Surgery support system and method for controlling the surgery support system

Abstract

To provide a surgery support system capable of resetting an error quickly even when the error of difference abnormality occurs while a robot arm is being operated.SOLUTION: A surgery support system 100 includes a controller 130 which generates a command value directing positions of servomotors M1, M2 and M3 on the basis of operation received by a remote operation device 2 and drives the servomotors M1, M2 and M3 on the basis of the command value. The controller 130 detects an error of difference abnormality when difference between the command value and positions of the servomotors M1, M2 and M3 detected by respective encoders E1, E2 and E3 is beyond a tolerance range. An enable switch 81 is disposed on a robot arm 60 to reset the error of difference abnormality when the error of difference abnormality occurs.SELECTED DRAWING: Figure 6

Description

[Technical Field]

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

[0002] A conventional surgical assistance system is disclosed in Patent Document 1. The surgical assistance system of Patent Document 1 includes a master control device and a slave robot manipulator. The master control device includes a display unit and an operation unit. A surgical instrument is attached to the slave robot manipulator. An image of the surgical site photographed by an endoscope is displayed on the display unit of the master control device. The operator operates the operation unit of the master control device while visually checking the image of the surgical site displayed on the display unit, thereby moving the surgical instrument attached to the slave robot manipulator. The master control device is also provided with a touch screen. A method for resolving errors in the surgical assistance system is displayed on the touch screen. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2016 / 201325 Summary of the Invention [Problem to be solved by the invention]

[0004] Conventionally, a reset button for clearing an error in a surgical support system is located near a master control device operated by an operator. The operator clears the error by pressing the reset button located on the master control device. The operator may also perform operations on the manipulator arm, such as adjusting the posture of the manipulator arm of a slave robot manipulator, near the manipulator arm. The operator operates the master control device to control a surgical instrument attached to the manipulator arm. However, a deviation error may occur, in which the difference between the command value for the manipulator arm's drive unit and the current position of the manipulator arm exceeds the allowable range, due to, for example, the manipulator arm colliding with another object. In this case, the operator must move from the master control device to the vicinity of the manipulator arm, adjust the posture of the manipulator arm, and then press the reset button. This poses a problem in that the operator cannot quickly press the reset button even when a deviation error occurs.

[0005] The present disclosure has been made to solve the above-mentioned problems, and aims to provide a surgical support system and a control method for a surgical support system that can quickly reset errors even if an abnormal deviation error occurs while operating a robot arm. [Means for solving the problem]

[0006] A surgery assistance system according to a first aspect of the present disclosure includes a robot arm having a surgical instrument attached to a tip thereof and including a drive unit and a sensor for detecting the position of the drive unit; an operation device that receives operations for the surgical instrument; and a control device that generates a command value that commands the position of the drive unit based on the operation received by the operation device and drives the drive unit based on the command value, wherein the control device detects a deviation abnormality error when a difference between the command value and the position of the drive unit detected by the sensor exceeds an allowable range, and resets the deviation abnormality error when the deviation abnormality error occurs. Includes switches A reset unit is disposed on the robot arm.

[0007] In the surgery assistance system according to the first aspect of the present disclosure, as described above, a reset unit that resets a deviation abnormality error when a deviation abnormality error occurs is disposed on the robot arm. Thus, because the reset unit is disposed on the robot arm, even if a deviation abnormality error occurs while operating the robot arm, the operator operating the robot arm can quickly operate the reset unit. As a result, even if a deviation abnormality error occurs while operating the robot arm, the error can be quickly reset.

[0008] A control method for a surgery assistance system according to a second aspect of the present disclosure is a control method for a surgery assistance system including a robot arm having a surgical instrument attached to a tip thereof and including a drive unit and a sensor for detecting the position of the drive unit, an operation device for receiving an operation for the surgical instrument, and a control device for generating a command value for commanding the position of the drive unit based on the operation received by the operation device and driving the drive unit based on the command value, wherein the control device detects a deviation abnormality error when a difference between the command value and the position of the drive unit detected by the sensor exceeds an allowable range, and when the deviation abnormality error occurs, the control device detects a deviation abnormality error by detecting ... , including switches Reset Section but, and receiving a reset of the deviation abnormality error.

[0009] A control method for a surgery assistance system according to a second aspect of the present disclosure includes, as described above, receiving a reset of the deviation abnormality error from a reset unit disposed in the robot arm when a deviation abnormality error occurs. Because the reset unit is disposed in the robot arm, even if a deviation abnormality error occurs while operating the robot arm, the operator operating the robot arm can quickly operate the reset unit. As a result, a control method for a surgery assistance system can be provided that is capable of quickly resetting the error even if a deviation abnormality error occurs while operating the robot arm.

[0010] A surgery assistance system according to a third aspect of the present disclosure includes a robot arm having a surgical instrument attached to its tip and including a drive unit and a sensor for detecting the position of the drive unit; an arm operation unit attached to the robot arm and operating the robot arm; and a control device that generates a command value for commanding the position of the drive unit based on an operation received by the arm operation unit and drives the drive unit based on the command value, wherein the control device detects a deviation abnormality error when a difference between the command value and the position of the drive unit detected by the sensor exceeds an allowable range, and resets the deviation abnormality error when the deviation abnormality error occurs. Includes switches A reset unit is disposed on the robot arm.

[0011] In the surgery assistance system according to the third aspect of the present disclosure, as described above, a reset unit that resets a deviation abnormality error when a deviation abnormality error occurs is disposed on the robot arm. Because the reset unit is disposed on the robot arm, even if a deviation abnormality error occurs while operating the robot arm, the operator operating the robot arm can quickly operate the reset unit. As a result, a surgery assistance system that can quickly reset an error even if a deviation abnormality error occurs while operating the robot arm can be provided. [Effects of the Invention]

[0012] According to the present disclosure, even if an error due to an abnormal deviation occurs while operating a robot arm, the error can be quickly reset. [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 illustrates a foot pedal configuration according to one embodiment. [Figure 10] FIG. 1 is a control block diagram of a surgical assistance robot according to one embodiment. [Figure 11] FIG. 2 is a control block diagram of a robot arm according to one embodiment. [Figure 12] FIG. 2 is a control block diagram of a medical cart and a positioner according to one embodiment. [Figure 13] FIG. 10 is a diagram showing a message displayed when a deviation abnormality error is detected. [Figure 14] FIG. 10 is a diagram showing a message prompting a method for recovery from a deviation abnormality error. [Figure 15] FIG. 10 is a diagram showing an error code displayed when a predetermined error other than a deviation abnormality occurs. [Figure 16] FIG. 10 is a diagram showing a message that is displayed when any of the following enabling conditions is not met. [Figure 17] FIG. 10 is a diagram showing a state in which the joystick remains tilted. [Figure 18] FIG. 10 is a diagram showing a message that is displayed when an error is detected while the joystick is tilted. [Figure 19] FIG. 10 is a flow chart for explaining a control method of a surgery assistance system according to one embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0014] (Configuration of surgical support system) The configuration of a surgery support system 100 according to this embodiment will be described. The surgery support system 100 includes a surgery support robot 1, a remote control device 2, and an image processing unit 8. The remote control device 2 is an example of an operation device.

[0015] In this specification, the longitudinal direction of the surgical instrument 4 is referred to as the Z direction. The tip side of the surgical instrument 4 is referred to as the Z1 side, and the base side of the surgical instrument 4 is referred to as the Z2 side. The direction perpendicular to the Z direction is referred to as the X direction. One side of the X direction is referred to as the X1 side, and the other side is referred to as the X2 side. The direction perpendicular to the Z direction and the X direction is referred to as the Y direction. One side of the Y direction is referred to as the Y1 side, and the other side is referred to as the Y2 side.

[0016] Furthermore, in this specification, the left-right direction as seen by an operator operating the display unit 33a of the input device 33 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-to-back direction as seen by an operator operating the display unit 33a of the input device 33 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 1 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] As shown in FIG. 1, a surgical support robot 1 is placed in an operating room. A remote control device 2 is placed at a location separated from the surgical support robot 1. The remote control device 2 receives operations on a surgical instrument 4. Specifically, an operator such as a doctor inputs commands to the remote control device 2 to cause the surgical support robot 1 to perform a desired operation. The remote control device 2 transmits the input commands to the surgical support robot 1. The surgical support robot 1 operates based on the received commands. The surgical support robot 1 is placed in an operating room, which is a sterilized sterile field.

[0018] (Configuration of surgical support robot) 1, the surgery support robot 1 includes a medical cart 3, a positioner 40, an arm base 50, a plurality of robot arms 60, and an arm operation unit 80. The medical cart 3 is an example of a cart.

