Surgery support system, operator-side device, and method for controlling surgery support system

Abstract

To provide a surgery support system which can properly assist an operation of an operation unit according to an operator.SOLUTION: In a surgical system 100, a control unit 110 controls at least one of servo motors M6a-M6g so as to activate at least one of the move-start auxiliary force in the move-start of an operation unit 120, the in-operation auxiliary force during the operation of the operation unit 120 and the brake force when stopping the operation unit 120. The control unit 110 changes at least one of a level of the move-start auxiliary force, a level of the in-operation auxiliary force and a level of the brake force on the basis of a level change operation of an operator received by a level change reception unit 23a.SELECTED DRAWING: Figure 16

Description

[Technical Field]

[0001] The present disclosure relates to a surgery assistance system, an operator-side device, and a control method for a surgery assistance system, and more particularly to a surgery assistance system, an operator-side device, and a control method for a surgery assistance system, which include an operation unit that accepts operations by an operator. [Background technology]

[0002] Conventionally, a surgical assistance system including an operation unit that receives operations from an operator has been known. For example, Patent Document 1 discloses a technology for controlling the movement of a medical instrument provided on a multi-joint robot arm as a slave based on the amount of operation received by an operation unit provided on a master control device. In Patent Document 1, the tool moves inside the patient's body, which is the surgical site.

[0003] In Patent Document 1, the operation unit provided in the master control device is made up of a multi-joint arm including multiple links. The multi-joint arm is hung from above in an L-shaped bent state. A motor is disposed in the multi-joint arm. The motor disposed in the multi-joint arm generates torque to resist gravity. The torque generated by the motor maintains the L-shaped bent state of the multi-joint arm even without the operator supporting the operation unit with their hands.

[0004] In Patent Document 1, a motor generates a force according to the speed at which an operator operates an operating unit. The force generated by the motor assists the operator in operating the operating unit. By assisting the operation of the operating unit, the operation of the operating unit becomes easier. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] US Patent Application Publication No. 2004 / 0243110 Summary of the Invention [Problem to be solved by the invention]

[0006] When assisting the operation of an operating unit as in Patent Document 1, the appropriate magnitude of the force to assist the operation of the operating unit varies depending on the operator. Patent Document 1 has the problem that the magnitude of the assisting force may not be appropriate for the operator.

[0007] This disclosure has been made to solve the above-mentioned problems, and one purpose of this disclosure is to provide a surgical assistance system, an operator-side device, and a control method for a surgical assistance system that can appropriately assist the operator in operating the operating unit according to the operator. [Means for solving the problem]

[0008] In order to achieve the above object, a surgery assistance system according to a first aspect of the present disclosure includes a patient-side device including an arm to which a medical instrument is attached at the tip, an operator-side device including an operation unit that receives operations by an operator, a control unit, and a level change reception unit that receives level change operations by the operator, wherein the operation unit includes a drive unit for assisting the operation by the operator, and the control unit Make operations easier Start-up assist force and operation of the control unit Make operations easier Auxiliary force during operation and when stopping the operating part Makes operation heavier Braking force and All of The driving unit is controlled to apply the force, and at least one of the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force is changed based on the level change operation of the operator received by the level change receiving unit.

[0009] In the surgery assistance system according to the first aspect of this disclosure, as described above, the control unit changes at least one of the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force based on the level change operation of the operator received by the level change receiving unit. This allows the operator to change at least one of the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force to a desired level by the level change operation. This makes it possible to appropriately assist the operation of the operation unit depending on the operator.

[0010] According to a second aspect of the present disclosure, an operator-side device is an operator-side device that operates a patient-side device including an arm to which a medical instrument is attached at the tip, and includes an operation unit that receives an operation by an operator, a control unit, and a level change reception unit that receives a level change operation by the operator, the operation unit includes a drive unit that assists the operation by the operator, and the control unit Make operations easier Start-up assist force and operation of the control unit Make operations easier Auxiliary force during operation and when stopping the operating part Makes operation heavier Braking force and All of The driving unit is controlled to apply the force, and at least one of the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force is changed based on the level change operation of the operator received by the level change receiving unit.

[0011] In the operator-side device according to the second aspect of this disclosure, as described above, the control unit changes at least one of the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force based on the level change operation by the operator. This allows the operator to change at least one of the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force to a desired level by the level change operation. This makes it possible to provide an operator-side device that can appropriately assist the operation of the operating unit depending on the operator.

[0012] A control method for a surgery assistance system according to a third aspect of the present disclosure is a control method for a surgery assistance system including a patient-side device including an arm having a medical instrument attached to a tip thereof, and an operator-side device including an operation unit that accepts operations by an operator, the method comprising: The level change reception unit When the control unit starts moving Make operations easier The level of assist force when starting the movement and the operation of the control unit Make operations easier The level of auxiliary force during operation and when stopping the control unit Makes operation heavier Accepting changes to at least one of the braking force level and The control unit The starting assist force, the assist force during operation, and the braking force corresponding to the changed level All of Put to work In this way, the driving unit for assisting the operation of the operation unit by the operator is controlled. .

[0013] As described above, the control method for a surgery assistance system according to a third aspect of this disclosure accepts a change in at least one of the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force, and applies at least one of the start-up assist force, the assist force during operation, and the braking force corresponding to the changed level. This allows the operator to change at least one of the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force to a desired level by performing a level change operation. This makes it possible to provide a control method for a surgery assistance system that can appropriately assist the operation of the operation unit depending on the operator. [Effects of the Invention]

[0014] According to the present disclosure, it is possible to appropriately assist the operation of the operation unit depending on the operator. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 1 is a diagram showing the configuration of a surgical operation 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. 2 is a perspective view showing the configuration of an operation unit of the medical manipulator according to the first embodiment. [Figure 9] FIG. 1 is a diagram showing an endoscope. [Figure 10] FIG. 10 is a diagram showing a pivot position teaching tool. [Figure 11] FIG. 10 is a diagram for explaining translational movement of an arm. [Figure 12] FIG. 10 is a diagram illustrating the rotational movement of the arm. [Figure 13] FIG. 2 is a block diagram showing the configuration of a control unit of the medical manipulator according to the first embodiment. [Figure 14] 2 is a block diagram showing the configuration of a control unit of the remote control device according to the first embodiment. FIG. [Figure 15] 10A and 10B are diagrams for explaining a start-of-motion compensation value and an in-motion compensation value that are added to a gravity compensation value, and a braking force value that is subtracted from the gravity compensation value. [Figure 16] FIG. 3 is a diagram illustrating a level change receiving unit according to the first embodiment. [Figure 17] FIG. 4 is a diagram showing start-of-motion parameters according to the first embodiment. [Figure 18] FIG. 3 is a control block diagram for generating a start-up assist force according to the first embodiment. [Figure 19] FIG. 4 is a diagram showing operational parameters according to the first embodiment. [Figure 20] FIG. 2 is a control block diagram for generating an assist force during operation according to the first embodiment. [Figure 21] FIG. 4 is a diagram showing braking parameters during acceleration according to the first embodiment. [Figure 22]FIG. 4 is a diagram showing braking parameters during deceleration according to the first embodiment. [Figure 23] FIG. 2 is a control block diagram for generating a braking force according to the first embodiment. [Figure 24] 5A and 5B are diagrams illustrating braking parameters during acceleration and deceleration according to the first embodiment. [Figure 25] FIG. 3 is a diagram showing a control flow of the remote control device according to the first embodiment. [Figure 26] 10 is a diagram showing a level change receiving unit when changing the level of the start-up assist force. FIG. [Figure 27] 10 is a diagram showing a level change receiving unit when changing the level of the assist force during operation. FIG. [Figure 28] 10 is a diagram showing a level change receiving unit when changing the level of the braking force. FIG. [Figure 29] FIG. 10 is a diagram showing braking parameters during deceleration according to the second embodiment. [Figure 30] 10A and 10B are diagrams illustrating braking parameters during acceleration and deceleration according to the second embodiment. [Figure 31] FIG. 11 is a diagram showing braking parameters during acceleration according to the third embodiment. [Figure 32] FIG. 11 is a diagram showing braking parameters during deceleration according to the third embodiment. [Figure 33] 10A and 10B are diagrams for explaining braking parameters during acceleration and deceleration according to a modified example. [Figure 34] FIG. 10 is a control block diagram for generating a start-up assist force according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, embodiments embodying the present disclosure will be described with reference to the drawings.

[0017] [First embodiment] 1 to 28, the configuration of a surgical system 100 according to a first embodiment will be described. 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 movable. The remote control device 2 is disposed at a position separated from the medical manipulator 1, and the medical manipulator 1 is 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 disposed in an operating room, which is a sterilized sterile field. The surgical system 100 is an example of a surgery support system. The medical manipulator 1 is an example of a patient-side device. The remote control device 2 is an example of an operator-side device.

