Surgical assistance robot

Abstract

To provide a surgery support robot capable of exchanging easily an operation part, while easily operating a robot by the operation part.SOLUTION: A medical manipulator 1 includes a robot arm 60 having a surgical instrument 4 attached thereto, and an operation part 80 attached to the robot arm 60, for operating the robot arm 60. The operation part 80 includes a joystick 82 for operating movement of the surgical instrument 4 by the robot arm 60, and the operation part 80 is attachable to / detachable from the robot arm 60.SELECTED DRAWING: Figure 14

Description

[Technical Field]

[0001] The present disclosure relates to a surgical support robot, and more particularly to a surgical support robot having an operating unit that operates a robot arm. [Background technology]

[0002] BACKGROUND ART Conventionally, a surgical support robot equipped with an operating unit that operates a robot arm is known (see, for example, Patent Document 1).

[0003] The above-mentioned Patent Document 1 discloses a robot system including an articulated probe, a surgical instrument, and an arm. The surgical instrument is attached to the tip of the articulated probe. The arm is configured to move the articulated probe and the surgical instrument. The robot system is also provided with a joystick. An operator operates the joystick to output a signal for operating the surgical instrument. The displacement, speed, and acceleration of the surgical instrument are controlled according to the tilt of the joystick. The joystick is located at a position separated from the arm. For example, the joystick is fixed to a console or a table on which a patient is placed. [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 robotic system such as that described in Patent Document 1, during surgery, a surgical instrument is operated by operating a joystick located away from the arm. Meanwhile, during pre-surgery preparations, the arm is moved to bring the surgical instrument close to the patient. In this case, in a robotic system such as that described in Patent Document 1, because the joystick is located away from the arm, it is difficult to operate the arm to the correct position using the joystick to move the surgical instrument close to the patient. Furthermore, because the joystick is fixed to the console or the table on which the patient is placed without being designed for replacement, there is a problem in that if the joystick breaks down, it is time-consuming to replace the joystick.

[0006] This disclosure has been made to solve the above-mentioned problems, and one purpose of this disclosure is to provide a surgical support robot that improves the operability of the robot arm using the operating unit while allowing the operating unit to be easily replaced. [Means for solving the problem]

[0007] In order to achieve the above object, a surgical support robot according to a first aspect of the present disclosure includes a robot arm to which a surgical instrument is attached, and an operation unit attached to the robot arm and operating the robot arm, the operation unit including a joystick for operating the movement of the surgical instrument by the robot arm, and the operation unit is detachable from the robot arm. and the operation unit further includes a pivot position teaching unit for teaching a pivot position that serves as a fulcrum for movement of the surgical instrument attached to the robot arm. .

[0008] In the surgical support robot according to the first aspect of this disclosure, as described above, the operating unit includes a joystick for controlling the movement of the surgical instrument by the robot arm and is detachable from the robot arm. This allows the operator to operate the operating unit in the vicinity of the robot arm, unlike when the robot arm is operated using an operating unit provided away from the robot arm. This facilitates the operation of moving the robot arm to an accurate position. This improves the operability of the robot arm using the operating unit. Furthermore, since the operating unit is detachable from the robot arm, even if the operating unit fails, the failed operating unit can be removed from the robot arm and a new operating unit can be attached to the robot arm. This allows the operating unit to be easily replaced while improving the operability of the robot arm using the operating unit. Furthermore, because joysticks are relatively prone to failure, configuring the operating unit including the joystick to be detachable is particularly effective in facilitating the replacement of the operating unit. child Disclosure of 2 The surgical support robot according to this aspect comprises a robot arm to which a surgical instrument is attached, and an operating unit attached to the robot arm and operating the robot arm, the operating unit including a joystick for operating the movement of the surgical instrument by the robot arm, and is detachable from the robot arm, and further comprises a fastening member and a fastened part for connecting the operating unit and the robot arm, and the fastening member fastens the fastened part from the outer surface of the operating unit or the robot arm. [Effects of the Invention]

[0009] According to the present disclosure, as described above, the operation unit can be easily replaced while improving the operability of the robot arm using the operation unit. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a diagram showing the configuration of a surgery support system according to a first embodiment. [Figure 2]1A and 1B are diagrams showing the configuration of a medical manipulator according to a first embodiment. [Figure 3] 1 is a perspective view showing a configuration of an operation unit of a remote control device according to a first embodiment. FIG. [Figure 4] 1A and 1B are diagrams showing the configuration of an operating handle according to a first embodiment. [Figure 5] 1A and 1B are diagrams illustrating the configuration of a foot pedal according to a first embodiment. [Figure 6] 1A and 1B are diagrams showing the configuration of an arm of a medical manipulator according to a first embodiment. [Figure 7] FIG. [Figure 8] FIG. 1 is a perspective view showing the configuration of a medical cart according to a first embodiment. [Figure 9] FIG. 2 is a perspective view showing the configuration of an operation unit of the medical manipulator according to the first embodiment. [Figure 10] FIG. 1 is a diagram showing an endoscope. [Figure 11] FIG. 10 is a diagram showing a pivot position teaching tool. [Figure 12] FIG. 10 is a diagram for explaining translational movement of a robot arm. [Figure 13] FIG. 10 is a diagram for explaining the rotational movement of the robot arm. [Figure 14] 1 is a perspective view of the operating section and the distal end link section according to the first embodiment in a separated state, as viewed from the operating section side. FIG. [Figure 15] 1 is a perspective view of the operating section and the distal end link section according to the first embodiment in a separated state, as viewed from the distal end link section side. FIG. [Figure 16] FIG. 2 is a perspective view of a tip side link portion of the robot arm according to the first embodiment. [Figure 17] FIG. 2 is a perspective view of an operation unit according to the first embodiment. [Figure 18] 10A and 10B are diagrams showing a connection state of a connection portion of a tip side link portion according to the first embodiment. [Figure 19] FIG. 2 is an exploded perspective view of the operating unit according to the first embodiment. [Figure 20] FIG. 2 is a view of the operating section according to the first embodiment as seen from the open end side. [Figure 21] FIG. 2 is a control block diagram of the medical manipulator according to the first embodiment. [Figure 22] FIG. 2 is a control block diagram of the robot arm according to the first embodiment. [Figure 23] FIG. 2 is a control block diagram of the medical cart and positioner according to the first embodiment. [Figure 24] FIG. 2 is a control block diagram of an operation unit of the remote control device according to the first embodiment. [Figure 25] FIG. 10 is a perspective view showing a state in which the operating section and the distal link section according to the second embodiment are connected. [Figure 26] FIG. 11 is a perspective view of the operating section and the distal link section according to the second embodiment when separated from each other, as viewed from the operating section side. [Figure 27] FIG. 11 is a perspective view of the operating section and the distal end link section according to the second embodiment when they are separated from each other, as viewed from the distal end link section side. [Figure 28] FIG. 10 is a perspective view showing a distal link portion, a first adapter, and a first drape according to a second embodiment. [Figure 29] FIG. 10 is a perspective view showing a first adapter according to a second embodiment. [Figure 30] FIG. 10 is a perspective view showing an operation unit, a second adapter, and a second drape according to a second embodiment. [Figure 31] FIG. 10 is a perspective view showing a second adapter according to a second embodiment. [Figure 32] 10 is a diagram showing a state in which the operation section and the distal end side link section according to the third embodiment are connected to each other. FIG. [Figure 33] FIG. 10 is a cross-sectional view of an operating section according to a third embodiment. [Figure 34] 10A and 10B are diagrams showing a state in which a connecting portion is attached to an intermediate member according to a third embodiment. [Figure 35] 10A and 10B are diagrams showing a state in which an intermediate member is attached to an operation unit according to a third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments embodying the present disclosure will be described with reference to the drawings.