[0019] As shown in FIG. 3, a cart positioner operating unit 35 is supported by a cart positioner operating support unit 36 ​​at the rear of the medical cart 3, and the medical cart 3 or the positioner 40 is moved by operating the cart positioner operating unit 35. The cart positioner operating unit 35 includes an input device 33 and an operating handle 34. The input device 33 receives operations to move and change the posture of the positioner 40, arm base 50, and multiple robot arms 60, mainly to prepare for surgery before the procedure. The medical cart 3 includes the operating handle 34, and a stabilizer 34c and electric cylinder 34d shown in FIG. 10.

[0020] 2, the input device 33 of the medical cart 3 includes a display unit 33a, a joystick 33b, an enable switch 33c, an error reset button 33d, and a speaker 33e. The display unit 33a is, for example, a liquid crystal panel. Numbers corresponding to the multiple robot arms 60 are displayed on the display unit 33a. The display unit 33a also displays the type of surgical instrument 4 attached to each of the multiple robot arms 60. A check mark CM indicating that a pivot position PP, which will be described later, has been taught is displayed on the display unit 33a.

[0021] 3, the joystick 33b is disposed near the input device 33 of the medical cart 3. By selecting an operation mode displayed on the input device 33 and operating the joystick 33b, the positioner 40 is moved three-dimensionally.

[0022] The enable switch 33c is disposed near the joystick 33b of the medical cart 3. The enable switch 33c permits or prohibits movement of the positioner 40. When the enable switch 33c is pressed down to permit movement of the positioner 40, the positioner 40 is moved by operating the joystick 33b.

[0023] The error reset button 33d resets an error in the surgery assistance system 100. The error may be, for example, a deviation abnormality error, which will be described later. A pair of speakers 33e are provided. The pair of speakers 33e are located near the location of the positioner 40 on the medical cart 3.

[0024] The operating handle 34 is disposed near the display unit 33a of the medical cart 3. The operating handle 34 has a throttle 34a that is gripped and rotated by an operator such as a nurse or technician to control the movement of the medical cart 3. Specifically, the operating handle 34 is disposed below the input device 33. The medical cart 3 moves forward when the throttle 34a is rotated from the front side to the back side. The medical cart 3 moves backward when the throttle 34a is rotated from the back side to the front side. The speed of the medical cart 3 changes depending on the amount of rotation of the throttle 34a. The operating handle 34 is configured to be rotatable left and right, indicated by the R direction, and the medical cart 3 rotates as the operating handle 34 is rotated.

[0025] An enable switch 34b that permits or prohibits movement of the medical cart 3 is disposed on the operating handle 34 of the medical cart 3. When the enable switch 34b is pressed down to permit movement of the medical cart 3, the medical cart 3 is moved by operating the throttle 34a of the operating handle 34.

[0026] 1, the positioner 40 is, for example, a seven-axis articulated robot. The positioner 40 is placed on a medical cart 3. The positioner 40 adjusts the position of the arm base 50. The positioner 40 moves the position of the arm base 50 in three dimensions.

[0027] The positioner 40 includes a base portion 41 and a plurality of link portions 42 connected to the base portion 41. The plurality of link portions 42 are connected to each other by joints 43.

[0028] The arm base 50 is attached to the tip of the positioner 40. The base ends of the multiple robot arms 60 are attached to the arm base 50. The multiple robot arms 60 can be folded into a stored position. The arm base 50 and the multiple robot arms 60 are covered with a sterile drape when in use. The robot arms 60 also support a surgical instrument 4.

[0029] 10, a status indicator 53 and an arm status indicator 54 are arranged on the arm base 50. The status indicator 53 displays the status of the surgery assistance system 100. The arm status indicator 54 displays the status of the robot arm 60.

[0030] There are provided a plurality of robot arms 60. Specifically, there are four robot arms 60a, 60b, 60c, and 60d. The robot arms 60a, 60b, 60c, and 60d have the same configuration as each other.

[0031] As shown in FIG. 4, the robot arm 60 includes an arm unit 61, a first link unit 72, a second link unit 73, and a translational movement mechanism unit 70. The robot arm 60 has JT1, JT2, JT3, JT4, JT5, JT6, and JT7 axes as rotational axes and a JT8 axis as a linear movement axis. The JT1 to JT7 axes are rotational axes of the joint 64 of the arm unit 61. The JT7 axis is also the rotational axis of the first link unit 72. The JT8 axis is a linear movement axis along which the translational movement mechanism unit 70 moves the second link unit 73 relative to the first link unit 72 in the Z direction. The arm unit 61 includes a base unit 62, a link unit 63, and the joint 64.

[0032] The arm 61 is a seven-axis articulated robot arm. The first link 72 is located at the tip of the arm 61. The arm operating unit 80, which will be described later, is attached to the second link 73. The translational movement mechanism 70 is located between the first link 72 and the second link 73. A holder 71 for holding a surgical instrument 4 is located on the second link 73. The translational movement mechanism 70 translates the holder 71, to which the surgical instrument 4 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 71 by the translational movement mechanism 70 along the JT8 axis. The second position is the end position on the Z1 side of the range of movement of the holder 71 by the translational movement mechanism 70 along the JT8 axis. The holder 71 is an example of a surgical instrument attachment.

[0033] A surgical instrument 4 is attached to the tip of each of the multiple robot arms 60. The surgical instrument 4 includes, for example, replaceable instruments, an endoscope 6 for capturing images of the surgical site, and a pivot position teaching instrument for teaching a pivot position PP (described later). The surgical instrument 4 as an instrument includes a driven unit 4a, forceps 4b, and a shaft 4c.

[0034] 1, an endoscope 6 is attached to the tip of one of the multiple robot arms 60, for example, robot arm 60c, and surgical instruments 4 other than the endoscope 6 are attached to the tips of the remaining robot arms, for example, robot arms 60a, 60b, and 60d. The endoscope 6 is attached to one of the two robot arms 60b and 60c that are arranged in the middle of the four robot arms 60 arranged adjacent to each other.

[0035] (Instrument configuration) As shown in Fig. 5, the tip of the instrument is provided with, for example, forceps 4b. In addition to the forceps 4b, other jointed instruments such as scissors, graspers, needle holders, microdissectors, stable appliers, tackers, suction and irrigation tools, snare wires, and clip appliers are arranged at the tip of the instrument. Other non-jointed instruments such as cutting blades, cauterizing probes, irrigators, catheters, and suction orifices are arranged at the tip of the instrument.

[0036] The forceps 4b includes a first support 4e and a second support 4f. The first support 4e supports the base ends of the jaw members 104a and 104b rotatably about the JT11 axis. The second support 4f supports the base end of the first support 4e rotatably about the JT10 axis. The shaft 4c rotates about the JT9 axis. The jaw members 104a and 104b open and close about the JT12 axis.

[0037] (Arm operation unit configuration) 6, the arm operating unit 80 is attached to the robot arm 60 and operates the robot arm 60. Specifically, the arm operating unit 80 is attached to the second link unit 73.

[0038] The arm operation unit 80 includes an enable switch 81, a joystick 82, a linear switch 83, a mode switching button 84, a mode indicator 84a, a pivot button 85, and an adjustment button 86. The enable switch 81 is an example of a reset unit. The joystick 82 is an example of an arm operation tool. The adjustment button 86 is an example of a second switch. The mode switching button 84 is an example of a third switch.

[0039] When the enable switch 81 is pressed, it allows or disallows movement of the robot arm 60 using the joystick 82 and linear switch 83. When the enable switch 81 is pressed while the arm operation unit 80 is being held by an operator such as a nurse or assistant, movement of the surgical instrument 4 by the robot arm 60 is permitted.

[0040] The joystick 82 is an operating tool for controlling the movement of the surgical instrument 4 by the robot arm 60. The joystick 82 controls the movement direction and movement speed of the robot arm 60. The robot arm 60 moves according to the direction and angle at which the joystick 82 is tilted.

[0041] The linear switch 83 is a switch for moving the surgical instrument 4 in the Z direction, which is the longitudinal direction of the surgical instrument 4. The linear switch 83 includes a linear switch 83a for moving the surgical instrument 4 in the direction of inserting it into the patient P, and a linear switch 83b for moving the surgical instrument 4 in the direction away from the patient P. Both the linear switch 83a and the linear switch 83b are push button switches.

[0042] The mode switching button 84 is a push button switch for switching between a translational movement mode of the surgical instrument 4 shown in FIG. 7 and a rotational movement mode shown in FIG. 8. As shown in FIG. 7, in the translational movement mode of the robot arm 60, the robot arm 60 is moved so that the tip 4d of the surgical instrument 4 moves on the XY plane. As shown in FIG. 8, in the rotational movement mode of the robot arm 60, when the pivot position PP is not stored in the memory unit 32, the robot arm 60 is moved so that the surgical instrument 4 rotates around the forceps 4b. When the pivot position PP is stored in the memory unit 32, the robot arm 60 is moved so that the surgical instrument 4 rotates around the pivot position PP. Note that the surgical instrument 4 is rotated with the shaft 4c of the surgical instrument 4 inserted into the trocar T. The mode switching button 84 is located on the Z-direction surface of the arm operation unit 80.

