Operation device, surgery support system, and method for controlling the operation device

Abstract

To provide an operation device that allows a surgical instrument to follow an operator's operation of an operation part smoothly even when a moving speed of a wrist part is relatively slow.SOLUTION: An operation control part 340 of a remote control device 2 executes follow-up control to cause a link part 112a to rotate around an A24 axis line by a servo motor SM7d so that an angle formed by a link part 112c and a link part 112b keeps a predetermined angle on the basis of a rotation position of the link part 112c. An amount of rotation around the A24 axis line of the link part 112a by the follow-up control is smaller in the case where an absolute value of a moving speed of a gimbal point GP in the operation part 110 is less than a predetermined threshold less than in the case where it is the predetermined threshold or more.SELECTED DRAWING: Figure 23

Description

[Technical Field]

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

[0002] Conventionally, surgical assistance systems equipped with a robot arm to which a surgical instrument is attached have been known. Patent Document 1 discloses a robotic surgical system equipped with a manipulator arm and a master device that operates the manipulator arm. The master device is equipped with an arm and a wrist that is operated by the operator's right or left hand. The wrist includes multiple link units and a handle that is held by the operator's fingers. The arm unit, the multiple link units, and the handle are connected to each other in this order by joints. A motor is disposed in the joint. In Patent Document 1, when one of the multiple link units rotates, the other link units rotate following the rotated one link unit so that the rotation axes of the multiple link units form an angle close to a right angle with each other. The other link units are rotated by the joint motor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] US Patent Application Publication No. 2002 / 0120363 Summary of the Invention [Problem to be solved by the invention]

[0004] In Patent Document 1, when one of multiple link parts rotates, the other link parts rotate in response to the rotation of the first link part. However, in a configuration such as that of Patent Document 1, if the rotation speed of one link part is relatively slow, the torque of the motor of the joint that rotates the other link parts is small, and it is thought that the other link parts do not rotate in response due to the relatively large friction generated within the joint. Then, when the rotation speed of one link part gradually increases and the torque of the motor that rotates the joint increases, it is thought that the other link parts suddenly rotate in a large amount. In this way, a problem can be conceived in which the surgical instrument does not smoothly follow the operation of the master device by the operator due to the other link parts that had stopped without following the rotation of the first link part suddenly rotating in a large amount.

[0005] This disclosure aims to provide an operating device, a surgical assistance system, and a control method for an operating device that enable a surgical instrument to smoothly follow the operator's operation of the operating section even when the movement speed of the wrist section is relatively slow. [Means for solving the problem]

[0006] An operating device according to a first aspect of the present disclosure includes an operating unit that receives operations on a surgical instrument attached to the tip of a robot arm, and a control device, the operating unit including an arm and a wrist, the wrist including a follower link unit having a base end connected to the tip of the arm and rotating around a follower rotation axis, a first link unit having a base end connected to the tip of the follower link unit and rotating around a first rotation axis, a second link unit having a base end connected to the tip of the first link unit and rotating around a second rotation axis perpendicular to the first rotation axis, and a grip member that is held by the fingers of an operator and has a base end The control device includes a grip unit connected to the tip of the second link unit and rotating around a third rotation axis perpendicular to the second and first rotation axes, and a drive unit that rotates the follower link unit around the follower rotation axis, and the control device executes follower control by using the drive unit to rotate the follower link unit around the follower rotation axis based on the rotation position of the second link unit so that the angle between the second link unit and the first link unit is maintained at a predetermined angle, and the amount of rotation of the follower link unit around the follower rotation axis due to the follower control is smaller when the absolute value of the movement speed of the wrist unit due to operation by the operator is below a predetermined threshold than when it is equal to or greater than a predetermined threshold. Note that a small amount of rotation also includes a case where the amount of rotation is zero.

[0007] In the operating device according to the first aspect of the present disclosure, as described above, the amount of rotation of the follower link unit around the follower rotation axis due to the follow control is smaller when the absolute value of the movement speed of the wrist unit due to the operator's operation is below a predetermined threshold than when it is equal to or greater than a predetermined threshold. As a result, when the absolute value of the movement speed of the wrist unit due to the operator's operation is relatively slow, such as when it is below the predetermined threshold, the amount of rotation of the follower link unit around the follower rotation axis is small. Therefore, even when the movement speed of the wrist unit due to the operator's operation gradually increases and the follower link unit rotates, the amount of rotation of the follower link unit is small. In other words, the follower link unit, which has stopped without following the rotation of the second link unit, is prevented from suddenly rotating significantly. As a result, the surgical instrument can smoothly follow the operator's operation of the operating unit even when the movement speed of the wrist unit is relatively slow.

[0008] A surgery assistance system according to a second aspect of the present disclosure comprises a surgical apparatus including a robot arm having a surgical instrument attached to its tip, an operating device including an operating unit that receives operations on the surgical instrument, and a control device, wherein the operating unit includes an arm and a wrist, and the wrist comprises a following link unit having a base end connected to the tip of the arm and rotating around a following rotation axis, a first link unit having a base end connected to the tip of the following link unit and rotating around a first rotation axis, a second link unit having a base end connected to the tip of the first link unit and rotating around a second rotation axis perpendicular to the first rotation axis, and a grip member to be held by the fingers of an operator. and a grip portion whose base end is connected to the tip end of the second link portion and which rotates around a third rotation axis perpendicular to the second rotation axis and the first rotation axis, and a drive portion which rotates the following link portion around the following rotation axis, and the control device executes follow-up control by using the drive portion to rotate the following link portion around the following rotation axis so that the angle formed between the second link portion and the first link portion maintains a predetermined angle based on the rotation position of the second link portion, and the amount of rotation of the following link portion around the following rotation axis due to the follow-up control is smaller when the absolute value of the movement speed of the wrist portion due to operation by the operator is below a predetermined threshold than when it is equal to or greater than a predetermined threshold.

[0009] As described above, in the surgery assistance system according to the second aspect of the present disclosure, the amount of rotation of the follower link unit around the follower rotation axis due to the follower control is smaller when the absolute value of the movement speed of the wrist unit caused by the operator's operation is below a predetermined threshold than when it is equal to or greater than a predetermined threshold. As a result, when the absolute value of the movement speed of the wrist unit caused by the operator's operation is relatively slow, such as when the absolute value is below the predetermined threshold, the amount of rotation of the follower link unit around the follower rotation axis is small. Therefore, even when the movement speed of the wrist unit caused by the operator's operation gradually increases and the follower link unit rotates, the amount of rotation of the follower link unit is small. In other words, the follower link unit, which has stopped without following the rotation of the second link unit, is prevented from suddenly rotating significantly. As a result, a surgery assistance system can be provided in which the surgical instrument can smoothly follow the operation of the operation unit by the operator, even when the movement speed of the wrist unit is relatively slow.

[0010] A control method for an operating device according to a third aspect of the present disclosure includes an operating unit that receives an operation for a surgical instrument attached to a tip of a robot arm, and a control device, wherein the operating unit includes an arm unit and a wrist unit, and the wrist unit includes a following link unit having a base end connected to the tip of the arm unit and rotating about a following rotation axis, a first link unit having a base end connected to the tip of the following link unit and rotating about a first rotation axis, a second link unit having a base end connected to the tip of the first link unit and rotating about a second rotation axis perpendicular to the first rotation axis, and a grip member that is disposed on the wrist unit and is held by the fingers of an operator, and a base end connected to the tip of the second link unit and rotating about a second rotation axis perpendicular to the first rotation axis. A control method for an operating device having a grip section that rotates around a third rotation axis perpendicular to the rotation axis and the first rotation axis, and a drive section that rotates a following link section around the following rotation axis, the method comprising: acquiring the rotation position of the second link section; and performing tracking control by using the drive section to rotate the following link section around the following rotation axis based on the rotation position of the second link section so that the angle between the second link section and the first link section maintains a predetermined angle; wherein the amount of rotation of the following link section around the following rotation axis due to the tracking control is smaller when the absolute value of the movement speed of the wrist section due to operation on the surgical instrument is below a predetermined threshold than when it is equal to or greater than the predetermined threshold.

[0011] As described above, in the control method for a manipulation device according to a third aspect of the present disclosure, the amount of rotation of the follower link unit around the follower rotation axis due to the follower control is smaller when the absolute value of the movement speed of the wrist unit due to the operator's operation is below a predetermined threshold than when it is equal to or greater than a predetermined threshold. As a result, when the absolute value of the movement speed of the wrist unit due to the operator's operation is relatively slow, such as when the absolute value is below the predetermined threshold, the amount of rotation of the follower link unit around the follower rotation axis is small. Therefore, even when the movement speed of the wrist unit due to the operator's operation gradually increases and the follower link unit rotates, the amount of rotation of the follower link unit is small. In other words, the follower link unit, which has stopped without following the rotation of the second link unit, is prevented from suddenly rotating significantly. As a result, a control method for a manipulation device can be provided that enables a surgical instrument to smoothly follow the manipulation of the manipulation unit by the operator, even when the movement speed of the wrist unit is relatively slow. [Effects of the Invention]

[0012] According to the present disclosure, even when the movement speed of the wrist section is relatively slow, the surgical instrument can smoothly follow the operation of the operation section by the operator. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a diagram illustrating a configuration of a surgery assistance system according to an embodiment. [Figure 2] FIG. 2 is a diagram illustrating a display unit of the medical cart according to one embodiment. [Figure 3] 1 is a diagram showing a configuration of a medical cart according to an embodiment. FIG. [Figure 4] FIG. 1 illustrates a configuration of a robot arm according to an embodiment. [Figure 5] FIG. [Figure 6] FIG. 2 is a perspective view showing a configuration of an arm operating unit according to one embodiment. [Figure 7] FIG. 10 is a diagram for explaining translational movement of a robot arm. [Figure 8] FIG. 10 is a diagram for explaining the rotational movement of the robot arm. [Figure 9] FIG. 1 is a diagram showing an endoscope. [Figure 10] FIG. 10 shows a pivot position setting tool. [Figure 11] FIG. 2 illustrates an operation unit according to an embodiment. [Figure 12] FIG. 1 illustrates a right-handed wrist according to one embodiment. [Figure 13] FIG. 1 illustrates a wrist portion for a left hand according to one embodiment. [Figure 14] FIG. 10 is a cross-sectional view taken along a plane including the A25 axis and the A26 axis of the wrist portion. [Figure 15] FIG. 10 is a cross-sectional view taken along a plane including the A26 axis and the A27 axis of the wrist portion. [Figure 16] FIG. 1 is a perspective view of a foot pedal according to one embodiment. [Figure 17]FIG. 1 is a control block diagram of a surgical assistance robot according to one embodiment. [Figure 18] FIG. 2 is a control block diagram of a robot arm according to one embodiment. [Figure 19] FIG. 2 is a control block diagram of a positioner and a medical cart according to one embodiment. [Figure 20] FIG. 2 is a control block diagram of an operation unit according to an embodiment. [Figure 21] FIG. 2 is a block diagram showing a configuration for executing follow-up control. [Figure 22] FIG. 2 is a block diagram showing the configuration of a position control unit. [Figure 23] FIG. 10 is a diagram illustrating the relationship between a first threshold value, a second threshold value, and a predetermined coefficient. [Figure 24] FIG. 2 is a block diagram showing a configuration of an FF speed command generating unit. [Figure 25] 10 is a diagram showing the relationship between the rotation angle of a link portion 112c and the continuity coefficient. FIG. [Figure 26] 10 is a diagram showing the relationship between the rotation angle of a link portion 112b and an FF adjustment coefficient. FIG. [Figure 27] 10 is a diagram showing the state of the wrist when the link portion 112c is rotated +45 degrees from the first reference rotation position. FIG. [Figure 28] 10 is a diagram showing the state of the wrist when the link portion 112c is rotated +90 degrees from the first reference rotation position. FIG. [Figure 29] FIG. 4 is a diagram illustrating a control flow of the operating device according to an embodiment. [Figure 30] FIG. 10 is a diagram showing experimental results regarding tracking control. DETAILED DESCRIPTION OF THE INVENTION

[0014] (Configuration of surgical support system) The configuration of a surgery support system 500 according to this embodiment will be described. The surgery support system 500 includes a surgery support robot 100, a remote control device 200, a vision unit 300, and an image processing unit 400. The surgery support robot 100 and the remote control device 200 are examples of a surgery device and an operation device, respectively.