[0018] 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.

[0019] 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. Operation units 120L and 120R have the same configuration.

[0020] 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.

[0021] 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 arm 60 moves three-dimensionally in response to the three-dimensional operation of the arm 121.

[0022] The operating handle 21 operates the medical instrument 4. The operating handle 21 also receives an operating amount for the medical 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.

[0023] As shown in Fig. 4, the operating handle 21 includes link portion 21a, link portion 21b, link portion 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.

[0024] Furthermore, the operating handle 21 changes the amount of movement of the arm 60 and the medical 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 medical 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.

[0025] As shown in FIG. 5 , a plurality of foot pedals 22 are provided to perform functions related to the medical 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 pedals 22d include a incision pedal 22dR for the right arm 60 and a incision pedal 22dL for the left arm 60. The coagulation pedals 22e include a coagulation pedal 22eR for the right arm 60 and a coagulation pedal 22eL for the left arm 60.

[0026] The switching pedal 22a switches the arm 60 operated by the operating handle 21. The clutch pedal 22b performs a clutch operation that temporarily disconnects the operational connection between the arm 60 and the operating handle 21. While the operator is pressing the clutch pedal 22b, the operation by the operating handle 21 is not transmitted to the arm 60. While the operator is pressing the camera pedal 22c, the arm 60 to which the endoscope 6 is attached can be operated by the operating handle 21. While the operator is pressing the incision pedal 22d or the coagulation pedal 22e, the electrosurgical device is activated.

[0027] 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.

[0028] 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.

[0029] The medical cart 3 is provided with an input device 33. The input device 33 receives 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.

[0030] The medical manipulator 1 shown in Figures 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 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 of each of the multiple arms 60 is attached to the arm base 50. The multiple arms 60 can be folded for storage. The arm base 50 and the multiple arms 60 are covered with a sterile drape when in use. Furthermore, the arms 60 support a medical instrument 4.

[0031] The positioner 40 is, for example, 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 moves the position of the arm base 50 three-dimensionally.

[0032] 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.

[0033] 1, a medical tool 4 is attached to the tip of each of the multiple arms 60. The medical tool 4 includes, for example, replaceable instruments, an endoscope 6 shown in FIG. 9 for capturing images of the surgical site, and the like.

[0034] 6, the instrument is provided with a driven unit 4a that is driven by a servo motor M2 provided on a holder 71 of the arm 60. Furthermore, a forceps 4b is provided at the tip of the instrument.

[0035] 7, the instrument includes a first support 4e that supports the proximal ends of the end effector members 104a and 104b at the distal end so that they can rotate about the JT11 axis, a second support 4f that supports the proximal end of the first support 4e at the distal end so that they can rotate about the JT10 axis, and a shaft 4c connected to the proximal end of the second support 4f. The driven unit 4a, the shaft 4c, the second support 4f, the first support 4e, and the forceps 4b are arranged along the Z direction. The JT11 axis is perpendicular to the Z direction, which is the direction in which the shaft 4c extends. The JT10 axis is spaced from the JT11 axis in the direction in which the shaft 4c extends and is perpendicular to both the direction in which the shaft 4c extends and the JT11 axis.

[0036] 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 direction side, 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 at the tip side of the U-shape of the first support 4e.

[0037] Furthermore, the forceps 4b as the medical 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 forceps 4b. 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 on the holder 71 of the arm 60, and the rotating body of the driven unit 4a is driven by the plurality of servo motors M2. As a result, the medical instrument 4 is driven around the J9 axis to the J12 axis. For example, four servo motors M2 are provided.

[0038] As shown in FIG. 9, the TCP2 of the endoscope 6 is set at the tip of the endoscope 6.

[0039] Next, the configuration of the arm 60 will be described in detail.

[0040] As shown in FIG. 6, the arm 60 includes an arm section 61 and a translational movement mechanism section 70 provided at the tip of the arm section 61. The arm section 61 includes a base section 62, a link section 63, and a joint section 64. The arm 60 moves the tip side in three dimensions relative to an arm base 50 at the base side of the arm 60. The arm section 61 is also made up of a seven-axis articulated robot arm. The multiple arms 60 have similar configurations.

[0041] As shown in Fig. 6, the arm 60 has axes JT1 to JT7 as rotation axes and axis JT8 as a linear motion axis. The axes JT1 to JT7 correspond to the rotation axes of the joint 64 of the arm section 61. The JT7 axis corresponds to the base end link section 72 of the translational movement mechanism 70. The JT8 axis corresponds to an axis that moves the tip end link section 73 of the translational movement mechanism 70 relative to the base end link section 72 in the Z direction. That is, the servo motor M1 shown in Fig. 13 is provided to correspond to the JT1 to JT7 axes of the arm 60. The servo motor M3 is provided to correspond to the JT8 axis.

[0042] The translational movement mechanism 70 is provided at the tip of the arm 61, and has the medical instrument 4 attached thereto. The translational movement mechanism 70 translates the medical instrument 4 in the direction of insertion into the patient P. The translational movement mechanism 70 translates 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 shown in FIG. 13.

[0043] 8, the medical manipulator 1 is attached to the arm 60 and includes an operation unit 80 for operating the arm 60. The operation unit 80 includes an enable switch 81, a joystick 82, and a switch unit 83. The enable switch 81 permits or prohibits movement of the arm 60 by the joystick 82 and the switch unit 83. When an operator such as a nurse or an assistant holds and presses the operation unit 80, the enable switch 81 enters a state in which movement of the medical instrument 4 by the arm 60 is permitted.

[0044] The switch unit 83 also includes a switch unit 83a that moves the medical instrument 4 in the direction along the longitudinal direction of the medical instrument 4, in which the medical instrument 4 is inserted into the patient P, and a switch unit 83b that moves the medical instrument 4 in the direction opposite to the direction in which the medical instrument 4 is inserted into the patient P. Both the switch unit 83a and the switch unit 83b are push button switches.

[0045] 8, the operation unit 80 also includes a pivot button 85 that teaches a pivot position PP, which serves as a fulcrum (as shown in FIG. 12) for the movement of the medical instrument 4 attached to the arm 60. The pivot button 85 is provided on a surface 80b of the operation unit 80 adjacent to the enable switch 81. When the tip of the endoscope 6 shown in FIG. 9 or the pivot position teaching instrument 7 shown in FIG. 10 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 medical instrument 4.

[0046] As shown in FIG. 1 , an endoscope 6 is attached to one of the arms 60, for example, arm 60c, and medical instruments 4 other than the endoscope 6 are attached to the remaining arms 60a, 60b, and 60d. Specifically, during surgery, an endoscope 6 is attached to one of the four arms 60, and medical instruments 4 other than the endoscope 6, such as forceps 4b, are attached to three of the arms 60. A pivot position PP is taught to the arm 60 to which the endoscope 6 is attached, with the endoscope 6 attached. Furthermore, a pivot position PP is taught to the arm 60 to which the medical instrument 4 other than the endoscope 6 is attached, with a pivot position teaching instrument 7 attached. The endoscope 6 is attached to one of the two arms 60b and 60c, which are located in the center of the four arms 60 arranged adjacent to each other. That is, the pivot position PP is set individually for each of the arms 60.

[0047] 8, an adjustment button 86 for optimizing the position of the arm 60 is provided on the surface 80b of the operation unit 80. After the pivot position PP for the arm 60 to which the endoscope 6 is attached has been taught, the positions of the other arms 60 and the arm base 50 are optimized by pressing the adjustment button 86.

[0048] 8, the operation unit 80 also includes a mode switching button 84 for switching between a translational movement mode shown in FIG. 11 and a rotational movement mode shown in FIG. 12 for the medical instrument 4 attached to the 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.

[0049] The mode indicator 84a also serves as a pivot position indicator that indicates that the pivot position PP has been taught.

[0050] As shown in Fig. 11, in the mode in which the arm 60 is translated, the arm 60 is moved so that the tip 4d of the medical instrument 4 moves on the XY plane. Also, as shown in Fig. 12, in the mode in which the arm 60 is rotationally moved, when the pivot position PP has not been taught, the arm 60 is moved so that the medical instrument 4 rotates around the forceps 4b, and when the pivot position PP has been taught, the arm 60 is moved so that the medical instrument 4 rotates around the pivot position PP as a fulcrum. Note that the medical instrument 4 is rotated with the shaft 4c of the medical instrument 4 inserted into the trocar T.

[0051] 13, the arm 60 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 of the arm section 61. The encoder E1 detects the rotation angle of the servo motor M1. The reducer reduces the rotation speed of the servo motor M1 to increase the torque.

[0052] 13, 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. The encoders E2 and E3 detect the rotation angles of the servo motors M2 and M3, respectively. The reducers reduce the speed of rotation of the servo motors M2 and M3 to increase the torque.

