Surgical support systems and surgical robots

Abstract

This surgery assisting system (100) comprises: a board (140) which is disposed on a robot arm (60) or an arm manipulation unit (80) and to which a signal received by the arm manipulation unit (80) is inputted; and a control unit (31a). The control unit (31a) and the board (140) are connected to each other by first wiring (141) for serial communication.

Description

Technical Field

[0001] The present disclosure relates to a surgical support system and a surgical support robot.

Background Art

[0002] Conventionally, surgical support systems have been disclosed. Japanese Unexamined Patent Application Publication No. 2019-162427 discloses a robot system including a surgical instrument and an arm. The surgical instrument is disposed at the tip of the arm. An operation unit is disposed at a position separated from the arm. A joystick and operation buttons are disposed on the operation unit. By operating the operation unit by an operator, the arm moves. Usually, wiring for transmitting signals from the operation unit is connected to a control unit that controls the robot system. The wiring is required for the number of joysticks and operation buttons.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] As described above, when the wiring extending from the operation unit to the control unit is required for the number of joysticks and operation buttons, the wiring from the operation unit to the control unit becomes thick and heavy, and the bending load also increases. Therefore, especially when the operation unit is disposed at the tip of the robot arm, a large-sized structure and a large-sized drive unit have to be selected, which affects miniaturization. For this reason, reduction in the number of wirings extending to the control unit has been desired.

[0005] The present disclosure has been made to solve the above problems, and an object thereof is to provide a surgical support system and a surgical support robot capable of reducing the number of wirings extending to a control unit.

[0006] The surgical support system according to the first aspect of the present disclosure has a surgical instrument attachedIt includes an arm section, a first link section located at the tip of the arm section, a second link section, and a translational movement mechanism section that moves the second link section in translation relative to the first link section. A robotic arm and Link Section 2 It is attached to the arm control unit that operates the robot arm, Link Section 2 Placed, Includes a connector to which multiple harnesses extending from the arm control unit are connected, The system comprises a circuit board to which signals received by the arm operation unit are input, and a control unit. The control unit and the circuit board are connected by serial communication via a first wiring connection through a relay unit consisting of a connector, and the relay unit is located in a separate area from the other.

[0007] In the surgical assistance system according to the first aspect of this disclosure, as described above, the circuit board to which signals received by the arm operation unit are input and the control unit are connected by serial communication via a first wiring. As a result, even if joysticks or operation buttons are placed on the arm operation unit, the wiring extending from the joysticks or operation buttons is connected to the circuit board, while the circuit board and the control unit are connected by serial communication. Consequently, the number of wires can be reduced compared to the case where each joystick or operation button is connected to the control unit.

[0008] The surgical assistance robot in the second aspect of this disclosure is equipped with surgical instruments. It includes an arm section, a first link section located at the tip of the arm section, a second link section, and a translational movement mechanism section that moves the second link section in translation relative to the first link section. A robotic arm and Link Section 2 It is attached to the arm control unit that operates the robot arm, Link Section 2 Placed, Includes a connector to which multiple harnesses extending from the arm control unit are connected, The system comprises a circuit board that receives signals from the arm operation unit and a control unit. The control unit and the circuit board are connected by serial communication via wiring through a relay unit consisting of a connector, and the relay unit is located in a separate area from the other.

[0009] In the surgical assistance robot according to the second aspect of this disclosure, as described above, the circuit board that receives signals from the arm operation unit and the control unit are connected via serial communication through wiring. As a result, even if joysticks or operation buttons are placed on the arm operation unit, the wiring extending from the joysticks or operation buttons is connected to the circuit board, while the circuit board and the control unit are connected via serial communication. Consequently, it is possible to provide a surgical assistance robot that can reduce the number of wires compared to the case where joysticks or operation buttons are each connected to the control unit.

[0010] According to this disclosure, the number of wires extending to the control unit can be reduced. [Brief explanation of the drawing]

[0011] [Figure 1] This figure shows the configuration of a surgical support system according to one embodiment. [Figure 2] This figure shows the configuration of a surgical assistance robot according to one embodiment. [Figure 3] This figure shows the configuration of a robot arm according to one embodiment. [Figure 4] This is a perspective view showing the configuration of the arm operating section according to one embodiment. [Figure 5] This is a diagram showing an endoscope. [Figure 6] This is a diagram showing a pivot position setting device. [Figure 7] This is a diagram illustrating the translational movement of a robotic arm. [Figure 8] This is a diagram illustrating the rotational movement of a robotic arm. [Figure 9] This is an exploded perspective view showing the robot arm with the adapter and medical device removed, according to one embodiment. [Figure 10] This is a perspective view of an adapter and surgical instrument according to one embodiment, as seen from the Y2 direction. [Figure 11] This is a control block diagram of a surgical assistance robot according to one embodiment. [Figure 12]It is a control block diagram of a robot arm according to an embodiment. [Figure 13] It is a diagram showing a serial connection between a control unit and a substrate according to an embodiment. [Figure 14] It is a cross-sectional view along the line 300-300 of FIG. 4.

Embodiments for Carrying Out the Invention

[0012] (Configuration of the Surgical Support System) Referring to FIGS. 1 to 14, the configuration of the surgical support system 100 according to the present embodiment will be described. The surgical support system 100 includes a surgical support robot 1 and a remote operation device 2.

[0013] The surgical support robot 1 is a patient P-side device. The surgical support robot 1 includes a medical cart 3 and is movable. The surgical support robot 1 is arranged in the operating room. The remote operation device 2 is an operator-side device for operating the surgical support robot 1. It is arranged at a position separated from the surgical support robot 1, and the surgical support robot 1 is remotely operated by the remote operation device 2. An operator such as a doctor inputs a command for causing the surgical support robot 1 to perform a desired operation to the remote operation device 2. The remote operation device 2 transmits the input command to the surgical support robot 1. The surgical support robot 1 operates based on the received command. The surgical support robot 1 is arranged in the operating room which is a sterilized sterile field.