[0015] In this specification, the longitudinal direction of the surgical instrument 1 is referred to as the Z direction. The tip side of the surgical instrument 1 is referred to as the Z1 side, and the base side of the surgical instrument 1 is referred to as the Z2 side. The direction perpendicular to the Z direction is referred to as the X direction. One side of the X direction is referred to as the X1 side, and the other side is referred to as the X2 side. The direction perpendicular to the Z direction and the X direction is referred to as the Y direction. One side of the Y direction is referred to as the Y1 side, and the other side is referred to as the Y2 side.

[0016] Furthermore, in this specification, the left-right direction as seen by an operator operating the display unit 22a of the input device 22 is referred to as the Xa direction. The right direction is referred to as the Xa1 direction, and the left direction is referred to as the Xa2 direction. The front-back direction as seen by an operator operating the display unit 22a of the input device 22 is referred to as the Ya direction. The forward direction is referred to as the Ya1 direction, and the rearward direction is referred to as the Ya2 direction. The direction perpendicular to the floor surface on which the surgical support robot 100 is placed is referred to as the Za direction. The upward direction is referred to as the Za1 direction, and the downward direction is referred to as the Za2 direction.

[0017] Furthermore, in this specification, the direction perpendicular to the floor surface on which the remote control device 200 is placed is referred to as the Zb direction, the direction perpendicular to the Zb direction and extending forward and backward from the operator operating the operation unit 110 is referred to as the Yb direction, and the direction perpendicular to the Zb direction and the Yb direction is referred to as the Xb direction. Within the Zb direction, the upward direction is referred to as the Zb1 direction, and the downward direction is referred to as the Zb2 direction. Within the Yb direction, one side is referred to as the Yb1 direction, and the other side is referred to as the Yb2 direction. Within the Xb direction, one side is referred to as the Xb1 direction, and the other side is referred to as the Xb2 direction. Furthermore, the Xb direction, Yb direction, and Zb direction may be referred to as the Xb axis, Yb axis, and Zb axis, respectively.

[0018] As shown in FIG. 1, a surgical support robot 100 is placed in an operating room. A remote control device 200 is placed at a location remote from the surgical support robot 100. The remote control device 200 receives operations on a surgical instrument 1. Specifically, an operator such as a doctor inputs commands to the remote control device 200 to cause the surgical support robot 100 to perform a desired operation. The remote control device 200 transmits the input commands to the surgical support robot 100. The surgical support robot 100 operates based on the received commands. The surgical support robot 100 is placed in an operating room, which is a sterilized sterile field.

[0019] (Configuration of surgical support robot) As shown in Figure 1, the surgical support robot 100 includes a medical cart 10, a cart positioner operating unit 20, a positioner 30, an arm base 40, multiple robot arms 50, and an arm operating unit 60 provided on each robot arm 50.

[0020] As shown in FIG. 3, the cart positioner operating unit 20 is supported by a cart positioner operating support unit 21 at the rear of the medical cart 10, and the medical cart 10 or the positioner 30 is moved by operating the cart positioner operating unit 20. The cart positioner operating unit 20 includes an input device 22 and an operating handle 23. The input device 22 receives operations to move and change the posture of the positioner 30, arm base 40, and multiple robot arms 50, mainly to prepare for surgery before the procedure. The medical cart 10 includes the operating handle 23, a stabilizer 24, and an electric cylinder 25 shown in FIG. 10.

[0021] As shown in Fig. 3, the input device 22 of the medical cart 10 includes a display unit 22a, a joystick 22b, an enable switch 22c, an error reset button 22d, and a speaker 22e. The display unit 22a is, for example, a liquid crystal panel. As shown in Fig. 2, the display unit 22a displays numbers corresponding to the multiple robot arms 50. The display unit 22a also displays the type of surgical instrument 1 attached to each of the multiple robot arms 50. The display unit 22a displays a check mark CM indicating that a pivot position PP, which will be described later, has been set.

[0022] 3, the joystick 22b is disposed near the display unit 22a of the input device 22 of the medical cart 10. By selecting an operation mode displayed on the display unit 22a and operating the joystick 22b, the positioner 30 is moved three-dimensionally.

[0023] The enable switch 22c is disposed near the joystick 22b of the medical cart 10. The enable switch 22c permits or prohibits movement of the positioner 30. When the enable switch 22c is pressed down to permit movement of the positioner 30, the positioner 30 is moved by operating the joystick 22b.

[0024] The error reset button 22d resets an error in the surgery support system 500. The error may be, for example, a deviation abnormality error. The speaker 22e is provided as a pair. The pair of speakers 22e is provided near the location of the positioner 30 on the medical cart 10.

[0025] The operating handle 23 is disposed near the display unit 22a of the medical cart 10. The operating handle 23 has a throttle 23a that is gripped and rotated by an operator such as a nurse or technician to control the movement of the medical cart 10. Specifically, the operating handle 23 is disposed below the input device 22. The medical cart 10 moves forward when the throttle 23a is rotated from the front side to the back side. The medical cart 10 moves backward when the throttle 23a is rotated from the back side to the front side. The speed of the medical cart 10 is changed depending on the amount of rotation of the throttle 23a. The operating handle 23 is configured to be rotatable left and right in the R direction, and the medical cart 10 rotates as the operating handle 23 is rotated.

[0026] An enable switch 23b that permits or prohibits movement of the medical cart 10 is disposed on the operating handle 23 of the medical cart 10. When the enable switch 23b is pressed down to permit movement of the medical cart 10, the medical cart 10 is moved by operating the throttle 23a of the operating handle 23.

[0027] 1, the positioner 30 is, for example, a seven-axis articulated robot. The positioner 30 is placed on a medical cart 10. The positioner 30 adjusts the position of the arm base 40. The positioner 30 moves the position of the arm base 40 three-dimensionally.

[0028] The positioner 30 includes a base portion 31 and a plurality of link portions 32 connected to the base portion 31. The plurality of link portions 32 are connected to each other by joints 33.

[0029] The arm base 40 is attached to the tip of the positioner 30. The base ends of the multiple robot arms 50 are attached to the arm base 40. The multiple robot arms 50 can be folded for storage. The arm base 40 and the multiple robot arms 50 are covered with a sterile drape when in use. The robot arms 50 also support a surgical instrument 1.

[0030] 17, a status indicator 41 and an arm status indicator 42 are arranged on the arm base 40. The status indicator 41 displays the status of the surgery assistance system 500. The arm status indicator 42 displays the status of the robot arm 50.

[0031] A plurality of robot arms 50 are provided. Specifically, four robot arms 50a, 50b, 50c, and 50d are provided. The robot arms 50a, 50b, 50c, and 50d have the same configuration as each other.

[0032] As shown in FIG. 4, the robot arm 50 includes an arm unit 51, a first link unit 52, a second link unit 53, and a translational movement mechanism unit 54. The robot arm 50 has joints JT1, JT2, JT3, JT4, JT5, JT6, JT7, and JT8. The joints JT1, JT2, JT3, JT4, JT5, JT6, and JT7 have axes A1, A2, A3, A4, A5, A6, and A7, respectively, as their rotation axes. JT8 has an axis A8, which is a linear axis. The axes A1 to A7 are the rotation axes of JT1 to JT7 of the arm unit 51, respectively. The axis A7 is also the rotation axis of the first link unit 52. The A8 axis is a linear axis along which the translational movement mechanism 54 moves the second link portion 53 relative to the first link portion 52 in the Z direction. The arm portion 51 includes a base portion 51a and a link portion 51b.

[0033] The arm unit 51 is a seven-axis articulated robot arm. The first link unit 52 is located at the tip of the arm unit 51. The arm operating unit 60, which will be described later, is attached to the second link unit 53. The translational movement mechanism 54 is located between the first link unit 52 and the second link unit 53. A holder 55 that holds a surgical instrument 1 is located on the second link unit 53. The translational movement mechanism 54 translates the holder 55, to which the surgical instrument 1 is attached, between a first position and a second position. The first position is the end position on the Z2 side of the range of movement of the holder 55 by the translational movement mechanism 54 along the A8 axis. The second position is the end position on the Z1 side of the range of movement of the holder 55 by the translational movement mechanism 54 along the A8 axis.

[0034] A surgical instrument 1 is attached to the tip of each of the multiple robot arms 50. The surgical instrument 1 includes, for example, an interchangeable instrument 2, an endoscope 3 shown in FIG. 9 for capturing an image of the surgical site, and a pivot position setting instrument 4 shown in FIG. 10 for setting a pivot position PP. The instrument 2 includes a driven unit 2a, forceps 2b, and a shaft 2c.

[0035] 1, an endoscope 3 is attached to the tip of one of the multiple robot arms 50, for example, robot arm 50c, and instruments 2 are attached to the tips of the remaining robot arms 50a, 50b, and 50d. Of the four robot arms 50 arranged adjacent to each other, it is desirable that the endoscope 3 be attached to one of the two robot arms 50b and 50c arranged in the middle.

[0036] (Instrument configuration) 5, for example, forceps 2b are provided at the tip of instrument 2. In addition to forceps 2b, instruments with joints such as scissors, graspers, needle holders, microdissectors, stable appliers, tackers, suction and irrigation tools, snare wires, and clip appliers are provided at the tip of instrument 2. Instruments without joints such as cutting blades, cauterizing probes, irrigators, catheters, and suction orifices are provided at the tip of instrument 2.

[0037] The forceps 2b includes a first support 2d and a second support 2e. The first support 2d supports the base end sides of the jaw members 2g and 2f rotatably about the A11 axis. The second support 2e supports the base end side of the first support 2d rotatably about the A10 axis. The shaft 2c rotates about the A9 axis. The jaw members 2g and 2f open and close about the A12 axis.

[0038] (Arm operation unit configuration) 6, the arm operating unit 60 is attached to the robot arm 50 and operates the robot arm 50. Specifically, the arm operating unit 60 is attached to the second link unit 53.

[0039] The arm operating unit 60 includes an enable switch 61 , a joystick 62 , a linear switch 63 , a mode switching button 64 , a mode indicator 65 , a pivot button 66 , and an adjustment button 67 .

[0040] When the enable switch 61 is pressed, it allows or disallows movement of the robot arm 50 using the joystick 62 and the linear switch 63. When the enable switch 61 is pressed while the arm operating unit 60 is being held by an operator such as a nurse or assistant, movement of the surgical instrument 1 by the robot arm 50 is permitted.

[0041] The joystick 62 is an operating tool for controlling the movement of the surgical instrument 1 by the robot arm 50. The joystick 62 controls the movement direction and movement speed of the robot arm 50. The robot arm 50 moves according to the direction and angle at which the joystick 62 is tilted.

[0042] The linear switch 63 is a switch for moving the surgical instrument 1 in the Z direction, which is the longitudinal direction of the surgical instrument 1. The linear switch 63 includes a linear switch 63a for moving the surgical instrument 1 in the direction of inserting it into the patient P, and a linear switch 63b for moving the surgical instrument 1 in the direction away from the patient P. Both the linear switch 63a and the linear switch 63b are push button switches.

[0043] The mode switching button 64 is a push button switch for switching between a mode for translating the surgical instrument 1 and a mode for rotating the surgical instrument 1. As shown in FIG. 7, in the mode for translating the robot arm 50, the robot arm 50 is moved so that the tip 1a of the surgical instrument 1 moves on the XY plane. As shown in FIG. 8, in the mode for rotating the robot arm 50, when the pivot position PP is not stored in the memory unit 351, the robot arm 50 is moved so that the surgical instrument 1 rotates around the forceps 2b of the instrument 2 serving as the surgical instrument 1. When the pivot position PP is stored in the memory unit 351, the robot arm 50 is moved so that the surgical instrument 1 rotates around the pivot position PP. Note that the surgical instrument 1 is rotated with the shaft 1c of the surgical instrument 1 inserted into the trocar T. The mode switching button 64 is located on the surface of the arm operating unit 60 facing in the Z direction.