[0053] The positioner 40 is also provided with a plurality of servo motors M4, an encoder E4, and a reducer to correspond to the plurality of joints 43 of the positioner 40. The encoder E4 detects the rotation angle of the servo motor M4. The reducer reduces the rotation speed of the servo motor M4 to increase the torque.

[0054] The medical cart 3 is also provided with a servo motor M5, an encoder E5, and a reducer that drive each of the front wheels of the medical cart 3. The encoder E5 detects the rotation angle of the servo motor M5. The reducer reduces the rotation speed of the servo motor M5 to increase the torque.

[0055] 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 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.

[0056] 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.

[0057] The operation command input to the remote operation device 2 is then 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 encoders E1 to E3, and outputs the position command to the servo control units C1 to C3. The servo control units C1 to C3 generate a current command based on the position command input from the arm control unit 31a and the rotation angle detected by the encoders E1 to E3, and output the current command to the servo motors M1 to M3. As a result, the arm 60 is moved in accordance with the operation command input to the remote operation device 2.

[0058] 13, the arm control unit 31a of the control unit 31 operates the arm 60 based on an input signal from a joystick 82 of the operation unit 80. Specifically, the arm control unit 31a generates a position command based on the input signal 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 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 arm 60 moves in accordance with the operation command input to the joystick 82.

[0059] The arm control unit 31a of the control unit 31 operates the arm 60 based on an input signal from the switch unit 83 of the operation unit 80. Specifically, the arm control unit 31a generates a position command based on an operation command, which is an input signal input from the switch unit 83, and a rotation angle detected by the encoder E1 or E3, and outputs the position command to the servo control unit C1 or C3. The servo control unit C1 or C3 generates a 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. This causes the arm 60 to move in accordance with the operation command input to the switch unit 83.

[0060] 13, the positioner control unit 31b is electrically connected to a servo control unit C4 for controlling a servo motor M4 that moves the positioner 40. The servo control unit C4 is also electrically connected to an encoder E4 for detecting the rotation angle of the servo motor M4. The positioner control unit 31b is also electrically connected to a servo control unit C5 for controlling a servo motor M5 that drives the front wheels 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.

[0061] 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 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 positioner control unit 31b moves the medical cart 3 based on the operation command from the input device 33.

[0062] 14, the remote control device 2 also includes a control unit 110. The control unit 110 is electrically connected to servo control units C6a-6g for controlling servo motors M6a-M6g provided to correspond to axes A1-A7, which are rotation axes of an operation unit 120 including an arm 121 and an operation handle 21. The servo control units C6a-6g are also electrically connected to encoders E6a-E6g for detecting the rotation angles of the servo motors M6a-6g. The servo motors M6a-M6g, servo control units C6a-6g, and encoders E6a-E6g are provided in the operation unit 120L and the operation unit 120R, respectively. The servo motors M6a-M6g are an example of a drive unit.

[0063] As shown in Fig. 15, the control unit 110 controls the servo motors M6a to M6g to generate torques that cancel out the gravity torques generated in the rotation axes A1 to A7 of the servo motors M6a to M6g in accordance with the attitude of the operation unit 120. Specifically, the control unit 110 determines a gravity parameter τ1 that cancels out the gravity torque. The control unit 110 controls the servo motors M6a to M6g to apply torques that cancel out the gravity torques using a gravity compensation value based on a current command value corresponding to the determined gravity parameter τ1. This enables the operator to operate the operation unit 120 with a relatively small force. The gravity compensation value, a start-up compensation value, an in-motion compensation value, and a braking force value, which will be described later, are set for each rotation axis.

[0064] The control unit 110 controls at least one of the servo motors M6a to M6g to generate torque in at least one of the rotation axes A1 to A7 of the servo motors M6a to M6g in response to the operation of the operating unit 120, thereby assisting the operation by the operator. Specifically, in the first embodiment, the control unit 110 controls at least one of the servo motors M6a to M6g to apply at least one of a start-up assist force when the operating unit 120 starts moving, an in-motion assist force while the operating unit 120 is moving, and a braking force when stopping the operating unit 120. The start-up assist force refers to a force that assists in making the operation of the operating unit 120 easier at the beginning of the start of movement when the operation of the operating unit 120 is accelerating. The in-motion assist force refers to a force that assists in making the operation of the operating unit 120 easier while the operating unit 120 is being operated at the operation speed ω after the operating unit 120 has started moving. The braking force refers to a force that makes the operation of the operating unit 120 heavier when stopping the operating unit 120. In the first embodiment, the control unit 110 controls at least one of the servo motors M6a to M6g so as to apply all of the start-up assist force, the in-motion assist force, and the braking force.

[0065] In the first embodiment, the control unit 110 changes at least one of the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force based on the level change operation by the operator. Note that in the first embodiment, the control unit 110 changes all of the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force based on the level change operation by the operator. Changing the levels changes the weight when operating the operation unit 120.

[0066] 16, the surgical system 100 includes a level change receiving unit 23a that receives a change to at least one of the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force. In the first embodiment, the level change receiving unit 23a receives a change to all of the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force.

[0067] In the first embodiment, at least one of the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force includes a plurality of levels. The level change receiving unit 23a includes level selection units 23b1 to 23b4 that correspond to a plurality of levels. In the first embodiment, the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force each include four levels. The level selection units 23b1 to 23b4 correspond to a light level, a slightly light level, a slightly heavy level, and a heavy level, respectively.

[0068] In the first embodiment, the level change receiving unit 23a includes a level change target selecting unit 23c for selecting a target for which the level is to be changed from the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force. The level selecting units 23b1-23b4 accept a change in the level of the target selected by the level change target selecting unit 23c. For example, when the "start movement" button of the level change target selecting unit 23c is pressed, the level selecting units 23b1-23b4 accept a change in the level of the start-up assist force. When the "in operation" button of the level change target selecting unit 23c is pressed, the level selecting units 23b1-23b4 accept a change in the level of the assist force during operation. When the "stop" button of the level change target selecting unit 23c is pressed, the level selecting units 23b1-23b4 accept a change in the level of the braking force. Hereinafter, the operation of the operator pressing the level selecting units 23b1-23b4 is referred to as the "level change operation by the operator."

[0069] In the first embodiment, the level change receiving unit 23a is disposed in the remote control device 2. For example, the level change receiving unit 23a is displayed on the touch panel 23 of the remote control device 2. The level selection units 23b1 to 23b4 and the level change target selection unit 23c are touch buttons.

[0070] (Start-up assistance force) In the first embodiment, as shown in FIGS. 17 and 18, the control unit 110 determines the value of a start-up parameter τ2 for at least one of the servo motors M6a to M6g based on the operation acceleration a of the operation unit 120. The control unit 110 controls the drive units to apply a start-up assist force using the determined value of the start-up parameter τ2. Specifically, the control unit 110 applies the start-up assist force based on a start-up compensation value obtained by multiplying a current command value corresponding to the determined start-up parameter τ2 by an LPF. Note that LPF refers to a low-pass filter. For example, the control unit 110 controls the servo motors M6a, M6b, M6c, and M6e corresponding to the A1, A2, A3, and A5 axes to apply the start-up assist force. As shown in FIG. 15, the start-up compensation value is added to a gravity compensation value. As a result, the start-up assist force is applied to the A1, A2, A3, and A5 axes. In the following description, rotation on one side of each of the A1, A2, A3, and A5 axes is referred to as rotation in a positive direction, and rotation on the other side is referred to as rotation in a negative direction.

[0071] In the first embodiment, as shown in Fig. 17, the control unit 110 linearly increases the absolute value of the start-of-movement parameter τ2 as the absolute value of the operation acceleration a increases. The control unit 110 changes the level of the start-of-movement assist force by changing the magnitude of the start-of-movement parameter τ2 relative to the operation acceleration a based on the level change operation by the operator.

[0072] Specifically, as shown in Fig. 18, encoders E6a, E6b, E6c, and E6e detect rotational positions x of servo motors M6a, M6b, M6c, and M6e, respectively. The rotational positions x detected by encoders E6a, E6b, E6c, or E6e are input to the control unit 110. The control unit 110 differentiates the input rotational positions x to calculate an operation speed ω. The control unit 110 differentiates the calculated operation speed ω to calculate an operation acceleration a. The control unit 110 multiplies the calculated operation acceleration a by a gain K. Hereinafter, the operation acceleration a after being multiplied by the gain K will be referred to as a post-gain-multiplication acceleration a1.