[0012] [First embodiment] 1 to 24, the configuration of a surgery support system 100 according to a first embodiment will be described. The surgery support system 100 includes a medical manipulator 1, which is a patient-side device, and a remote control device 2, which is an operator-side device for operating the medical manipulator 1. The medical manipulator 1 includes a medical cart 3 and is configured to be movable. The remote control device 2 is located at a position separated from the medical manipulator 1, and the medical manipulator 1 is configured to be remotely controlled by the remote control device 2. An operator such as a doctor 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 also located in an operating room, which is a sterilized sterile field.

[0013] The remote control device 2 is placed, for example, inside or outside an operating room. The remote control device 2 includes an operation unit 120 including an arm 121 and an operation handle 21 shown in Fig. 3, a foot pedal 22, a touch panel 23, a monitor 24, a support arm 25, and a support bar 26. The operation unit 120 constitutes an operation handle that allows an operator such as a doctor to input commands.

[0014] 3, operation unit 120 includes operation unit 120L, which is located on the left side when viewed from an operator such as a doctor and is operated with the operator's left hand, and operation unit 120R, which is located on the right side and is operated with the operator's right hand. Note that operation units 120L and 120R have the same configuration.

[0015] The operation unit 120 includes a substantially L-shaped arm 121. The arm 121 has a first link portion 121a, a second link portion 121b, and a third link portion 121c. The upper end of the first link portion 121a is attached to the main body of the remote control device 2 so as to be rotatable around the A1 axis along the vertical direction. The upper end of the second link portion 121b is attached to the lower end of the first link portion 121a so as to be rotatable around the A2 axis along the horizontal direction. One end of the third link portion 121c is attached to the lower end of the second link portion 121b so as to be rotatable around the A3 axis along the horizontal direction. The operation handle 21 is attached to the other end of the third link portion 121c so as to be rotatable around the A4 axis.

[0016] 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 up and down, left and right, and front and back. The robot arm 60 moves three-dimensionally in response to the three-dimensional operation of the arm 121.

[0017] The operating handle 21 is configured to operate the surgical instrument 4. The operating handle 21 also receives an operating amount for the surgical instrument 4. The operating handle 21 includes an operating handle 21L that is located on the left side as viewed from an operator such as a doctor and is operated with the operator's left hand, and an operating handle 21R that is located on the right side and is operated with the operator's right hand.

[0018] 4, the operating handle 21 includes link portions 21a, 21b, 21c, and link portion 21d that is operated by an operator such as a doctor. Link portion 21a rotates around the A4 axis. Link portion 21b rotates around the A5 axis relative to link portion 21a. Link portion 21c rotates around the A6 axis relative to link portion 21b. Link portion 21d rotates around the A7 axis relative to link portion 21c.

[0019] Furthermore, a pair of grip members 21f are provided on link portion 21d of operating handle 21, and cylindrical finger insertion portions 21e are provided on grip member 21f. The operator inserts his or her fingers into pair of finger insertion portions 21e to operate operating handle 21. The base ends of each of pair of grip members 21f are rotatably connected to link portion 21d, and by increasing or decreasing the angle between pair of grip members 21f, the opening angle between jaw member 104a and jaw member 104b, which will be described later, can be changed.

[0020] Furthermore, the operating handle 21 changes the amount of movement of the robot arm 60 and the surgical instrument 4 in response to the amount of operation received by the operating handle 21. This change is called scaling. For example, if the magnification of the amount of movement is set to 1 / 2, the surgical instrument 4 is controlled to move a distance that is 1 / 2 of the movement distance of the operating handle 21. This allows delicate surgery to be performed accurately.

[0021] As shown in FIG. 5 , 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 the 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.

[0022] The switching pedal 22a is configured to switch the robot arm 60 operated by the operating handle 21. In the first embodiment, the clutch pedal 22b is configured to perform 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.

[0023] 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 medical manipulator 1 to be operated by the remote control device 2. The operator operates the operating handle 21 and foot pedal 22 while visually checking the affected area on the monitor 24. This inputs commands to the remote control device 2. The commands input to the remote control device 2 are transmitted to the medical manipulator 1.

[0024] 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 robot arms 60, mainly for preparing for surgery before the procedure.

[0025] The medical manipulator 1 shown in FIGS. 1 and 2 is placed in an operating room. The medical manipulator 1 includes a medical cart 3, a positioner 40, an arm base 50, and multiple robot arms 60. The arm base 50 is attached to the tip of the positioner 40. The arm base 50 has a relatively long rod shape. In other words, the arm base 50 has an elongated shape. Furthermore, the base ends of each of the multiple robot arms 60 are attached to the arm base 50. The multiple robot arms 60 are configured to be able to assume a folded storage position. The arm base 50 and the multiple robot arms 60 are covered with a sterile drape when in use. Furthermore, the robot arms 60 support a surgical instrument 4.

[0026] The positioner 40 is configured, for example, by a seven-axis articulated robot. The positioner 40 is placed on the medical cart 3. The positioner 40 moves the arm base 50. Specifically, the positioner 40 is configured to move the position of the arm base 50 in three dimensions.

[0027] 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.

[0028] As shown in Fig. 1, a surgical tool 4 is attached to the tip of each of the multiple robot arms 60. The surgical tool 4 includes, for example, replaceable instruments and an endoscope 6 shown in Fig. 10 for capturing an image of the surgical site.

[0029] As shown in FIG. 6, the instrument includes a driven unit 4a driven by a servo motor M2 mounted on a holder 71 of the robot arm 60. The instrument also includes a forceps 4b at its tip. In addition to the forceps 4b, the instrument also includes other jointed instruments, such as scissors, graspers, a needle holder, a microdissector, a stable applier, a tacker, a suction / irrigation tool, a snare wire, and a clip applier. The instrument also includes other non-jointed instruments, such as a cutting blade, a cauterization probe, an irrigator, a catheter, and a suction orifice. The surgical instrument 4 also includes 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.

[0030] As shown in FIG. 7 , the instrument includes a first support 4e that supports the proximal ends of jaw members 104a and 104b at the distal end so that they can rotate around the JT11 axis; a second support 4f that supports the proximal end of first support 4e at the distal end so that they can rotate around the JT10 axis; and a shaft 4c connected to the proximal end of second support 4f. The driven unit 4a, shaft 4c, second support 4f, first support 4e, and forceps 4b are arranged along the Z direction. The JT11 axis is perpendicular to the Z direction, which is the direction in which shaft 4c extends. The JT10 axis is spaced from the JT11 axis in the direction in which shaft 4c extends and is perpendicular to the direction in which shaft 4c extends and the JT11 axis. Jaw members 104a and 104b are examples of a first jaw member and a second jaw member, respectively.

[0031] The forceps 4b are attached to the first support 4e so as to rotate about the axis of the JT11 shaft. The second support 4f supports the first support 4e rotatably about the JT10 shaft. That is, the first support 4e is attached to the second support 4f so as to rotate about the axis of the JT10 shaft. The Z1 side portion, which is the tip side of the first support 4e, has a U-shape. TCP1, which serves as a tool center point, is set in the center of the axis of the JT11 shaft of the tip side of the U-shape of the first support 4e.

[0032] Furthermore, the forceps 4b serving as the surgical instrument 4 includes a JT9 axis as the rotation axis of the shaft 4c and a JT12 axis as the opening / closing axis of the jaw members 104a and 104b. The rotation axis of the shaft 4c is an axis along the direction in which the shaft 4c extends. A plurality of servo motors M2 are provided in the holder 71 of the robot arm 60, and the rotating body of the driven unit 4a is driven by the plurality of servo motors M2. As a result, the surgical instrument 4 is driven around the J9 axis to the J12 axis. For example, four servo motors M2 are provided.