[0044] The mode indicator 65 displays the switched mode. When the mode indicator 65 is lit, it indicates the rotational movement mode, and when it is off, it indicates the translational movement mode. The mode indicator 65 also serves as a pivot position indicator that indicates that the pivot position PP has been set. The mode indicator 65 is located on the surface of the arm operation unit 60 on the Z direction side.

[0045] The pivot button 66 is a push button switch for setting a pivot position PP that serves as a fulcrum for the movement of the surgical instrument 1 attached to the robot arm 50.

[0046] The adjustment button 67 is a button for optimizing the position of the robot arm 50. After setting the pivot position PP for the robot arm 50 to which the endoscope 3 is attached, pressing the adjustment button 67 optimizes the positions of the other robot arms 50 and the arm base 40. The adjustment button 67 is a button different from the enable switch 61.

[0047] (remote control device) 1, the remote control device 200 is placed, for example, inside or outside an operating room. The remote control device 200 includes an operation unit 110, a foot pedal 120, a touch panel 130, a monitor 140, a support arm 150, a support bar 160, and an error reset button 161. The operation unit 110 constitutes an operation handle that allows an operator, such as a doctor, to input commands.

[0048] (Operation unit) As shown in FIG. 11 , the operating unit 110 is a handle for operating the surgical instrument 1. The operating unit 110 also receives operations on the surgical instrument 1. When viewed from an operator such as a doctor, the operating unit 110 includes an operating unit 110L located on the left side and operated with the operator's left hand, and an operating unit 110R located on the right side and operated with the operator's right hand. The operating unit 110 includes an arm unit 111 and a wrist unit 112. The operating unit 110R includes an arm unit 111R and a wrist unit 112R. The operating unit 110L also includes an arm unit 111L and a wrist unit 112L.

[0049] 11, 12, and 13, the operation unit 110 has joints JT21, JT22, JT23, JT24, JT25, JT26, and JT27. The rotation axes of the joints JT21, JT22, JT23, JT24, JT25, JT26, and JT27 are A21, A22, A23, A24, A25, A26, and A27 axes, respectively.

[0050] (Arm part) The arm 111 has link portions 111a, 111b, and 111c. The upper end of link portion 111a is attached to the remote control device 200 so as to be rotatable around a vertical axis A21. The upper end of link portion 111b is attached to the lower end of link portion 111a so as to be rotatable around a horizontal axis A22. One end of link portion 111c is attached to the lower end of link portion 111b so as to be rotatable around a horizontal axis A23. The wrist 112 is attached to the other end of link portion 111c so as to be rotatable around an axis A24. Link portion 111a is connected to the remote control device 200 by a joint JT21. Link portions 111a and 111b are connected by a joint JT22. Link portions 111b and 111c are connected by a joint JT23. The arm portion 111 supports the wrist portion 112 .

[0051] Wrist section 112 includes wrist section 112R, which is operated by the operator's right hand as shown in Fig. 12, and wrist section 112L, which is operated by the operator's left hand as shown in Fig. 13. Fig. 12 shows the reference position of operation section 110R, and Fig. 13 shows the reference position of operation section 110L. Wrist section 112R and wrist section 112L have the same configuration.

[0052] The wrist unit 112 includes link units 112a, 112b, 112c, and a grip unit 112d that is operated by an operator such as a doctor. The base end of link unit 112a is connected to the tip end of the arm unit 111 and rotates around the A24 axis. The base end of link unit 112b is connected to the tip end of link unit 112a and rotates around the A25 axis. The base end of link unit 112c is connected to the tip end of link unit 112b and rotates around the A26 axis. The base end of grip unit 112d is connected to the tip end of link unit 112c and rotates around the A27 axis. Link units 112a, 112b, and 112c each have an L-shape. When the operation unit 110 is in the reference position, the A24 axis and the A26 axis coincide with each other. In the reference posture of the operation unit 110, the A24 axis, the A25 axis, the A26 axis, and the A27 axis are perpendicular to one another. The A24 axis, the A25 axis, the A26 axis, and the A27 axis are examples of a following rotation axis, a first rotation axis, a second rotation axis, and a third rotation axis, respectively. The link portion 112a, the link portion 112b, and the link portion 112c are examples of a following link portion, a first link portion, and a second link portion, respectively.

[0053] The wrist section 112 includes a pair of grip members 112e that can be opened and closed by the operator. The grip members 112e are made of elongated, plate-like lever members, and the proximal ends of each of the pair of grip members 112e are rotatably connected to the proximal end of the grip section 112d. Cylindrical finger insertion sections 112f are disposed on the grip members 112e. The operator manipulates the wrist section 112 by inserting their fingers into the pair of finger insertion sections 112f. The base ends of each of the pair of grip members 112e are connected to the grip section 112d, and the opening angle between the jaw members 2f and 2g is changed by increasing or decreasing the angle between the pair of grip members 112e. A magnet is disposed on one of the grip members 112e, and a Hall sensor is disposed on the grip section 112d. When the operator opens or closes the grip member 112e, the magnet and Hall sensor function as an angle detection sensor, and the Hall sensor outputs the opening angle. As angle detection sensors, a Hall sensor may be disposed on the grip member 112e and a magnet may be disposed on the grip portion 112d. Alternatively, a magnet or a Hall sensor may be disposed on both of the grip members 112e.

[0054] The intersection of the multiple rotation axes of the operation unit 110 is called the gimbal point GP. Specifically, the gimbal point GP is the point where the A24 axis, the A25 axis, the A26 axis, and the A27 axis intersect. The gimbal point GP is located on the grip unit 112d to which the pair of grip members 112e are attached. A gimbal point GP exists individually for each of the operation units 110L and 110R. The gimbal point of the operation unit 110R is designated GPR. The gimbal point of the operation unit 110L is designated GPL.

[0055] In the reference posture, the A24 and A26 axes of the operation unit 110 are aligned along the Zb direction. The A25 axis is aligned along the Xb direction. The A27 axis is aligned along the Yb direction. As shown in FIG. 12, in the reference posture, the link portions 112a and 112b of the wrist unit 112R are aligned along the Xb-Zb plane and on the Xb1 side of the A27 axis. In the reference posture, the link portion 112c is aligned along the Yb-Zb plane. In the reference posture, the grip portion 112d is aligned along the A27 axis. The rotational position of the link portion 112b in the reference posture is referred to as the first reference rotation position. The rotational position of the link portion 112c in the reference posture is referred to as the second reference rotation position.

[0056] 13, in the reference posture, link portion 112a and link portion 112b of wrist portion 112L are disposed along the Xb-Zb plane and on the Xb2 side of the A27 axis. In the reference posture, link portion 112c is disposed along the Yb-Zb plane. In the reference posture, grip portion 112d is disposed along the A27 axis.

[0057] As shown in FIG. 14, the link portion 112a is an elbow-shaped (L-shaped) box, and the main elements of the link portion 112a are housed inside the box. A rotation shaft R24 is disposed at one end of the link portion 112a. The rotation shaft R24 is attached to the other end of the link portion 111c via a bearing B24 so as to be rotatable about the A24 axis. The rotation shaft R24 and the bearing B24 form a joint JT24. This allows the link portion 112a to rotate about the A24 axis relative to the link portion 111c.

[0058] Furthermore, a servo motor SM7d is disposed inside the link portion 111c so that the central axis of the main shaft S24 is perpendicular to the A24 axis. An encoder EN7d that detects the rotation angle of the servo motor SM7d is disposed in the servo motor SM7d. Any device capable of detecting the rotation angle may be used as the encoder EN7d, and a tachometer or the like may be used instead of the encoder EN7d. The encoder EN7d is directly connected to the main shaft S24 of the servo motor SM7d. The main shaft S24 of the servo motor SM7d is connected to the rotation shaft R24 via a bevel gear mechanism G24. This allows the rotation angle of the servo motor SM7d caused by the rotation of the link portion 112a to be detected by the encoder EN7d, and also allows the rotation shaft R24 to be rotated by the servo motor SM7d.

[0059] Link portion 112b is an elbow-shaped (L-shaped) box, and the main elements of link portion 112b are housed inside the box. A rotation axis R25 is disposed at one end of link portion 112b. This rotation axis R25 is attached to the other end of link portion 112a via bearing B25 so as to be rotatable around the A25 axis. This rotation axis R25 and bearing B25 form a joint JT25. This allows link portion 112b to rotate around the A25 axis relative to link portion 112a.

[0060] Furthermore, a servo motor SM7e is disposed inside the link portion 112a so that the central axis of the main shaft S25 is perpendicular to the A25 axis. An encoder EN7e that detects the rotation angle of the servo motor SM7e is disposed in the servo motor SM7e. A tachometer or the like may be used instead of the encoder EN7e. The encoder EN7e is directly connected to the main shaft S25 of the servo motor SM7e. The main shaft S25 of the servo motor SM7e is connected to the rotation shaft R25 via a bevel gear mechanism G25. This allows the rotation angle of the servo motor SM7e caused by the rotation of the link portion 112b to be detected by the encoder EN7e, and also allows the rotation shaft R25 to be rotated by the servo motor SM7e.

[0061] A compression coil spring SP25 is disposed between a predetermined location on the link portion 112a and the rotation axis R25. The predetermined location is, for example, the lower end of the rear end of the link portion 112a when the wrist portion 112 is in the reference position. The compression coil spring SP25 is disposed so that its central axis is parallel to the A24 axis and perpendicular to the A25 axis. The compression coil spring SP25 is designed to apply a predetermined torque to the link portion 112b in the rotation direction when the link portion 112b rotates from the reference position of the wrist portion 112. The predetermined torque is set to cancel out a portion of the gravitational torque generated on the rotation axis R25 due to the weight of the portion of the wrist portion 112 beyond the link portion 112b. As a result, the compression coil spring SP25 cancels out a portion of the gravitational torque generated on the rotation axis R25.

[0062] As shown in FIGS. 14 and 15, the link portion 112c is an elbow-shaped (L-shaped) box, and the main elements of the link portion 112c are housed inside the box. A rotation shaft R26 is disposed at one end of the link portion 112c. This rotation shaft R26 is attached to the other end of the link portion 112b via a bearing B26 so as to be rotatable about the A26 axis. The rotation shaft R26 and the bearing B26 form a joint JT26. This allows the link portion 112c to rotate about the A26 axis relative to the link portion 112b.

[0063] Furthermore, a servo motor SM7f is disposed inside the link portion 112b so that the central axis of the main shaft S26 is perpendicular to the A26 axis. An encoder EN7f that detects the rotation angle of the servo motor SM7f is disposed in the servo motor SM7f. A tachometer or the like may be used instead of the encoder EN7f. The encoder EN7f is directly connected to the main shaft S26 of the servo motor SM7f. The main shaft S26 of the servo motor SM7f is connected to the rotation shaft R26 via a bevel gear mechanism G26. This allows the rotation angle of the servo motor SM7f caused by the rotation of the link portion 112c to be detected by the encoder EN7f, and also allows the rotation shaft R26 to be rotated by the servo motor SM7f.

[0064] As shown in Figure 15, a rotation shaft R27 is disposed at one end of the grip portion 112d. This rotation shaft R27 is attached to the other end of the link portion 112c via a bearing B27 so as to be rotatable about the A27 axis. This rotation shaft R27 and bearing B27 form a joint JT27. This allows the grip portion 112d to rotate about the A27 axis relative to the link portion 112c.

[0065] Furthermore, a servo motor SM7g is disposed inside the link portion 112c so that the central axis of the main shaft S27 is perpendicular to the A27 axis. An encoder EN7g that detects the rotation angle of the servo motor SM7g is disposed in the servo motor SM7g. A tachometer or the like may be used instead of the encoder EN7g. The encoder EN7g is directly connected to the main shaft S27 of the servo motor SM7g. The main shaft S27 of the servo motor SM7g is connected to the rotation shaft R27 via a bevel gear mechanism G27. This allows the rotation angle of the servo motor SM7g caused by the rotation of the grip portion 112d to be detected by the encoder EN7g, and also allows the rotation shaft R27 to be rotated by the servo motor SM7g.