[0073] The control unit 110 multiplies the gain-multiplied acceleration a1 by a magnification of level r corresponding to any one of the level selection units 23b1 to 23b4 pressed by the operator. For example, when the level selection unit 23b1 is pressed, the gain-multiplied acceleration a1 is multiplied by a magnification α. ​​When the level selection unit 23b2 is pressed, the gain-multiplied acceleration a1 is multiplied by a magnification β. When the level selection unit 23b3 is pressed, the gain-multiplied acceleration a1 is multiplied by a magnification γ. When the level selection unit 23b4 is pressed, the gain-multiplied acceleration a1 is multiplied by a magnification 1. Note that α, β, γ, and 1 have the relationship 0≦α<β<γ<1. Hereinafter, the gain-multiplied acceleration a1 multiplied by the magnification is referred to as the gain-multiplied acceleration a2.

[0074] The control unit 110 limits the acceleration a2 after multiplication by the magnification factor to between an upper limit and a lower limit. This prevents the start-up assist force from acting excessively. For example, the operation unit 120 may be struck or the operation units 120 may come into contact with each other. In this case, the start-up assist force becomes excessively large. By limiting the acceleration a2 after multiplication by the magnification factor to between an upper limit and a lower limit, excessive movement of the operation unit 120 can be prevented. Hereinafter, the acceleration a2 after multiplication by the magnification factor limited between the upper limit and the lower limit will be referred to as the limited acceleration a3.

[0075] The control unit 110 applies an LPF to the limited acceleration a3. This makes it possible to remove high-frequency noise from the limited acceleration a3. In particular, since the limited acceleration a3 is calculated by differentiating the velocity, high-frequency noise tends to be large, and the proportion of high-frequency noise in the components of the limited acceleration a3 increases. Hereinafter, the limited acceleration a3 after applying the LPF will be referred to as the post-LPF acceleration a4. The control unit 110 adds the post-LPF acceleration a4 to the gravity compensation value as a start-of-motion compensation value.

[0076] In Fig. 17, the two-dot chain line represents the start-up parameter τ2 when level selection unit 23b1 is pressed. The one-dot chain line represents the start-up parameter τ2 when level selection unit 23b2 is pressed. The dotted line represents the start-up parameter τ2 when level selection unit 23b3 is pressed. The solid line represents the start-up parameter τ2 when level selection unit 23b4 is pressed.

[0077] (Assistive force during operation) In the first embodiment, as shown in FIG. 19, the control unit 110 determines the value of an in-operation parameter τ3 of at least one of the servo motors M6a to M6g based on the operation speed ω of the operation unit 120. The control unit 110 controls at least one of the servo motors M6a to M6g to apply an in-operation assist force using the determined value of the in-operation parameter τ3. Specifically, the control unit 110 applies the in-operation assist force based on an in-operation compensation value obtained by multiplying a current command value corresponding to the determined in-operation parameter τ3 by an LPF. For example, the control unit 110 controls the servo motors M6e and M6f corresponding to the A5 and A6 axes to apply an in-operation assist force. As shown in FIG. 15, the in-operation compensation value is added to the gravity compensation value. As a result, a start-up assist force is applied to the A5 and A6 axes. Note that in the following description, rotation around one side of each of the A5 and A6 axes is referred to as rotation in a positive direction, and rotation around the other side is referred to as rotation in a negative direction.

[0078] In the first embodiment, the control unit 110 linearly increases the absolute value of the in-operation parameter τ3 as the absolute value of the operation speed ω increases, as shown in Fig. 19. The control unit 110 changes the magnitude of the in-operation parameter τ3 based on the level change operation by the operator, thereby changing the level of the in-operation assist force.

[0079] Specifically, as shown in Fig. 20, encoders E6e and E6f detect rotational positions x of servo motors M6e and M6f, respectively. The rotational positions x detected by encoders E6e or E6f are input to control unit 110. Control unit 110 differentiates the input rotational position x to calculate operation speed ω. Control unit 110 multiplies the calculated speed by gain K. Hereinafter, the operation speed ω after multiplication by gain K will be referred to as post-gain multiplication speed ω1.

[0080] The control unit 110 multiplies the speed ω1 after gain multiplication by the magnification of level r corresponding to any one of the level selection units 23b1 to 23b4 pressed by the operator. For example, when the level selection unit 23b1 is pressed, the speed ω1 after gain multiplication is multiplied by the magnification α. ​​When the level selection unit 23b2 is pressed, the speed ω1 after gain multiplication is multiplied by the magnification β. When the level selection unit 23b3 is pressed, the speed ω1 after gain multiplication is multiplied by the magnification γ. When the level selection unit 23b is pressed, the speed ω1 after gain multiplication is multiplied by the magnification 1. Note that α, β, γ, and 1 have the relationship 0≦α<β<γ<1. Hereinafter, the speed ω1 after gain multiplication multiplied by the magnification will be referred to as the speed ω2 after gain multiplication.

[0081] The control unit 110 limits the speed ω2 after multiplication by the magnification factor to between an upper limit and a lower limit. As a result, when the operation unit 120 is operated at a speed that would not be achieved in normal operation, the speed ω2 after multiplication by the magnification factor is limited, thereby preventing the assist force from becoming excessively large during operation. Hereinafter, the speed ω2 after multiplication by the magnification factor limited between the upper limit and the lower limit will be referred to as the speed ω3 after limitation.

[0082] The control unit 110 applies the LPF to the post-limit speed ω3. Hereinafter, the post-limit speed ω3 after applying the LPF will be referred to as the post-LPF speed ω4. The control unit 110 adds the post-LPF speed ω4 to the gravity compensation value as an in-motion compensation value.

[0083] In Fig. 19, the two-dot chain line represents the operating parameter τ3 when level selection unit 23b1 is pressed. The one-dot chain line represents the operating parameter τ3 when level selection unit 23b2 is pressed. The dotted line represents the operating parameter τ3 when level selection unit 23b3 is pressed. The solid line represents the operating parameter τ3 when level selection unit 23b4 is pressed.

[0084] (braking force) As shown in FIGS. 21 to 23, the control unit 110 determines the value of a braking parameter τ for at least one of the servo motors M6a to M6g based on the operation acceleration a and operation speed ω of the operation unit 120. The control unit 110 controls at least one of the servo motors M6a to M6g to apply a braking force using the changed value of the braking parameter τ. The braking force is applied when the operation unit 120 is stopped. Specifically, the control unit 110 applies the braking force based on a braking force value obtained by multiplying a current command value corresponding to the determined braking parameter τ by an LPF. The control unit 110 also controls the servo motors M6a, M6b, and M6c corresponding to the A1, A2, and A3 axes to apply braking forces. The servo motors M6a, M6b, and M6c correspond to operations for moving the arm 60 three-dimensionally. The control unit 110 may be applied to axes other than the A1, A2, and A3 axes. For example, the control unit 110 controls the servo motor M6g corresponding to the A7 axis to apply a braking force. The servo motor M6g corresponds to an operation of rotating the forceps 4b around an axis along the shaft 4c.

[0085] Specifically, as shown in Fig. 23, encoders E6a, E6b, and E6c detect the rotational position x of servo motors M6a, M6b, and M6c, respectively. The rotational position x detected by encoders E6a, E6b, or E6c is input to control unit 110. Control unit 110 differentiates the input rotational position x to calculate operation speed ω. Operation speed ω means the rotation speed around axis A1, A2, or A3. Control unit 110 applies an LPF to the input operation speed ω. Hereinafter, the operation speed ω after applying the LPF will be referred to as post-LPF speed ω.11 The control unit 110 also calculates the operation acceleration a by differentiating the input operation velocity ω, and applies the LPF to the calculated operation acceleration a. Hereinafter, the operation acceleration a after applying the LPF will be referred to as the post-LPF acceleration a 11 The control unit 110 determines the post-LPF speed ω 11 and acceleration after LPF a 11 Based on this, the control unit 110 determines whether the operation unit 120 is accelerating or decelerating. Based on the determination of acceleration or deceleration, the control unit 110 determines a braking parameter τ. The control unit 110 applies an LPF to the braking parameter τ. The braking force value after applying the LPF is subtracted from the gravity compensation value. As a result, a braking force acts on the A1, A2, or A3 axis.

[0086] The control unit 110 controls the servo motors M6a, M6b, and M6c to apply braking forces when decelerating and / or accelerating an operation on the operation unit 120. Specifically, as shown in Fig. 21 , the control unit 110 controls the servo motors M6a, M6b, and M6c to apply braking forces when accelerating an operation on the operation unit 120. That is, the control unit 110 applies braking forces in a software manner when accelerating.

[0087] In the first embodiment, as shown in Fig. 21 , when an operation is accelerated, if the absolute value of the operation speed ω is smaller than the first acceleration threshold, the control unit 110 increases the absolute value of the braking parameter τ as the absolute value of the operation speed ω increases. When the operation speed ω is equal to or greater than the first acceleration threshold but smaller than the second acceleration threshold, the control unit 110 keeps the absolute value of the braking parameter τ constant. When the absolute value of the operation speed ω is equal to or greater than the second acceleration threshold but smaller than the third acceleration threshold, the control unit 110 decreases the absolute value of the braking parameter τ as the absolute value of the operation speed ω increases. When the operation speed ω is equal to or greater than the third acceleration threshold, the control unit 110 sets the absolute value of the braking parameter τ to zero.

