press the enable switch 81.

[0079] In the above embodiment, an example has been shown in which the operation unit 80 is provided on the translational movement mechanism 70, but the present disclosure is not limited to this. For example, the operation unit 80 may be provided on the arm unit 61.

[0080] In the above embodiment, the joystick 82 is configured to operate the arm 60 in a mode in which the tip 4d of the medical instrument 4 moves translationally on a predetermined plane (see FIG. 7) and a mode in which the tip 4d of the medical instrument 4 moves rotationally around the tip 4d (see FIG. 8), but the present disclosure is not limited to this. For example, the joystick 82 may be configured to operate the arm 60 so that the medical instrument 4 moves translationally along the longitudinal direction of the medical instrument 4.

[0081] In the above embodiment, the control unit 31 both sets an upper limit on the input signal from the joystick 82 and smooths the input signal from the joystick 82, but the present disclosure is not limited to this. For example, the control unit 31 may perform only one of setting an upper limit on the input signal from the joystick 82 and smoothing the input signal from the joystick 82.

[0082] Furthermore, in the above embodiment, an example in which four arms 60 are provided is shown, but the present disclosure is not limited to this. The number of arms 60 may be three.

[0083] 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 60 and the positioner 40 may be configured as an articulated robot with an axis configuration other than a seven-axis articulated robot (for example, six axes or eight axes). [Explanation of symbols]

[0084] 1. Medical manipulators (surgical support robots) 4 Medical equipment 31 Control Unit 60 Arm 61 Arm section 70 Translational movement mechanism section 80 Control section 81 Enabling switch 82 Joystick (operating device) 80a Outer surface 80b side 80c end face 83, 83a, 83b Switch section O Operator

Claims

1. an arm including a distal link portion to which a plurality of joints, a plurality of first motors for driving the plurality of joints, and a medical instrument are attached; an operating unit provided on the tip side link unit, the operation unit includes a joystick that drives the plurality of first motors to move the arm and thereby move the medical instrument; the joystick controls the direction and speed of movement of the arm; a control unit that operates the arm based on an input signal from the joystick, The control unit of the surgical support robot at least sets an upper limit value for the input signal from the joystick and uses the upper limit value as the input signal when an input signal exceeding the upper limit value is input, or smooths the input signal from the joystick, in which case the control unit sets the upper limit value and uses the upper limit value as the input signal when an input signal exceeding the upper limit value is input.

2. The arm an arm unit including a robot arm including the plurality of first motors; a translational movement mechanism that translates the distal end link portion, which includes a holder including a second motor for driving the medical instrument, relative to the arm portion; 2. The surgical support robot according to claim 1, wherein the translational movement mechanism includes a base-end link portion connected to the arm, and is configured to translate the tip-end link portion relative to the base-end link portion.

3. The surgical support robot according to claim 2 , wherein the translational movement mechanism is a speed-doubling mechanism that translates the distal link portion relative to the proximal link portion.

4. The surgical support robot according to claim 2 or 3, wherein the base-end link portion is connected to the tip link of the arm portion so as to be rotatable via one of the plurality of joints.

5. The surgical support robot according to any one of claims 2 to 4, wherein the translational movement mechanism includes a third motor for translating the tip side link portion relative to the arm portion.

6. The operating unit has a rectangular column shape, the joystick is disposed on a surface of the operation unit having a prism shape at an end in a direction in which a shaft of the medical instrument extends, The surgical support robot according to any one of claims 1 to 5, wherein a cross section of the operating unit, which has a prism shape along a direction perpendicular to the direction in which the shaft of the medical instrument extends, has a rectangular shape.

7. The surgical support robot according to any one of claims 1 to 6, wherein the joystick is configured to operate the arm in one of a translational movement mode in which the arm is moved so that the tip of the medical instrument moves translationally on a predetermined plane, and a rotational movement mode in which the arm is moved so that the medical instrument rotates around the tip of the medical instrument, and the translational movement mode and the rotational movement mode are switchable.

8. The surgery support robot according to claim 7 , wherein the operation unit includes a mode switching button for switching between the translational movement mode and the rotational movement mode.

9. The surgical support robot according to claim 7 or 8, wherein the operation unit includes a mode indicator for distinguishing between the translational movement mode and the rotational movement mode.

10. The surgical support robot according to any one of claims 1 to 9, wherein the operating unit includes a switch unit for operating the movement of the medical instrument by the arm so that the tip of the medical instrument moves along the longitudinal direction of the medical instrument.

11. 11. The surgical support robot according to claim 10, wherein the switch unit includes: a first switch unit for operating the movement of the medical instrument by the arm so that a tip of the medical instrument moves toward a first direction along the longitudinal direction of the medical instrument; and a second switch unit for operating the movement of the medical instrument by the arm so that the tip of the medical instrument moves toward a second direction opposite to the first direction along the longitudinal direction of the medical instrument.

12. A surgical support robot according to any one of claims 1 and 3 to 11, and a remote control device, A surgical support robot system, wherein the second motor of a holder including the plurality of first motors of the arm and a second motor for driving the medical instrument is driven based on commands from the remote control device to operate the medical instrument and the arm.

13. 13. The surgical support robot system according to claim 12, wherein the surgical support robot is the surgical support robot according to claim 5, and the third motor is driven based on a command from the remote control device to operate the translational movement mechanism.

14. 14. The surgical support robot system according to claim 12, wherein the remote control device includes an operating manipulator arm, and the command is input via the operating manipulator arm.

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