[0033] As shown in FIG. 10, the TCP2 of the endoscope 6 is set at the tip of the endoscope 6.

[0034] 8, a display unit 33a is disposed on the medical cart 3. The display unit 33a is disposed on the input device 33 of the medical cart 3. A joystick 33b for controlling the movement of the positioner 40 is disposed near the display unit 33a of the medical cart 3. The positioner 40 can be operated three-dimensionally by selecting an operation mode displayed on the display unit 33a and operating the joystick 33b. During roll-in, the positioner 40 is moved by operating the joystick 33b so that the arm base 50 moves on a two-dimensional plane.

[0035] An enable switch 33c that permits or prohibits movement of the positioner 40 is disposed near the joystick 33b of the medical cart 3. When the enable switch 33c is pressed down to permit movement of the positioner 40, the joystick 33b is operated to move the positioner 40. Specifically, the enable switch 33c is disposed in the input device 33 below the display unit 33a and adjacent to the joystick 33b.

[0036] The medical cart 3 includes an operating handle 35 that receives steering input from an operator. The medical cart 3 moves the robot main body 1a based on the received steering input. The operating handle 35 is located near the display unit 33a of the medical cart 3. The operating handle 35 has a throttle unit 35a that is gripped and rotated by an operator such as a nurse or technician to control the movement of the medical cart 3. Specifically, the operating handle 35 is located below the input device 33. The throttle unit 35a is located on one side of the operating handle 35. The medical cart 3 moves forward when the throttle unit 35a is rotated from the front side to the back side. The medical cart 3 moves backward when the throttle unit 35a is rotated from the back side to the front side. The speed of the medical cart 3 is changed depending on the amount of rotation of the throttle unit 35a. The operating handle 35 is configured to be rotatable left and right in the direction R, and the medical cart 3 rotates together with the rotation of the operating handle 35.

[0037] An enable switch 35b that permits or prohibits movement of the medical cart 3 is disposed on the operating handle 35 of the medical cart 3. When the enable switch 35b is pressed down to permit movement of the medical cart 3, the medical cart 3 is moved by operating the throttle portion 35a of the operating handle 35.

[0038] Next, the configuration of the robot arm 60 will be described in detail.

[0039] As shown in FIG. 6, the robot arm 60 includes an arm unit 61 and a translational movement mechanism unit 70 provided at the tip of the arm unit 61. The arm unit 61 includes a base unit 62, a link unit 63, and a joint unit 64. The robot arm 60 is configured so that the tip side thereof moves three-dimensionally relative to an arm base 50 at the base side of the robot arm 60. The arm unit 61 is also configured as a seven-axis articulated robot arm. The multiple robot arms 60 have similar configurations.

[0040] As shown in Fig. 6, the robot arm 60 has JT1 to JT7 axes as rotation axes and J8 axis as a linear motion axis. The JT1 to JT7 axes correspond to the rotation axes of the joint unit 64 of the arm unit 61. The JT7 axis corresponds to the base end link unit 72 of the translational movement mechanism 70. The JT8 axis corresponds to an axis that moves the tip end link unit 73 of the translational movement mechanism 70 relative to the base end link unit 72 in the Z direction. That is, the servo motor M1 shown in Fig. 15 is provided to correspond to the JT1 to JT7 axes of the robot arm 60. The servo motor M3 is provided to correspond to the JT8 axis.

[0041] The translational movement mechanism 70 is provided at the tip of the arm 61, and has the surgical instrument 4 attached thereto. The translational movement mechanism 70 translates the surgical instrument 4 in the direction of insertion into the patient P. The translational movement mechanism 70 is also configured to translate the surgical instrument 4 relative to the arm 61. Specifically, the translational movement mechanism 70 is provided with a holder 71 that holds the surgical instrument 4. The holder 71 houses a servo motor M2 shown in FIG. 15.

[0042] As shown in FIG. 9, the medical manipulator 1 is attached to a robot arm 60 and includes an operation unit 80 for operating the robot arm 60. The operation unit 80 includes an enable switch 81, a joystick 82, and a switch unit 83. The enable switch 81 permits or prohibits movement of the robot arm 60 using the joystick 82 and switch unit 83. When an operator such as a nurse or assistant holds the operation unit 80 and presses the enable switch 81, the operation unit 80 permits movement of the surgical instrument 4 by the robot arm 60. The enable switch 81 and the joystick 82 are arranged on the operation unit 80 at a distance such that they can be operated with the fingers of one hand of the operator.

[0043] The switch unit 83 includes a switch unit 83a that moves the surgical instrument 4 in the direction along the longitudinal direction of the surgical instrument 4 toward the direction in which the surgical instrument 4 is inserted into the patient P, and a switch unit 83b that moves the surgical instrument 4 in the direction opposite to the direction in which the surgical instrument 4 is inserted into the patient P. Both the switch unit 83a and the switch unit 83b are configured as push button switches.

[0044] As shown in FIG. 9, the operating unit 80 includes a pivot button 85 that teaches a pivot position PP, which serves as a fulcrum (as shown in FIG. 13) for the movement of the surgical instrument 4 attached to the robot arm 60. The pivot button 85 is provided on the outer surface 80b of the operating unit 80 adjacent to the enable switch 81. When the tip of the endoscope 6 shown in FIG. 10 or the pivot position teaching instrument 7 shown in FIG. 11 is moved to a position corresponding to the insertion position of the trocar T inserted into the body surface S of the patient P, the pivot button 85 is pressed to teach the pivot position PP, which is then stored in the memory unit 32. Note that when teaching the pivot position PP, the pivot position PP is set as a single point, and teaching the pivot position PP does not set the direction of the surgical instrument 4. The pivot button 85 is an example of a pivot position teaching unit.

[0045] As shown in FIG. 1 , an endoscope 6 is attached to the distal end of one of the robot arms 60, for example, robot arm 60c, and surgical instruments 4 other than the endoscope 6 are attached to the distal ends of the remaining robot arms 60a, 60b, and 60d. Specifically, during surgery, an endoscope 6 is attached to one of the four robot arms 60, and surgical instruments 4 other than the endoscope 6, such as forceps 4b, are attached to three of the robot arms 60. A pivot position PP is taught to the robot arm 60 to which the endoscope 6 is attached, with the endoscope 6 attached. Furthermore, a pivot position teaching instrument 7 is attached to the robot arm 60 to which the surgical instrument 4 other than the endoscope 6 is attached, with the pivot position teaching instrument 7 attached. The endoscope 6 is attached to one of the two central robot arms 60b and 60c of the four robot arms 60 arranged adjacent to each other. That is, the pivot position PP is set individually for each of the multiple robot arms 60.

[0046] 9, an adjustment button 86 for optimizing the position of the robot arm 60 is provided on the outer surface 80b of the operation unit 80. After teaching the pivot position PP for the robot arm 60 to which the endoscope 6 is attached, pressing the adjustment button 86 optimizes the positions of the other robot arms 60 and the arm base 50.

[0047] As shown in Fig. 9, the operation unit 80 includes a mode switching button 84 that switches between a translational movement mode shown in Fig. 12 and a rotational movement mode shown in Fig. 13 of the surgical instrument 4 attached to the robot arm 60. A mode indicator 84a is provided near the mode switching button 84. The mode indicator 84a indicates the switched mode. Specifically, when the mode indicator 84a is lit, it indicates the rotational movement mode, and when it is unlit, it indicates the translational movement mode.

[0048] The mode indicator 84a also serves as a pivot position indicator that indicates that the pivot position PP has been taught.