[0066] As shown in FIG. 1 , the monitor 140 is a scope-type display device for displaying an image captured by the endoscope 3. The monitor 140 also has an alarm unit 141. The alarm unit 141 issues an error sound. The support arm 150 supports the monitor 140 so that the height of the monitor 140 is at the same height as the face of an operator such as a doctor. The touch panel 130 is mounted on a support bar 160. The surgical support robot 100 can be operated by the remote control device 200 by detecting the operator's head with a sensor provided near the monitor 140. The operator operates the operation unit 110 and the foot pedal 120 while visually checking the affected area on the monitor 140. This inputs commands to the remote control device 200. The commands input to the remote control device 200 are transmitted to the surgical support robot 100.

[0067] The error reset button 161 is disposed on the support bar 160. The error reset button 161 resets an error in the surgery assistance system 500. The error may be, for example, an error of abnormal deviation.

[0068] (foot pedal) As shown in FIG. 16 , a plurality of foot pedals 120 are provided to perform functions related to the surgical instrument 1. The plurality of foot pedals 120 are arranged on a base 121. The foot pedals 120 include a switching pedal 122, a clutch pedal 123, a camera pedal 124, an incision pedal 125, a coagulation pedal 126, and a foot detector 127. The switching pedal 122, the clutch pedal 123, the camera pedal 124, the incision pedal 125, and the coagulation pedal 126 are operated by the operator's feet. The incision pedals 125 include a incision pedal 125R for the right robot arm 50 and a incision pedal 125L for the left robot arm 50. The coagulation pedals 126 include a coagulation pedal 126R for the right robot arm 50 and a coagulation pedal 126L for the left robot arm 50.

[0069] The switching pedal 122 switches the robot arm 50 operated by the operation unit 110. The clutch pedal 123 performs a clutch operation that temporarily disconnects the operational connection between the robot arm 50 and the operation unit 110. While the clutch pedal 123 is depressed by the operator, the operation by the operation unit 110 is not transmitted to the robot arm 50. Furthermore, while the operator is depressing the camera pedal 124, the operation unit 110 can operate the robot arm 50 to which the endoscope 3 is attached. While the operator is depressing the incision pedal 125 or the coagulation pedal 126, the electrosurgical device is activated.

[0070] The foot detector 127 detects the feet of the operator operating the foot pedals 120. The foot detector 127 is provided for each of the switch pedal 122, the clutch pedal 123, the camera pedal 124, the incision pedal 125, and the coagulation pedal 126, and detects the feet in a hover state located above each foot pedal 120. The foot detector 127 is disposed on the base 121.

[0071] (Vision unit and image processing unit) As shown in FIG. 1, the vision unit 300 and the image processing unit 400 are placed on a cart 210. The image processing unit 400 processes images captured by the endoscope 3. A display unit 220 is arranged on the cart 210. The display unit 220 displays images captured by the endoscope 3. An error reset button 230 and an alarm unit 240 are arranged on the vision unit 300. The error reset button 230 clears an error in the surgery support system 500. The error is, for example, a deviation abnormality error. The alarm unit 240 issues an error sound.

[0072] (Control system configuration) 17, the surgery assistance system 500 includes a first control device 310, an arm control device 320, a positioner control device 330, an operation control device 340, and a second control device 350. The surgery assistance system 500 also includes a memory unit 311 connected to the first control device 310 and a memory unit 351 connected to the second control device 350. The operation control device 340 is an example of a control device.

[0073] The first control device 310 is disposed inside the medical cart 10 so as to communicate with the arm control device 320 and the positioner control device 330, and controls the entire surgery support system 500. Specifically, the first control device 310 communicates with and controls each of the arm control device 320, the positioner control device 330, and the operation control device 340. The first control device 310, the arm control device 320, the positioner control device 330, and the operation control device 340 are connected via a LAN or the like. The first control device 310 is disposed inside the medical cart 10.

[0074] An arm control unit 320 is provided for each of the plurality of robot arms 50. That is, a plurality of arm control units 320 corresponding to the number of the plurality of robot arms 50 are provided inside the medical cart 10.

[0075] As shown in Fig. 17, the input device 22 is connected to the first control device 310 via a LAN or the like. The status indicator 41, arm status indicator 42, operating handle 23, throttle 23a, joystick 22b, stabilizer 24, and electric cylinder 25 are serially connected to the positioner control unit 330 via a communication network that allows them to share information with each other via wiring 360. Note that Fig. 17 shows the status indicator 41, arm status indicator 42, and the like as if they were all connected to one wiring 360, but in reality, a wiring 360 is provided for each of the status indicator 41, arm status indicator 42, operating handle 23, throttle 23a, joystick 22b, stabilizer 24, and electric cylinder 25.

[0076] As shown in FIG. 18, the arm 51 is provided with a plurality of servo motors SM1, an encoder EN1, and a reducer corresponding to each of the joints JT1, JT2, JT3, JT4, JT5, JT6, and JT7. The encoder EN1 detects the rotation angle of the servo motor SM1. The reducer reduces the rotation of the servo motor SM1 to increase the torque. Inside the medical cart 10, a servo control unit SC1 for controlling the servo motor SM1 is disposed adjacent to the arm control unit 320. The encoder EN1 for detecting the rotation angle of the servo motor SM1 is electrically connected to the servo control unit SC1.

[0077] The second link section 53 is provided with a servo motor SM2 for rotating a driven member disposed in the driven unit 2a of the surgical instrument 1, an encoder EN2, and a reducer. The encoder EN2 detects the rotation angle of the servo motor SM2. The reducer reduces the rotation speed of the servo motor SM2 to increase the torque. The medical cart 10 is also provided with a servo control section SC2 for controlling the servo motor SM2 that drives the surgical instrument 1. The servo control section SC2 is electrically connected to an encoder EN2 for detecting the rotation angle of the servo motor SM2. Note that multiple servo motors SM2, encoders EN2, and servo control sections SC2 are provided.

[0078] The translational movement mechanism 54 is provided with a servo motor SM3 for translating the surgical instrument 1, an encoder EN3, and a reducer. The encoder EN3 detects the rotation angle of the servo motor SM3. The reducer decelerates the rotation of the servo motor SM3 to increase the torque. The medical cart 10 also has a servo control unit SC3 for controlling the servo motor SM3 for translating the surgical instrument 1. The encoder EN3 for detecting the rotation angle of the servo motor SM3 is electrically connected to the servo control unit SC3.

[0079] The first control device 310 generates command values ​​that command the positions of the servo motors SM1, SM2, and SM3 based on the operation received by the remote operation device 200, and drives the servo motors SM1, SM2, and SM3 based on the command values. The first control device 310 then detects a deviation abnormality error when the difference between the command values ​​and the positions of the servo motors SM1, SM2, and SM3 detected by the sensors exceeds an allowable range.

[0080] 19, the positioner 30 is provided with a plurality of servo motors SM4, an encoder EN4, and a reducer so as to correspond to a plurality of joints 33 of the positioner 30. The encoder EN4 is configured to detect the rotation angle of the servo motor SM4. The reducer is configured to decelerate the rotation of the servo motor SM4 to increase the torque.

[0081] The medical cart 10 is equipped with wheels, including front wheels as drive wheels and rear wheels steered by the operating handle 23. The rear wheels are located closer to the operating handle 23 than the front wheels. The medical cart 10 also includes a servo motor SM5 that drives each of the front wheels of the medical cart 10, an encoder EN5, a reducer, and a brake BRK. The reducer is configured to reduce the rotation speed of the servo motor SM5 and increase the torque. A potentiometer P1 shown in FIG. 3 is located on the operating handle 23 of the medical cart 10, and the servo motor SM5 of the front wheels is driven based on the rotation angle detected by the potentiometer P1 in response to the twist of the throttle 23a. The rear wheels of the medical cart 10 are dual wheels, and are steered based on the left and right rotation of the operating handle 23. 3 is disposed on the rotation shaft of the operating handle 23 of the medical cart 10, and a servomotor SM6, an encoder EN6, and a reducer are disposed on the rear wheels of the medical cart 10. The reducer is configured to reduce the rotation speed of the servomotor SM6 and increase the torque. The servomotor SM6 is driven based on the rotation angle detected by the potentiometer P2 in response to the left and right rotation of the operating handle 23. In other words, steering of the rear wheels caused by the left and right rotation of the operating handle 23 is configured to be power-assisted by the servomotor SM6.

[0082] The front wheels of the medical cart 10 are driven to move forward and backward, and the rear wheels are steered by turning the operating handle 23 of the medical cart 10, causing the medical cart 10 to turn left and right.

[0083] As shown in FIG. 19 , the medical cart 10 is provided with a servo control unit SC4 for controlling a servo motor SM4 that moves the positioner 30. An encoder EN4 for detecting the rotation angle of the servo motor SM4 is electrically connected to the servo control unit SC4. The medical cart 10 is also provided with a servo control unit SC5 for controlling a servo motor SM5 that drives the front wheels of the medical cart 10. An encoder EN5 for detecting the rotation angle of the servo motor SM5 is electrically connected to the servo control unit SC5. The medical cart 10 is provided with a servo control unit SC6 for controlling a servo motor SM6 that power-assists the steering of the rear wheels of the medical cart 10. An encoder EN6 for detecting the rotation angle of the servo motor SM6 is electrically connected to the servo control unit SC6.

[0084] As shown in FIGS. 18 and 19 , brakes BRK are mounted on the joints JT1, JT2, JT3, JT4, JT5, JT6, and JT7 of the arm unit 51 and on the joint 33 of the positioner 30. Brakes BRK are also mounted on the front wheels of the medical cart 10, the arm base 40, and the translational movement mechanism 54. Control signals are transmitted unidirectionally from the arm control unit 320 to the brakes BRK mounted on the joints JT1, JT2, JT3, JT4, JT5, JT6, and JT7 of the arm unit 51 and on the translational movement mechanism 54. The control signals are signals that turn the brakes BRK on and off. The signal that turns the brakes BRK on includes a signal that keeps the brakes BRK engaged. The same applies to control signals sent from the positioner control unit 330 to the brakes BRK mounted on the joints 33 of the positioner 30 and on the arm base 40. At startup, all brakes BRK on the arm base 40, arm unit 51, and translational movement mechanism 54 are released, and the servo motor SM is driven to resist gravity, thereby maintaining the posture of the robot arm 50 and the posture of the arm base 40. When an error occurs in the surgery support system 500, the brakes BRK on the arm base 40, arm unit 51, and translational movement mechanism 54 are turned on. When the error in the surgery support system 500 is resolved, the brakes BRK on the arm base 40, arm unit 51, and translational movement mechanism 54 are turned off. A shutdown operation of the surgery support system 500 turns on the brakes BRK on the arm base 40, arm unit 51, and translational movement mechanism 54. In addition, the brakes BRK on the front wheels of the medical cart 10 are always turned on, and are released only while the enable switch 23b of the medical cart 10 is pressed down. Furthermore, the brakes BRK of the joints 33 of the positioner 30 are always on, and the brakes BRK are released only while the enable switch 22c of the medical cart 10 is pressed.

[0085] As shown in FIG. 20, servo motors SM7a, SM7b, SM7c, SM7d, SM7e, SM7f, and SM7g are respectively provided in joints JT21, JT22, JT23, JT24, JT25, JT26, and JT27 of the operation unit 110. Servo controllers SC7a, SC7b, SC7c, SC7d, SC7e, SC7f, and SC7g are provided to control the servo motors. Encoders EN7a, EN7b, EN7c, EN7d, EN7e, EN7f, and EN7g are electrically connected to the servo controllers to detect the rotation angles of the servo motors. The servo motors, servo controllers, and encoders are provided in the operation unit 110L and the operation unit 110R, respectively. The servo motor SM7d is an example of a drive unit.

[0086] The first control device 310 controls each servo motor via the operation control section 340 to generate a torque that cancels out the gravitational torque generated on the rotation axis of each servo motor according to the attitude of the operation unit 110. This enables the operator to operate the operation unit 110 with a relatively small force.

[0087] The first control device 310 controls each servo motor via the operation control section 340 to generate torque on each rotation axis of each servo motor in response to the operation of the operating section 110, thereby assisting the operation by the operator, thereby enabling the operator to operate the operating section 110 with a relatively small force.