[0014] (Configuration of the Surgical Support Robot) As shown in FIG. 1, the surgical 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.

[0015] The medical cart 3 moves the positioner 40. The medical cart 3 includes an input device 33. The input device 33 accepts operations for moving and changing the posture of the positioner 40, arm base 50, and multiple robotic arms 60, mainly for preparing for surgery before the procedure. The input device 33 is provided with a display unit 33a. The display unit 33a is, for example, a liquid crystal panel. The medical cart 3 includes an operating handle 34, a throttle 34a, a joystick 34b, a stabilizer 34c, and an electric cylinder 34d, as shown in Figure 11. The operating handle 34 and throttle 34a accept steering by the operator. The joystick 34b accepts operations for moving the positioner 40.

[0016] As shown in Figure 2, the positioner 40 consists of, for example, a 7-axis articulated robot. The positioner 40 is positioned on a medical trolley 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.

[0017] 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 joint portions 43.

[0018] The arm base 50 is attached to the tip of the positioner 40. Multiple robot arms 60 are each attached to the arm base 50 at their base ends. Multiple robot arms 60 can be folded and stored. The arm base 50 and multiple robot arms 60 are used covered with sterile drapes. The robot arms 60 also support surgical instruments 4.

[0019] The arm base 50 is equipped with a status indicator 51 and an arm status indicator 52, as shown in Figure 11. The status indicator 51 displays the status of the surgical support system 100. The arm status indicator 52 displays the status of the robot arm 60.

[0020] As shown in Figure 1, multiple robot arms 60 are arranged. Specifically, four robot arms 60a, 60b, 60c, and 60d are arranged. Robot arms 60a, 60b, 60c, and 60d have similar configurations to each other.

[0021] As shown in Figure 3, the robot arm 60 includes an arm section 61, a first link section 72, a second link section 73, and a translational movement mechanism section 70. The robot arm 60 has JT1 to JT7 axes as rotational axes and a JT8 axis as a linear motion axis. The JT1 to JT7 axes are the rotational axes of the joint section 64 of the arm section 61. The JT7 axis is the rotational axis of the first link section 72. The JT8 axis is the linear motion axis by which the translational movement mechanism section 70 moves the second link section 73 relative to the first link section 72 along the Z direction. That is, the servo motors M1 shown in Figure 12 are arranged along each of the JT1 to JT7 axes of the robot arm 60. The servo motor M3 is arranged along the JT8 axis.

[0022] The arm section 61 consists of a 7-axis articulated robot arm. The first link section 72 is located at the tip of the arm section 61. The arm operation section 80, which will be described later, is attached to the second link section 73. The translational movement mechanism section 70 is located between the first link section 72 and the second link section 73. A holder 71 for holding surgical instruments 4 is located on the second link section 73.

[0023] Each of the multiple robotic arms 60 has a surgical instrument 4 attached to its tip. The surgical instruments 4 include, for example, interchangeable instruments and an endoscope 6 for capturing images of the surgical site. The surgical instrument 4 includes a shaft 4c that connects the driven unit 4a and the forceps 4b. The driven unit 4a, the shaft 4c, and the forceps 4b are arranged along the Z direction.

[0024] As shown in Figure 1, an endoscope 6 is attached to the tip of one of the multiple robot arms 60, for example, robot arm 60c, while surgical instruments 4 other than the endoscope 6 are attached to the tips of the remaining robot arms 60a, 60b, and 60d. The endoscope 6 is attached to either of the two centrally located robot arms 60b and 60c, among the four robot arms 60 that are arranged adjacent to each other.

[0025] (Instrumentation) As shown in Figure 3, the tip of the instrument is equipped with, for example, forceps 4b. In addition to forceps 4b, the tip of the instrument may also be equipped with jointed instruments such as scissors, grippers, needle holders, microdissectors, stable applicators, tackers, suction and irrigation tools, snare wires, and clip applicators. The tip of the instrument may also be equipped with non-jointed instruments such as cutting blades, cauterization probes, irrigators, catheters, and suction orifices.

[0026] (Configuration of the arm control unit) As shown in Figure 4, 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.

[0027] The arm control unit 80 includes an enable switch 81, a joystick 82, a linear switch 83, a pivot button 85, an adjustment button 86, a mode switching button 84, and a mode indicator 84a.

[0028] The enable switch 81 allows or disallows the movement of the robot arm 60 by the joystick 82 and the linear switch 83. When the enable switch 81 is pressed by an operator such as a nurse or assistant while grasping the arm control unit 80, it allows the robot arm 60 to move the surgical instrument 4.

[0029] The joystick 82 is a control device for manipulating the movement of the surgical instrument 4 by the robot arm 60. The joystick 82 controls the direction and speed of movement of the robot arm 60. The robot arm 60 moves according to the direction and angle at which the joystick 82 is tilted.

[0030] The linear switch 83 is a switch for controlling the movement of the surgical instrument 4 by the robot arm 60 in a direction along the longitudinal direction of the surgical instrument 4. The linear switch 83 includes a linear switch 83a that moves the surgical instrument 4 in a direction toward insertion into the patient P, and a linear switch 83b that moves the surgical instrument 4 toward away from the patient P. Both the linear switch 83a and the linear switch 83b consist of push-button switches.