[0088] Specifically, when the operation is accelerated, the control unit 110 determines whether the operation speed ω is greater than or equal to the threshold value ω a1When the operating speed ω is smaller than the threshold value ω, the braking parameter τ is increased as the operating speed ω increases. a1 Above the threshold ω a2 When the damping parameter τ is smaller than a constant τ a and the operation speed ω is the threshold ω a2 Above the threshold ω a3 When the operating speed ω is smaller, the braking parameter τ is decreased as the operating speed ω increases, and the threshold ω a3 In the above cases, the braking parameter τ is set to zero. a1 When the operating speed ω is larger, the braking parameter τ is increased as the operating speed ω increases, and the operating speed ω is greater than the threshold -ω a2 Above this threshold -ω a1 The damping parameter τ is constant when it is smaller than -τ a and the operation speed ω is the threshold -ω a3 Above this threshold -ω a2 When the operating speed ω is smaller, the braking parameter τ is decreased as the operating speed ω increases, and the threshold value -ω a3 In the following cases, the damping parameter τ is set to zero. a1 and threshold -ω a1 is an example of the first acceleration threshold. a2 and threshold -ω a2 is an example of the second acceleration threshold. a3 and threshold -ω a3 is an example of a third acceleration threshold.

[0089] Moreover, if the operation speed ω is negative, it means that the servo motor rotates in the reverse direction.

[0090] In addition, when the operation speed ω is less than the threshold value -ω a1 From the threshold ω a1 The braking parameter τ increases linearly until the operation speed ω reaches the threshold value ω a2 From the threshold ω a3 The braking parameter τ decreases linearly until the operation speed ω reaches the threshold value -ω a2 to threshold -ω a3The braking parameter τ increases linearly until the operation speed ω is 0. When the operation speed ω is 0, the braking parameter τ is 0.

[0091] In the first embodiment, as shown in Fig. 21, the control unit 110 changes the level of the braking force by changing the upper limit of the absolute value of the braking parameter τ based on the level change operation by the operator. a1 , threshold ω a2 , threshold -ω a1 , and threshold -ω a2 For example, by changing the threshold value ω a1 , threshold ω a2 , threshold -ω a1 , and threshold -ω a2 respectively, and the threshold ω a11 , threshold ω a12 , threshold -ω a11 , and threshold -ω a12 By changing the parameter τ to τ, the maximum absolute value of the parameter τ becomes a From, ατ a The maximum absolute value of the damping parameter τ is τ a , ατ a , βτ a , γτ a The relationship between α, β and γ is 1<α<β<γ. The maximum absolute value of the damping parameter τ, γτ a , βτ a , ατ a , and τ a correspond to the level selection units 23b4, 23b3, 23b2, and 23b1, respectively.

[0092] Furthermore, even if the maximum value of the braking parameter τ is changed, the gradient of the braking parameter τ is not changed. Note that the gradient is, for example, the gradient when the operation speed ω changes from 0 to the threshold value ω a1 is the rate of increase in the braking parameter τ relative to the rate of increase in the operation speed ω during the period from

[0093] In Fig. 21, the solid line represents the damping parameter τ when level selection section 23b1 is pressed. The dotted line represents the damping parameter τ when level selection section 23b2 is pressed. The dashed-dotted line represents the damping parameter τ when level selection section 23b3 is pressed. The dashed-two-dotted line represents the damping parameter τ when level selection section 23b4 is pressed.

[0094] 22, the control unit 110 controls the servo motors M6a, M6b, and M6c to apply the braking parameter τ when decelerating the operation of the operation unit 120. That is, the control unit 110 applies the braking parameter τ in a software manner when decelerating.

[0095] In the first embodiment, when the absolute value of the operation speed ω is greater than the deceleration threshold during deceleration of the operation, the control unit 110 keeps the absolute value of the braking parameter τ constant. When the absolute value of the operation speed ω is equal to or less than the deceleration threshold, the control unit 110 decreases the absolute value of the braking parameter τ as the absolute value of the operation speed ω decreases.

[0096] Specifically, when the operation is decelerated, the control unit 110 determines whether the operation speed ω is greater than or equal to the threshold value ω b When the damping parameter τ is larger than τ, the damping parameter τ is kept constant. b and the operation speed ω is the threshold ω b The control unit 110 reduces the braking parameter τ as the operation speed ω decreases in the following cases: b When the damping parameter τ is constant, it is smaller than -τ b and the operation speed ω is the threshold -ω b In the above case, the braking parameter τ is increased as the operation speed ω increases. b and threshold -ω b is an example of a deceleration threshold.

[0097] In detail, when the operation speed ω is greater than or equal to the threshold value ω b The braking parameter τ decreases linearly from 0 to 0. bThe braking parameter τ increases linearly between ω and 0. When the operation speed ω is 0, the braking parameter τ is 0.

[0098] In the first embodiment, the control unit 110 changes the level of the braking force by changing the upper limit of the absolute value of the braking parameter τ based on the level change operation by the operator. b , and threshold -ω b For example, by changing the threshold value ω b , and threshold -ω b respectively, and the threshold ω b1 , and threshold -ω b1 By changing the value of the damping parameter τ to τ b From, ατ b The maximum absolute value of the damping parameter τ is τ b , ατ b , βτ b , γτ b The relationship between α, β and γ is 1<α<β<γ. The maximum absolute value of the damping parameter τ, γτ b , βτ b , ατ b , τ b correspond to the level selection units 23b4, 23b3, 23b2, and 23b1, respectively.

[0099] Furthermore, even if the maximum value of the braking parameter τ is changed, the gradient of the braking parameter τ is not changed. Note that the gradient is, for example, the gradient when the operation speed ω changes from 0 to the threshold value ω b is the rate of increase in the braking parameter τ relative to the rate of increase in the operation speed ω during the period from

[0100] In Fig. 22, the solid line represents the damping parameter τ when level selection section 23b1 is pressed. The dotted line represents the damping parameter τ when level selection section 23b2 is pressed. The dashed-dotted line represents the damping parameter τ when level selection section 23b3 is pressed. The dashed-two-dotted line represents the damping parameter τ when level selection section 23b4 is pressed.

[0101] 24, the control unit 110 calculates the maximum value τ of the absolute value of the braking parameter τ during deceleration of the operation. b The maximum absolute value of the braking parameter τ during acceleration of the operation is τ a For example, in the first embodiment, the maximum value τ of the braking parameter τ during deceleration of the operation indicated by the dotted line is set to be larger than b is the maximum value τ of the braking parameter τ during acceleration of the operation shown by the solid line. a It is four times as large.

[0102] 1, a storage unit 111 is provided that stores a start-of-movement parameter τ2, an in-motion parameter τ3, and a braking parameter τ. The storage unit 111 is provided, for example, in the remote control device 2. The storage unit 111 stores a table in which an operation acceleration a corresponds to the start-of-movement parameter τ2. The storage unit 111 also stores a table in which an operation speed ω corresponds to an in-motion parameter τ3 and a braking parameter τ. The control unit 110 determines the start-of-movement parameter τ2, the in-motion parameter τ3, and the braking parameter τ based on the table.

[0103] Next, the control flow of the surgical operation system 100 will be described with reference to FIG.

[0104] In step S1, a change to at least one of the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force is accepted. In the first embodiment, changes to all of the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force are accepted. As shown in FIG. 26, a change to the level of the start-up assist force is accepted by pressing the "Start" button of the level change target selection unit 23c and then pressing one of the level selection units 23b1 to 23b4. As shown in FIG. 27, a change to the level of the assist force during operation is accepted by pressing the "In Operation" button of the level change target selection unit 23c and then pressing one of the level selection units 23b1 to 23b4. As shown in FIG. 28, a change to the level of the braking force is accepted by pressing the "When Stopped" button of the level change target selection unit 23c and then pressing one of the level selection units 23b1 to 23b4. The forces whose levels are to be changed are displayed above the level selection units 23b1 to 23b4.

[0105] In step S2, an operation is accepted on the operation unit 120. As a result, the rotational positions x of the servo motors M6a to M6g of the operation unit 120 are input to the control unit 110.

[0106] In step S3, control unit 110 calculates operation acceleration a based on rotation position x. Control unit 110 determines the value of start-of-motion parameter τ2 corresponding to the changed level based on operation acceleration a. Control unit 110 determines a start-of-motion compensation value based on the determined start-of-motion parameter τ2.

[0107] In step S4, the control unit 110 calculates the operation speed ω based on the rotation position x. The control unit 110 determines the value of the in-motion parameter τ3 corresponding to the changed level based on the operation speed ω. The control unit 110 determines the start-of-motion compensation value based on the determined in-motion parameter τ3.