[0088] As shown in FIG. 17 , the first control device 310 controls the robot arm 50 based on an operation received by the arm operation unit 60. For example, the first control device 310 controls the robot arm 50 based on an operation received by the joystick 62 of the arm operation unit 60. Specifically, the arm control unit 320 outputs an input signal input from the joystick 62 to the first control device 310. The first control device 310 generates a position command based on the received input signal and a rotation angle detected by the encoder EN1, and outputs the position command to the servo control unit SC1 via the arm control unit 320. The servo control unit SC1 generates a current command based on the position command input from the arm control unit 320 and the rotation angle detected by the encoder EN1, and outputs the current command to the servo motor SM1. As a result, the robot arm 50 moves in accordance with the operation command input to the joystick 62.

[0089] The first control device 310 controls the robot arm 50 based on an input signal from the linear switch 63 of the arm operation unit 60. Specifically, the arm control unit 320 outputs the input signal input from the linear switch 63 to the first control device 310. The first control device 310 generates a position command based on the received input signal and the rotation angle detected by the encoder EN1 or EN3, and outputs the position command to the servo control unit SC1 or SC3 via the arm control unit 320. The servo control unit SC1 or SC3 generates a current command based on the position command input from the arm control unit 320 and the rotation angle detected by the encoder EN1 or EN3, and outputs the current command to the servo motor SM1 or SM3. As a result, the robot arm 50 moves in accordance with the operation command input to the linear switch 63.

[0090] The positioner control unit 330 is disposed in the medical cart 10. The positioner control unit 330 controls the positioner 30 and the medical cart 10. A servo motor SM4, an encoder EN4, and a reducer are disposed in the positioner 30 so as to correspond to the multiple joints 33 of the positioner 30. A servo control unit SC4 that controls the servo motor SM4 of the positioner 30 is disposed in the medical cart 10. The medical cart 10 is disposed with servo motors SM5 and SM6 that drive the multiple front wheels of the medical cart 10, encoders EN5 and EN6, reducers, servo control units SC5 and SC6, and a brake BRK.

[0091] The operation control unit 340 is disposed in the main body of the remote operation device 200. The operation control unit 340 controls the operation unit 110. As shown in FIG. 17 , the operation control unit 340 is disposed to correspond to each of the operation unit 110L for the left hand and the operation unit 110R for the right hand. The operation unit 110 is provided with a servo motor SM, an encoder EN, and a reducer to correspond to the multiple joints JT21 to JT27 of the operation unit 110. The servo control unit SC that controls the servo motor SM of the operation unit 110 is disposed in the main body of the remote operation device 200 adjacent to the operation control unit 340.

[0092] 17, the vision unit 300 and the image processing unit 400 are connected to a first control device 310 via a LAN or the like. The display unit 220 is connected to the vision unit 300.

[0093] (Interference explanation) 12, link portion 112a is disposed on a plane including the A24 axis and the A25 axis, which are perpendicular to each other. Link portion 112b is disposed on a plane including the A25 axis and the A26 axis, which are perpendicular to each other. Link portion 112c is disposed on a plane including the A26 axis and the A27 axis, which are perpendicular to each other. When link portion 112c rotates from this state to a position close to link portion 112b, the lower end portion LE of link portion 112c interferes with link portion 112b.

[0094] Therefore, in this embodiment, the operation control unit 340 executes tracking control to rotate the link portion 112a around the A24 axis using the servo motor SM7d based on the rotational position of the link portion 112c so that the angle formed between the link portion 112c and the link portion 112b is maintained at a predetermined angle. The predetermined angle is, for example, 90 degrees. This will be explained in detail below.

[0095] (Explanation of interference avoidance) As shown in FIG. 21, the operation control unit 340 includes a position control unit 341, an addition / subtraction unit 342, a speed control unit 343, a gravity compensation unit 344, an addition / subtraction unit 345, a servo amplifier 346, a differentiation unit 347, an FF speed command generation unit 348, and a differentiation unit 349.

[0096] The position control unit 341, the addition / subtraction unit 342, the speed control unit 343, the gravity compensation unit 344, the addition / subtraction unit 345, the differentiation unit 347, the FF speed command generation unit 348, and the differentiation unit 349 are each made up of, for example, an arithmetic unit having a processor and a memory. The arithmetic unit is, for example, a microcontroller. The processor is, for example, a CPU, an MPU, an FPGA (Field Programmable Gate Array), a PLC (Programmable Logic Controller), or the like. The memory is, for example, an internal memory of the processor such as ROM or RAM, or an external memory such as a hard disk drive.

[0097] The position control unit 341, the addition / subtraction unit 342, the speed control unit 343, the gravity compensation unit 344, the addition / subtraction unit 345, the differentiation unit 347, the FF speed command generation unit 348, and the differentiation unit 349 are functional blocks that are realized by the processor of the calculation unit reading and executing a predetermined control program stored in the memory of the calculation unit. Specifically, the calculation unit operates as the position control unit 341, the addition / subtraction unit 342, the speed control unit 343, the gravity compensation unit 344, the addition / subtraction unit 345, the differentiation unit 347, the FF speed command generation unit 348, and the differentiation unit 349.

[0098] The position control unit 341, the addition / subtraction unit 342, the speed control unit 343, the gravity compensation unit 344, the addition / subtraction unit 345, the differentiation unit 347, the FF speed command generation unit 348, and the differentiation unit 349 may be configured by hardware such as an electronic circuit.

[0099] (Gravity compensation) First, the configuration related to gravity compensation will be described. The gravity compensator 344 determines the attitude of the operating unit 110 based on the rotation angles AG of the servo motors SM7a, SM7b, SM7c, SM7d, SM7e, SM7f, and SM7g received by the operating unit 110. Based on the determined attitude, the gravity compensator 344 calculates gravity cancellation torques that cancel out the gravity torques generated at the joints JT21, JT22, JT23, JT24, JT25, JT26, and JT27. The gravity compensator 344 outputs the gravity compensation amount that cancels out the gravity torques generated at the joints JT21, JT22, JT23, JT24, JT25, JT26, and JT27 as a gravity compensation current command Ig.

[0100] (Interference prevention control of link parts) Next, a configuration related to interference prevention control of the link portion 112a will be described. When the grip portion 112d is operated and the link portion 112c rotates around the A26 axis, the servo motor SM7f of the joint JT26 rotates. The encoder EN7f detects the rotation of the servo motor SM7f and outputs the detected rotation angle AG26. The position control unit 341 calculates the deviation of the rotation angle AG26 from the second reference rotation position and converts the deviation into a speed command v1.

[0101] A differentiating unit 349 generates a rotational angular velocity vf26 by differentiating the rotational angle AG26 output from the encoder EN7f. An FF velocity command generating unit 348 generates a velocity command v2 for feedforward control based on the rotational angular velocity vf26.

[0102] The encoder EN7d detects the rotation of the servo motor SM7d that drives the link portion 112a and outputs the detected rotation angle AG24. The differentiating unit 347 differentiates the rotation angle AG24 and outputs a feedback rotation angular velocity vf24.

[0103] An adder-subtractor 342 adds together the speed command v1 and the speed command v2 for feedforward control, and subtracts the feedback rotational angular velocity vf24 from the sum to generate a speed deviation ve. A speed controller 343 generates a current command Ic based on the speed deviation ve.

[0104] The current sensor CS detects the drive current CR output by the servo amplifier 346 and outputs the detected drive current CR to the adder / subtractor 345 as a feedback current If. The adder / subtractor 345 adds the current command Ic and the gravity compensation current command Ig and subtracts the feedback current If from the sum to generate a current deviation Ie. The servo amplifier 346 outputs the drive current CR to the servo motor SM7d based on the current deviation Ie. The servo motor SM7d operates using the drive current CR. As a result, the link portion 112a rotates so that the angle formed between the link portion 112c and the link portion 112b maintains a predetermined angle. The predetermined angle is, for example, 90 degrees. The control by the operation control unit 340 in which the link portion 112a rotates so that the angle formed between the link portion 112c and the link portion 112b maintains a predetermined angle is called tracking control.

[0105] (Position control unit) As shown in FIG. 22, the position control unit 341 includes a subtraction unit 341a, a reduction ratio correction unit 341b, a primary filter 341c, a dead band unit 341d, a first switch unit 341e, a second switch unit 341f, a moving average unit 341g, and a coefficient multiplication unit 341h.

[0106] The subtractor 341a subtracts the rotation angle AG26(0) of the second reference rotation position of the link portion 112c from the rotation angle AG26 from the encoder EN7f to generate the rotation position deviation of the link portion 112c. The rotation angle AG26(0) of the second reference rotation position is 0 degrees.

[0107] The reduction ratio corrector 341b performs reduction ratio correction on the rotational position deviation for the joint JT26, converting the rotational position deviation for the joint JT26 into a rotational position deviation corresponding to the reduction ratio of the joint JT24. The reduction ratio of the joint JT26 and the reduction ratio of the joint JT24 are different from each other. Therefore, the rotation angle AG26 detected by the encoder EN7f when the link portion 112c at the joint JT26 makes one rotation is different from the rotation angle AG24 detected by the encoder EN7d when the link portion 112a at the joint JT24 makes one rotation. Specifically, if the reduction ratio of the joint JT26 is RR26 and the reduction ratio of the joint JT24 is RR24, the rotation angles AG26 and AG24 differ from each other in accordance with the ratio between the inverse ratio 1 / RR26 of the reduction ratio RR26 of the joint JT26 and the inverse ratio 1 / RR24 of the reduction ratio RR24 of the joint JT24. Therefore, the reduction ratio correcting unit 341b converts the rotational position deviation for the joint JT26 into a rotational position deviation corresponding to the reduction ratio of the joint JT24 by multiplying the rotational position deviation for the joint JT26 by RR26 / RR24.

[0108] Next, the primary filter 341c removes high-frequency components from the rotational position deviation converted by the reduction ratio corrector 341b. Note that, since the high-frequency components differ for each operation unit 110, the time constant of the primary filter 341c may be adjustable for each operation unit 110. In this case, for example, an input unit (not shown) may accept input of a desired time constant.

[0109] Next, the rotational position deviation from which high frequency components have been removed by the primary filter 341c is input to a dead band unit 341d. The dead band unit 341d prevents chattering when the movement of the link unit 112c is small and the input rotational position deviation is small. The rotational position deviation output from the dead band unit 341d is input to a first switch unit 341e and a second switch unit 341f. The first switch unit 341e turns ON when the in-operation flag f1 turns ON, and turns OFF when the in-operation flag f1 turns OFF. The second switch unit 341f turns ON when the operating range flag f2 turns ON, and turns OFF when the operating range flag f2 turns OFF.

[0110] The in-operation flag f1 is a flag indicating that the grip portion 112d is being operated. If the difference between the rotational position of the link portion 112c in the previous sampling and the rotational position of the link portion 112c in the current sampling exceeds a predetermined change threshold, the operation control unit 340 determines that the operating unit 110 is being operated. The reason for using the in-operation flag f1 is as follows. The predetermined change threshold is, for example, 1.0 degree.

[0111] As described above, when the operator operates the grip portion 112d to rotate the link portion 112c, the link portion 112a rotates so that the link portion 112c is positioned at the second reference rotation position. When the operator stops operating the grip portion 112d, if a small deviation in the rotational position of the link portion 112c remains, the link portion 112a continues to rotate. This causes the operator to feel uncomfortable. Therefore, while the grip portion 112d is being operated, the operation flag f1 is turned ON, and feedback control of the rotational position of the link portion 112a is performed. Furthermore, when the operation of the grip portion 112d is stopped, the operation flag f1 is turned OFF, the feedback control of the rotational position deviation of the link portion 112a is stopped, and the link portion 112a stops. This prevents the operator from feeling uncomfortable.

[0112] The motion range flag f2 is a flag indicating that the link unit 112a is within a predetermined motion range. Since the link unit 112a has a structurally movable range, it is necessary to issue a tracking command that does not exceed this movable range. Therefore, to prevent interference between the link unit 112a and the link unit 112b, the rotation range that the link unit 112a should follow is set as the motion range. Note that even if the link unit 112a does not have a structurally movable range, the motion range flag f2 may be used as necessary. The motion range is determined appropriately based on the specifications of the operating unit 110, etc.