[0049] As shown in Fig. 12, in a mode in which the robot arm 60 is moved translationally, the robot arm 60 is moved so that the tip 4d of the surgical instrument 4 moves on the XY plane. Also, as shown in Fig. 13, in a mode in which the robot arm 60 is moved rotationally, when a pivot position PP has not been taught, the robot arm 60 is moved so that the surgical instrument 4 is moved rotationally around the forceps 4b, and when a pivot position PP has been taught, the robot arm 60 is moved so that the surgical instrument 4 is moved rotationally around the pivot position PP as a fulcrum. Note that the surgical instrument 4 is moved rotationally with the shaft 4c of the surgical instrument 4 inserted into the trocar T.

[0050] 14 and 15, in the first embodiment, the operation unit 80 is detachably attached to the robot arm 60. Specifically, the operation unit 80 is detachably attached to the distal end link unit 73 of the translational movement mechanism unit 70 of the robot arm 60. The distal end link unit 73 has a substantially L-shape. A surgical instrument 4 is detachably attached to one end of the substantially L-shaped distal end link unit 73. The operation unit 80 is detachably attached to the other end of the substantially L-shaped distal end link unit 73.

[0051] In the first embodiment, a fastening member 801 is provided to connect the operation unit 80 and the robot arm 60. The fastening member 801 fastens the fastened portion 712 of the connection portion 710 from the outer surface 80b of the operation unit 80. Specifically, the fastening member 801 is made of a screw or the like. The operation unit 80 has a substantially rectangular parallelepiped shape. An enable switch 81, a switch unit 83, a pivot button 85, and an adjustment button 86 are arranged on the side surface of the substantially rectangular parallelepiped operation unit 80 in the X direction. The fastening members 801 are arranged on both side surfaces of the operation unit 80 in the X direction. Two fastening members 801 are arranged on each side surface of the operation unit 80 in the X direction. An operator rotates the fastening member 801 from the outer surface 80b of the operation unit 80 using a screwdriver or the like. This connects the operation unit 80 and the tip-side link unit 73 of the robot arm 60.

[0052] In the first embodiment, as shown in FIG. 16 , the robot arm 60 includes a connection portion 710 that is disposed on the side of the robot arm 60 where the operation unit 80 is attached and that connects the operation unit 80. A fastening member 801 fastens the connection portion 710 from the outer surface 80b of the operation unit 80. Specifically, the connection portion 710 is disposed on the end of the tip side link portion 73 of the translational movement mechanism 70 of the robot arm 60, the end being connected to the operation unit 80. As shown in FIG. 18 , the connection portion 710 is fixed to the housing 73a of the tip side link portion 73 from inside the housing 73a of the tip side link portion 73 by a plurality of fastening members 702. The connection portion 710 is made of a metal such as aluminum. Note that FIG. 18 omits the Y1 side portion of the housing 73a of the tip side link portion 73 and electrical components and the like disposed inside the housing 73a.

[0053] In the first embodiment, as shown in FIGS. 16 and 17 , the connection portion 710 includes a fastened portion 712 that is inserted into the operation unit 80 and fastened by a fastening member 801. The operation unit 80 includes an insertion guide 802 that guides the inserted fastened portion 712. Specifically, the connection portion 710 includes a substantially flat main body 711 and a fastened portion 712 that protrudes from the main body 711 toward the operation unit 80. A pair of the fastened portions 712 are arranged along the X direction. The fastened portion 712 has a hole 713 to which the fastening member 801 is fastened. Two holes 713 are arranged in one fastened portion 712. A pair of insertion guides 802 are arranged inside a housing 803 of the operation unit 80. The insertion guide 802 has a groove shape. The insertion guide 802 extends along the Z direction.

[0054] In the first embodiment, the fastened portion 712 includes a guided portion 714 that is guided by the insertion guide 802. The guided portion 714 is provided on each of the pair of fastened portions 712 of the connecting portion 710. The guided portion 714 has a convex shape that protrudes toward the insertion guide 802. The convex guided portion 714 extends along the Z direction. The convex guided portion 714 engages with the groove-shaped insertion guide 802. As a result, the guided portion 714 is guided by the insertion guide 802.

[0055] In the first embodiment, the connection portion 710 includes a step portion 715 that is disposed on the outer edge of the connection portion 710 and abuts against an end portion of the operation unit 80. Specifically, the step portion 715 is formed on the outer edge of a substantially flat plate-shaped main body portion 711 of the connection portion 710. The step portion 715 is formed around the entire periphery of the main body portion 711. When the connection portion 710 is inserted into the operation unit 80, the step portion 715 abuts against an open end 803a of a housing 803 of the operation unit 80. This determines the positions of the operation unit 80 and the tip side link portion 73 in the Z direction.

[0056] A pair of protrusions 804 protruding into the inside of the housing 803 are arranged on both sides in the Y direction of a portion of the operation unit 80 where the groove-shaped insertion guide 802 is arranged. The insertion guide 802 is formed between the pair of protrusions 804. The pair of protrusions 804 are arranged on the X1 side and the X2 side of the inside of the housing 803, respectively. As shown in FIG. 19 , the protrusions 804 have holes 805 formed therein through which the fastening member 801 passes. The pair of fastened portions 712 of the connection portion 710 are inserted into the housing 803 of the operation unit 80 until the step portion 715 of the connection portion 710 abuts against the open end 803a of the housing 803 of the operation unit 80. In this state, the holes 805 of the protrusions 804 and the holes 713 of the fastened portions 712 face each other. Then, while rotating, fastening member 801 is inserted into hole 805 of convex portion 804 and hole 713 of fastened portion 712, thereby fastening operation unit 80 and connection unit 710. After operation unit 80 and connection unit 710 are fastened together, a sticker is affixed to hole 805. This makes it impossible to see fastening member 801 and hole 805 from outside operation unit 80.

[0057] 20 , the first embodiment includes a relay substrate 810 for relaying signals between the operation unit 80 and the robot arm 60. The relay substrate 810 includes a first connector portion 811 to which a first signal line 806 extending from the operation unit 80 is connected, and a second connector portion 812 to which a second signal line 720 extending from the robot arm 60 is connected. Specifically, the relay substrate 810 is fastened by fastening members 807 on the inner side of a hole 805 of the operation unit 80. The relay substrate 810 has a rectangular shape, and its four corners are fixed by the fastening members 807. The relay substrate 810 is arranged along the Y direction.

[0058] In the first embodiment, as shown in FIG. 19 , the first connector 811 and the second connector 812 are arranged on the robot arm 60 side of the relay substrate 810. The relay substrate 810 includes a notch 813 for passing the first signal line 806 extending from the operation unit 80 to the robot arm 60 side. Specifically, the first connector 811 and the second connector 812 are arranged on the Z1-side surface of the relay substrate 810. In the relay substrate 810, the first connector 811 and the second connector 812 are spaced apart from each other in the Y direction. In the relay substrate 810, the first connector 811 is arranged on the Y1 side, and the second connector 812 is arranged on the Y2 side. In the relay substrate 810, the notch 813 is formed on the Y1 side. A first signal line connector 806a shown in FIG. 17 is connected to the tip of the first signal line 806. A second signal line connector portion 720a shown in FIG. 16 is connected to the tip of the second signal line 720. The first signal line 806 is passed from the back side of the operation unit 80 to the robot arm 60 side through the cutout portion 813. Then, the first signal line connector portion 806a of the first signal line 806 is connected to the first connector portion 811. As shown in FIG. 16, the second signal line 720 is disposed between a pair of fastened portions 712. The second signal line connector portion 720a of the second signal line 720 is connected to the second connector portion 812.