[0043] The mode indicator 84a displays the switched mode. When the mode indicator 84a is lit, it indicates the rotational movement mode, and when it is off, it indicates the translational movement mode. The mode indicator 84a also serves as a pivot position indicator that indicates that the pivot position PP has been taught. The mode indicator 84a is located on the surface of the arm operation unit 80 facing in the Z direction.

[0044] The pivot button 85 is a push button switch for instructing the pivot position PP that serves as a fulcrum for the movement of the surgical instrument 4 attached to the robot arm 60.

[0045] The adjustment button 86 is a button for optimizing the position of the robot arm 60. After teaching the pivot position PP for the robot arm 60 to which the endoscope 6 is attached, pressing the adjustment button 86 optimizes the positions of the other robot arms 60 and the arm base 50. The adjustment button 86 is a button different from the enable switch 81.

[0046] (remote control device) As shown in FIG. 1, the remote control device 2 is placed, for example, inside or outside an operating room. The remote control device 2 includes an operation unit 120 including an arm 121 and an operation handle 21, a foot pedal 22, a touch panel 23, a monitor 24, a support arm 25, a support bar 26, and an error reset button 26a. The operation unit 120 constitutes an operation handle for an operator such as a doctor to input commands. The monitor 24 is an example of a display device and a first display device. The error reset button 26a is an example of a reset unit.

[0047] The operating unit 120 is a handle for operating the surgical instrument 4. The operating unit 120 also receives an operating amount for the surgical instrument 4. The operating unit 120 includes an operating unit 120 located on the left side as viewed from an operator such as a doctor and operated by the operator's left hand, and an operating unit 120 located on the right side and operated by the operator's right hand. The operating unit 120 operated by the operator's left hand and the operating unit 120 operated by the operator's right hand each include an operating handle 21L and an operating handle 21R.

[0048] The monitor 24 is a scope-type display device for displaying an image captured by the endoscope 6. The monitor 24 also has an alarm unit 24a. The alarm unit 24a issues an error sound. The support arm 25 supports the monitor 24 so that its height is at the same height as the face of an operator such as a doctor. The touch panel 23 is mounted on a support bar 26. A sensor provided near the monitor 24 detects the operator's head, allowing the surgical support robot 1 to be operated by the remote control device 2. The operator operates the operation unit 120 and foot pedal 22 while visually checking the affected area on the monitor 24. This inputs commands to the remote control device 2. The commands input to the remote control device 2 are transmitted to the surgical support robot 1.

[0049] The error reset button 26a is disposed on the support bar 26. The error reset button 26a resets an error in the surgery assistance system 100. The error is, for example, a deviation abnormality error, which will be described later.

[0050] As shown in FIG. 9 , a plurality of foot pedals 22 are provided to perform functions related to the surgical instrument 4. The plurality of foot pedals 22 are arranged on the base 28. The foot pedals 22 include a switching pedal 22a, a clutch pedal 22b, a camera pedal 22c, an incision pedal 22d, and a coagulation pedal 22e. The switching pedal 22a, the clutch pedal 22b, the camera pedal 22c, the incision pedal 22d, and the coagulation pedal 22e are operated by the operator's feet. The incision pedal 22d includes a incision pedal 22dR for the right robot arm 60 and a incision pedal 22dL for the left robot arm 60. The coagulation pedal 22e includes a coagulation pedal 22eR for the right robot arm 60 and a coagulation pedal 22eL for the left robot arm 60.

[0051] The switching pedal 22a switches the robot arm 60 operated by the operating handle 21. The clutch pedal 22b performs a clutch operation that temporarily disconnects the operational connection between the robot arm 60 and the operating handle 21. While the clutch pedal 22b is depressed by the operator, the operation by the operating handle 21 is not transmitted to the robot arm 60. Furthermore, while the operator is depressing the camera pedal 22c, the operating handle 21 can be used to operate the robot arm 60 to which the endoscope 6 is attached. While the operator is depressing the incision pedal 22d or the coagulation pedal 22e, the electrosurgical device is activated.

[0052] The foot detection unit 27 detects the feet of the operator operating the foot pedal 22. The foot detection unit 27 detects the feet in a hover state located above the foot pedal 22. The foot detection unit 27 is disposed on the base unit 28.

[0053] As shown in FIG. 1, the image processing unit 8 processes images captured by the endoscope 6. The image processing unit 8 is placed on a cart 8a. A display unit 8b is arranged on the cart 8a. The images captured by the endoscope 6 are displayed on the display unit 8b. In this embodiment, the image processing unit 8 is arranged with an error reset button 8c and an alarm unit 8d. The error reset button 8c clears an error in the surgery support system 100. The error is, for example, a deviation abnormality error, which will be described later. The alarm unit 8d issues an error sound. The display unit 8b is an example of a display device and a second display device. The error reset button 8c is an example of a reset unit.

[0054] (Control system configuration) As shown in FIG. 10, the surgery assistance system 100 includes a control device 130, an arm control unit 31a, a positioner control unit 31b, and an operation control unit 110.

[0055] The control device 130 is disposed inside the medical cart 3 so as to communicate with the arm control unit 31a and the positioner control unit 31b, and controls the entire surgery support system 100. Specifically, the control device 130 communicates with and controls each of the arm control unit 31a, the positioner control unit 31b, and the operation control unit 110. The control device 130, the arm control unit 31a, the positioner control unit 31b, and the operation control unit 110 are connected via a LAN or the like. The control device 130 is disposed inside the medical cart 3.

[0056] An arm control unit 31a is provided for each of the plurality of robot arms 60. That is, inside the medical cart 3, a plurality of arm control units 31a corresponding to the number of the plurality of robot arms 60 are provided.

[0057] As shown in Fig. 10, the input device 33 is connected to the control device 130 via a LAN or the like. The status indicator 53, the arm status indicator 54, the operating handle 34, the throttle 34a, the joystick 33b, the stabilizer 34c, and the electric cylinder 34d are serially connected to the positioner control unit 31b via a communication network that allows them to share information with each other via a wiring 145. Note that Fig. 10 shows the status indicator 53, the arm status indicator 54, and the like as if they were all connected to one wiring 145, but in reality, a wiring 145 is provided for each of the status indicator 53, the arm status indicator 54, the operating handle 34, the throttle 34a, the joystick 33b, the stabilizer 34c, and the electric cylinder 34d.

[0058] As shown in FIG. 11, the arm unit 61 is provided with a plurality of servo motors M1, an encoder E1, and a reducer to correspond to a plurality of joints 64. The encoder E1 detects the rotation angle of the servo motor M1. The reducer reduces the rotation of the servo motor M1 to increase the torque. Inside the medical cart 3, a servo control unit C1 for controlling the servo motor M1 is disposed adjacent to the arm control unit 31a. The servo control unit C1 is electrically connected to an encoder E1 for detecting the rotation angle of the servo motor M1. The servo motor M1 is an example of a drive unit. The encoder E1 is an example of a sensor.

[0059] As shown in FIGS. 11 and 12 , a brake BRK is mounted on each of the joints 64 of the arm unit 61 and the joints 43 of the positioner 40. Brakes BRK are also mounted on the front wheels of the medical cart 3, the arm base 50, and the translational movement mechanism 70. A control signal is transmitted unidirectionally from the arm control unit 31a to each of the brakes BRK mounted on the joints 64 of the arm unit 61 and the translational movement mechanism 70. The control signal is a signal that turns the brake BRK on and off. The signal that turns the brake BRK on includes a signal that keeps the brake BRK engaged. The same applies to the control signal transmitted from the positioner control unit 31b to each of the brakes BRK mounted on the joints 43 of the positioner 40 and the arm base 50. When the arm base 50, arm unit 61, and translational movement mechanism 70 are started, all of the brakes BRK are released, and the servo motors SM are driven against gravity, thereby maintaining the posture of the robot arm 60 and the posture of the arm base 50. When an error occurs in the surgery support system 100, the brakes BRK mounted on the arm base 50, the arm unit 61, and the translational movement mechanism 70 are turned on. When the error in the surgery support system 100 is resolved, the brakes BRK mounted on the arm base 50, the arm unit 61, and the translational movement mechanism 70 are turned off. By performing a shutdown operation on the surgery support system 100, the brakes BRK mounted on the arm base 50, the arm unit 61, and the translational movement mechanism 70 are turned on. In addition, the brakes BRK of the front wheels of the medical cart 3 are always on, and are released only while the enable switch 34b of the medical cart 3 is pressed. In addition, the brakes BRK of each joint 43 of the positioner 40 are always on, and are released only while the enable switch 33c of the medical cart 3 is pressed.

[0060] The second link section 73 is provided with a servo motor M2 for rotating a driven member disposed in the driven unit 4a of the surgical instrument 4, an encoder E2, and a reducer. The encoder E2 detects the rotation angle of the servo motor M2. The reducer reduces the rotation of the servo motor M2 to increase the torque. The medical cart 3 is also provided with a servo control section C2 for controlling the servo motor M2 that drives the surgical instrument 4. The servo control section C2 is electrically connected to an encoder E2 for detecting the rotation angle of the servo motor M2. Note that multiple servo motors M2, encoders E2, and servo control sections C2 are provided. The servo motor M2 is an example of a drive section. The encoder E2 is an example of a sensor.