[0113] The moving average unit 341g calculates the moving average of the rotational position deviation that has passed through the first switch unit 341e and the second switch unit 341f. This reduces discontinuities in the rotational position deviation that occur when the first switch unit 341e and the second switch unit 341f operate. The speed command v1 is generated by multiplying the moving-averaged rotational position deviation Xe by a predetermined gain.

[0114] In this embodiment, the amount of rotation of the link unit 112a around the A24 axis due to tracking control is smaller when the absolute value of the movement speed of the gimbal point GP of the operation unit 110 is less than a predetermined threshold value than when it is equal to or greater than the predetermined threshold value. As shown in FIG. 23, the predetermined threshold value includes a first threshold value Th1 and a second threshold value Th2 having an absolute value greater than the first threshold value Th1. The operation control unit 340 calculates the movement speed of the gimbal point GP from changes in the coordinates of the gimbal point GP obtained from the axis values ​​of the operation unit 110, and sets the coefficient by which the rotational position deviation Xe is multiplied to zero when the absolute value of the movement speed of the gimbal point GP of the operation unit 110 is less than the first threshold value Th1. This causes the amount of rotation of the link unit 112a due to tracking control to become zero. When the absolute value of the movement speed of the gimbal point GP of the operation unit 110 is equal to or greater than the first threshold Th1 and less than the second threshold Th2, the operation control unit 340 increases the coefficient by which the rotational position deviation Xe is multiplied as the movement speed of the gimbal point GP of the operation unit 110 increases, thereby increasing the amount of rotation of the link unit 112a by the tracking control from 0 to a predetermined amount of rotation. When the absolute value of the movement speed of the gimbal point GP of the operation unit 110 is equal to or greater than the second threshold Th2, the operation control unit 340 sets the amount of rotation of the link unit 112a by the tracking control to a predetermined amount of rotation. The first threshold Th1 is, for example, equal to or greater than 20 mm / s and equal to or less than 30 mm / s, based on the speed of the gimbal point GP of the operation unit 110. The second threshold Th2 is, for example, equal to or greater than 100 mm / s and equal to or less than 150 mm / s, based on the speed of the gimbal point GP of the operation unit 110.

[0115] Specifically, in this embodiment, the operation control unit 340 performs tracking control based on a value obtained by multiplying a rotational position deviation Xe, which is based on the deviation between the second reference rotational position of the link unit 112c and the current rotational position, by a predetermined coefficient. The multiplication by the predetermined coefficient is performed by a coefficient multiplier 341h. The predetermined coefficient is smaller when the absolute value of the movement speed of the gimbal point GP of the operation unit 110 is less than a predetermined threshold value than when it is equal to or greater than the predetermined threshold value. In particular, the predetermined coefficient is zero when the absolute value of the movement speed of the gimbal point GP of the operation unit 110 is less than a first threshold value Th1. The predetermined coefficient increases linearly from 0 to 1 as the movement speed of the gimbal point GP of the operation unit 110 increases when the absolute value of the movement speed of the gimbal point GP of the operation unit 110 is equal to or greater than the first threshold value Th1 and less than a second threshold value Th2. The predetermined coefficient is 1 when the absolute value of the movement speed of the gimbal point GP of the operation unit 110 is equal to or greater than the second threshold value Th2.

[0116] (Configuration of FF speed command generating unit 348) As shown in FIG. 24, the FF speed command generating unit 348 includes a dead band unit 348a, a third switch unit 348b, a first multiplier unit 348c, a primary filter 348d, a second multiplier unit 348e, a reduction ratio corrector unit 348f, and a third multiplier unit 348g.

[0117] The rotational angular velocity vf26 of the link portion 112c output from the differentiation unit 349 is input to the dead band unit 348a. The dead band unit 348a disables the velocity feedforward control when the rotational angular velocity vf26 is very small, which is the case when the grip portion 112d is operated slowly. The rotational angular velocity vf26 output from the dead band unit 348a is input to the third switch unit 348b. The third switch unit 348b turns ON when the motion range flag f2 is ON, and turns OFF when the motion range flag f2 is OFF.

[0118] The first multiplier 348c multiplies the rotational angular velocity vf26 that has passed through the third switch 348b by a continuation coefficient. Fig. 25 is a graph showing the relationship between the rotation angle of the link 112a and the continuation coefficient. The continuation coefficient is a first adjustment coefficient that adjusts the value input from the velocity feedforward control to the position feedback control loop. In Fig. 25, the horizontal axis represents the rotation angle of the link 112a, and the vertical axis represents the continuation coefficient.

[0119] As shown in FIG. 25, the continuity coefficient is a value between 0 and 1.0. For example, near the lower operating limit of the link portion 112a, the continuity coefficient increases from 0 to 1.0 as the rotation angle of the link portion 112a increases from the lower operating limit. The continuity coefficient remains constant at 1.0 until the rotation angle of the link portion 112a increases to near the upper operating limit. Near the upper operating limit, the continuity coefficient decreases from 1.0 to 0 as the rotation angle of the link portion 112a increases to the upper operating limit. Note that while FIG. 25 shows the continuity coefficient changing linearly near the lower and upper operating limits of the link portion 112a, the continuity coefficient may change monotonically or may change curvilinearly.

[0120] 24, the rotation angle AG24 of the link part 112a detected by the encoder EN7d of the joint JT24 is input to the first multiplication unit 348c. The first multiplication unit 348c determines a continuity coefficient based on the input rotation angle AG24, and multiplies the determined continuity coefficient by the rotation angular velocity vf26 that has passed through the third switch unit 348b.

[0121] Therefore, when the link part 112a rotates from outside the lower operating limit to within the operating range, the third switch part 348b is turned ON, and the rotational angular velocity vf26 increases from 0. Furthermore, when the link part 112a rotates from outside the upper operating limit to within the operating range, the third switch part 348b is turned ON, and the rotational angular velocity vf26 increases from 0. In other words, when the link part 112a rotates from outside the operating range to within the operating range, the velocity feedforward control input to the position feedback control loop is made continuous. This prevents the operator from feeling uncomfortable when operating the link part 112a, as would be the case when the link part 112a rotates from outside the operating range to within it.

[0122] The primary filter 348d removes high-frequency components from the rotational angular velocity vf26 multiplied by the continuity coefficient. Note that, because the high-frequency components differ for each operation unit 110, the time constant of the primary filter 348d may be adjustable. In this case, for example, an input unit (not shown) may accept input of a desired time constant.

[0123] Next, the second multiplier 348e multiplies the rotational angular velocity vf26 output from the primary filter 348d by the FF adjustment coefficient. Fig. 26 is a graph showing the relationship between the rotation angle of the link portion 112b and the FF adjustment coefficient. The FF adjustment coefficient is a second adjustment coefficient that adjusts the value input from the velocity feedforward control to the position feedback control loop. In Fig. 26, the horizontal axis represents the rotation angle of the link portion 112b, and the vertical axis represents the FF adjustment coefficient.

[0124] As shown in FIG. 26 , in the rotation of the link portion 112b, the second reference rotation position is defined as 0 degrees, and the minimum rotation angle, maximum rotation angle, and +90 degrees are defined in the clockwise direction, and the negative minimum rotation angle, negative maximum rotation angle, and -90 degrees are defined in the counterclockwise direction. The FF adjustment coefficient is a value between 0 and 1.0. The FF adjustment coefficient is 1.0 while the link portion 112b rotates clockwise to the minimum rotation angle. The FF adjustment coefficient linearly decreases to the minimum coefficient as the link portion 112b rotates from the minimum rotation angle to the maximum rotation angle. The minimum coefficient is, for example, 0.33. The FF adjustment coefficient is the minimum coefficient value while the link portion 112b rotates from the maximum rotation angle to near +90 degrees. Near +90 degrees, the FF adjustment coefficient linearly decreases from the minimum coefficient to 0 as the link portion 112b rotates to +90 degrees. The FF adjustment coefficient is 1.0 while the link portion 112b rotates counterclockwise to the minimum rotation angle. The FF adjustment coefficient decreases linearly to the minimum coefficient as the link portion 112b rotates from the minimum rotation angle to the maximum rotation angle. The FF adjustment coefficient is the minimum coefficient while the link portion 112b rotates from the maximum rotation angle to near -90 degrees. The FF adjustment coefficient decreases linearly from the minimum coefficient to 0 as the link portion 112b rotates to -90 degrees near -90 degrees. If the absolute value of the rotation angle of the link portion 112b becomes 90 degrees or more, the link portion 112a will rotate in the direction opposite to the direction that avoids interference with the link portion 112c. Therefore, when the absolute value of the rotation angle of the link portion 112b is 90 degrees or more, the FF adjustment coefficient is set to 0. The minimum coefficient, minimum rotation angle, and maximum rotation angle are parameters that can be input via the touch panel 130, for example. 26 is an example, and the change in the FF adjustment coefficient relative to the rotational position of the link portion 112b is not limited to this. The FF adjustment coefficient may change so as to monotonically increase from zero and then monotonically decrease to zero as the rotational position of the link portion 112b changes from -90 degrees to +90 degrees.

[0125] 24, the second multiplier 348e receives the rotation angle AG25 of the link 112b detected by the encoder EN7e of the joint JT25. The first multiplier 348c determines an FF adjustment coefficient based on the input rotation angle AG25, and multiplies the determined FF adjustment coefficient by the rotation angular velocity vf26 that has passed through the primary filter 348d.

[0126] Here, when the rotation angle of link portion 112b from the first reference rotation position increases by operating grip portion 112d, the amount of rotation of link portion 112a about axis A24 associated with the rotation of link portion 112c from the second reference rotation position increases. If the rotation speed of link portion 112a is high at this time, the operator may feel uncomfortable operating the device. This feeling of discomfort will be explained in detail below.

[0127] Figure 27 shows the state of the wrist section 112 when link section 112b has rotated +45 degrees from the first reference rotation position. Figure 28 shows the state of the wrist section 112 when link section 112b has rotated +90 degrees from the first reference rotation position. In Figures 27 and 28, symbol PR26 indicates a plane parallel to the plane of rotation of link section 112c, and symbol PR24 indicates a plane parallel to the plane of rotation of link section 112a.

[0128] 12, in the reference posture of the wrist portion 112, the link portion 112b is located at the first reference rotation position. In this state, the axis A26, which is the rotation axis of the link portion 112c, coincides with the axis A24, which is the rotation axis of the link portion 112a. Therefore, when the link portion 112c is rotated by the rotation angle θ from the second reference rotation position by operating the grip portion 112d, the link portion 112a rotates in the same direction as the rotation of the link portion 112c, and by the same rotation angle as the rotation angle θ.

[0129] 27, link portion 112b is in a rotation position rotated +45 degrees from the first reference rotation position. In this state, axis A26 is inclined 45 degrees with respect to axis A24, so that a plane parallel to plane PR26, which is the plane of rotation of link portion 112c, is inclined 45 degrees with respect to a plane parallel to plane PR24, which is the plane of rotation of link portion 112a. Therefore, when link portion 112c is rotated by rotation angle θ from the second reference rotation position by operating grip portion 112d, link portion 112a rotates by an angle equal to or greater than rotation angle θ on the plane parallel to plane PR24, which is the plane of rotation of link portion 112a.

[0130] 28, the wrist section 12 is in a state where the link section 112b is rotated +90 degrees from the first reference rotation position. In this state, the axis A26 is inclined 90 degrees with respect to the following rotation axis A4, so that a plane parallel to the plane PR26, which is the plane of rotation of the link section 112c, is inclined 90 degrees with respect to a plane parallel to the plane PR24, which is the plane of rotation of the link section 112a. Therefore, when the grip section 112d is operated to rotate the link section 112c by the rotation angle θ from the second reference rotation position, the link section 112a rotates on the plane parallel to the plane PR24, which is the plane of rotation of the link section 112a, by a rotation angle significantly larger than the rotation angle θ.

[0131] At this time, if the rotation speed of the link portion 112a is fast, the operator may feel uncomfortable with the operation.

[0132] Therefore, as shown in FIG. 24, when the rotation angle of link portion 112b from the first reference rotation position increases due to operation of grip portion 112d, second multiplication unit 348e suppresses the rotational angular velocity of link portion 112a around axis A24, thereby preventing the operator from feeling uncomfortable with the operation.