[0059] (How to install the control unit) First, the second signal line connector portion 720a of the second signal line 720 of the robot arm 60 is connected to the second connector portion 812 of the relay board 810 arranged inside the operation unit 80. Note that the first signal line connector portion 806a of the first signal line 806 is connected to the first connector portion 811 of the relay board 810 in advance. Next, the fastening portion 712 of the connection portion 710 is inserted into the operation unit 80. Then, the fastening member 801 is fastened from the outer surface 80b side of the operation unit 80 to the hole portion 805 of the operation unit 80 and the hole portion 713 of the fastening portion 712. This attaches the operation unit 80 to the tip-side link portion 73 of the robot arm 60. The operation unit 80 can be removed from the tip-side link portion 73 by reversing the attachment procedure.

[0060] As shown in FIG. 21 , the surgery assistance system 100 includes a control device 130 that controls the entire surgery assistance system 100. The control device 130 is disposed inside the medical manipulator 1. The robot arm 60 includes an arm control unit 31a that controls the robot arm 60. The arm control unit 31a is disposed in each of the multiple robot arms 60. The medical cart 3 includes a positioner control unit 31b that controls the positioner 40 and the medical cart 3. The operation unit 120 includes an operation control unit 110 that controls the operation unit 120. The operation control unit 110 is disposed in each of the operation units 120L and 120R. The control device 130 communicates with each of the positioner control unit 31b, the arm control unit 31a, and the operation control unit 110. The control device 130 controls each of the positioner control unit 31b, the arm control unit 31a, and the operation control unit 110.

[0061] 22, 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 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.

[0062] 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.

[0063] 22, the translational movement mechanism 70 includes a servo motor M2 for rotating a rotor provided in the driven unit 4a of the surgical instrument 4, a servo motor M3 for translating the surgical instrument 4, an encoder E2, an encoder E3, and a reducer. 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, respectively, to increase the torque.

[0064] The robot arm 60 is provided with a servo control unit C2 for controlling a servo motor M2 that drives the surgical instrument 4. An encoder E2 for detecting the rotation angle of the servo motor M2 is electrically connected to the servo control unit C2. The robot arm 60 is also provided with a servo control unit C3 for controlling a servo motor M3 that translates the translational movement mechanism 70. An encoder E3 for detecting the rotation angle of the servo motor M3 is electrically connected to the servo control unit C3.

[0065] The amount of operation received by the operation unit 120 of the remote operation device 2 is input to the control device 130 via the operation control unit 110. The control device 130 generates a position command for driving the robot arm 60 and the surgical instrument 4 based on the received amount of operation and the rotation angle detected by the encoders E1 to E3. The generated position command is input to the servo control units C1 to C3 via the arm control unit 31a. The servo control units C1 to C3 generate current commands based on the position command input from the control device 130 via the arm control unit 31a and the rotation angle detected by the encoders E1 to E3, and output the current commands to the servo motors M1 to M3. As a result, the robot arm 60 is moved in accordance with the operation received by the operation unit 120 of the remote operation device 2.

[0066] As shown in FIG. 22 , the control device 130 is configured to operate the robot arm 60 based on an operation received by a joystick 82 of the operation unit 80. Specifically, the arm control unit 31a outputs an input signal input from the joystick 82 to the control device 130. The control device 130 generates a position command based on the received input signal and a rotation angle detected by the encoder E1, and outputs the position command to the servo control unit C1 via the arm control unit 31a. The servo control unit C1 generates a current command based on the position command input from the arm control unit 31a and the rotation angle detected by the encoder E1, and outputs the current command to the servo motor M1. As a result, the robot arm 60 is moved in accordance with the operation command input to the joystick 82.

[0067] The control device 130 operates the robot arm 60 based on an input signal from the switch unit 83 of the operation unit 80. Specifically, the arm control unit 31a outputs the input signal input from the switch unit 83 to the control device 130. The control device 130 generates a position command based on the received input signal and the rotation angle detected by the encoder E1 or E3, and outputs the position command to the servo control unit C1 or C3 via the arm control unit 31a. The servo control unit C1 or C3 generates a current command based on the position command input from the arm control unit 31a and the rotation angle detected by the encoder E1 or E3, and outputs the current command to the servo motor M1 or M3. As a result, the robot arm 60 moves in accordance with the operation command input to the switch unit 83.

[0068] 23, the positioner 40 is provided with a plurality of servo motors M4, an encoder E4, and a reducer so as to correspond to a plurality of joints 43 of the positioner 40. The encoder E4 is configured to detect the rotation angle of the servo motor M4. The reducer is configured to reduce the rotation speed of the servo motor M4 to increase the torque.

[0069] The medical cart 3 has front wheels as drive wheels and rear wheels steered by an operating handle 35. The rear wheels are located closer to the operating handle 35 than the front wheels. The medical cart 3 is also equipped with a servo motor M5 that drives each of the front wheels of the medical cart 3, an encoder E5, a reducer, and a brake. The reducer is configured to reduce the rotation speed of the servo motor M5 and increase the torque. The operating handle 35 of the medical cart 3 is also equipped with a potentiometer P1 (see FIG. 8), and the servo motor M5 of the front wheels is driven based on the rotation angle detected by the potentiometer P1 in response to the twist of the throttle unit 35a. The rear wheels of the medical cart 3 are dual-wheel type, and are steered based on the left and right rotation of the operating handle 35. 2 is disposed on the operating handle 35 of the medical cart 3, and a servomotor M5a, an encoder E5a, and a reducer are disposed on the rear wheels of the medical cart 3. The reducer is configured to reduce the rotation speed of the servomotor M5a to increase the torque. The servomotor M6 is driven based on the rotation angle detected by the potentiometer P2 in response to the left and right rotation of the operating handle 35. In other words, steering of the rear wheels by the left and right rotation of the operating handle 35 is configured to be power-assisted by the servomotor M5a.

[0070] The front wheels of the medical cart 3 are driven to move forward and backward, and the rear wheels are steered by turning the operating handle 35 of the medical cart 3, causing the medical cart 3 to turn left and right.

[0071] As shown in Fig. 23, the positioner 40 is provided with a servo control unit C4 for controlling a servo motor M4 that moves the positioner 40. An encoder E4 for detecting the rotation angle of the servo motor M4 is electrically connected to the servo control unit C4. The medical cart 3 is provided with a servo control unit C5 for controlling a servo motor M5 that drives the front wheels of the medical cart 3. An encoder E5 for detecting the rotation angle of the servo motor M5 is electrically connected to the servo control unit C5. A servo control unit C5a is provided with a servo motor M5a that power-assists the steering of the rear wheels of the medical cart 3. An encoder E5a for detecting the rotation angle of the servo motor M5a is electrically connected to the servo control unit C5a.

[0072] As shown in FIG. 21 , operation information regarding the setting of the preparation position and the like is input from the input device 33 to the control device 130 via the positioner control unit 31b. The control device 130 generates a position command based on the operation information input from the input device 33 and the rotation angle detected by the encoder E4, and outputs the position command to the servo control unit C4 via the positioner control unit 31b. The servo control unit C4 generates a current command based on the position command input from the positioner control unit 31b and the rotation angle detected by the encoder E4, and outputs the current command to the servo motor M4. This causes the positioner 40 to move in accordance with the operation command input to the input device 33. Similarly, the control device 130 moves the medical cart 3 based on the operation information from the input device 33.