[0031] The pivot button 85 is used to set the pivot position PP, which is the pivot point for the movement of the surgical instrument 4 attached to the robot arm 60. When the tip of the endoscope 6 shown in Figure 5 or the pivot position setting instrument 7 shown in Figure 6 is moved to a position corresponding to the insertion position of the trocar T inserted into the body surface S of the patient P shown in Figure 8, the pivot position PP is set by pressing the pivot button 85 and stored in the memory unit 32 shown in Figure 11. In setting the pivot position PP, the pivot position PP is set as a single point, and setting the pivot position PP does not set the direction of the surgical instrument 4. The pivot position PP is set individually for each of the multiple robot arms 60.

[0032] As shown in Figure 4, the adjustment button 86 is a button for optimizing the position of the robot arm 60. After setting 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.

[0033] The mode switching button 84 is used to switch between a mode in which the surgical instrument 4 is moved in translation, as shown in Figure 7, and a mode in which it is moved in rotation, as shown in Figure 8. As shown in Figure 7, in the mode in which the robot arm 60 is moved in translation, the robot arm 60 is moved so that the tip 4d of the surgical instrument 4 moves on the XY plane. As shown in Figure 8, in the mode in which the robot arm 60 is moved in rotation, if the pivot position PP is not set, the robot arm 60 rotates around the forceps 4b, and if the pivot position PP is set, the robot arm 60 is moved so that the surgical instrument 4 rotates with the pivot position PP as the fulcrum. Note that the surgical instrument 4 is rotated while its shaft 4c is inserted into the trocar T. The mode switching button 84 is located on the Z-direction side of the arm operating section 80.

[0034] The mode indicator 84a displays the switched mode. When the mode indicator 84a is lit, it indicates rotational movement mode, and when it is off, it indicates translational movement mode. The mode indicator 84a also serves as a pivot position indicator, showing when the pivot position PP has been set. The mode indicator 84a is located on the Z-direction side of the arm operating section 80.

[0035] (Surgical instruments, adapters, drapes, and arm configuration) As shown in Figure 9, the surgical instrument 4 is detachably connected to the robot arm 60 via an adapter 220. The adapter 220 is positioned between the servo motor M2 of the robot arm 60 and the surgical instrument 4. The adapter 220 is a drape adapter for holding the drape 210, which is replaced by the user after each surgery. This allows the drape 210 to be held using the adapter 220. The drape 210 is a drape that covers the robot arm 60 and is sterilized. The adapter 220 holds the drape 210 between itself and the robot arm 60.

[0036] As shown in Figure 10, an adapter 220 is attached to the connection part 4g located on the Y2 side of the surgical instrument 4. The connection part 4g is located on the housing 4h and is attached to the robot arm 60 via the adapter 220. The servo motor M2 of the robot arm 60 is attached to the connection part 220b located on the Y2 side of the adapter 220. As shown in Figure 9, the surgical instrument 4 is attached to the connection part 220a located on the Y1 side of the adapter 220. The adapter 220 is attached to the connection part 76 located on the Y1 side of the servo motor M2.

[0037] As shown in Figure 10, the surgical instrument 4 includes a memory unit 4k that stores information about the surgical instrument 4. The information about the surgical instrument 4 is, for example, information indicating the type of surgical instrument 4, such as an endoscope 6 or forceps 4b.

[0038] As shown in Figure 9, the robotic arm 60 is covered with a drape 210 because it is used in a sterile area. In the operating room, sterile procedures are performed to prevent contamination of the surgically incised area and medical instruments by pathogens or foreign objects. In these sterile procedures, a sterile area and a contaminated area (areas outside the sterile area) are established. The surgical site is placed in the sterile area. During surgery, members of the surgical team, including the operator, ensure that only sterilized objects are located in the sterile area, and if an object located in the contaminated area is moved to the sterile area, it is sterilized. Similarly, if a member of the surgical team, including the operator, places their hands in the contaminated area, they sterilize their hands before directly touching objects located in the sterile area. Instruments used in the sterile area are sterilized or covered with a sterilized drape 210.

[0039] The drape 210 comprises a main body 211 that covers the robot arm 60 and a mounting portion 212 that is sandwiched between the servo motor M2 and the adapter 220. The main body 211 is made of a flexible film member formed in a film shape. The flexible film member is made of a resin material such as thermoplastic polyurethane or polyethylene. The main body 211 has an opening so that the servo motor M2 of the robot arm 60 and the adapter 220 can engage with each other. The mounting portion 212 is positioned on the main body 211. The mounting portion 212 is made of a resin molded member. The resin molded member is made of a resin material such as polyethylene terephthalate. The mounting portion 212 is made harder than the main body 211. The mounting portion 212 has an opening so that the servo motor M2 and the adapter 220 can engage with each other. The opening of the mounting portion 212 may be provided so as to correspond to the engagement portion between the servo motor M2 and the adapter 220. Multiple openings may be provided in the mounting portion 212 to correspond to multiple engagement points between the servo motor M2 and the adapter 220.

[0040] As shown in Figure 9, the adapter 220 has an adapter body 221 and a plurality of drive transmission units 222 that are rotatably held on the adapter body 221 around a rotation axis extending in the Y direction. The plurality of drive transmission units 222 are arranged on the adapter body 221 so as to be rotatable around the rotation axis. The plurality of drive transmission units 222 are arranged to correspond to the plurality of driven members 4i of the surgical instrument 4 shown in Figure 10. The drive transmission units 222 transmit the driving force from the robot arm 60 to the driven members 4i of the surgical instrument 4. The drive transmission unit 222 includes a fitting recess 222a that fits with the fitting projection 4j of the driven member 4i of the surgical instrument 4. The fitting recess 222a is formed so as to be recessed from the surface on the Y1 direction side of the drive transmission unit 222 toward the Y2 direction side.