[0133] The reduction ratio correcting unit 348f performs reduction ratio correction on the rotational angular velocity vf26 multiplied by the FF adjustment coefficient, and converts it into a rotational angular velocity corresponding to the reduction ratio of the joint JT 24. This reduction ratio correction is the same as in the case of the reduction ratio correcting unit 341b described above.

[0134] A third multiplier 348g multiplies the converted rotation angle by a predetermined gain to generate a speed command v2 for feedforward control.

[0135] In this embodiment, as described above, the operation control unit 340 performs tracking control based on the deviation between the second reference rotation position of the link unit 112c and the current rotation position and the rotational speed of the link unit 112c. When the absolute value of the movement speed of the gimbal point GP of the operation unit 110 is less than a predetermined threshold, the operation control unit 340 reduces the rotation amount of the link unit 112a based on the deviation while maintaining the rotation amount of the link unit 112a based on the rotation speed. That is, the position control unit 341 calculates the deviation of the rotation angle AG26 from the second reference rotation position and converts the deviation into a speed command v1. As described above, when the absolute value of the movement speed of the gimbal point GP of the operation unit 110 is less than the predetermined threshold, the speed command v1 is multiplied by a predetermined coefficient less than 1. That is, when the absolute value of the movement speed of the gimbal point GP of the operation unit 110 is less than the predetermined threshold, the speed command v1 is reduced. The FF speed command generation unit 348 generates a speed command v2 based on the rotational speed of the link unit 112c. Unlike the speed command v1, the speed command v2 is not multiplied by a predetermined coefficient less than 1. Therefore, even if the absolute value of the movement speed of the gimbal point GP of the operation unit 110 is less than a predetermined threshold, the rotation amount of the link unit 112a based on the rotation speed is maintained.

[0136] (Method for controlling a remote control device) 29, in step S1, the operation control unit 340 determines whether the rotational position deviation of the link unit 112c is greater than a rotational deviation threshold. For example, the rotational deviation threshold is 1.0 degree. Depending on the result of step S1, the dead band unit 341d of the position control unit 341 operates.

[0137] If the result in step S1 is No, in steps S9 and S10, the in-operation flag f1 and the motion range flag f2 are turned OFF. Also, the first switch unit 341e, the second switch unit 341f of the position control unit 341, and the third switch unit 348b of the FF speed command generation unit 348 are turned OFF.

[0138] If the answer is Yes in step S1, the operation control unit 340 determines in step S2 whether the change in rotational position of the link part 112c is greater than a change threshold value. The change in rotational position is the difference between the previous rotational position of the link part 112c and the current rotational position.

[0139] If the answer is No in step S2, then in step S7, the operation control unit 340 starts counting the counter. Then, in step S8, the operation control unit 340 determines whether the count value exceeds a threshold value. The threshold value is, for example, 1000 ms. This counting is stopped when the change in the rotational position of the link unit 112c exceeds the change threshold value. If the answer is No in step S8, the operation control unit 340 determines that the operation unit 110 has been operated, and returns to step S2.

[0140] If Yes in step S8, there has been no operation for 1000 ms or more, and the operation control unit 340 determines that operation of the operation unit 110 has stopped, and in steps S9 and S10, the in-operation flag f1 and the movement range flag f2 are turned OFF.

[0141] If the answer is Yes in step S2, the operation control unit 340 determines that the operation unit 110 is being operated, turns on the operation flag f1 in step S3, and clears the count value of the counter in step S4, thereby turning on the first switch unit 341e of the position control unit 341.

[0142] In step S5, the operation control unit 340 determines whether or not the link unit 112a is within the movement range. If the result in step S5 is No, the movement range flag f2 is turned OFF in step S10.

[0143] If the answer is Yes in step S5, the operation control unit 340 turns on the movement range flag f2 in step S6.

[0144] As a result, the second switch 341f of the position control unit 341 and the third switch 348b of the FF velocity command generation unit 348 are turned ON, and position feedback control and feedforward control are performed. That is, the operation control unit 340 performs tracking control, which rotates the link unit 112a around the A24 axis using the servo motor SM7d based on the rotational position of the link unit 112c so that the angle formed between the link unit 112c and the link unit 112b is maintained at a predetermined angle. Here, in this embodiment, the amount of rotation of the link unit 112a around the A24 axis due to tracking control is smaller when the absolute value of the movement velocity of the gimbal point GP of the operation unit 110 is less than a predetermined threshold value than when it is equal to or greater than a predetermined threshold value. That is, as described above, the operation control unit 340 performs tracking control based on a value obtained by multiplying the velocity command v1, which is based on the deviation between the second reference rotational position of the link unit 112c and the current rotational position, by a predetermined coefficient. By executing the tracking control, even if the operator operates link part 112c to rotate toward link part 112b, the rotation of link part 112a causes link part 112b to move away so that link part 112c and link part 112b form a right angle, thereby preventing link part 112c from interfering with link part 112b.

[0145] (experiment) The solid lines in FIG. 30 indicate the rotation angle and current command value of the joint JT24 in the configuration of the present invention, which reduces the amount of rotation of the link unit 112a around the A24 axis in accordance with the movement speed of the gimbal point GP of the operating unit 110. The dotted lines in FIG. 30 indicate the rotation angle and current command value of the joint JT24 in the configuration of a comparative example, which does not reduce the amount of rotation of the link unit 112a around the A24 axis in accordance with the movement speed of the gimbal point GP of the operating unit 110. The dashed-dotted line in FIG. 30 indicates the rotation angle of the joint JT26. In FIG. 30, the rotation angle of the joint JT26 gradually increases from time t0 to time t1. In the comparative example, the current command value of the servo motor SM7d that rotates the joint JT24 gradually increases from time t0 to time t1 due to tracking control. However, due to friction generated in the joint JT24, the rotation angle of the joint JT24 remains substantially constant from time t0 to time t1. Then, between time t1 and time t2, the joint JT24 rotates. As a result, it was confirmed that between time t1 and time t2, the surgical instrument 1 was unable to follow the operator's operation of the operation unit 110. It was also confirmed that between time t3 and time t4 and between time t5 and time t6, when the joint JT24 rotates, the surgical instrument 1 was unable to follow the operator's operation of the operation unit 110.

[0146] 30, in the present application, during the tracking control, between times t1 and t6 when the absolute value of the moving speed of the gimbal point GP of the operation unit 110 is small, even if the rotation angle of the joint JT26 increases, the amount of rotation of the link unit 112a around the A24 axis is zero. This confirms that the surgical instrument 1 can follow the operation of the operation unit 110 by the operator.

[0147] [Effects of this embodiment] The amount of rotation of the link portion 112a around the A24 axis due to tracking control is smaller when the absolute value of the movement speed of the gimbal point GP of the operation unit 110 is below a predetermined threshold than when it is equal to or greater than the predetermined threshold. As a result, when the absolute value of the movement speed of the gimbal point GP of the operation unit 110 is relatively slow, such as when the absolute value is below the predetermined threshold, the amount of rotation of the link portion 112a around the A24 axis is small. Therefore, even when the movement speed of the gimbal point GP of the operation unit 110 gradually increases and the link portion 112a rotates, the amount of rotation of the link portion 112a is small. In other words, the link portion 112a, which has stopped without following the rotation of the link portion 112c, is prevented from suddenly rotating significantly. As a result, even when the movement of the gimbal point GP of the operation unit 110 is relatively slow, the surgical instrument 1 can smoothly follow the operation of the operation unit 110 by the operator.

[0148] When the absolute value of the movement speed of the gimbal point GP of the operation unit 110 is less than the first threshold value Th1, the operation control unit 340 sets the amount of rotation of the link unit 112a by the tracking control to zero. As a result, when the absolute value of the movement speed of the gimbal point GP of the operation unit 110 is less than the first threshold value Th1, the tracking control of the link unit 112a is not executed, so it is possible to reliably prevent the surgical instrument 1 from being unable to track the operation of the operation unit 110 by the operator due to a sudden large rotation of the link unit 112a.

[0149] The predetermined thresholds include a first threshold Th1 and a second threshold Th2 having an absolute value greater than the first threshold Th1, and the operation control unit 340 sets the amount of rotation of the link unit 112a by the tracking control to zero when the absolute value of the movement speed of the gimbal point GP of the operation unit 110 is less than the first threshold Th1, increases the amount of rotation of the link unit 112a by the tracking control from zero to the predetermined rotation amount as the movement speed of the gimbal point GP of the operation unit 110 increases when the absolute value of the movement speed of the gimbal point GP of the operation unit 110 is equal to or greater than the first threshold Th1 and less than the second threshold Th2, and sets the amount of rotation of the link unit 112a by the tracking control to the predetermined rotation amount when the absolute value of the movement speed of the gimbal point GP of the operation unit 110 is equal to or greater than the second threshold Th2. This prevents the amount of rotation of the link unit 112a by the tracking control from changing suddenly from zero to the predetermined rotation amount, thereby preventing a sudden change in the amount of rotation of the link unit 112a.

[0150] The operation control unit 340 performs tracking control based on the deviation between the reference rotation position and the current rotation position of the link unit 112c and the rotation speed of the link unit 112c. When the absolute value of the movement speed of the gimbal point GP of the operation unit 110 is less than a predetermined threshold, the operation control unit 340 reduces the rotation amount of the link unit 112a based on the deviation while maintaining the rotation amount of the link unit 112a based on the rotation speed. Here, when the movement speed of the gimbal point GP of the operation unit 110 is slow, the tracking control based on the deviation between the reference rotation position and the current rotation position of the link unit 112c becomes dominant. Therefore, when the absolute value of the movement speed of the gimbal point GP of the operation unit 110 is less than the predetermined threshold, the rotation amount of the link unit 112a based on the rotation speed is maintained while the rotation amount of the link unit 112a based on the deviation is reduced, thereby effectively reducing the rotation amount of the link unit 112a.

[0151] The operation control unit 340 executes tracking control based on a value obtained by multiplying a speed command based on the deviation between the reference rotation position and the current rotation position of the link unit 112c by a predetermined coefficient, and the predetermined coefficient is smaller when the absolute value of the movement speed of the gimbal point GP of the operation unit 110 is less than a predetermined threshold value than when it is equal to or greater than the predetermined threshold value. This allows the operation control unit 340 to easily change the amount of rotation of the link unit 112a simply by changing the coefficient.

[0152] [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.

[0153] In the above embodiment, an example was shown in which the amount of rotation of the link part 112a due to tracking control becomes zero when the absolute value of the moving speed of the gimbal point GP of the operation part 110 is less than the first threshold value Th1, but the present disclosure is not limited to this. For example, when the absolute value of the moving speed of the gimbal point GP of the operation part 110 is less than the first threshold value Th1, the amount of rotation of the link part 112a due to tracking control may be greater than zero or close to zero.

[0154] In the above embodiment, an example was shown in which, when the absolute value of the movement speed of the gimbal point GP of the operation unit 110 is equal to or greater than the first threshold value Th1 and less than the second threshold value Th2, the amount of rotation of the link unit 112a due to the tracking control increases linearly from 0 to a predetermined rotation amount as the movement speed of the gimbal point GP of the operation unit 110 increases, but the present disclosure is not limited to this. For example, the amount of rotation of the link unit 112a due to the tracking control may increase in a manner other than a linear manner, such as a quadratic function or exponential function, from 0 to a predetermined rotation amount as the movement speed of the gimbal point GP of the operation unit 110 increases.

[0155] In the above embodiment, when the absolute value of the movement speed of the gimbal point GP of the operation unit 110 is less than a predetermined threshold, an example has been shown in which the rotation amount of the following link unit based on the rotation speed by the FF speed command generation unit 348 is maintained while the rotation amount of the link unit 112a based on the deviation by the position control unit 341 is reduced, but the present disclosure is not limited to this. For example, when the absolute value of the movement speed of the gimbal point GP of the operation unit 110 is less than a predetermined threshold, the rotation amount of the following link unit based on the rotation speed by the FF speed command generation unit 348 may also be reduced.

[0156] Furthermore, in the above embodiment, an example in which four robot arms 50 are provided is shown, but the present disclosure is not limited to this. In the present disclosure, the number of robot arms 50 may be any other number as long as there is at least one or more.