[0073] 24, the remote control device 2 includes an operation control section 110. The operation section 120 is provided with servo control sections C6a-6g for controlling servo motors M6a-M6g provided corresponding to axes A1-A7 that are rotation axes of the operation section 120 including the arm 121 and the operation handle 21. Encoders E6a-E6g for detecting the rotation angles of the servo motors M6a-6g are electrically connected to the servo control sections C6a-6g. The servo motors M6a-M6g, servo control sections C6a-6g, and encoders E6a-E6g are provided in the operation section 120L and the operation section 120R, respectively.

[0074] The control device 130 controls the servo motors M6a to M6g via the operation control unit 110 so as to generate torques that cancel out the gravitational torques generated on the rotation axes A1 to A7 of the servo motors M6a to M6g in accordance with the attitude of the operation unit 120. This enables the operator to operate the operation unit 120 with a relatively small force.

[0075] The control device 130 controls the servo motors M6a to M6g via the operation control section 110 to generate torque on the rotation axes A1 to A7 of the servo motors M6a to M6g 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.

[0076] [Effects of the first embodiment] In the first embodiment, the following effects can be obtained.

[0077] In the first embodiment, as described above, the operation unit 80 includes the joystick 82 for controlling the movement of the surgical instrument 4 by the robot arm 60, and is detachable from the robot arm 60. This allows the operator to operate the operation unit 80 in the vicinity of the robot arm 60, unlike when the robot arm 60 is operated using an operation unit 80 provided at a distance from the robot arm 60. This allows the operator to easily perform operations to move the robot arm 60 to an accurate position. This improves the operability of the robot arm 60 using the operation unit 80. Furthermore, since the operation unit 80 is detachable from the robot arm 60, even if the operation unit 80 malfunctions, the malfunctioning operation unit 80 can be removed from the robot arm 60 and a new operation unit 80 can be attached to the robot arm 60. This improves the operability of the robot arm 60 using the operation unit 80 while allowing the operation unit 80 to be easily replaced. Furthermore, because the joystick 82 is relatively prone to malfunction, configuring the operation unit 80 including the joystick 82 to be detachable is particularly effective in facilitating replacement of the operation unit 80.

[0078] In the first embodiment, as described above, the enable switch 81 and the joystick 82 are arranged on the operation unit 80 at a distance that allows them to be operated by the fingers of one hand of the operator. As a result, the joystick 82, which controls the movement direction and movement speed of the robot arm 60, can be operated by the operator's fingers while the enable switch 81 is pressed, so the distance between the operator's fingers operating the operation unit 80 and the fingers pressing the enable switch 81 is maintained at a substantially constant distance. In other words, even when the robot arm 60 moves at a relatively high speed, the distance between the operator's fingers gripping the operation unit 80 and the fingers operating the operation unit 80 is maintained at a substantially constant distance. As a result, even when the robot arm 60 moves at a relatively high speed, the state of the operator's fingers relative to the operation unit 80 is unlikely to change, and the direction of the robot arm 60 controlled by the operation unit 80 is unlikely to change. As a result, even when the robot arm 60 moves at a relatively high speed, vibration of the robot arm 60 caused by changes in the direction of the joystick 82 can be suppressed.

[0079] In the first embodiment, as described above, the operation unit 80 includes the pivot button 85 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. This makes it possible to easily replace the operation unit 80 even if the operation unit 80 including the pivot button 85 breaks down, and also improves operability when teaching the pivot position PP.

[0080] In the first embodiment, as described above, the fastening member 801 fastens the fastened portion 712 from the outer surface 80b of the operation unit 80. This allows the operation unit 80 to be fastened to and released from the robot arm 60 from outside the operation unit 80, making it easy to attach and detach the operation unit 80 to and from the robot arm 60.

[0081] In the first embodiment, as described above, the robot arm 60 includes a connecting portion 710 for connecting the operating unit 80, which is arranged on the side of the robot arm 60 where the operating unit 80 is attached, and the fastening member 801 fastens the outer surface 80b of the operating unit 80 to the fastened portion 712. Thus, by connecting the operating unit 80 and the connecting portion 710 with the fastening member 801, the operating unit 80 can be easily attached to the robot arm 60. In addition, by releasing the fastening state of the fastening member 801 to the fastened portion 712, the operating unit 80 can be easily removed from the robot arm 60.

[0082] In the first embodiment, as described above, the connection portion 710 includes the fastened portion 712 that is inserted into the operation portion 80 and fastened by the fastening member 801, and the operation portion 80 includes the insertion guide 802 that guides the inserted fastened portion 712. As a result, when the fastened portion 712 is inserted into the operation portion 80, the fastened portion 712 is guided by the insertion guide 802, so that the fastened portion 712 can be easily inserted. This also makes it easy to replace the operation portion 80.

[0083] In the first embodiment, as described above, the fastened portion 712 includes the guided portion 714 that is guided by the insertion guide 802. This allows the guided portion 714 to be guided by the insertion guide 802 of the operation unit 80, making it possible to insert the fastened portion 712 more easily.

[0084] In the first embodiment, as described above, the connection portion 710 includes a step portion 715 that is disposed on the outer edge of the connection portion 710 and abuts against an end portion of the operation portion 80. This allows the end portion of the operation portion 80 to abut against the step portion 715, thereby enabling the connection portion 710 to be positioned with respect to the operation portion 80 with high precision.

[0085] In the first embodiment, as described above, the relay substrate 810 includes the first connector portion 811 to which the first signal line 806 extending from the operation unit 80 is connected, and the second connector portion 812 to which the second signal line 720 extending from the robot arm 60 is connected. This makes it possible to easily electrically connect the first signal line 806 and the second signal line 720 via the relay substrate 810 simply by connecting the first signal line 806 extending from the operation unit 80 and the second signal line 720 extending from the robot arm 60 to the first connector portion 811 and the second connector portion 812, respectively, which are arranged on the relay substrate 810. This makes it easy to replace the operation unit 80.

[0086] In the first embodiment, as described above, the first connector portion 811 and the second connector portion 812 are arranged on the robot arm 60 side of the relay substrate 810, and the relay substrate 810 further includes a notch portion 813 for passing the first signal line 806 extending from the operation unit 80 to the robot arm 60 side. This allows the first signal line 806 extending from the back side of the operation unit 80 to be connected to the first connector portion 811 arranged on the robot arm 60 side of the relay substrate 810 via the notch portion 813.

[0087] [Second embodiment] An operation unit 180 according to the second embodiment will be described.

[0088] As shown in FIGS. 25 to 27, an adapter 200 is disposed between the robot arm 60 and the operation unit 180. The operation unit 180 is detachably attached to the robot arm 60 via the adapter 200. Specifically, the adapter 200 includes a first adapter 210 disposed on the robot arm 60 side and a second adapter 220 connected to the first adapter 210 and disposed on the operation unit 180 side. The operation unit 180 and the robot arm 60 are mechanically and electrically connected by connecting the first adapter 210 and the second adapter 220. A first drape 310 for isolating the robot arm 60 from the surroundings and a second drape 320 for isolating the operation unit 180 from the surroundings are disposed. The first drape 310 includes a drape main body 311 made of a bag-shaped film and a mount cover 312 made of resin. The second drape 320 includes a drape body 321 made of a bag-shaped film and a resin mount cover 322. Note that the drape body 311 and the drape body 321 are omitted from the drawings other than Fig. 25.

[0089] 28, terminals 732a and 732b are arranged on an end surface 731 of the tip side link unit 73 of the translational movement mechanism 70 of the robot arm 60. A protrusion 733 is arranged at each of the four corners of the end surface 731. As shown in FIG. 29, terminals 212a and 212b are arranged on a surface 211 of the first adapter 210 facing the tip side link unit 73. A hole 213 is arranged at each of the four corners of the surface 211. As shown in FIG. 28, two holes 311a and 311b are formed in the first drape 310. The terminal 732a of the tip side link unit 73 is connected to the terminal 212a of the first adapter 210 via the hole 311a of the first drape 310. The terminal 732b of the tip side link portion 73 is connected to the terminal 212b of the first adaptor 210 via the hole 311b of the first drape 310. The convex portion 733 of the tip side link portion 73 is engaged with the hole 213 of the first adaptor 210 via the hole 311a or 311b of the first drape 310.