[0041] As shown in Figure 10, the drive transmission unit 222 includes a fitting recess 222b that fits with the fitting projection 75a of the servo motor M2. The fitting recess 222b is formed to be recessed from the surface of the drive transmission unit 222 on the Y2 direction side toward the Y1 direction side.

[0042] (Remote control device) As shown in Figure 1, the remote control device 2 is located, for example, inside or outside the operating room. The remote control device 2 includes an operating unit 120, which includes an arm 121 and an operating handle 21, a foot pedal 22, a touch panel 23, a monitor 24, a support arm 25, and a support bar 26. The operating unit 120 constitutes an operating handle for an operator, such as a doctor, to input commands.

[0043] The operating handle 21 is a handle for manipulating the surgical instrument 4. The operating handle 21 also receives the amount of manipulation applied to the surgical instrument 4. The operating handle 21 includes an operating handle 21L, which is located on the left side as viewed from the operator, such as a physician, and is operated by the operator's left hand, and an operating handle 21R, which is located on the right side and is operated by the operator's right hand.

[0044] As shown in Figure 1, the monitor 24 is a scope-type display device for displaying images captured by the endoscope 6. The support arm 25 supports the monitor 24 so that its height is at the same height as the face of the operator, such as a doctor. The touch panel 23 is located on the support bar 26. By detecting the operator's head using a sensor located near the monitor 24, the surgical support robot 1 can be operated by the remote control device 2. The operator operates the operating handle 21 and foot pedal 22 while viewing 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.

[0045] (Control system configuration) As shown in Figure 11, the surgical support system 100 comprises a control device 130, an arm control unit 31a, a positioner control unit 31b, and an operation control unit 110.

[0046] In this embodiment, the control device 130 is positioned inside the medical trolley 3 to communicate with the arm control unit 31a and the positioner control unit 31b, and controls the entire surgical support system 100. Specifically, the control device 130 communicates with and controls the arm control unit 31a, the positioner control unit 31b, and the operation control unit 110, respectively. The control device 130, the arm control unit 31a, the positioner control unit 31b, and the operation control unit 110 are connected by a LAN or the like. The control device 130, the arm control unit 31a, and the positioner control unit 31b are located inside the medical trolley 3.

[0047] An arm control unit 31a is located for each of the multiple robot arms 60. In other words, multiple arm control units 31a corresponding to the number of robot arms 60 are located inside the medical trolley 3.

[0048] As shown in Figure 11, the input device 33 is connected to the control device 130 via a LAN or the like. The status indicator 51, arm status indicator 52, operating handle 34, throttle 34a, joystick 34b, stabilizer 34c, and electric cylinder 34d are connected to the positioner control unit 31b via a communication network that allows them to share information with each other, through wiring 145. In Figure 11, it is shown that all of the status indicators, such as the status indicator 51 and arm status indicator 52, are connected to a single wiring 145, but in reality, there is a separate wiring 145 for each of the status indicator 51, arm status indicator 52, operating handle 34, throttle 34a, joystick 34b, stabilizer 34c, and electric cylinder 34d.

[0049] As shown in Figure 12, the arm section 61 is equipped with multiple servo motors M1, encoders E1, and a reduction gear to correspond to multiple joint sections 64. The encoder E1 detects the rotation angle of the servo motor M1. The reduction gear reduces the rotation of the servo motor M1 to increase the torque. The servo motor M1 is an example of a drive unit. The encoder E1 is an example of a detection unit.

[0050] Inside the medical trolley 3, a servo control unit C1 for controlling the servo motor M1 of the robot arm 60 is located adjacent to the arm control unit 31a. An encoder E1 for detecting the rotation angle of the servo motor M1 is electrically connected to the servo control unit C1.

[0051] As shown in Figure 12, the second link section 73 is equipped with a servo motor M2, an encoder E2, and a reduction gear for rotating a driven member 4i located on the driven unit 4a of the surgical instrument 4. The encoder E2 detects the rotation angle of the servo motor M2. The reduction gear reduces the rotation of the servo motor M2 to increase the torque. The medical trolley 3 is also equipped with a servo control unit C2 for controlling the servo motor M2 that drives the surgical instrument 4. The encoder E2 for detecting the rotation angle of the servo motor M2 is electrically connected to the servo control unit C2. Note that multiple servo motors M2, encoders E2, and servo control units C2 are provided. The servo motor M2 is an example of a drive unit. The encoder E2 is an example of a detection unit.

[0052] As shown in Figure 12, the translational movement mechanism 70 is equipped with a servo motor M3, an encoder E3, and a reduction gear for translating the surgical instrument 4. The encoder E3 detects the rotation angle of the servo motor M3. The reduction gear reduces the rotation of the servo motor M3 to increase the torque. The medical trolley 3 also has a servo control unit C3 for controlling the servo motor M3 that translates the surgical instrument 4. The encoder E3 for detecting the rotation angle of the servo motor M3 is electrically connected to the servo control unit C3. The servo motor M3 is an example of a drive unit. The encoder E3 is an example of a detection unit.

[0053] As shown in Figure 13, the control device 130 controls the robot arm 60 based on operations received by the arm operation unit 80. For example, the control device 130 controls the robot arm 60 based on operations received by the joystick 82 of the arm operation unit 80. Specifically, the arm control unit 31a outputs an input signal received from the joystick 82 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, 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 received 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 motion command input to the joystick 82.

[0054] Furthermore, the control device 130 controls the robot arm 60 based on the input signal from the linear switch 83 of the arm operation unit 80. Specifically, the arm control unit 31a outputs the input signal received 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 received 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.