[0108] In step S5, the control unit 110 calculates the operation speed ω and the operation acceleration a based on the rotation position x. The control unit 110 determines whether the current operation corresponds to acceleration or deceleration based on the operation speed ω and the operation acceleration a. Specifically, when the operation speed ω is positive and the acceleration is positive, it is determined to be acceleration. When the operation speed ω is positive and the acceleration is 0, it is determined to be acceleration. Note that an operation acceleration a of 0 means a constant speed. When the operation speed ω is positive and the acceleration is negative, it is determined to be deceleration. When the operation speed ω is 0 and the operation acceleration a is positive, it is determined to be acceleration. When the operation speed ω is 0 and the operation acceleration a is 0, it is determined to be acceleration. When the operation speed ω is 0 and the operation acceleration a is negative, it is determined to be deceleration. When the operation speed ω is negative and the operation acceleration a is positive, it is determined to be deceleration. When the operation speed ω is negative and the operation acceleration a is 0, it is determined to be deceleration. When the operation speed ω is negative and the operation acceleration a is negative, it is determined that the operation is accelerating.

[0109] If it is determined in step S5 that the vehicle is accelerating, the process proceeds to step S6. In step S6, the control unit 110 determines a braking parameter τ corresponding to the changed level. The control unit 110 determines a braking force value based on the determined braking parameter τ. The process then proceeds to step S8.

[0110] If it is determined in step S5 that the vehicle is decelerating, the process proceeds to step S7. In step S7, control unit 110 determines a braking parameter τ corresponding to the changed level. Control unit 110 determines a braking force value based on the determined braking parameter τ. Then, the process proceeds to step S8.

[0111] In step S8, the control unit 110 outputs a current command value for applying at least one of the start-up assist force, the assist force during operation, and the braking force, which corresponds to the changed level. In the first embodiment, the control unit 110 applies all of the start-up assist force, the assist force during operation, and the braking force. Note that the above steps S2 to S8 are performed, for example, for each control cycle of the control unit 110.

[0112] Next, a braking force that acts when the operator tries to stop the operation unit 120 will be described.

[0113] First, when the operator tries to stop the operation unit 120, the operation speed ω is decelerated. In this case, a braking force is applied to the operation unit 120 during deceleration. Then, when the operation speed ω is lower than the threshold value ω b When the operating speed ω becomes smaller than this, the braking force decreases as the operating speed ω decreases. After that, the operating unit 120 stops. In this way, since the braking force is applied during deceleration, overshoot caused by the inertia of the operating unit 120 when the operator tries to suddenly stop the operating unit 120 is suppressed.

[0114] Furthermore, even when the operator attempts to stop the hand operating the operation unit 120, the hand may move unintentionally. For example, the hand may move unintentionally due to muscle spasms in the operator's hand or the operator's breathing. Furthermore, if the operation unit 120 advances further than the position where the operator intended to stop it due to inertia, the operator may unintentionally try to return the operation unit 120 to the desired position. In such a case, the operation unit 120 enters an accelerating state. During acceleration, a braking force is applied that increases as the operation speed ω increases, thereby making it possible to prevent the operation unit 120 from moving unintentionally as described above.

[0115] Here, we will explain the relationship between the start-up assist force and the braking force. The start-up assist force depends on acceleration, and the braking force depends on speed. Therefore, in the start-up region, that is, the region where the vehicle is accelerating but the speed is near zero, the braking force is small and the influence of the start-up assist force is large. However, as the speed increases, the braking force reaches a certain level and therefore has an effect on the start-up assist force. On the other hand, when decelerating, the influence of the braking force is increased by setting a dead zone, which will be described later, to reduce the start-up assist force.

[0116] [Effects of the first embodiment] In the first embodiment, the following effects can be obtained.

[0117] In the first embodiment, as described above, the control unit 110 changes at least one of the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force based on the level change operation by the operator. This allows the operator to change at least one of the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force to a desired level by the level change operation. This makes it possible to appropriately assist the operation of the operation unit 120 depending on the operator.

[0118] In the first embodiment, as described above, the control unit 110 changes all of the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force based on the level change operation by the operator. This allows for more appropriate assistance in the operation of the operation unit 120 depending on the operator, compared to changing only one or two of the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force. Note that application of the braking force when stopping suppresses overshooting caused by the inertia of the operation unit 120 when attempting to suddenly stop the operation unit 120. Application of the braking force suppresses movement of the operation unit 120 caused by reaction or the like when the operation unit 120 is suddenly stopped. Suppressing overshooting and suppressing movement of the operation unit 120 caused by reaction or the like allows the operation unit 120 of the remote control device 2 to be stopped at an appropriate position. Note that overshooting means that the operation unit 120 goes beyond the appropriate stopping position.

[0119] In the first embodiment, as described above, the level change receiving unit 23a is provided to receive a change to at least one of the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force. This allows the control unit 110 to easily change at least one of the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force to a desired level based on the operation received by the level change receiving unit 23a.

[0120] In the first embodiment, as described above, the level change receiving unit 23a includes a plurality of level selection units 23b1 to 23b4 corresponding to a plurality of levels, whereby the operator can change the level by operating any one of the plurality of level selection units 23b1 to 23b4.

[0121] In the first embodiment, as described above, the plurality of level selection units 23b1-23b4 accept a change in level for the target selected by the level change target selection unit 23c. As a result, the plurality of level selection units 23b1-23b4 are provided in common for the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force, thereby simplifying the configuration of the level change acceptance unit 23a.

[0122] In the first embodiment, as described above, the level change acceptance unit 23a is disposed in the remote control device 2. This allows the level change acceptance unit 23a to be disposed near the operator who operates the remote control device 2, allowing the operator to easily operate the level change acceptance unit 23a.

[0123] In the first embodiment, as described above, the control unit 110 determines the value of the braking parameter τ of the servo motors M6a, M6b, and M6c based on the operation acceleration a and operation speed ω with respect to the operation unit 120, and controls the servo motors M6a, M6b, and M6c to apply braking force using the changed value of the braking parameter τ. This makes it possible to easily change the level of the braking force according to the level of the braking parameter τ.

[0124] In the first embodiment, as described above, the control unit 110 decreases the absolute value of the braking parameter τ as the absolute value of the operation speed ω decreases when the absolute value of the operation speed ω is equal to or less than the deceleration threshold. This makes it possible to suppress the uncomfortable feeling of operation caused by the braking parameter τ switching between positive and negative when the operation speed ω is near zero. Furthermore, the control unit 110 changes the level of the braking force by changing the upper limit of the absolute value of the braking parameter τ based on the level change operation by the operator. This makes it possible to easily change the maximum value of the braking force during deceleration by changing the upper limit of the absolute value of the braking parameter τ during deceleration.

[0125] In the first embodiment, as described above, the control unit 110 increases the absolute value of the braking parameter τ as the operation speed ω increases when the absolute value of the operation speed ω is smaller than the first acceleration threshold. This makes it possible to suppress the uncomfortable feeling of operation caused by switching between positive and negative values ​​of the braking parameter τ when the operation speed ω is near zero. Furthermore, the control unit 110 changes the level of the braking force by changing the upper limit value of the absolute value of the braking parameter τ based on the level change operation by the operator. This makes it possible to easily change the maximum value of the braking force during acceleration by changing the upper limit value of the absolute value of the braking parameter τ during acceleration.

[0126] In the first embodiment, as described above, control unit 110 determines the value of start-up parameter τ2 for servo motors M6a, M6b, M6c, and M6e based on the operation acceleration a with respect to operation unit 120, and controls servo motors M6a, M6b, M6c, and M6e to apply a start-up assist force using the determined value of start-up parameter τ2. This makes it possible to easily apply a start-up assist force to servo motors M6a, M6b, M6c, and M6e using start-up parameter τ2.

[0127] In the first embodiment, as described above, the control unit 110 linearly increases the absolute value of the start-up parameter τ2 as the absolute value of the operation acceleration a increases, and changes the magnitude of the start-up parameter τ2 relative to the operation acceleration a based on the level change operation by the operator, thereby changing the level of the start-up assist force. In this way, the magnitude of the start-up parameter τ2 is changed in accordance with the level change operation by the operator, and the level of the start-up assist force can be changed using the start-up parameter τ2 whose magnitude has been changed.

[0128] In the first embodiment, as described above, the control unit 110 determines the value of the in-operation parameter τ3 of the servo motors M6e and M6f based on the operation speed ω of the operation unit 120, and controls the servo motors M6e and M6f to apply an in-operation assist force using the determined value of the in-operation parameter τ3. This makes it possible to easily apply an in-operation assist force to the servo motors M6e and M6f using the in-operation parameter τ3.