[0061] The translational movement mechanism 70 is provided with a servo motor M3 for translating the surgical instrument 4, an encoder E3, and a reducer. The encoder E3 detects the rotation angle of the servo motor M3. The reducer reduces the rotation of the servo motor M3 to increase the torque. The medical cart 3 is also provided with a servo control unit C3 for controlling the servo motor M3 that translates the surgical instrument 4. The servo control unit C3 is electrically connected to an encoder E3 for detecting the rotation angle of the servo motor M3. The servo motor M3 is an example of a drive unit. The encoder E3 is an example of a sensor.

[0062] In this embodiment, the control device 130 generates command values ​​for commanding the positions of the servo motors M1, M2, and M3 based on the operation received by the remote control device 2, and drives the servo motors M1, M2, and M3 based on the command values. The control device 130 then detects a deviation abnormality error when the difference between the command values ​​and the positions of the servo motors M1, M2, and M3 detected by the sensors exceeds an allowable range. The deviation abnormality will be described in detail later.

[0063] 12, the positioner 40 is provided with a plurality of servo motors M4, an encoder E4, and a reducer so as to correspond to a plurality of joints 43 of the positioner 40. The encoder E4 is configured to detect the rotation angle of the servo motor M4. The reducer is configured to decelerate the rotation of the servo motor M4 to increase the torque.

[0064] The medical cart 3 is equipped with wheels, including front wheels as drive wheels and rear wheels steered by an operating handle 34. The rear wheels are located closer to the operating handle 34 than the front wheels. The medical cart 3 is also equipped with a servo motor M5 that drives each of the front wheels of the medical cart 3, an encoder E5, a reducer, and a brake. The reducer is configured to reduce the rotation of the servo motor M5 and increase the torque. A potentiometer P1 shown in FIG. 3 is also provided on the operating handle 34 of the medical cart 3, and the servo motor M5 of the front wheels is driven based on the rotation angle detected by the potentiometer P1 in response to the twist of the throttle 34a. The rear wheels of the medical cart 3 are dual wheels, and are steered based on the left and right rotation of the operating handle 34. 3 is disposed on the rotation shaft of the operating handle 34 of the medical cart 3, and a servomotor M5a, an encoder E5a, and a reducer are disposed on the rear wheels of the medical cart 3. The reducer is configured to reduce the rotation speed of the servomotor M5a to increase the torque. The servomotor M5a is driven based on the rotation angle detected by the potentiometer P2 in response to the left and right rotation of the operating handle 34. In other words, steering of the rear wheels caused by the left and right rotation of the operating handle 34 is configured to be power-assisted by the servomotor M5a.

[0065] The front wheels of the medical cart 3 are driven to move forward and backward, and the rear wheels are steered by turning the operating handle 34 of the medical cart 3, causing the medical cart 3 to turn left and right.

[0066] As shown in FIG. 12, the medical cart 3 is provided with a servo control unit C4 for controlling the servo motor M4 that moves the positioner 40. An encoder E4 for detecting the rotation angle of the servo motor M4 is electrically connected to the servo control unit C4. The medical cart 3 is also provided with a servo control unit C5 for controlling the servo motor M5 that drives the front wheels of the medical cart 3. An encoder E5 for detecting the rotation angle of the servo motor M5 is electrically connected to the servo control unit C5. The medical cart 3 is also provided with a servo control unit C5a for controlling the servo motor M5a that power-assists the steering of the rear wheels of the medical cart 3. An encoder E5a for detecting the rotation angle of the servo motor M5a is electrically connected to the servo control unit C5a.

[0067] As shown in FIG. 10 , the control device 130 controls the robot arm 60 based on an operation received by the arm operation unit 80. For example, the control device 130 controls the robot arm 60 based on an operation received by a joystick 82 of the arm operation unit 80. Specifically, the arm control unit 31a outputs an input signal input from the joystick 82 to the control device 130. The control device 130 generates a position command based on the received input signal and a rotation angle detected by the encoder E1, and outputs the position command to the servo control unit C1 via the arm control unit 31a. The servo control unit C1 generates a current command based on the position command input from the arm control unit 31a and the rotation angle detected by the encoder E1, and outputs the current command to the servo motor M1. As a result, the robot arm 60 moves in accordance with the operation command input to the joystick 82.

[0068] The control device 130 controls the robot arm 60 based on an input signal from the linear switch 83 of the arm operation unit 80. Specifically, the arm control unit 31a outputs the input signal input from the linear switch 83 to the control device 130. The control device 130 generates a position command based on the received input signal and the rotation angle detected by the encoder E1 or E3, and outputs the position command to the servo control unit C1 or C3 via the arm control unit 31a. The servo control unit C1 or C3 generates a current command based on the position command input from the arm control unit 31a and the rotation angle detected by the encoder E1 or E3, and outputs the current command to the servo motor M1 or M3. As a result, the robot arm 60 moves in accordance with the operation command input to the linear switch 83.

[0069] The positioner control unit 31b is disposed in the medical cart 3. The positioner control unit 31b controls the positioner 40 and the medical cart 3. The positioner 40 is provided with servo motors SM, encoders EN, and speed reducers corresponding to the multiple joints 43 of the positioner 40. The servo control unit SC that controls the servo motors SM of the positioner 40 is disposed in the medical cart 3. The medical cart 3 is provided with servo motors SM that drive the multiple front wheels of the medical cart 3, encoders EN, speed reducers, servo control unit SC, and brakes.

[0070] The operation control unit 110 is disposed in the main body of the remote operation device 2. The operation control unit 110 controls the operation unit 120. The operation control unit 110 is disposed to correspond to each of the operation unit 120 for the left hand and the operation unit 120 for the right hand. A servo motor SM, an encoder EN, and a reducer are disposed in the operation unit 120 to correspond to the multiple joints of the operation unit 120. A servo control unit SC that controls the servo motor SM of the operation unit 120 is disposed in the main body of the remote operation device 2 adjacent to the operation control unit 110.

[0071] 10, the image processing unit 8 is connected to the control device 130 via a LAN or the like. The display unit 8b is also connected to the image processing unit 8.

[0072] (abnormal deviation) Here, a deviation abnormality will be described. A deviation abnormality refers to an abnormality in which the difference between the command value for the servo motor SM of the robot arm 60 and the current position of the robot arm 60 exceeds an allowable range. A deviation abnormality occurs when the robot arm 60 comes into contact with the patient P, the operating table 5, or a support stand on the operating table 5. A deviation abnormality also occurs when the robot arm 60 comes into contact with the operator. A deviation abnormality also occurs when the robot arm 60 gets caught on the cable of the endoscope 6. A deviation abnormality also occurs when the endoscope 6 comes into contact with the trocar T inserted into the patient P. A deviation abnormality also occurs when the surgical instrument 4 is pushed too hard into the robot arm 60 when attaching the surgical instrument 4 to the robot arm 60. When a deviation abnormality error occurs, the following operation, which will be described later, cannot be performed.

[0073] In this embodiment, as shown in Fig. 6, an enable switch 81 is provided on the robot arm 60. When a deviation abnormality error occurs, the enable switch 81 resets the deviation abnormality error. Resetting the error means canceling the error and making it possible to operate the robot arm 60 again using the operating handle 21.

[0074] In this embodiment, an enable switch 81 that resets a deviation abnormality error is disposed on an arm operation unit 80 that includes a joystick 82 that moves the robot arm 60. The enable switch 81 also serves as a reset unit that resets a deviation abnormality error.

[0075] (Error deviation reset procedure) The following describes the procedure for resetting an abnormal deviation error.

[0076] In this embodiment, when the control device 130 detects a deviation abnormality error, it accepts reset of the deviation abnormality error via the enable switch 81 of the arm operation unit 80, the error reset button 8c of the image processing unit 8, the error reset button 26a of the remote control device 2, and the error reset button 33d of the medical cart 3 for a predetermined period after the deviation abnormality error occurs. The predetermined period is, for example, 60 seconds. However, the predetermined period may be a period other than 60 seconds. The control device 130 has a timer that counts the predetermined period. When the deviation abnormality error is reset, the timer is reset.

[0077] In this embodiment, when the control device 130 detects a deviation abnormality error, it controls the notification unit 24a of the remote control device 2 and the notification unit 8d of the image processing unit 8 to notify the error of the deviation abnormality. Note that the error sound for the deviation abnormality error is different from the error sounds for other errors.