[0055] In this embodiment, as shown in Figure 14, a circuit board 140 is located on the robot arm 60, to which signals received by the arm operation unit 80 are input. The arm control unit 31a and the circuit board 140 are connected by serial communication via a first wiring 141. Connectors 140a and IC 140b are located on the circuit board 140. The first wiring 141 consists of one transmission path. The arm control unit 31a and the circuit board 140 are connected by serial communication via a communication network that allows them to share information with each other. The first wiring 141 is an example of wiring.

[0056] In this embodiment, as shown in Figure 14, the circuit board 140 is located on the second link section 73. The arm operating section 80 is connected to the second link section 73. Multiple harnesses 142 extending from the arm operating section 80 are connected to the connector 140a of the circuit board 140. A first wiring 141, made of flexible printed circuit board, extends from the circuit board 140 into the interior of the translational movement mechanism section 70.

[0057] In this embodiment, as shown in Figure 13, the arm control unit 31a and the circuit board 140 are connected by serial communication via a first wiring 141, separate from the communication path between the encoders E1, E2, and E3, which detect the movement amounts of the servo motors M1, M2, and M3 respectively, and the arm control unit 31a. Specifically, the encoders E1, E2, and E3 and the arm control unit 31a are connected by serial communication via a second wiring 143. Furthermore, the encoders E1, E2, and E3 are bus-connected. In addition, the encoders E1, E2, and E3 are connected to the arm control unit 31a via servo control units C1, C2, and C3, respectively.

[0058] In this embodiment, as shown in Figure 2, the arm control unit 31a and the circuit board 140 are connected by serial communication via a first wiring 141 through the inside of the robot arm 60 and the outside of the positioner 40. Specifically, the circuit board 140 and the arm control unit 31a are connected by the first wiring 141 through the inside of a tubular member 44 located inside the robot arm 60, the arm base 50, and the outside of the positioner 40. The tubular member 44 is a pipe through which power lines and the like are placed.

[0059] In this embodiment, as shown in Figure 2, the arm control unit 31a and the circuit board 140 are connected by serial communication via a relay unit 144. The relay unit 144 includes a relay unit 144a and a relay unit 144b. The relay unit 144a is located in the first link unit 72, and the circuit board 140 and the relay unit 144a are connected by a first wiring 141 consisting of flexible printed wiring. The relay unit 144b is located between the robot arm 60 and the arm base 50, and the relay units 144a, 144b, and the arm control unit 31a are connected by a first wiring 141 consisting of cable wiring through the inside of the arm unit 61, the arm base 50, and the tubular member 44. Specifically, the relay units 144a and 144b are connectors. The flexible printed wiring extending from the circuit board 140 and the cable wiring extending from the relay unit 144b are connected at the relay unit 144a. Furthermore, the cable wiring extending from the relay section 144a and the cable wiring extending from the arm control unit 31a are connected at the relay section 144b. Note that the relay sections 144a and 144b may be relay boards equipped with ICs, etc. Also, the relay sections 144a, 144b, and the arm control unit 31a may be connected by flexible printed wiring. The relay section 144 may also be located inside the medical trolley 3. Here, flexible printed wiring refers to FPC (Flexible Printed Circuit). Cable wiring refers to a wiring structure other than flexible printed wiring, such as a cable covered with an outer sheath made of polyvinyl chloride resin, polyethylene resin, or ETFE (Ethylene Tetra Fluoro Ethylene) resin. Cable wiring is sometimes called robot cable. Note that FFC (Flexible Flat Cable) may be used as flexible printed wiring.

[0060] In this embodiment, as shown in Figure 13, at least one of the signals received by the joystick 82, the linear switch 83, the pivot button 85, and the adjustment button 86 is input to the circuit board 140. Specifically, all of the signals received by the joystick 82, the linear switch 83, the pivot button 85, and the adjustment button 86 are input to the circuit board 140. The joystick 82, the linear switch 83, the pivot button 85, and the adjustment button 86 are each connected to the connector 140a of the circuit board 140 by a harness 142. Analog signals are transmitted from the joystick 82. Digital signals are transmitted from the linear switch 83, the pivot button 85, and the adjustment button 86.

[0061] In this embodiment, the circuit board 140 receives signals received by the mode switching button 84. The circuit board 140 outputs a signal to the mode indicator 84a. A digital signal is transmitted from the mode switching button 84.

[0062] In this embodiment, the circuit board 140 receives at least one of the following: information about the surgical instrument 4 from the storage unit 4k located on the surgical instrument 4; information on whether or not the surgical instrument 4 is attached to the robot arm 60; and information on whether or not the adapter 220 for attaching the surgical instrument 4 is attached to the robot arm 60. Specifically, the circuit board 140 receives all of the following information: information about the surgical instrument 4 from the storage unit 4k; information on whether or not the surgical instrument 4 is attached; and information on whether or not the adapter 220 is attached. As shown in Figure 9, whether or not the surgical instrument 4 is attached to the robot arm 60 is detected by a sensor 73a located on the second link section 73. Whether or not the adapter 220 is attached to the robot arm 60 is detected by a sensor 73b located on the second link section 73.

[0063] The circuit board 140 receives information on whether or not the mating recess 222a of the drive transmission section 222 of the adapter 220 is mated with the mating projection 4j of the driven member 4i of the surgical instrument 4. Whether or not the mating recess 222a and the mating projection 4j are mated is detected by a sensor 73c located on the second link section 73.

[0064] As shown in Figure 11, the positioner control unit 31b controls the positioner 40 and the medical trolley 3. The positioner 40 is equipped with a servo motor SM, an encoder EN, and a reduction gear, corresponding to the multiple joints 43 of the positioner 40. The servo control unit SC, which controls the servo motor SM of the positioner 40, is located on the medical trolley 3. The medical trolley 3 is equipped with a servo motor SM, an encoder EN, a reduction gear, a servo control unit SC, and a brake, which drive each of the multiple front wheels of the medical trolley 3.