[0129] In the first embodiment, as described above, the control unit 110 linearly increases the absolute value of the in-motion parameter τ3 as the absolute value of the operation speed ω increases, and changes the magnitude of the in-motion parameter τ3 based on the level change operation by the operator, thereby changing the level of the in-motion assist force. As a result, the magnitude of the in-motion parameter τ3 is changed in accordance with the level change operation by the operator, and the level of the start-up assist force can be changed using the in-motion parameter τ3 with the changed magnitude.

[0130] In the first embodiment, as described above, the control unit 110 applies at least one of the start-up assist force, the assist force during operation, and the braking force to at least one of the servo motors M6a to M6g. This makes it possible to change the level of at least one of the start-up assist force, the assist force during operation, and the braking force for at least one of the rotation axes A1 to A7 to a desired level.

[0131] [Second embodiment] The braking parameter τ according to the second embodiment will be described with reference to FIGS.

[0132] In the second embodiment, as shown in FIGS. 29 and 30, when the operation is decelerated, the control unit 110 controls the operation speed ω to be equal to or greater than the threshold value ω c3 When the operating speed ω is greater than the threshold value ω, the braking parameter τ is set to 0. c3 Below the threshold ω c2 When the operating speed ω is larger than the threshold value ω, the braking parameter τ is increased as the operating speed ω becomes smaller. c2 Below the threshold ω c1 When the damping parameter τ is larger than the constant τ c and the operation speed ω is the threshold ω c1 In the following cases, the control unit 110 decreases the braking parameter τ as the operation speed ω decreases. c3 When the braking parameter τ is 0, the operating speed ω is equal to or less than the threshold -ω. c3 Above this threshold -ω c2 When the operating speed ω is smaller than the threshold value -ω, the braking parameter τ is decreased as the operating speed ω increases. c2 Above this threshold -ω c1 When the damping parameter τ is smaller than the constant τ c and the operation speed ω is the threshold -ω c1 In the above cases, the braking parameter τ is increased as the operating speed ω increases.

[0133] In addition, when the operation speed ω is greater than or equal to the threshold value ω c3 From the threshold ω c2 Between and the threshold -ω c3 to threshold -ω c2 The absolute value of the braking parameter τ increases linearly until the operation speed ω reaches the threshold value ω c1 to 0, and the threshold -ω c1The absolute value of the braking parameter τ decreases linearly from ω to 0. When the operation speed ω is 0, the braking parameter τ is 0. The braking parameter τ during acceleration in the second embodiment is the same as that in the first embodiment shown in FIG. 21. That is, in the second embodiment, the braking parameter τ during acceleration and the braking parameter τ during deceleration change in the same way. As shown in FIG. 30, the maximum absolute value τ of the braking parameter τ during deceleration c is the maximum absolute value of the braking parameter τ during acceleration τ a In the second embodiment as well, the level of the braking force during deceleration is changed by operating the level selection units 23b1 to 23b4.

[0134] For example, as shown in FIG. 24, when the braking parameter τ during deceleration is set to a relatively large constant value τ b When the braking parameter τ during acceleration is 0 at high speed as in the first embodiment, if the acceleration state and deceleration state of the operation on the operation unit 120 are switched, a sense of discomfort may occur in the operation on the operation unit 120 due to the large difference between the braking parameter τ during deceleration and the braking parameter τ during acceleration. Therefore, in the second embodiment, as shown in Fig. 30 , the braking parameter τ during deceleration is set to 0 at high speed to be the same as the braking parameter τ during acceleration, thereby making it possible to suppress the sense of discomfort in the operation when the acceleration state and the deceleration state are switched.

[0135] [Third embodiment] The braking parameter τ according to the third embodiment will be described with reference to FIGS.

[0136] In the third embodiment, the control unit 110 changes the level of the braking force by changing the upper limit of the absolute value of the braking parameter τ based on the level change operation by the operator. Specifically, as shown in FIG. 31, when the operation is accelerated, the control unit 110 increases the braking parameter τ by α times compared to the braking parameter τ when the level selection unit 23b1 is pressed, when the level selection unit 23b2 is pressed. The control unit 110 increases the braking parameter τ by β times when the level selection unit 23bc is pressed. The control unit 110 increases the braking parameter τ by γ times when the level selection unit 23bd is pressed. As a result, the maximum value τ of the absolute value of the braking parameter τ a But, ατ a , βτ a , or γτ a The relationships between α, β, and γ are 1<α<β<γ. In the third embodiment, the threshold value ω a1 , threshold ω a2 , - threshold ω a1 , and ,-threshold ω a2 is not changed.

[0137] As shown in FIG. 32, when the operation is decelerated, the control unit 110 increases the braking parameter τ by α times compared to the braking parameter τ when the level selection unit 23b1 is pressed, by pressing the level selection unit 23b2. The control unit 110 increases the braking parameter τ by β times when the level selection unit 23b3 is pressed. The control unit 110 increases the braking parameter τ by γ times when the level selection unit 23b4 is pressed. As a result, the maximum absolute value τ of the braking parameter τ is b But, ατ b , βτ b , or γτ b In the third embodiment, the threshold value ω b and - threshold ω b is not changed. In the third embodiment, not only the maximum value of the damping parameter τ but also the slope of the damping parameter τ is changed.

[0138] [Variations] It should be noted that the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present disclosure is defined by the claims, not by the description of the above embodiments, and further includes all modifications and variations within the meaning and scope of the claims.

[0139] In the first to third embodiments, the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force are all changed based on the level change operation by the operator, but the present disclosure is not limited to this. For example, it is also possible to change only one or two of the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force.

[0140] In the above first to third embodiments, an example has been shown in which the level change receiving unit 23a is disposed in the remote control device 2, but the present disclosure is not limited to this. The level change receiving unit 23a may be disposed in a device other than the remote control device 2.

[0141] In the first to third embodiments, the level change receiving unit 23a is configured as a touch panel, but the present disclosure is not limited to this. For example, the level change receiving unit 23a may be configured as a keyboard, a trackball, a mouse, a lever, a dial, a joystick, a foot switch, a push button switch, and / or a combination thereof.

[0142] In the first to third embodiments, the level selection units 23b1 to 23b4 are commonly provided for the start-up assist force, the assist force during operation, and the braking force, but the present disclosure is not limited to this. For example, the level selection units 23b1 to 23b4 may be individually provided for each of the start-up assist force, the assist force during operation, and the braking force.

[0143] In the first to third embodiments, when the operation is accelerated, the operation speed ω is greater than or equal to the threshold value ω a3 or threshold -ω a3However, the present disclosure is not limited to this. a3 or threshold -ω a3 When the damping parameter τ is smaller than 0, the damping parameter τ may be set to a value other than 0.

[0144] In the first to third embodiments, the operation speed ω is greater than or equal to the threshold value ω a1 and threshold ω a2 Between and threshold -ω a1 and threshold -ω a2 Although an example has been shown in which the braking parameter τ is constant between and , the present disclosure is not limited to this. a1 When the threshold value -ω is exceeded, the damping parameter τ is decreased. a1 If the damping parameter τ becomes smaller than τ, the damping parameter τ may be increased.

[0145] In the second embodiment, the operation speed ω is greater than the threshold value ω c1 and threshold ω c2 Between and threshold -ω c1 and threshold -ω c2 Although an example has been shown in which the braking parameter τ is constant between and , the present disclosure is not limited to this. c1 When the threshold value -ω is exceeded, the damping parameter τ is decreased. c1 If the damping parameter τ becomes smaller than τ, the damping parameter τ may be increased.

[0146] In the first to third embodiments described above, the maximum absolute value of the braking parameter τ during deceleration of the operation is greater than the maximum absolute value of the braking parameter τ during acceleration of the operation, but the present disclosure is not limited to this. For example, the maximum absolute value of the braking parameter τ during deceleration of the operation may be the same as the maximum absolute value of the braking parameter τ during acceleration of the operation.

[0147] In the first to third embodiments, the control unit 110 of the remote control device 2 controls the application of the start-up assist force, the assist force during operation, and the braking force, but the present disclosure is not limited to this. For example, the control unit 110 other than the remote control device 2 may control the application of the start-up assist force, the assist force during operation, and the braking force.

[0148] In the first to third embodiments, the braking parameter τ changes in the same manner when the operation velocity ω decreases and when the operation velocity ω increases. However, the present disclosure is not limited to this. For example, hysteresis as shown in FIG. 33 may be applied to the braking parameter τ in the first and second embodiments. That is, the braking parameter τ may change differently when the operation velocity ω changes from the positive side to the negative side and when the operation velocity ω changes from the negative side to the positive side, so that the braking parameter τ does not change when the operation velocity ω is near 0. This prevents the braking parameter τ from changing when the operation velocity ω is near 0, even when the operation velocity ω changes so as to oscillate between the positive side and the negative side near 0. This prevents the uncomfortable feeling of operation. The uncomfortable feeling of operation may be, for example, a vibration-like uncomfortable feeling.