[0078] In this embodiment, when the control device 130 detects a deviation abnormality error, it accepts operation of the robot arm 60 by the arm operation unit 80. However, the control device 130 does not accept operation of the robot arm 60 by the operation handle 21. In other words, when the control device 130 detects a deviation abnormality error, it only accepts input from the arm operation unit 80. On the other hand, when the control device 130 detects another error, it does not accept operation of the robot arm 60 by the arm operation unit 80 or operation of the robot arm 60 by the operation handle 21.

[0079] In this embodiment, if the deviation abnormality error is not resolved even after a predetermined period of time has passed since the error was detected, the control device 130 continues to accept resetting of the deviation abnormality error. However, if the control device 130 detects a new deviation abnormality error, it switches the error sound indicating the deviation abnormality to the same error sound as for other errors, and does not accept resetting of the deviation abnormality error by the enable switch 81 of the arm operation unit 80.

[0080] In this embodiment, when the control device 130 detects a deviation abnormality error, it prompts the arm operating unit 80 to move the robot arm 60 or prompts the user to operate the error reset button 8c, the error reset button 26a, or the error reset button 33d. This prompts the user to do one of the following on the monitor 24 of the remote control device 2 and on a display unit other than the monitor 24 of the remote control device 2. The display unit other than the monitor 24 of the remote control device 2 is the display unit 8b disposed in the image processing unit 8. For example, as shown in FIG. 13 , a message is displayed stating, "Contact detected. Please operate the arm operating unit 80 in the direction of mitigation or perform an error reset." The operator moves the robot arm 60 to resolve the deviation abnormality error by pressing the enable switch 81 of the arm operating unit 80 and operating the joystick 82 or the linear switch 83. For example, if the robot arm 60 is interfering with the operating table 5, the robot arm 60 is moved to resolve the interference between the robot arm 60 and the operating table 5. When the following enabling conditions described below are satisfied, the control device 130 automatically resets the deviation abnormality error when the operator releases the enable switch 81. In addition, when the operator operates the error reset button 8c, the error reset button 26a, or the error reset button 33d, the control device 130 resets the deviation abnormality error when the following enabling conditions described below are satisfied.

[0081] If the deviation abnormality error is not resolved even after the joystick 82 or linear switch 83 is operated and the enable switch 81 is released, the control device 130 displays a message on the monitor 24 and the display unit 8b prompting the operator to move the robot arm 60 again. For example, as shown in FIG. 14 , a message is displayed stating, "Please align. If there is interference, please move using the arm operation unit." In this message, for example, a circle CC is displayed around the display of the adjustment button 86 of the arm operation unit 80 to highlight it. The operator presses the enable switch 81 and operates the adjustment button 86, joystick 82, or linear switch 83 to move the robot arm 60 so as to resolve the deviation abnormality error. Then, when the deviation abnormality error is resolved, the control device 130 stops announcing the deviation abnormality error.

[0082] In this embodiment, when a deviation abnormality error is reset using the enable switch 81, the error reset button 8c, the error reset button 26a, and the error reset button 33d, the control device 130 transitions to a following operation mode in which the robot arm 60 is moved based on a predetermined operation of the remote control device 2. During the following operation mode, the robot arm 60 moves in accordance with the movement of the operation handle 21, and the surgical instrument 4 performs operations including opening and closing the forceps 4b.

[0083] In this embodiment, when the following enabling conditions that allow transition to the following operation mode are satisfied, the control device 130 stops accepting requests to reset the deviation abnormality error via the enable switch 81, error reset button 8c, error reset button 26a, and error reset button 33d. Specifically, when all of the following three following enabling conditions are satisfied, the control device 130 stops accepting requests to reset the deviation abnormality error via the enable switch 81, error reset button 8c, error reset button 26a, and error reset button 33d when the enable switch 81 is released from being pressed.

[0084] The following enabling conditions include the following three conditions. The first condition is that the position of the robot arm 60 is a position that does not result in an error in the inverse kinematics calculation when the inverse kinematics calculation is performed on the current posture of the robot arm 60. This makes it possible to prevent the following operation from making it difficult to return the posture of the robot arm 60 to its original position from the starting position. Note that the inverse kinematics calculation is the inverse of the forward kinematics calculation described below, and means determining the joint angles of the robot arm 60 from the position and posture of the robot arm 60.

[0085] The second of the following possible conditions is that the joint angles of the robot arm 60 are within the operable range when the inverse kinematics calculation is performed on the current posture of the robot arm 60. This also makes it possible to prevent the posture of the robot arm 60 from becoming difficult to return from the starting position due to the following operation.

[0086] The third condition among the following possible conditions is that the surgical instrument 4 is not further away than a predetermined distance from a preset pivot position PP, which serves as a fulcrum for the movement of the surgical instrument 4 attached to the robot arm 60. The predetermined distance is set to a distance that can prevent the pivot position PP from becoming too displaced.

[0087] Furthermore, when a deviation abnormality error occurs, operating the enable switch 81 resets the deviation abnormality error as well as other predetermined errors. The predetermined errors include a brake release circuit abnormality, excessive speed deviation, stop monitoring abnormality, and a sudden change in command value. A brake release circuit abnormality means that the brake release circuit is malfunctioning. An excessive speed deviation means that the difference between the speed command value from the servo control unit SC and the detected speed is excessive. When the robot arm 60 is stopped, the robot arm 60 is constantly monitored for stoppage. A stop monitoring abnormality means that an abnormality is notified when the robot arm 60 moves while being monitored for stoppage. A sudden change in command value means that the command value from the servo control unit SC changes suddenly. Note that when a deviation abnormality is released, if the robot arm 60 interferes with the operating table 5, the robot arm 60 may move due to a reaction force, which can easily result in the four predetermined errors described above.

[0088] Specifically, if a predetermined error other than the deviation abnormality occurs while a deviation abnormality error is occurring, the control device 130 displays an error code corresponding to the predetermined error on the monitor 24 and the display unit 8b, as shown in FIG. 15. Meanwhile, the control device 130 continues to issue an error sound corresponding to the deviation abnormality error, but does not issue an error sound corresponding to a predetermined error other than the deviation abnormality. The above four predetermined errors are cleared when the enable switch 81 is pressed by the operator. Furthermore, if the predetermined error cannot be cleared even after the enable switch 81 is pressed for a certain period of time or more, the control device 130 issues an error sound. The error sound in this case is different from the error sound for a deviation abnormality error. The certain period of time is, for example, several tens of seconds.

[0089] In this embodiment, when the following enabling condition that allows transition to a following operation mode in which the robot arm 60 is moved by the operation of the remote control device 2 is not satisfied, the control device 130 only accepts the opening and closing operation of the forceps 4b by the remote control device 2 as long as the following necessary condition described below is satisfied. Here, if an error such as a deviation abnormality occurs while the forceps 4b is gripping an object, and the following operation cannot be performed, the forceps 4b will not be able to release its grip on the object. Therefore, even if the following enabling condition that allows the following operation is not satisfied, the control device 130 accepts the opening and closing operation of the forceps 4b by the operating handle 21 as long as the following necessary condition described below is satisfied. Note that the opening and closing operation of the forceps 4b by the operating handle 21 is accepted even when an error such as a deviation abnormality has not occurred.

[0090] The control device 130 has six following requirements for the following operation. The first following requirement is the period from when the transition of the robot arm 60 to the setup posture after roll-in is complete until when the robot arm 60 rolls out. Roll-in means that the surgical support robot 1 is moved so that the robot arm 60 is positioned above the patient P. The setup posture means that the robot arms 60 are spaced apart from one another to facilitate the attachment of an endoscope 6 or a pivot position teaching instrument for teaching the pivot position PP to each of the multiple robot arms 60. The roll-out posture means that the surgical support robot 1 is moved so that the robot arm 60 is moved away from above the patient P. The second following requirement is that the setting of the pivot position PP is completed. The third following requirement is that an instrument is properly attached to the robot arm 60. The fourth following requirement is that it is detected that the operator is looking into the monitor 24 of the remote control device 2. The fifth following necessary condition is that the clutch pedal 22b of the remote control device 2 is not depressed by the operator. The sixth following necessary condition is that a system error does not occur in the surgery assistance system 100. Even if the above three following possible conditions are not satisfied, the control device 130 only accepts the opening and closing operation of the forceps 4b using the operation handle 21 if the above six following necessary conditions are satisfied. In other words, movement of the tip position of the forceps 4b is not accepted. On the other hand, the control device 130 accepts the following operation if all of the above three following possible conditions are satisfied and all of the above six following necessary conditions are satisfied.

[0091] Furthermore, when the six following necessary conditions are met, the control device 130 displays, for example, as shown in FIG. 16, that it will not accept a following operation but will accept only the operation of opening and closing the forceps 4b using the operating handle 21, and also displays on the monitor 24 and the display unit 8b a message urging the user to operate the robot arm 60 using the arm operating unit 80.

