Surgical support system and method for controlling the surgical support system

Abstract

To provide a surgery support system capable of translationally moving a surgical instrument in a desired direction intended by an operator accurately even when an inclination of a display part changes.SOLUTION: In a surgery support system 100, a remote operation device 2 includes a monitor 24 displaying an image captured by an endoscope 6, which rotates so as to be inclined with respect to a horizontal plane, and an angle sensor 29a for detecting an inclination with respect to the horizontal plane of the monitor 24. A control device 130 corrects a translational movement of a surgery instrument 4 on the basis of the inclination detected by the angle sensor 29a.SELECTED DRAWING: Figure 19

Description

Technical Field

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

Background Art

[0002] Conventionally, a surgery support system disclosed in Patent Document 1 is known. The surgery support 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 a surgical site captured by an endoscope is displayed on the display unit of the master control device. When an operator operates the operation unit of the master control device while visually recognizing the image of the surgical site displayed on the display unit, the surgical instrument attached to the slave robot manipulator is moved. Furthermore, in the surgery support system of Patent Document 1, it is possible to adjust the display angle of the display unit of the master control device.

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] As described in Patent Document 1, when the display angle, which is the inclination angle of the display unit of the master control device with respect to the horizontal plane, is changed, the direction in which the endoscope captures images and the direction of the operator's line of sight when viewing the display unit change compared to before the display angle of the display unit was changed. Here, the inventors of the present invention have found that the direction in which the operator operates the control unit changes due to the change in the direction of the operator's line of sight when viewing the display unit. That is, when an operator operates the control unit to move a surgical instrument in a desired direction, the inventors have found that the direction in which the operator operates the control unit changes before and after the display angle of the display unit is changed, even though the desired direction in which the operator wants to move the surgical instrument in does not change. As a result, when the display angle of the display unit changes, there is a problem that the operator cannot accurately move the surgical instrument in the desired direction as intended.

[0005] This disclosure is made to solve the above-mentioned problems and provides a surgical support system and a control method for the surgical support system that can accurately translate surgical instruments in the desired direction intended by the operator, even when the tilt of the display unit changes. [Means for solving the problem]

[0006] A surgical assistance system according to the first aspect of this disclosure comprises a surgical apparatus including a first robotic arm to which an endoscope is attached at its tip and a second robotic arm to which a predetermined surgical instrument other than an endoscope is attached at its tip; an operating device including an operating unit that receives operations on the predetermined surgical instrument or endoscope; and a control device that controls the movement of the predetermined surgical instrument or endoscope based on the received operations, wherein the operating device includes a display unit that displays an image captured by the endoscope and rotates to be inclined with respect to a horizontal plane, and a tilt detection sensor that detects the inclination of the display unit with respect to the horizontal plane, and the control device, based on the inclination detected by the tilt detection sensor, moves the predetermined surgical instrument Vector Correct it.

[0007] In the surgical support system according to the first aspect of this disclosure, as described above, the control device corrects the translational movement of a predetermined surgical instrument based on the tilt detected by a tilt detection sensor that detects the tilt of the display unit with respect to the horizontal plane. As a result, even if the tilt of the display unit with respect to the horizontal plane changes, the control device corrects the translational movement of the predetermined surgical instrument. Therefore, even if the tilt of the display unit changes, the surgical instrument can be accurately translated in the desired direction intended by the operator. Furthermore, the tilt of the display unit with respect to the horizontal plane can be detected relatively easily based on the tilt detection sensor. Therefore, even if the tilt of the display unit changes, the surgical instrument can be accurately translated in the desired direction intended by the operator while easily detecting the tilt of the display unit with respect to the horizontal plane.

[0008] A control method for a surgical assistance system according to the second aspect of this disclosure comprises a surgical apparatus including a first robotic arm to which an endoscope is attached at its tip and a second robotic arm to which a predetermined surgical instrument other than an endoscope is attached at its tip; an operating device including an operating unit that receives operations on the predetermined surgical instrument or endoscope; and a control device that performs control to move the predetermined surgical instrument or endoscope based on the received operations, The tilt detection sensor, The system displays images captured by the endoscope and detects the tilt of the display unit, which rotates to tilt relative to the horizontal plane, relative to the horizontal plane. The control device Based on the detected tilt, the translation of a given surgical instrument. Vector It includes correcting and

[0009] The control method for a surgical support system according to the second aspect of this disclosure, as described above, includes detecting the inclination of a display unit with respect to the horizontal plane, which displays an image captured by an endoscope and rotates to tilt with respect to the horizontal plane, using a tilt detection sensor, and correcting the translational movement of a predetermined surgical instrument based on the detected inclination. As a result, even if the inclination of the display unit with respect to the horizontal plane changes, the translational movement of the predetermined surgical instrument is corrected. Therefore, even if the inclination of the display unit with respect to the horizontal plane changes, a control method for a surgical support system can be provided that enables the operator to accurately translate the surgical instrument in the desired direction intended by the operator. Furthermore, the inclination of the display unit with respect to the horizontal plane can be detected relatively easily based on the tilt detection sensor. Therefore, a control method for a surgical support system can be provided that enables the operator to accurately translate the surgical instrument in the desired direction intended by the operator, even if the inclination of the display unit changes, while easily detecting the inclination of the display unit with respect to the horizontal plane. [Effects of the Invention]