[0149] Similarly, the start-of-motion parameter τ2 may have hysteresis. Specifically, as shown in Fig. 34, the control unit 110 divides the calculated operation speed ω and operation acceleration a. If the division result is equal to or greater than 0, the post-LPF acceleration a4 is further passed through the LPF and output as the start-of-motion parameter τ2. If the division result is negative, a dead band is applied to the post-LPF acceleration a4, and the post-LPF acceleration a4 is further passed through the LPF and output as the start-of-motion parameter τ2.

[0150] In the first to third embodiments, the changes in the start-up parameter τ2, the in-motion parameter τ3, and the braking parameter τ before and after the control period may be set not to exceed a predetermined value, thereby suppressing the uncomfortable feeling of vibration caused by large changes in the start-up parameter τ2, the in-motion parameter τ3, and the braking parameter τ.

[0151] In the first to third embodiments, examples have been shown in which the number of levels of the start-up assist force, the number of levels of the assist force during operation, and the number of levels of the braking force are four, but the present disclosure is not limited to this. The number of levels of the start-up assist force, the number of levels of the assist force during operation, and the number of levels of the braking force may be other than four.

[0152] In the first to third embodiments, the start-of-motion parameter τ2 and the in-motion parameter τ3 change linearly, but the present disclosure is not limited to this. For example, the start-of-motion parameter τ2 and the in-motion parameter τ3 may change sinusoidally.

[0153] In the first to third embodiments described above, an example in which four arms 60 are provided is shown, but the present disclosure is not limited to this. In the present disclosure, the number of arms 60 may be any other number as long as there is at least one or more.

[0154] In the first and second embodiments described above, an example was shown in which the arm unit 61 and the positioner 40 were 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 axis configuration other than a seven-axis articulated robot may be, for example, a six-axis or eight-axis configuration.

[0155] In the above first and second embodiments, an example has been shown in which the medical manipulator 1 includes the medical cart 3, the positioner 40, and the arm base 50, but the present disclosure is not limited to this. For example, the medical cart 3, the positioner 40, and the arm base 50 are not necessarily required, and the medical manipulator 1 may be configured with only the arm 60.

[0156] In the first and second embodiments, an example is shown in which the operating handle 21 includes two operating handles, 21L located on the left side and 21R located on the right side, but the present disclosure is not limited to this. For example, the operating handle 21 may be one or more.

[0157] 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]

[0158] 1. Medical manipulator (patient side device) 2 Remote control device (operator side device) 4 Medical equipment 21 Operating handle (operating part) 23a Level Change Reception 23b1, 23b2, 23b3, 23b4 Level selection section 23c Level change target selection section 60 Arm 110 control section 120 Operation section 100 Surgical operation system (surgical support system) A1 to A7 axes Rotation axis M6a~M6g Servo motor (drive unit) a Operation acceleration τ braking parameter τ2 start parameter τ3 operating parameters ω Operation speed ω a1 , -ω a1 Threshold (first acceleration threshold) ω a2 , -ω a2 Threshold (second acceleration threshold) ω a3 , -ω a3 Threshold (Third Acceleration Threshold) ω b , -ω b Threshold (deceleration threshold)

Claims

1. a patient-side device including an arm to which a medical instrument is attached at its tip; an operator side device including an operation unit that accepts operations by an operator; A control unit; a level change receiving unit that receives a level change operation by the operator, the operation unit includes a drive unit for assisting the operation by the operator, The control unit controlling the drive unit so as to apply all of a start-up assist force that makes the operation of the operation unit easier when it starts moving, an operation assist force that makes the operation of the operation unit easier while it is moving, and a braking force that makes the operation of the operation unit harder when it is stopped; A surgical assistance system that changes at least one of the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force based on the level change operation of the operator received by the level change receiving unit.

2. The control unit The surgery support system according to claim 1 , wherein the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force are all changed based on the level change operation by the operator.

3. The surgery assistance system according to claim 1 or 2, wherein the level change receiving unit receives a change to at least one of the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force.

4. at least one of the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force includes a plurality of levels; The surgery assistance system according to claim 3 , wherein the level change receiving unit includes a plurality of level selection units corresponding to the plurality of levels.

5. the level change receiving unit further includes a level change target selecting unit for selecting a target for which a level is to be changed from the level of the start-up assist force, the level of the in-motion assist force, and the level of the braking force, The surgery support system according to claim 4 , wherein the plurality of level selection units accept a change of level for the target selected by the level change target selection unit.

6. The surgery support system according to any one of claims 3 to 5, wherein the level change receiving unit is disposed in the operator-side device.

7. The control unit determining a value of a braking parameter of the drive unit based on an operation acceleration and an operation speed of the operation unit; The surgery support system according to any one of claims 1 to 6, wherein the drive unit is controlled so as to apply the braking force using the changed value of the braking parameter.

8. The control unit When the operation is decelerated, if the absolute value of the operation speed is greater than a deceleration threshold, the absolute value of the braking parameter is kept constant; When the absolute value of the operation speed is equal to or less than the deceleration threshold, the absolute value of the braking parameter is reduced as the absolute value of the operation speed decreases; The surgery assistance system according to claim 7 , wherein the level of the braking force is changed by changing an upper limit of the absolute value of the braking parameter based on the level change operation by the operator.

9. The control unit When the operation is accelerated, if the absolute value of the operation speed is smaller than a first acceleration threshold, the absolute value of the braking parameter is increased as the operation speed increases; when the operation speed is equal to or greater than the first acceleration threshold and smaller than a second acceleration threshold, the absolute value of the braking parameter is kept constant; when the absolute value of the operation speed is equal to or greater than the second acceleration threshold and smaller than a third acceleration threshold, the absolute value of the braking parameter is decreased as the absolute value of the operation speed increases; and when the operation speed is equal to or greater than the third acceleration threshold, the absolute value of the braking parameter is set to zero; The surgery assistance system according to claim 7 or 8, wherein the level of the braking force is changed by changing an upper limit of the absolute value of the braking parameter based on the level change operation by the operator.

10. The control unit determining a value of a movement start parameter of the drive unit based on an operation acceleration of the operation unit; The surgery assistance system according to any one of claims 1 to 9, wherein the drive unit is controlled so as to apply the start-up assist force using the determined value of the start-up parameter.

11. The control unit linearly increasing the absolute value of the movement start parameter as the absolute value of the operation acceleration increases; The surgery assistance system according to claim 10 , wherein the level of the start-up assist force is changed by changing the magnitude of the start-up parameter with respect to the operation acceleration based on the level change operation by the operator.

12. The control unit determining a value of an operating parameter of the drive unit based on an operation speed of the operation unit; A surgery assistance system according to any one of claims 1 to 11, wherein the drive unit is controlled so as to apply the in-operation assist force using the determined value of the in-operation parameter.

13. The control unit linearly increasing the absolute value of the parameter during operation as the absolute value of the operation speed increases; The surgery assistance system according to claim 12, wherein the level of the in-operation assist force is changed by changing the magnitude of the in-operation parameter based on the level change operation by the operator.

14. the operation unit includes a plurality of rotation shafts, a plurality of the driving units are provided corresponding to the plurality of rotation shafts, The surgical support system according to any one of claims 1 to 13, wherein the control unit applies all of the start-up assist force, the in-motion assist force, and the braking force to at least one of the plurality of drive units.

15. An operator-side device that operates a patient-side device including an arm to which a medical instrument is attached at its tip, an operation unit that accepts operations by an operator; A control unit; a level change receiving unit that receives a level change operation by the operator, the operation unit includes a drive unit for assisting the operation by the operator, The control unit controlling the drive unit so as to apply all of a start-up assist force that makes the operation of the operation unit easier when it starts moving, an operation assist force that makes the operation of the operation unit easier while it is moving, and a braking force that makes the operation of the operation unit harder when it is stopped; An operator-side device that changes at least one of the level of the start-up assist force, the level of the assist force during operation, and the level of the braking force based on the level change operation of the operator received by the level change receiving unit.

16. A control method for a surgery assistance system including a patient-side device including an arm to which a medical instrument is attached at a tip, and an operator-side device including an operation unit that accepts operations by an operator, comprising: a level change receiving unit receives a change in at least one of a level of a start-up assist force that makes it easier to operate the operating unit when it starts moving, a level of an in-motion assist force that makes it easier to operate the operating unit while it is moving, and a level of a braking force that makes it harder to operate the operating unit when it is stopped; A control method for a surgical support system, in which a control unit controls a drive unit for assisting the operation by the operator of the operating unit so as to apply all of the start-up assist force, the assist force during operation, and the braking force corresponding to the changed levels.

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