[0092] (Response when joystick is tilted) In this embodiment, if an error is detected while the joystick 82 remains tilted, the control device 130 automatically moves the robot arm 60 in the direction of the tilt of the joystick 82 by operating the adjustment button 86. Here, as shown in FIG. 17 , the robot arm 60 may interfere with the operating table 5 or the like, causing the joystick 82 of the arm operating unit 80 to interfere with the operating table 5 while in a tilted state. In this case, the control device 130 displays a message on the monitor 24 and the display unit 8b, as shown in FIG. 18 , suggesting that the operator return the joystick and press the enable switch, or press button A if the joystick cannot be returned. The button A refers to the adjustment button 86. When the operator presses the adjustment button 86, the robot arm 60 is moved in the direction of the tilt of the joystick 82. This eliminates interference between the joystick 82 and the operating table 5 or the like. Furthermore, the speed at which the robot arm 60 moves when the adjustment button 86 is operated is slower than the speed at which the robot arm 60 moves when the joystick 82 or the like is operated.

[0093] In this embodiment, when the tilt of the joystick 82 is released, the control device 130 automatically stops the movement of the robot arm 60. In other words, the movement of the robot arm 60 is automatically stopped even if the operator does not release the depression of the adjustment button 86.

[0094] (Support during guide tool change) In this embodiment, when the surgical instrument 4 is removed from the holder 71, the control device 130 controls the translational movement mechanism 70 to move the holder 71 to the first position. The operation of moving the holder 71 to the first position is called a guide tool change. When an error that inhibits the movement of the holder 71 occurs while the holder 71 is moving to the first position, the control device 130 stops the movement of the holder 71 to the first position and accepts operation of the robot arm 60 by the arm operation unit 80 when the mode switching button 84 is operated. Specifically, when an error that inhibits the movement of the robot arm 60 occurs while the robot arm 60 is moving to the first position, the control device 130 cancels the guide tool change mode by the operator pressing the mode switching button 84 of the arm operation unit 80. This stops the movement of the surgical instrument 4 in the Z2 direction by the translational movement mechanism 70. Then, the operator operates the joystick 82 while pressing the enable switch 81 of the arm operation unit 80 to eliminate interference between the robot arm 60 and the object obstructing the movement of the robot arm 60. After that, the operator releases the depression of the enable switch 81 of the arm operation unit 80, which causes the control device 130 to move the surgical instrument 4 to the first position using the translational movement mechanism 70. Note that operations during the above-described guide tool change are accepted even when a deviation abnormality error is not occurring.

[0095] (Method for controlling a surgical assistance system) 19, in step S1, the control device 130 detects a deviation abnormality error if the difference between the command values ​​for commanding the positions of the servo motors M1, M2, and M3 based on the operation received by the remote control device 2 and the positions of the servo motors M1, M2, and M3 detected by the encoders E1, E2, and E3, respectively, exceeds the allowable range. Specifically, it is determined whether the difference between the command values ​​and the positions exceeds the allowable range.

[0096] If the answer is yes in step S1, an error of an abnormal deviation is notified in step S2. In addition, at least one of prompting the arm operation unit 80 to move the robot arm 60 and prompting the operation of the enable switch 81, the error reset button 8c, the error reset button 26a, and the error reset button 33d is displayed on the monitor 24 and the display unit 8b.

[0097] In step S3, when a deviation abnormality error occurs, a reset of the deviation abnormality error is accepted by the enable switch 81 arranged on the robot arm 60. Note that for a predetermined period after the deviation abnormality error occurs, the error reset is accepted by the enable switch 81, and the error reset is also accepted by the error reset button 8c, the error reset button 26a, and the error reset button 33d.

[0098] In step S4, it is determined whether or not the error regarding the deviation abnormality has been reset by the enable switch 81, the error reset button 8c, the error reset button 26a, and the error reset button 33d.

[0099] If the answer is yes in step S4, it is determined in step S5 whether the following possible condition is satisfied.

[0100] If the answer is yes in step S5, in step S6, the process transitions to a following operation mode in which the robot arm 60 is moved by operating the remote control device 2. Also, acceptance of resets of deviation abnormality errors by the enable switch 81, the error reset button 8c, the error reset button 26a, and the error reset button 33d is stopped.

[0101] Furthermore, not only between steps S1 to S6 but also outside of steps S1 to S6, the operation of opening and closing the forceps 4b by the remote control device 2 is accepted. Similarly, not only between steps S1 to S6 but also outside of steps S1 to S6, the operation of automatically moving the robot arm 60 by the adjustment button 86 when an error is detected with the joystick 82 remaining tilted is accepted.

[0102] [Effects of this embodiment] An enable switch 81 that resets a deviation abnormality error when it occurs is disposed on the robot arm 60. Thus, because the enable switch 81 is disposed on the robot arm 60, even if a deviation abnormality error occurs while operating the robot arm 60, the operator operating the robot arm 60 can quickly operate the enable switch 81. As a result, even if a deviation abnormality error occurs while operating the robot arm 60, the error can be quickly reset.

[0103] The robot arm 60 is equipped with an arm operation unit 80 including a joystick 82 for moving the robot arm 60, and the enable switch 81 is disposed on the arm operation unit 80. As a result, since the enable switch 81 is disposed on the arm operation unit 80 which the operator operates when moving the robot arm 60, the operator can more quickly operate the enable switch 81. As a result, deviation abnormality errors can be reset more quickly.

[0104] When the control device 130 detects a deviation abnormality error, it only accepts input from the arm operation unit 80. This makes it possible to prevent the robot arm 60 from being operated by the operating handle 21 while a deviation abnormality error is occurring.

[0105] The arm operating unit 80 further includes an enable switch 81 that, when pressed, permits movement of the robot arm 60 by the joystick 82, and the enable switch 81 also serves as a reset unit that resets deviation abnormality errors. This prevents the configuration of the arm operating unit 80 from becoming complicated, unlike when the enable switch 81 and the reset unit are arranged separately.

[0106] The surgery support system 100 further includes a medical cart 3 that moves the robot arm 60. An error reset button is also provided on at least one of the remote control device 2 and the medical cart 3. This allows deviation abnormality errors to be reset using the error reset button provided on at least one of the remote control device 2 and the medical cart 3.

[0107] When the deviation abnormality error is reset by the enable switch 81, the control device 130 transitions to a following operation mode in which the robot arm 60 is moved based on a predetermined operation of the remote control device 2. This allows the following operation to be performed appropriately with the deviation abnormality error resolved.

[0108] When the following enabling condition that allows transition to the following operation mode is satisfied, the control device 130 stops accepting the reset of the deviation abnormality error by the enable switch 81. This makes it possible to prevent interference between the control of the acceptance of the reset of the deviation abnormality error and the control of the following operation.

[0109] When the control device 130 detects a deviation abnormality error, it accepts a reset of the deviation abnormality error by the enable switch 81 for a predetermined period after the occurrence of the deviation abnormality error. This makes it possible to prevent an error reset from being accepted at a timing when a deviation abnormality error has not occurred.

[0110] The surgery assistance system 100 further includes a notification unit 24a and a notification unit 8d that notify a deviation abnormality error. When the control device 130 detects a deviation abnormality error, the control device 130 controls the notification unit 24a and the notification unit 8d to notify the deviation abnormality error. This allows the operator to easily recognize that a deviation abnormality error has occurred.

[0111] When the control device 130 detects a deviation abnormality error, it causes the monitor 24 and the display unit 8b to display at least one of a message prompting the arm operating unit 80 to move the robot arm 60 and a message prompting the operator to operate the enable switch 81. This allows the operator to easily see the message for resolving the deviation abnormality error by looking at the monitor 24 and the display unit 8b.

[0112] The surgery support system 100 includes a monitor 24 that displays images captured by the endoscope 6. The surgery support system 100 further includes a display unit 8b separate from the monitor 24. When a deviation abnormality error is detected, the control device 130 causes at least one of the following to be displayed on the monitor 24 and the display unit 8b: a prompt to move the robot arm 60 by the arm operating unit 80; and a prompt to operate the enable switch 81, the error reset button 8c, the error reset button 26a, and the error reset button 33d. As a result, when a deviation abnormality error is detected, at least one of the prompt to move the robot arm 60 by the arm operating unit 80 and a prompt to operate the enable switch 81, the error reset button 8c, the error reset button 26a, and the error reset button 33d is displayed on both the monitor 24 and the display unit 8b, allowing the operator to more easily visually recognize how to resolve the deviation abnormality error.

[0113] The surgical instrument 4 includes an instrument with forceps 4b disposed at its tip. The control device 130 only accepts the opening and closing operation of the forceps 4b by the remote control device 2 when the following requirement conditions, which are required for transitioning to a following operation mode in which the robot arm 60 is moved by the operation of the remote control device 2, are satisfied. Here, if a deviation abnormality error occurs, an organ may be grasped by the forceps 4b. Furthermore, if a deviation abnormality error occurs, the following enablement condition, which enables the following operation, is not satisfied. Therefore, if a deviation abnormality error occurs, the forceps 4b cannot release the organ from its grip until the error is reset. Therefore, as described above, by the control device 130 only accepting the opening and closing operation of the forceps 4b by the remote control device 2 when the following requirement conditions are satisfied, the forceps 4b can release the organ from its grip even until the deviation abnormality error is reset.