[0065] As shown in Figure 11, the operation control unit 110 is located in the main body of the remote control device 2. The operation control unit 110 controls the operation unit 120. The operation control unit 110 is located in both the operation unit 120L and the operation unit 120R. The operation unit 120 is equipped with a servo motor SM, an encoder EN, and a reduction gear, corresponding to the multiple joints of the operation unit 120. The servo control unit SC, which controls the servo motor SM of the operation unit 120, is located adjacent to the operation control unit 110 in the main body of the remote control device 2.

[0066] [Effects of this embodiment] The circuit board 140, which receives signals from the arm operation unit 80, and the arm control unit 31a are connected via serial communication using a first wiring 141. As a result, even if a joystick 82 or operation buttons are placed on the arm operation unit 80, the harnesses 142 extending from the joystick 82 or operation buttons are connected to the circuit board 140, while the circuit board 140 and the arm control unit 31a are connected via serial communication. Consequently, the number of wires can be reduced compared to the case where the joystick 82 or operation buttons are each connected to the arm control unit 31a.

[0067] The arm control unit 31a and the circuit board 140 are connected by serial communication via a first wiring 141, separate from the communication path between the encoders E1, E2, and E3, which detect the movement amounts of the servo motors M1, M2, and M3 respectively, and the arm control unit 31a. This suppresses interference between the signals between the arm operation unit 80 and the arm control unit 31a and the signals between the encoders E1, E2, and E3 and the arm control unit 31a.

[0068] Encoders E1, E2, and E3 and the arm control unit 31a are connected by serial communication via a second wiring 143. This reduces the number of wires extending to the arm control unit 31a while suppressing interference between signals from the arm operation unit 80 and signals from each encoder, even when multiple encoders E1, E2, and E3 are installed.

[0069] The arm control unit 31a and the circuit board 140 are connected via serial communication through the inside of the robot arm 60. As a result, the circuit board 140 and the arm control unit 31a are connected by a first wiring 141, reducing the number of wires and thus preventing the robot arm 60 from becoming larger.

[0070] The arm control unit 31a is located inside the medical trolley 3, and the arm control unit 31a and the circuit board 140 are connected by serial communication via the first wiring 141, through the inside of the robot arm 60 and the outside of the positioner 40. This reduces the number of wires that run through the inside of the robot arm 60 and the outside of the positioner 40.

[0071] The control device 130 is positioned inside the medical trolley 3 to communicate with the arm control unit 31a. This prevents the configuration of the surgical support system 100 from becoming overly complex, unlike when the control device 130 is located outside the medical trolley 3.

[0072] The arm control unit 31a and the circuit board 140 are connected via serial communication through the relay unit 144. This allows the relay unit 144 to be placed in the separated parts, thereby enabling the separation of the separated parts and the wiring as a single unit. As a result, the surgical support system 100 can be easily operated, reducing the workload associated with rewiring. Furthermore, the type of wiring connected via serial communication through the relay unit 144 can be changed. For example, by connecting cable wiring and flexible printed wiring via the relay unit 144, flexible printed wiring can be positioned in the movable parts.

[0073] The circuit board 140 and the relay section 144a are connected by a first wiring 141 made of flexible printed circuit board. As a result, the first wiring 141 made of flexible printed circuit board is positioned between the second link section 73 and the translational movement mechanism section 70, so that the first wiring 141 does not obstruct the movement of the second link section 73 and the translational movement mechanism section 70, which move linearly relative to each other along the Z direction.

[0074] At least one of the signals received by the joystick 82, the linear switch 83, the pivot button 85, and the adjustment button 86 is input to the circuit board 140. This reduces the number of wires extending to the arm control unit 31a when at least one of the joystick 82, the linear switch 83, the pivot button 85, and the adjustment button 86 is located in the arm operation unit 80. Furthermore, when multiple of the joystick 82, the linear switch 83, the pivot button 85, and the adjustment button 86 are located in the arm operation unit 80, the number of wires extending from the arm operation unit 80 increases, so reducing the number of wires extending to the arm control unit 31a by serial communication connection between the arm control unit 31a and the circuit board 140 is particularly effective.

[0075] The circuit board 140 receives signals from the mode switching button 84, and outputs signals from the circuit board 140 to the mode indicator 84a. This reduces the number of wires extending to the arm control unit 31a when the mode indicator 84a is located on the arm operation unit 80 and signals are output from the circuit board 140 to the mode indicator 84a.

[0076] The circuit board 140 receives at least one of the following: information about the surgical instrument 4 from the memory unit 4k, information about whether or not the surgical instrument 4 is attached to the robot arm 60, and information about whether or not the adapter 220 for attaching the surgical instrument 4 is attached to the robot arm 60. This reduces the number of wires extending to the arm control unit 31a when at least one of the following information is received by the circuit board 140: information about the surgical instrument 4, information about whether or not the surgical instrument 4 is attached, and information about whether or not the adapter 220 is attached.

[0077] The circuit board 140 is positioned on the second link section 73. This reduces the distance between the arm operating section 80 and the circuit board 140, thereby reducing the influence of noise on the signal input from the arm operating section 80 to the circuit board 140.

[0078] [Differentiation] The embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of this disclosure is indicated by the claims rather than the description of the embodiments above, and further includes all modifications or variations within the meaning and scope equivalent to the claims.