[0010] According to this disclosure, even if the tilt of the display unit changes, the surgical instrument can be accurately translated in the desired direction intended by the operator. [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 robot arm according to one embodiment. [Figure 3] This is a diagram of forceps. [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 illustrating the translational movement of a robotic arm. [Figure 6] This is a diagram illustrating the rotational movement of a robotic arm. [Figure 7] This figure shows an operating section according to one embodiment. [Figure 8] This figure shows the configuration of the right-hand control unit according to one embodiment. [Figure 9] It is a diagram illustrating the configuration of a left-hand operating unit according to one embodiment. [Figure 10] It is a diagram illustrating the configuration of a foot pedal according to one embodiment. [Figure 11] It is a side view of a remote control device according to one embodiment. [Figure 12] It is a diagram showing a state where a monitor is tilted. [Figure 13] It is a control block diagram of a surgery support system according to one embodiment. [Figure 14] It is a control block diagram of a robot arm according to one embodiment. [Figure 15] It is a control block diagram of a remote control device according to one embodiment. [Figure 16] It is a diagram showing an operator and an HC coordinate system. [Figure 17] It is a diagram showing a surgical instrument, an endoscope, and an endoscope coordinate system. [Figure 18] It is a diagram for explaining the operation when an operating unit accepts an operation. [Figure 19] It is a flow diagram of a control method for a surgery support system according to one embodiment. [Figure 20] It is a side view of a remote control device according to a modified example. DETAILED DESCRIPTION OF EMBODIMENTS

[0012] (Configuration of Surgery Support System) The configuration of the surgery support system 100 according to the present embodiment will be described. The surgery support system 100 includes a surgery support robot 1 and a remote control device 2. The surgery support robot 1 and the remote control device are each an example of a surgical device and an operating device, respectively.

[0013] In this specification, the longitudinal direction of the shaft 4c of the surgical instrument 4 is defined as the Z direction. The tip side of the surgical instrument 4 is defined as the Z1 side, and the base side of the surgical instrument 4 is defined as the Z2 side. The direction perpendicular to the Z direction is defined as the X direction. One side in the X direction is defined as the X1 side, and the other side as the X2 side. The direction perpendicular to both the Z and X directions is defined as the Y direction. One side in the Y direction is defined as the Y1 side, and the other side as the Y2 side.

[0014] Furthermore, in this specification, the direction along the vertical direction is defined as the Za direction. One side of the Za direction is designated as the Za1 side, and the other side as the Za2 side. The direction perpendicular to the Z direction is defined as the Xa direction. One side of the Xa direction is designated as the Xa1 side, and the other side as the Xa2 side. The direction perpendicular to both the Za and Xa directions is defined as the Ya direction. One side of the Ya direction is designated as the Ya1 side, and the other side as the Ya2 side. The Xa and Ya directions are directions along the horizontal plane.

[0015] As shown in Figure 1, the surgical robot 1 is positioned inside the operating room. The remote control device 2 is positioned at a distance from the surgical robot 1. An operator, such as a physician, inputs commands to the remote control device 2 to cause the surgical robot 1 to perform the desired action. The remote control device 2 transmits the input commands to the surgical robot 1. The surgical robot 1 operates based on the received commands. The surgical robot 1 is positioned inside the operating room, which is a sterile field.

[0016] (Configuration of the surgical assistance robot) As shown in Figure 1, the surgical assistance robot 1 comprises a medical trolley 3, a positioner 40, an arm base 50, a plurality of robot arms 60, and an arm operating unit 80.

[0017] The medical cart 3 moves the positioner 40. The medical cart 3 includes an input device 33. The input device 33 accepts commands to move and change the posture of the positioner 40, arm base 50, and multiple robotic arms 60, primarily for preparing for surgery before the procedure. The medical cart 3 includes an operating handle 34 that accepts steering by the operator.

[0018] 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.

[0019] 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.

[0020] The arm base 50 is attached to the tip of the positioner 40. The base end of each of the multiple robot arms 60 is attached to the arm base 50. The multiple robot arms 60 can be folded and stored. The arm base 50 and the multiple robot arms 60 are used covered with sterile drapes. The robot arms 60 also support surgical instruments 4.

[0021] 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. 60a, 60b, and 60d are examples of second robot arms. 60c is an example of a first robot arm.

[0022] As shown in Figure 2, 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, JT2, JT3, JT4, JT5, JT6, and JT7 axes as rotational axes and a JT8 axis as a linear motion axis. The JT1, JT2, JT3, JT4, JT5, JT6, and JT7 axes are the rotational axes of the joints 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.