[0157] In the above embodiment, the arm unit 51 and the positioner 30 are configured as a seven-axis articulated robot, but the present disclosure is not limited to this. For example, the arm unit 51 and the positioner 30 may be configured as an articulated robot with an axis configuration other than a seven-axis articulated robot. An example of an axis configuration other than a seven-axis articulated robot is a six-axis or eight-axis robot.

[0158] In the above embodiment, the surgical support robot 100 includes the medical cart 10, the positioner 30, and the arm base 40, but the present disclosure is not limited to this. For example, the medical cart 10, the positioner 30, and the arm base 40 are not necessarily required, and the surgical support robot 100 may be configured with only the robot arm 50.

[0159] 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.

[0160] [Aspect] It will be appreciated by those skilled in the art that the exemplary embodiments described above are examples of the following aspects.

[0161] (Item 1) an operation unit that receives operations for a surgical instrument attached to the tip of the robot arm; a control device; the operating unit includes an arm unit and a wrist unit, The list section a follower link portion having a base end connected to a tip end of the arm portion and rotating around a follower rotation axis; a first link portion whose base end is connected to the tip end of the follower link portion and which rotates around a first rotation axis; a second link portion having a base end connected to a tip end of the first link portion and rotating about a second axis of rotation perpendicular to the first axis of rotation; a grip portion having a grip member to be held by the fingers of an operator, a base end portion of which is connected to a tip end portion of the second link portion, and which rotates around a third rotation axis perpendicular to the second rotation axis and the first rotation axis; a drive unit that rotates the follower link unit around the follower rotation axis, the control device executes a follow-up control to rotate the follow-up link unit around the follow-up rotation axis by the drive unit based on the rotation position of the second link unit so that an angle formed between the second link unit and the first link unit is maintained at a predetermined angle; an amount of rotation of the following link section around the following rotation axis due to the following control is smaller when the absolute value of the movement speed of the wrist section due to the operation of the operator is less than a predetermined threshold value than when the absolute value of the movement speed is equal to or greater than the predetermined threshold value.

[0162] (Item 2) 2. The operating device according to item 1, wherein the control device sets the amount of rotation of the follow-up link section by the follow-up control to zero when the absolute value of the movement speed is less than the predetermined threshold value.

[0163] (Item 3) the predetermined threshold value includes a first threshold value and a second threshold value having an absolute value greater than that of the first threshold value; The control device When the absolute value of the moving speed is less than the first threshold value, the rotation amount of the following link unit by the following control is set to zero; When the absolute value of the moving speed is equal to or greater than the first threshold value and less than the second threshold value, the rotation amount of the following link unit by the following control is increased from 0 to a predetermined rotation amount as the rotation speed of the second link unit increases; 3. The operating device according to item 2, wherein, when the absolute value of the movement speed is equal to or greater than the second threshold value, the rotation amount of the following link section due to the following control is set to the predetermined rotation amount.

[0164] (Item 4) The control device performing the tracking control based on a deviation between a reference rotation position and a current rotation position of the second link section and a rotation speed of the second link section; 4. The operating device according to claim 1, wherein, when the absolute value of the movement speed is less than the predetermined threshold, the rotation amount of the following link unit based on the deviation is reduced while the rotation amount of the following link unit based on the rotation speed is maintained.

[0165] (Item 5) the control device executes the tracking control based on a value obtained by multiplying a speed command based on a deviation between a reference rotation position of the second link unit and a current rotation position by a predetermined coefficient; 5. The operation device according to any one of items 1 to 4, wherein the predetermined coefficient is smaller when the absolute value of the moving speed is less than the predetermined threshold than when the absolute value of the moving speed is equal to or greater than the predetermined threshold.

[0166] (Item 6) a surgical device including a robotic arm having a surgical instrument attached to its tip; an operating device including an operating unit that accepts operations on the surgical instrument; a control device; the operating unit includes an arm unit and a wrist unit, The list section a follower link portion having a base end connected to a tip end of the arm portion and rotating around a follower rotation axis; a first link portion whose base end is connected to the tip end of the follower link portion and which rotates around a first rotation axis; a second link portion having a base end connected to a tip end of the first link portion and rotating about a second axis of rotation perpendicular to the first axis of rotation; a grip portion having a grip member to be held by the fingers of an operator, a base end portion of which is connected to a tip end portion of the second link portion, and which rotates around a third rotation axis perpendicular to the second rotation axis and the first rotation axis; a drive unit that rotates the follower link unit around the follower rotation axis, the control device executes a follow-up control to rotate the follow-up link unit around the follow-up rotation axis by the drive unit based on the rotation position of the second link unit so that an angle formed between the second link unit and the first link unit is maintained at a predetermined angle; A surgical support system, wherein the amount of rotation around the following rotation axis of the following link section due to the following control is smaller when the absolute value of the movement speed of the wrist section due to the operation of the operator is less than a predetermined threshold value than when the absolute value is greater than or equal to the predetermined threshold value.

[0167] (Item 7) 7. The surgical support system according to item 6, wherein the control device sets the amount of rotation of the follow-up link unit by the follow-up control to zero when the absolute value of the movement speed is less than the predetermined threshold value.

[0168] (Item 8) a control unit for controlling an operating device, the control unit including an operating unit that receives operations on a surgical instrument attached to a tip of a robot arm, and a control device, wherein the operating unit includes an arm and a wrist, the wrist having a following link unit having a base end connected to the tip of the arm and rotating about a following rotation axis, a first link unit having a base end connected to the tip of the following link unit and rotating about a first rotation axis, a second link unit having a base end connected to the tip of the first link unit and rotating about a second rotation axis perpendicular to the first rotation axis, a grip unit having a grip member that is held by a finger of an operator and has a base end connected to the tip of the second link unit and rotating about a third rotation axis perpendicular to the second rotation axis and the first rotation axis, Obtaining a rotational position of the second link portion; and executing a follow-up control to rotate the follow-up link unit around the follow-up rotation axis by the drive unit based on the rotation position of the second link unit so that an angle formed between the second link unit and the first link unit is maintained at a predetermined angle, a control method for an operating device, wherein the amount of rotation of the following link section around the following rotation axis due to the following control is smaller when the absolute value of the movement speed of the wrist section due to the operation on the surgical instrument is less than a predetermined threshold value than when the absolute value of the movement speed is equal to or greater than the predetermined threshold value. [Explanation of symbols]

[0169] 1 surgical instruments 50 Robot Arm 100 Surgical support robot (surgical device) 110 Operation section 111 Arm 112 List Section 112a Link section (following link section) 112b Link part (first link part) 112c Link part (second link part) 112d Grip 112e Grip material 200 Remote control device (operation device) 340 Operation control unit (control device) 500 Surgical Support System A24 axis (following rotation axis) A25 axis (first rotation axis) A26 axis (second rotation axis) A27 axis (third rotation axis) SM7d servo motor (drive unit) Th1 First threshold Th2 Second threshold

Claims

1. an operation unit that receives operations for a surgical instrument attached to the tip of the robot arm; a control device; the operating unit includes an arm unit and a wrist unit, The list section a follower link portion having a base end connected to a tip end of the arm portion and rotating around a follower rotation axis; a first link portion having a base end connected to a tip end of the follower link portion and rotating about a first rotation axis; a second link portion having a base end connected to a tip end of the first link portion and configured to rotate about a second axis of rotation perpendicular to the first axis of rotation; a grip portion having a grip member to be held by the fingers of an operator, a base end portion of which is connected to a tip end portion of the second link portion, and which rotates around a third rotation axis perpendicular to the second rotation axis and the first rotation axis; a drive unit that rotates the follower link unit around the follower rotation axis, the control device executes a follow-up control to rotate the follow-up link unit around the follow-up rotation axis by the drive unit based on the rotation position of the second link unit so that an angle formed between the second link unit and the first link unit is maintained at a predetermined angle; an amount of rotation of the following link section around the following rotation axis due to the following control is smaller when the absolute value of the movement speed of the wrist section due to the operation of the operator is less than a predetermined threshold value than when the absolute value of the movement speed of the wrist section is equal to or greater than the predetermined threshold value.

2. The operating device according to claim 1 , wherein the control device sets the amount of rotation of the follow-up link section by the follow-up control to zero when the absolute value of the moving speed is less than the predetermined threshold value.

3. the predetermined threshold value includes a first threshold value and a second threshold value having an absolute value greater than that of the first threshold value; The control device When the absolute value of the moving speed is less than the first threshold value, the rotation amount of the following link unit due to the following control is set to zero; When the absolute value of the moving speed is equal to or greater than the first threshold value and less than the second threshold value, the rotation amount of the following link unit by the following control is increased from 0 to a predetermined rotation amount as the rotation speed of the second link unit increases; The operating device according to claim 2 , wherein when the absolute value of the moving speed is equal to or greater than the second threshold value, the rotation amount of the following link section due to the following control is set to the predetermined rotation amount.

4. The control device performing the tracking control based on a deviation between a reference rotation position and a current rotation position of the second link unit and a rotation speed of the second link unit; The operating device according to claim 1 , wherein, when the moving speed is less than the predetermined threshold, the rotation amount of the following link unit based on the deviation is reduced while the rotation amount of the following link unit based on the rotation speed is maintained.

5. the control device executes the tracking control based on a value obtained by multiplying a speed command based on a deviation between a reference rotation position of the second link unit and a current rotation position by a predetermined coefficient; The operation device according to claim 1 , wherein the predetermined coefficient is smaller when the absolute value of the moving speed is less than the predetermined threshold value than when the absolute value of the moving speed is equal to or greater than the predetermined threshold value.

6. a surgical device including a robotic arm having a surgical instrument attached to its tip; an operating device including an operating unit that accepts operations on the surgical instrument; a control device; the operating unit includes an arm unit and a wrist unit, The list section a follower link portion having a base end connected to a tip end of the arm portion and rotating around a follower rotation axis; a first link portion having a base end connected to a tip end of the follower link portion and rotating about a first rotation axis; a second link portion having a base end connected to a tip end of the first link portion and configured to rotate about a second axis of rotation perpendicular to the first axis of rotation; a grip portion having a grip member to be held by the fingers of an operator, a base end portion of which is connected to a tip end portion of the second link portion, and which rotates around a third rotation axis perpendicular to the second rotation axis and the first rotation axis; a drive unit that rotates the follower link unit around the follower rotation axis, the control device executes a follow-up control to rotate the follow-up link unit around the follow-up rotation axis by the drive unit based on the rotation position of the second link unit so that an angle formed between the second link unit and the first link unit is maintained at a predetermined angle; A surgical support system, wherein the amount of rotation around the following rotation axis of the following link section due to the following control is smaller when the absolute value of the movement speed of the wrist section due to the operation of the operator is less than a predetermined threshold value than when the absolute value is greater than or equal to the predetermined threshold value.

7. The surgery assistance system according to claim 6 , wherein the control device sets the amount of rotation of the follow-up link section by the follow-up control to zero when the absolute value of the moving speed is less than the predetermined threshold value.

8. a control unit configured to receive operations on a surgical instrument attached to a tip of a robot arm; and a control device, wherein the control unit includes an arm and a wrist, and the wrist has a following link section having a base end connected to the tip of the arm section and rotating about a following rotation axis, a first link section having a base end connected to the tip of the following link section and rotating about a first rotation axis, a second link section having a base end connected to the tip of the first link section and rotating about a second rotation axis perpendicular to the first rotation axis, a grip section having a grip member held by a finger of an operator and a base end connected to the tip of the second link section and rotating about a third rotation axis perpendicular to the second rotation axis and the first rotation axis, and a drive section configured to rotate the following link section about the following rotation axis, Obtaining a rotational position of the second link portion; and executing a follow-up control to rotate the follow-up link unit around the follow-up rotation axis by the drive unit based on the rotation position of the second link unit so that an angle formed between the second link unit and the first link unit is maintained at a predetermined angle, a control method for an operating device, wherein the amount of rotation of the following link section around the following rotation axis due to the following control is smaller when the absolute value of the movement speed of the wrist section due to the operation on the surgical instrument is less than a predetermined threshold value than when the absolute value of the movement speed is equal to or greater than the predetermined threshold value.

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