[0114] The arm operation unit 80 includes an adjustment button 86 that is different from the enable switch 81. The joystick 82 moves the robot arm 60 in the tilted direction. When an error is detected with the joystick 82 remaining tilted, the control device 130 operates the adjustment button 86 to automatically move the robot arm 60 in the direction in which the joystick 82 is tilted. For example, if the joystick 82 remains in interference with another object, an abnormality occurs in which the joystick 82 remains tilted. In this case, if the arm operation unit 80 is prohibited from moving the robot arm 60, the tilted state of the joystick 82 cannot be resolved even if the enable switch 81 is pressed. Therefore, as described above, when an error is detected with the joystick 82 remaining tilted, the control device 130 operates the adjustment button 86 that is different from the enable switch 81 to automatically move the robot arm 60 in the direction in which the joystick 82 is tilted, thereby easily resolving the tilted state of the joystick 82.

[0115] When the tilt of the joystick 82 is released, the control device 130 automatically stops the movement of the robot arm 60. This saves the operator the trouble of stopping the movement of the robot arm 60.

[0116] The robot arm 60 further includes a translational movement mechanism 70 that translates a holder 71, to which a surgical instrument 4 is attached, between a first position and a second position, and an arm operation unit 80 that is attached to the robot arm 60 and operates the robot arm 60. The arm operation unit 80 includes a mode switching button 84. When the surgical instrument 4 is removed from the holder 71, the control device 130 causes the translational movement mechanism 70 to move the holder 71 to the first position. If an error that inhibits the movement of the holder 71 occurs while the holder 71 is moving to the first position, when the mode switching button 84 is operated, the control device 130 stops the movement of the holder 71 to the first position and accepts operation of the robot arm 60 by the arm operation unit 80. Here, if operation of the robot arm 60 by the arm operation unit 80 is prohibited until the holder 71 moves to the first position after the surgical instrument 4 is removed from the robot arm 60, even if an error that inhibits the movement of the holder 71 occurs while the holder 71 is moving to the first position, the error that inhibits the movement of the holder 71 cannot be removed. Therefore, as described above, when the mode switching button 84 is operated, the arm operating unit 80 is allowed to accept operation of the robot arm 60, so if an error occurs that hinders the movement of the holder 71, the arm operating unit 80 can move the robot arm 60 to remove the factor that hinders the movement of the holder 71.

[0117] [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.

[0118] In the above embodiment, an example has been shown in which the enable switch 81 that resets the deviation abnormality error is disposed in the arm operation unit 80, but the present disclosure is not limited to this. For example, the enable switch 81 may be disposed in a part of the robot arm 60 other than the arm operation unit 80.

[0119] In the above embodiment, an example was shown in which the enable switch 81 also serves as a reset unit that resets deviation abnormality errors, but the present disclosure is not limited to this. For example, a reset unit that resets deviation abnormality errors may be disposed in the arm operating unit 80, etc., separate from the enable switch 81.

[0120] In the above embodiment, an example was shown in which the error reset button 33d is arranged on the medical cart 3, the error reset button 26a is arranged on the remote control device 2, and the error reset button 8c is arranged on the image processing unit 8, but the present disclosure is not limited to this. For example, a reset unit that resets a deviation abnormality error may also be arranged in a portion other than the medical cart 3, the remote control device 2, and the image processing unit 8.

[0121] In the above embodiment, when the control device 130 detects a deviation abnormality error, the control device 130 issues an error notification by an error sound, but the present disclosure is not limited to this. For example, the control device 130 may notify the error by turning on a lamp.

[0122] In the above embodiment, when the control device 130 detects a deviation abnormality error, the control device 130 prompts the arm operating unit 80 to move the robot arm 60 and prompts the user to operate the enable switch 81, the error reset button 8c, the error reset button 26a, and the error reset button 33d, and displays both the prompt on the monitor 24 and the display unit 8b. However, the present disclosure is not limited to this. For example, the control device 130 may display only one of the above messages on the monitor 24 and the display unit 8b.

[0123] In the above embodiment, when an error is detected while the joystick 82 remains tilted, the adjustment button 86 is operated to move the robot arm 60 in the direction in which the joystick 82 is tilted, but the present disclosure is not limited to this. For example, the robot arm 60 may be moved in the direction in which the joystick 82 is tilted by operating a switch other than the adjustment button 86.

[0124] In the above embodiment, an example has been described in which, when an error that inhibits the movement of holder 71 occurs while holder 71 is moving to the first position, the movement of holder 71 to the first position is stopped when mode switching button 84 is operated, but the present disclosure is not limited to this. For example, the movement of holder 71 to the first position may be stopped by operating a switch other than mode switching button 84.

[0125] In the above embodiment, an example in which four robot arms 60 are provided is shown, but the present disclosure is not limited to this. In the present disclosure, the number of robot arms 60 may be any other number as long as there is at least one or more.

[0126] In the above embodiment, an example has been shown in which the arm unit 61 and the positioner 40 are configured as a seven-axis articulated robot, but the present disclosure is not limited to this. For example, the arm unit 61 and the positioner 40 may be configured as an articulated robot with an axis configuration other than a seven-axis articulated robot. An axis configuration other than a seven-axis articulated robot may be, for example, a six-axis or eight-axis configuration.

[0127] In the above embodiment, an example has been shown in which the surgical support robot 1 includes the medical cart 3, the positioner 40, and the arm base 50, but the present disclosure is not limited to this. For example, the medical cart 3, the positioner 40, and the arm base 50 are not necessarily required, and the surgical support robot 1 may be configured with only the robot arm 60.

[0128] 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.

[0129] [Aspect] It will be appreciated by those skilled in the art that the exemplary embodiments described above are examples of the following aspects.

[0130] (Item 1) a robot arm having a surgical instrument attached to a tip thereof and including a drive unit and a sensor for detecting the position of the drive unit; an operating device that accepts an operation on the surgical instrument; a control device that generates a command value that commands a position of the drive unit based on the operation received by the operation device and drives the drive unit based on the command value; the control device detects an error of a deviation abnormality when a difference between the command value and the position of the drive unit detected by the sensor exceeds an allowable range; A surgical assistance system in which a reset unit that resets the deviation abnormality error when the deviation abnormality error occurs is disposed in the robot arm.

[0131] (Item 2) the robot arm includes an arm operation unit including an arm operation tool that moves the robot arm, Item 1. The surgical support system according to item 1, wherein the reset unit is disposed in the arm operation unit.

[0132] (Item 3) Item 3. The surgical support system according to item 2, wherein the control device only accepts input from the arm operation unit when it detects an error in the deviation abnormality.

[0133] (Item 4) the arm operation unit further includes an enable switch that, when pressed, permits movement of the robot arm by the arm operation tool; Item 3. The surgical assistance system according to item 2, wherein the enable switch also serves as the reset unit.

[0134] (Item 5) Further, a carriage for moving the robot arm is provided. 5. The surgery support system according to any one of items 1 to 4, wherein the reset unit is also arranged on at least one of the operation device and the cart.

[0135] (Item 6) 6. The surgical support system according to any one of items 1 to 5, wherein when the reset unit resets the deviation abnormality error, the control device transitions to a following operation mode in which the robot arm is moved based on a predetermined operation of the operating device.

[0136] (Item 7) Item 7. The surgical support system according to item 6, wherein the control device stops accepting the reset of the deviation abnormality error by the reset unit when a following enable condition that enables transition to the following operation mode is satisfied.

[0137] (Item 8) The surgical support system according to any one of items 1 to 7, wherein when the control device detects the deviation abnormality error, the control device accepts resetting of the deviation abnormality error by the reset unit for a predetermined period of time after the deviation abnormality error occurs.

[0138] (Item 9) a notification unit that notifies an error of the deviation abnormality; The surgical support system according to any one of items 1 to 8, wherein the control device controls the notification unit to notify the error of the deviation abnormality when the error of the deviation abnormality is detected.

[0139] (Item 10) Further comprising a display device, the robot arm includes an arm operation unit including an arm operation tool that moves the robot arm, 10. The surgical support system according to any one of items 1 to 9, wherein, when the control device detects the deviation abnormality error, the control device causes the display device to display at least one of prompting the arm operating unit to move the robot arm and prompting the reset unit to operate.

[0140] (Item 11) the operation device includes a first display device that displays an image captured by the endoscope; a second display device different from the first display device; the robot arm includes an arm operation unit including an arm operation tool that moves the robot arm, The surgical support system according to any one of items 1 to 10, wherein when the control device detects the deviation abnormality error, it causes at least one of the first display device and the second display device to prompt the arm operating unit to move the robot arm and the reset unit to operate.