[0090] Concave and convex portions 215a and 215b extending along the X direction are formed on surface 214 of first adapter 210 on the operating unit 180 side. Tips of terminals 212a and 212b are exposed on the Z2 side of concave and convex portions 215a and 215b, respectively.

[0091] As shown in FIG. 30 , terminals 182a and 182b are arranged on end surface 181 of operation unit 180. Protrusions 183 are arranged at each of the four corners of end surface 181. As shown in FIG. 31 , terminals 222a and 222b are arranged on surface 221 of second adapter 220 facing the operation unit 180. Holes 223 are arranged at each of the four corners of surface 221. As shown in FIG. 30 , two holes 321a and 321b are formed in second drape 320. Terminal 182a of operation unit 180 is connected to terminal 222a of second adapter 220 via hole 321a of second drape 320. Terminal 182b of operation unit 180 is connected to terminal 222b of second adapter 220 via hole 321b of second drape 320. The protrusion 183 of the operation portion 180 is engaged with the hole 223 of the second adapter 220 via the hole 321 a or the hole 321 b of the second drape 320 .

[0092] Concave and convex portions 225a and 225b extending along the X direction are formed on a surface 224 of the second adapter 220 on the side of the tip-side link portion 73. The tip portions of the terminals 222a and 222b are exposed on the Z1 side of the concave and convex portions 225a and 225b, respectively.

[0093] The operation unit 180 is attached to the tip-side link unit 73 of the robot arm 60 by connecting the concave-convex portions 215a and 215b of the first adapter 210 with the concave-convex portions 225a and 225b of the second adapter 220. As a result, the terminals 212a and 212b of the first adapter 210 are connected to the terminals 222a and 222b of the second adapter 220, respectively. As a result, the operation unit 180 and the robot arm 60 are mechanically and electrically connected. Furthermore, the operation unit 180 is detached from the tip-side link unit 73 of the robot arm 60 by releasing the connection between the concave-convex portions 215a and 215b of the first adapter 210 and the concave-convex portions 225a and 225b of the second adapter 220.

[0094] [Effects of the second embodiment] In the second embodiment, the following effects can be obtained.

[0095] In the second embodiment, as described above, the operation unit 180 is detachably attached to the robot arm 60 via the adapter 200. This allows the operation unit 180 to be easily attached and detached to and from the robot arm 60 using the adapter 200. Furthermore, even when a plurality of robot arms 60 are provided, one operation unit 180 can be attached and used between the plurality of robot arms 60. This simplifies the configuration of the medical manipulator 1, unlike when the operation unit 180 is provided on all of the plurality of robot arms 60.

[0096] In the second embodiment, as described above, the adapter 200 includes a first adapter 210 disposed on the robot arm 60 side and a second adapter 220 connected to the first adapter 210 and disposed on the operation unit 180 side. A first drape 310 for isolating the robot arm 60 from the surroundings and a second drape 320 for isolating the operation unit 180 from the surroundings are disposed. This allows the robot arm 60 disposed in the unclean area to be covered by the first drape 310, and the operation unit 180 disposed in the unclean area to be covered by the second drape 320 separate from the first drape 310. This makes it possible to replace the operation unit 180 during surgery and to attach one operation unit 180 to multiple robot arms 60 while preventing contact between the surgical instrument 4 disposed in the clean area and the robot arm 60 and operation unit 180 disposed in the unclean area.

[0097] [Third embodiment] A third embodiment will be described.

[0098] In the third embodiment, as shown in Figures 32 and 33, an operation unit 900 for operating the robot arm 60 is attached to the tip-side link unit 73 of the translational movement mechanism 70 of the robot arm 60. The operation unit 900 includes a housing 901 as a gripping unit that is held by an operator. The operation unit 900 also includes a force sensor 902 that outputs a signal for controlling the movement direction and movement speed of the robot arm 60 based on the force applied to the housing 901 by the operator. The operation unit 900 also includes a buffer member 903 that is provided between the housing 901 and the force sensor 902 and buffers the force applied from the housing 901 to the force sensor 902.

[0099] The buffer member 903 includes a rubber member. As a result, the buffer member 903 has elasticity, and the housing 901 can be tilted relative to the force sensor 902. That is, an operator grips the housing 901 and applies a force to tilt the housing 901. This deforms the buffer member 903, causing the housing 901 to tilt relative to the force sensor 902.

[0100] The force sensor 902 is configured, for example, by a strain gauge type sensor. The force sensor 902 detects the magnitude of force in three directions. That is, when the housing 901 is tilted, the force sensor 902 detects the magnitude of force in two-dimensional directions (in the XY plane). Furthermore, when the housing 901 is pressed in the Z1 direction or pulled in the Z2 direction, the force sensor 902 detects the magnitude of force in the Z direction. Note that a force sensor that detects the magnitude of force in six directions may also be used as the force sensor 902.

[0101] The operation unit 900 includes an enable switch 904 that permits movement of the robot arm 60. Then, when the operator holds the operation unit 900 and presses the enable switch 904 to permit movement of the robot arm 60, the force sensor 902 outputs a signal for controlling the direction and speed of movement of the robot arm 60 based on the force applied to the housing 901.

[0102] 34 and 35, the operating unit 900 is detachably attached to the robot arm 60. Specifically, a surgical instrument 4 is detachably attached to one end of the generally L-shaped distal end link unit 73, as shown in Fig. 6. The operating unit 900 is detachably attached to the other end of the generally L-shaped distal end link unit 73.

[0103] 35, an intermediate member 910 is disposed between the operation unit 900 and the robot arm 60. The intermediate member 910 is fixed to the operation unit 900 by a fastening member 911. The fastening member 911 fastens a base portion 905 of the operation unit 900. The intermediate member 910 has a cylindrical shape.

[0104] 34 , the intermediate member 910 is fixed to the robot arm 60 by a fastening member 912. The fastening member 912 fastens the fastened portion 712 of the connection portion 710 of the robot arm 60 from an outer surface 910a of the intermediate member 910. An operator rotates the fastening member 912 from the outer surface 910a of the intermediate member 910 using a screwdriver or the like. This connects the intermediate member 910 and the tip-side link portion 73 of the robot arm 60. When the fastening member 912 is released from the fastened state, the operation unit 900 and the intermediate member 910 are detached from the robot arm 60.

[0105] The connecting part 710 includes a fastened part 712. The intermediate member 910 includes an insertion guide 913 that guides the guided part 714 of the inserted fastened part 712. As shown in FIG. 32 , after the intermediate member 910 and the connecting part 710 are fastened together, a seal 914 is affixed to the fastening member 912.

[0106] [Effects of the third embodiment] In the third embodiment, the following effects can be obtained.

[0107] In the third embodiment, as described above, the operation unit 900 is detachable from the robot arm 60. This makes it possible, even if the operation unit 900 breaks down, to remove the broken operation unit 900 from the robot arm 60 and attach a new operation unit 900 to the robot arm 60. This makes it possible to easily replace the operation unit 900.

[0108] [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 (variations) within the meaning and scope equivalent to the claims.

[0109] For example, in the above-described first and second embodiments, examples have been shown in which the pivot button 85 is arranged on the operation units 80 and 180, but the present disclosure is not limited to this. For example, the present disclosure can also be applied to operation units 80 and 180 in which the pivot button 85 is not arranged.