[0079] In the above embodiment, an example was shown in which the arm control unit 31a is located on the medical trolley 3, but the disclosure is not limited to this. For example, the arm control unit 31a may be located on a part other than the medical trolley 3, such as the robot arm 60.

[0080] In the above embodiment, an example was shown in which the arm operating unit 80 is attached to the second link unit 73, but the disclosure is not limited thereto. For example, the arm operating unit 80 may be attached to a part of the robot arm 60 other than the second link unit 73.

[0081] In the above embodiment, an example was shown in which the substrate 140 is located on the second link portion 73, but the disclosure is not limited thereto. For example, the substrate 140 may be located on the arm operating portion 80.

[0082] In the above embodiment, an example was shown in which encoders E1, E2, and E3 and arm control unit 31a are connected by serial communication via second wiring 143, but the disclosure is not limited to this. For example, the communication method between encoders E1, E2, and E3 and arm control unit 31a may be a communication method other than serial communication.

[0083] In the above embodiment, an example was shown in which the control device 130 is located on the medical trolley 3, but the disclosure is not limited thereto. For example, the control device 130 may be located outside the medical trolley 3.

[0084] In the above embodiment, an example was shown in which the arm control unit 31a and the circuit board 140 are connected via serial communication through the relay unit 144, but the disclosure is not limited to this. For example, the arm control unit 31a and the circuit board 140 may be directly connected without going through the relay unit 144.

[0085] In the above embodiment, an example was shown in which all signals received by the joystick 82, the linear switch 83, the pivot button 85, and the adjustment button 86 are input to the circuit board 140, but the disclosure is not limited thereto. For example, the circuit board 140 may be input to one or more of the signals from the joystick 82, the linear switch 83, the pivot button 85, and the adjustment button 86, rather than all of them.

[0086] Furthermore, although the above embodiment shows an example in which four robot arms 60 are provided, the disclosure is not limited thereto. In this disclosure, the number of robot arms 60 may be any other number as long as at least one or more are provided.

[0087] Furthermore, although the above embodiment shows an example in which the arm portion 61 and the positioner 40 are composed of a 7-axis articulated robot, this disclosure is not limited to this. For example, the arm portion 61 and the positioner 40 may be composed of an articulated robot with an axis configuration other than a 7-axis articulated robot. An axis configuration other than a 7-axis articulated robot would be, for example, 6 axes or 8 axes.

[0088] Furthermore, while the above embodiment shows an example in which the surgical support robot 1 includes a medical cart 3, a positioner 40, and an arm base 50, this 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 consist only of a robot arm 60.

[0089] [Aspect] Those skilled in the art will understand that the exemplary embodiments described above are specific examples of the following embodiments.

[0090] (Item 1) A robotic arm to which surgical instruments can be attached, An arm operating unit attached to the robot arm and used to operate the robot arm, A circuit board is placed in the robot arm or the arm operating unit, and receives signals received by the arm operating unit. It includes a control unit, A surgical support system in which the control unit and the circuit board are connected by serial communication via a first wiring.

[0091] (Item 2) The robot arm includes a joint and a drive unit provided in the joint, The surgical support system according to item 1, wherein the control unit and the circuit board are connected by serial communication via the first wiring, separately from the communication path between the detection unit that detects the amount of movement of the drive unit and the control unit.

[0092] (Item 3) The surgical support system described in item 2, wherein the detection unit and the control unit are connected by serial communication via a second wiring.

[0093] (Item 4) The surgical assistance system according to any one of items 1 to 3, wherein the control unit and the circuit board are connected by serial communication via the inside of the robot arm.

[0094] (Item 5) The arm base to which the robot arm is attached, A positioner for adjusting the position of the aforementioned arm base, The system further comprises a medical trolley for moving the positioner, The control unit is located inside the medical trolley. The surgical assistance system according to item 4, wherein the control unit and the circuit board are connected by serial communication via the first wiring, through the inside of the robot arm and the outside of the positioner.

[0095] (Item 6) The surgical support system according to item 5, further comprising a control device positioned inside the medical trolley to communicate with the control unit and to control the entire surgical support system.

[0096] (Item 7) The surgical support system according to any one of items 1 to 6, wherein the control unit and the circuit board are connected by serial communication via a relay unit.

[0097] (Item 8) The surgical support system according to item 7, wherein at least one of the connections between the control unit and the relay unit, and between the relay unit and the substrate, is serially communicated by the first wiring, which is made of flexible printed circuit board.

[0098] (Item 9) The robotic arm is The arm section, A first link portion is positioned at the tip of the aforementioned arm portion, The arm operating section is attached to the second link section, It includes a translational movement mechanism that moves the second link portion in translation relative to the first link portion, The aforementioned relay unit is Including a first relay section located in the first link section, The surgical support system according to item 8, wherein the substrate and the first relay unit are connected by serial communication via the first wiring, which consists of the flexible printed circuit board.

[0099] (Item 10) The system further comprises an arm base to which the robot arm is attached, The aforementioned relay unit is It includes a second relay section disposed between the robot arm and the arm base, The surgical support system according to item 9, wherein the first relay unit and the second relay unit and the second relay unit and the control unit are connected by serial communication via the first wiring, which consists of cable wiring.

[0100] (Item 11) The aforementioned arm operating unit is A joystick for controlling the movement of the surgical instrument by the robotic arm, A linear switch for controlling the movement of the surgical instrument by the robot arm in a direction along the longitudinal direction of the surgical instrument, A pivot button for setting the pivot position which serves as the fulcrum for the movement of the surgical instrument attached to the robot arm, It includes at least one of the following: an adjustment button for optimizing the position of the robot arm, The surgical assistance system according to any one of items 1 to 10, wherein at least one of the signals received by the joystick, the linear switch, the pivot button, and the adjustment button is input to the circuit board.