[0141] (Item 12) The surgical tool includes an instrument having forceps disposed at a tip thereof, Item 12. The surgical support system according to any one of items 1 to 11, wherein the control device only accepts the opening and closing of the forceps by the operating device when a following requirement required for transitioning to a following operation mode in which the robot arm is moved by operation of the operating device is satisfied.

[0142] (Item 13) the robot arm includes an arm operation unit including an arm operation tool that moves the robot arm, the arm operation unit includes an enable switch that, when pressed, permits movement of the robot arm by the arm operation tool, and a second switch that is different from the enable switch; the arm operation tool is a joystick that moves the robot arm in a tilted direction, Item 13. The surgical support system of any one of items 1 to 12, wherein, when an error is detected with the joystick remaining tilted, the control device operates the second switch to automatically move the robot arm in the direction in which the joystick is tilted.

[0143] (Item 14) Item 14. The surgical support system according to item 13, wherein the control device automatically stops the movement of the robot arm when the tilt of the joystick is released.

[0144] (Item 15) the robot arm includes a translational movement mechanism that translates a surgical instrument attachment portion, to which the surgical instrument is attached, between a first position and a second position; an arm operation unit attached to the robot arm and operating the robot arm; Furthermore, the arm operation unit includes a third switch, The control device When the surgical instrument is detached from the surgical instrument attachment portion, the translational movement mechanism moves the surgical instrument attachment portion to the first position; Item 15. The surgical support system according to any one of items 1 to 14, wherein when an error that inhibits movement of the surgical instrument mounting unit occurs while the surgical instrument mounting unit is moving to the first position, the system stops movement of the surgical instrument mounting unit to the first position when the third switch is operated, and accepts operation of the robot arm by the arm operating unit.

[0145] (Item 16) a robot arm having a surgical instrument attached to a tip thereof and including a drive unit and a sensor for detecting the position of the drive unit; an operating device that accepts an operation on the surgical instrument; a control device that generates a command value that commands a position of the drive unit based on the operation received by the operation device, and drives the drive unit based on the command value, detecting an error of deviation abnormality by the control device when a difference between the command value and the position of the drive unit detected by the sensor exceeds an allowable range; A control method for a surgical assistance system, comprising: when the deviation abnormality error occurs, accepting a reset of the deviation abnormality error by a reset unit arranged on the robot arm.

[0146] (Item 17) a robot arm having a surgical instrument attached to a tip thereof and including a drive unit and a sensor for detecting the position of the drive unit; an arm operation unit attached to the robot arm and operating the robot arm; a control device that generates a command value that commands a position of the drive unit based on the operation received by the arm operation unit and drives the drive unit based on the command value, the control device detects an error of a deviation abnormality when a difference between the command value and the position of the drive unit detected by the sensor exceeds an allowable range; A surgical assistance system in which a reset unit that resets the deviation abnormality error when the deviation abnormality error occurs is disposed in the robot arm. [Explanation of symbols]

[0147] 2 Remote control device (operation device) 3 Medical trolleys (trolleys) 4 Surgical instruments 4b Forceps 6 Endoscopy 8b Display section (display device, second display device) 8c Error reset button (reset section) 8d Notification Department 24 Monitor (display device, first display device) 24a Notification Department 26a Error reset button (reset section) 33d Error reset button (reset section) 60 Robot Arm 70 Translational movement mechanism section 71 Holder (surgical instrument mounting part) 80 Arm operation unit 81 Enable switch (reset section) 82 Joystick (arm control device) 84 Mode switch button (third switch) 86 Adjustment button (second switch) 100 Surgical Support System 130 Control device E1, E2, E3 encoders (sensors) M1, M2, M3 servo motors (drive units)

Claims

1. a robot arm having a surgical instrument attached to a tip thereof and including a drive unit and a sensor for detecting the position of the drive unit; an operating device that accepts an operation on the surgical instrument; a control device that generates a command value that commands a position of the drive unit based on the operation received by the operation device and drives the drive unit based on the command value; the control device detects an error of a deviation abnormality when a difference between the command value and the position of the drive unit detected by the sensor exceeds an allowable range; A surgical assistance system in which a reset unit including a switch that resets the deviation abnormality error when the deviation abnormality error occurs is disposed on the robot arm.

2. the robot arm includes an arm operation unit including an arm operation tool that moves the robot arm, The surgery support system according to claim 1 , wherein the reset unit is disposed in the arm operation unit.

3. The surgery support system according to claim 2 , wherein the control device only accepts input from the arm operation unit when the control device detects an error due to the deviation abnormality.

4. the arm operation unit further includes an enable switch that, when pressed, permits movement of the robot arm by the arm operation tool; The surgery assistance system according to claim 2 , wherein the enable switch also serves as the switch of the reset unit.

5. Further, a carriage for moving the robot arm is provided. The surgery assistance system according to claim 1 , wherein the reset unit is also provided on at least one of the operation device and the cart.

6. The surgical support system according to claim 1, wherein when the reset unit resets the deviation abnormality error, the control device transitions to a following operation mode in which the robot arm is moved based on a predetermined operation of the operating device.

7. The surgery support system according to claim 6, wherein the control device stops accepting reset of the deviation abnormality error by the reset unit when a following enable condition that enables transition to the following operation mode is satisfied.

8. The surgical support system according to claim 1 , wherein when the control device detects the deviation abnormality error, the control device accepts resetting of the deviation abnormality error by the reset unit for a predetermined period of time after the deviation abnormality error occurs.

9. a notification unit that notifies an error of the deviation abnormality; The surgery support system according to claim 1 , wherein the control device controls the notification unit to notify the error of the deviation abnormality when the error of the deviation abnormality is detected.

10. Further comprising a display device, the robot arm includes an arm operation unit including an arm operation tool that moves the robot arm, The surgical support system of claim 1, wherein when the control device detects the deviation abnormality error, the control device causes the display device to display at least one of prompting the arm operating unit to move the robot arm and prompting the reset unit to operate.

11. the operation device includes a first display device that displays an image captured by the endoscope, a second display device different from the first display device; the robot arm includes an arm operation unit including an arm operation tool that moves the robot arm, The surgical support system of claim 1, wherein when the control device detects the deviation abnormality error, it displays at least one of prompting the arm operating unit to move the robot arm and prompting the reset unit to operate on at least one of the first display device and the second display device.

12. The surgical tool includes an instrument having forceps disposed at a tip thereof, 2. The surgery assistance system according to claim 1, wherein when a following enabling condition that enables transition to a following operation mode in which the robot arm is moved based on a predetermined operation of the operation device is not satisfied, the control device only accepts the operation of opening and closing the forceps by the operation device if a following necessary condition that is necessary for transition to the following operation mode is satisfied.

13. the robot arm includes an arm operation unit including an arm operation tool that moves the robot arm, the arm operation unit includes an enable switch that, when pressed, permits movement of the robot arm by the arm operation tool, and a second switch that is different from the enable switch; the arm operation tool is a joystick that moves the robot arm in a tilted direction, 2. The surgical support system of claim 1, wherein when an error is detected while the joystick is tilted, the control device automatically moves the robot arm in the direction in which the joystick is tilted by operating the second switch.

14. The surgery assistance system according to claim 13 , wherein the control device automatically stops the movement of the robot arm when the tilt of the joystick is released.

15. the robot arm includes a translational movement mechanism that translates a surgical instrument attachment portion, to which the surgical instrument is attached, between a first position and a second position; an arm operation unit attached to the robot arm and operating the robot arm; Furthermore, the arm operation unit includes a third switch, The control device When the surgical instrument is detached from the surgical instrument attachment portion, the translational movement mechanism moves the surgical instrument attachment portion to the first position; 2. The surgical support system according to claim 1, wherein when an error that inhibits movement of the surgical instrument mounting unit occurs while the surgical instrument mounting unit is moving to the first position, the third switch stops the movement of the surgical instrument mounting unit to the first position and accepts operation of the robot arm by the arm operating unit.

16. a robot arm having a surgical instrument attached to a tip thereof and including a drive unit and a sensor for detecting the position of the drive unit; an operating device that accepts an operation on the surgical instrument; a control device that generates a command value that commands a position of the drive unit based on the operation received by the operation device, and drives the drive unit based on the command value, detecting an error of deviation abnormality by the control device when a difference between the command value and the position of the drive unit detected by the sensor exceeds an allowable range; A control method for a surgical assistance system, comprising: when the deviation abnormality error occurs, a reset unit including a switch arranged on the robot arm accepts a reset of the deviation abnormality error.

17. a robot arm having a surgical instrument attached to a tip thereof and including a drive unit and a sensor for detecting the position of the drive unit; an arm operation unit attached to the robot arm and operating the robot arm; a control device that generates a command value that commands a position of the drive unit based on the operation received by the arm operation unit and drives the drive unit based on the command value, the control device detects an error of a deviation abnormality when a difference between the command value and the position of the drive unit detected by the sensor exceeds an allowable range; A surgical assistance system in which a reset unit including a switch that resets the deviation abnormality error when the deviation abnormality error occurs is disposed on the robot arm.

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