[0110] In the first embodiment described above, an example has been shown in which the operation unit 80 and the robot arm 60 are detachably fixed by the fastening member 801 such as a screw, but the present disclosure is not limited to this. For example, the operation unit 80 and the robot arm 60 may be detachably fixed by a mechanism other than the fastening member 801, such as a snap fit.

[0111] In the first embodiment described above, an example has been shown in which the fastened portion 712 is arranged on the robot arm 60 and the fastening member 801 fastens the fastened portion 712 from the outer surface 80b of the operation unit 80, but the present disclosure is not limited to this. For example, the operation unit 80 and the robot arm 60 may be detachably fixed together by a mechanism in which the fastened portion 712 is arranged on the operation unit 80 and the fastening member 801 fastens the fastened portion 712 from the outer surface of the robot arm 60.

[0112] In the first embodiment, an example is shown in which the insertion guide 802 of the operation unit 80 has a groove shape and the guided portion 714 of the connection unit 710 has a convex shape, but the present disclosure is not limited to this. For example, the insertion guide 802 of the operation unit 80 may have a convex shape and the guided portion 714 of the connection unit 710 may have a groove shape.

[0113] In the first embodiment, an example was shown in which the step portion 715 was formed on the outer edge portion of the connection portion 710, but the present disclosure is not limited to this. For example, a step portion may be formed on the opening end 803a of the operation portion 80.

[0114] In the first embodiment, the first connector 811 and the second connector 812 are arranged on the same surface of the relay substrate 810, but the present disclosure is not limited to this. For example, the first connector 811 and the second connector 812 may be arranged on different surfaces of the relay substrate 810.

[0115] In the first embodiment described above, an example has been shown in which the first signal line 806 is passed through the notch 813 of the relay substrate 810 to the robot arm 60 side, but the present disclosure is not limited to this. For example, the second signal line 720 may be passed through the notch 813 of the relay substrate 810 to the operation unit 80 side.

[0116] In the first embodiment described above, an example was shown in which the relay substrate 810 is formed with the notch 813 for passing the first signal line 806 to the robot arm 60 side, but the present disclosure is not limited to this. For example, the relay substrate 810 may be formed with a through hole for passing the first signal line 806 to the robot arm 60 side.

[0117] In the first embodiment, the operation unit 80 and the robot arm 60 are electrically connected by a signal line, but the present disclosure is not limited to this. For example, the operation unit 80 and the robot arm 60 may be connected by a communication line.

[0118] In the second embodiment, the first adapter 210 and the first drape 310 are separate bodies, and the second adapter 220 and the second drape 320 are separate bodies, but the present disclosure is not limited to this. For example, the first adapter 210 and the first drape 310 may be integrated, and the second adapter 220 and the second drape 320 may be integrated.

[0119] In the first and second embodiments, the cross sections of the operation units 80 and 180 are generally rectangular (the operation units 80 and 180 are generally prism-shaped), but the present disclosure is not limited to this. For example, the operation units 80 and 180 may be generally cylindrical.

[0120] In addition, in the above-described first to third embodiments, examples have been shown in which the operation units 80, 180, and 900 are provided on the translational movement mechanism unit 70, but the present disclosure is not limited to this. For example, the operation unit 80 may be provided on the arm unit 61.

[0121] Furthermore, in the above first to third embodiments, an example in which four robot arms 60 are provided is shown, but the present disclosure is not limited to this. In the present disclosure, the number of robot arms 60 may be any other number as long as there is at least one or more.

[0122] In the first and second embodiments, the arm unit 61 and the positioner 40 are configured as a seven-axis articulated robot, but the present disclosure is not limited to this. For example, the arm unit 61 and the positioner 40 may be configured as an articulated robot with an axis configuration other than a seven-axis articulated robot. An example of an axis configuration other than a seven-axis articulated robot is a six-axis or eight-axis robot.

[0123] In the first and second embodiments, the medical manipulator 1 includes the medical cart 3, the positioner 40, and the arm base 50. However, the present disclosure is not limited to this. For example, the medical cart 3, the positioner 40, and the arm base 50 are not necessarily required, and the medical manipulator 1 may include only the robot arm 60.

[0124] In addition, in the third embodiment described above, an example has been shown in which the operation unit 900 is detachably attached to the robot arm 60 by the fastening member 912, but the present disclosure is not limited to this. For example, as in the second embodiment, the operation unit 900 may be detachably attached to the robot arm 60 via the adapter 200.

[0125] 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]

[0126] 1. Medical manipulators (surgical support robots) 4 Surgical instruments 60 Robot Arm 80 Control section 80b outer surface 81 Enabling switch 82 Joystick 85 Pivot button (pivot position teaching section) 180 Operation section 200 adapter 210 First Adapter 220 Second Adapter 310 First Drape 320 Second Drape 710 Connection 712 Fastened part 714 Guided part 715 Step 720 Second signal line 801 Fastening members 802 Insertion Guide 806 First signal line 810 Relay board 811 First connector part 812 Second connector part 813 Notch PP pivot position

Claims

1. a robotic arm to which surgical instruments can be attached; an operation unit attached to the robot arm and operating the robot arm; the operation unit includes a joystick for operating the movement of the surgical instrument by the robot arm, and is detachable from the robot arm; A surgical support robot, wherein the operating unit further includes a pivot position teaching unit for teaching a pivot position that serves as a fulcrum for movement of the surgical instrument attached to the robot arm.

2. the operation unit further includes an enable switch that allows movement of the robot arm when pressed; The surgery support robot according to claim 1 , wherein the enable switch and the joystick are arranged in the operation unit at a distance from each other within a range operable by the fingers of one hand of an operator.

3. a robotic arm to which surgical instruments can be attached; an operation unit attached to the robot arm and operating the robot arm; the operation unit includes a joystick for operating the movement of the surgical instrument by the robot arm, and is detachable from the robot arm; a fastening member and a fastened portion for connecting the operation unit and the robot arm, A surgical support robot, wherein the fastening member fastens the fastened portion from the outer surface of the operating unit or the robot arm.

4. the robot arm includes a connection portion that is arranged on a side of the robot arm where the operation portion is attached and that is used to connect the operation portion, The surgical support robot according to claim 3 , wherein the fastening member fastens the connecting portion from the outer surface of the operating portion.

5. the connecting portion is inserted into the operating portion and includes the fastened portion to be fastened by the fastening member, The surgical support robot according to claim 4 , wherein the operation unit includes an insertion guide that guides the fastened portion to be inserted.

6. The surgical support robot according to claim 5 , wherein the fastened portion includes a guided portion that is guided by the insertion guide.

7. The surgical support robot according to any one of claims 4 to 6, wherein the connection portion includes a step portion that is disposed on an outer edge of the connection portion and abuts against an end of the operation portion.

8. a relay board for relaying signals between the operation unit and the robot arm; The surgical support robot according to any one of claims 1 to 7, wherein the relay board includes a first connector portion to which a first signal line extending from the operation portion is connected, and a second connector portion to which a second signal line extending from the robot arm is connected.

9. The surgical support robot according to claim 8 , wherein the relay board further includes a notch for passing the first signal line extending from the operation unit or the second signal line extending from the robot arm.

10. further comprising an adapter disposed between the robot arm and the operation unit; The surgery support robot according to claim 1 or 2, wherein the operation unit is detachably attached to the robot arm via the adapter.

11. the adapters include a first adapter disposed on the robot arm side, and a second adapter connected to the first adapter and disposed on the operation unit side, a first drape for isolating the robot arm from the environment; The surgical support robot according to claim 10 , further comprising: a second drape for isolating the operating unit from the surroundings.

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