[0101] (Item 12) The aforementioned arm operating unit is A mode switching button for switching between a mode in which the surgical instrument is moved in translation and a mode in which it is moved in rotation, Includes a mode indicator that displays the switched mode, The circuit board receives the signal received by the mode switching button, A surgical support system according to any one of items 1 to 11, wherein a signal is output from the circuit board to the mode indicator.

[0102] (Item 13) The surgical instrument includes a storage unit that stores information about the surgical instrument, The surgical instrument is attached to the robot arm via an adapter. The aforementioned substrate includes: The information of the surgical instruments from the memory unit, Information on whether or not the surgical instrument is attached to the robot arm, A surgical assistance system according to any one of items 1 to 12, wherein at least one of the following is input: information on whether or not the adapter for attaching the surgical instrument is attached to the robot arm.

[0103] (Item 14) The robotic arm is The arm section, A first link portion is positioned at the tip of the aforementioned arm portion, The arm operating section is attached to the second link section, It includes a translational movement mechanism that moves the second link portion in translation relative to the first link portion, The aforementioned substrate is located in the second link portion and is part of the surgical support system according to any one of items 1 to 13.

[0104] (Item 15) A robotic arm to which surgical instruments can be attached, An arm operating unit attached to the robot arm and used to operate the robot arm, A circuit board is placed in the robot arm or the arm operating unit, and receives signals received by the arm operating unit. It includes a control unit, A surgical assistance robot in which the control unit and the circuit board are connected by serial communication via wiring.

Claims

1. A robotic arm to which surgical instruments are attached, comprising an arm portion, a first link portion positioned at the tip of the arm portion, a second link portion, and a translational movement mechanism portion that moves the second link portion in translation relative to the first link portion, An arm operating unit attached to the second link portion for operating the robot arm, The second link section includes a connector to which a plurality of harnesses extending from the arm operating section are connected, and a circuit board to which signals received by the arm operating section are input, It includes a control unit, The control unit and the circuit board are connected via a relay section consisting of a connector, and are connected by a first wiring for serial communication. The aforementioned relay section is located in a surgical support system that separates from each other.

2. The robot arm includes a joint and a drive unit provided in the joint, The surgical support system according to claim 1, wherein the control unit and the circuit board are connected by serial communication via the first wiring, separately from the communication path between the detection unit that detects the amount of movement of the drive unit and the control unit.

3. The surgical support system according to claim 2, wherein the detection unit and the control unit are connected by serial communication via a second wiring.

4. The surgical support system according to claim 1, wherein the control unit and the circuit board are connected by serial communication via the inside of the robot arm.

5. The arm base to which the robot arm is attached, A positioner for adjusting the position of the aforementioned arm base, The system further comprises a medical trolley for moving the positioner, The control unit is located inside the medical trolley. The surgical support system according to claim 4, wherein the control unit and the circuit board are serially connected via the first wiring, through the inside of the robot arm and the outside of the positioner.

6. The surgical support system according to claim 5, further comprising a control device positioned inside the medical trolley to communicate with the control unit and to control the entire surgical support system.

7. The surgical support system according to claim 1, wherein at least one of the connections between the control unit and the relay unit, and between the relay unit and the substrate, is serially communicated by the first wiring, which is made of flexible printed circuit boards.

8. The relay unit is, Including the first relay section located in the first link section, The surgical support system according to claim 7, wherein the substrate and the first relay unit are connected by serial communication via the first wiring, which is made of flexible printed circuit boards.

9. The system further comprises an arm base to which the robot arm is attached, The aforementioned relay unit is It includes a second relay section disposed between the robot arm and the arm base, The surgical support system according to claim 8, wherein the first relay unit and the second relay unit and the second relay unit and the control unit are connected by serial communication via the first wiring, which consists of cable wiring.

10. The aforementioned arm operating unit is A joystick for controlling the movement of the surgical instrument by the robotic arm, A linear switch for controlling the movement of the surgical instrument by the robot arm in a direction along the longitudinal direction of the surgical instrument, A pivot button for setting the pivot position which serves as the fulcrum for the movement of the surgical instrument attached to the robot arm, It includes at least one of the following: an adjustment button for optimizing the position of the robot arm, The surgical assistance system according to claim 1, wherein at least one of the signals received by the joystick, the linear switch, the pivot button, and the adjustment button is input to the circuit board.

11. The aforementioned arm operating unit is A mode switching button for switching between a mode in which the surgical instrument is moved in translation and a mode in which it is moved in rotation, Includes a mode indicator that displays the switched mode, The circuit board receives the signal received by the mode switching button, The surgical support system according to claim 1, wherein a signal is output from the substrate to the mode indicator.

12. The surgical instrument includes a storage unit that stores information about the surgical instrument, The surgical instrument is attached to the robot arm via an adapter. The aforementioned substrate includes: The information of the surgical instruments from the memory unit, Information on whether or not the surgical instrument is attached to the robot arm, The surgical support system according to claim 1, wherein at least one of the following is input: information on whether or not the adapter for attaching the surgical instrument is attached to the robot arm, and

13. A robotic arm to which surgical instruments are attached, comprising an arm portion, a first link portion positioned at the tip of the arm portion, a second link portion, and a translational movement mechanism portion that moves the second link portion in translation relative to the first link portion, An arm operating unit attached to the second link portion for operating the robot arm, The second link section includes a connector to which a plurality of harnesses extending from the arm operating section are connected, and a circuit board to which signals received by the arm operating section are input, It includes a control unit, The control unit and the circuit board are connected by serial communication via wiring through a relay unit consisting of a connector. The relay section is located in a surgical assistance robot that is separated from each other.

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