[0023] 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 operating section 80 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.

[0024] 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 as an instrument includes a driven unit 4a, forceps 4b, and a shaft 4c connecting the driven unit 4a and the forceps 4b. The driven unit 4a, the shaft 4c, and the forceps 4b are arranged along the Z direction.

[0025] 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.

[0026] (Instrumentation) As shown in Figure 3, for example, a forceps 4b is positioned at the tip of the instrument. In addition to the forceps 4b, other articulated instruments such as scissors, grippers, needle holders, microdisectors, stable applicators, tackers, suction and irrigation tools, snare wires, and clip applicators may be positioned at the tip of the instrument. Non-articulated instruments such as cutting blades, cauterization probes, irrigators, catheters, and suction orifices may be positioned at the tip of the instrument.

[0027] The forceps 4b includes a first support 4e that rotatably supports the proximal ends of the jaw members 104a and 104b at the tip side around the JT11 axis, and a second support 4f that rotatably supports the proximal end of the first support 4e at the tip side around the JT10 axis. The shaft 4c rotates around the JT9 axis. The jaw members 104a and 104b open and close around the JT12 axis. The tip side of the first support 4e, which is the Z1 direction side, has a U-shape.

[0028] As shown in Figure 2, the arm operating unit 80 is attached to the robot arm 60. Specifically, the arm operating unit 80 is attached to the second link unit 73.

[0029] As shown in Figure 4, the arm operating 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.

[0030] The enable switch 81 is a switch that allows or disallows the movement of the robot arm 60 by the joystick 82 and the linear switch 83. The joystick 82 is a control device for operating the movement of the surgical instrument 4 by the robot arm 60. The linear switch 83 is a switch for moving the surgical instrument 4 in a direction along its longitudinal direction. The mode switching button 84 is a button for switching between the translational movement mode of the surgical instrument 4 shown in Figure 5 and the rotational movement mode shown in Figure 6. The mode indicator 84a displays the switched mode. The pivot button 85 is a button for teaching the pivot position PP, which is the pivot point for the movement of the surgical instrument 4 attached to the robot arm 60. The adjustment button 86 is a button for optimizing the position of the robot arm 60.

[0031] (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 a main unit 2a, an operating unit 120, a foot pedal 22, a touch panel 23, a monitor 24, a support arm 25, a support bar 26, a foot detection unit 27, an angle sensor 29a shown in Figure 11, and a switch unit 29b shown in Figure 11. The monitor 24 is an example of a display unit. The angle sensor 29a is an example of a tilt detection sensor.

[0032] As shown in Figure 1, the control unit 120 receives input from the endoscope 6 or other surgical instruments 4. The control unit 120 is supported by the main body 2a. As shown in Figure 7, the control unit 120 includes a left-handed control unit 120L, 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 a right-handed control unit 120R, which is located on the right side and is operated by the operator's right hand. The configuration of the left-handed control unit 120L and the configuration of the right-handed control unit 120R are the same.

[0033] The operating section 120 includes a substantially L-shaped arm 121 and an operating handle 21. The arm 121 has a link section 121a, a link section 121b, and a link section 121c. The upper end of link section 121a is attached to the main body 2a so as to be rotatable around the A1 axis in the vertical direction. The upper end of link section 121b is attached to the lower end of link section 121a so as to be rotatable around the A2 axis in the horizontal direction. One end of link section 121c is attached to the lower end of link section 121b so as to be rotatable around the A3 axis in the horizontal direction. The operating handle 21 is attached to the other end of link section 121c so as to be rotatable around the A4 axis. Each link section is connected by a joint 122.

[0034] Arm 121 supports the operating handle 21. Arm 121 supports the operating handle 21 so that it can move within a predetermined three-dimensional operating range. Specifically, Arm 121 supports the operating handle 21 so that it can move in the vertical, horizontal, and forward / backward directions. The robot arm 60 is moved three-dimensionally to correspond to the three-dimensional operation of Arm 121.

[0035] The operating handle 21 includes an operating handle 21R operated by the operator's right hand as shown in Figure 8, and an operating handle 21L operated by the operator's left hand as shown in Figure 9. Figure 8 shows the standard position of the right-hand operating unit 120R, and Figure 9 shows the standard position of the left-hand operating unit 120L. The configuration of the operating handle 21R and the operating handle 21L are the same. The operating handle 21 includes a link section 21a, a link section 21b, a link section 21c, and a link section 21d operated by an operator such as a doctor. The link section 21a rotates around the A4 axis. The link section 21b is rotatably mounted to the link section 21a around the A5 axis. The link section 21c is rotatably mounted to the link section 21b around the A6 axis. The link section 21d is rotatably mounted to the link section 21c around the A7 axis. Each link section is connected by a joint 122. Link sections 21a, 21b, and 21c each have an L-shape.

[0036] The operating handle 21 includes a pair of grip members 21f that are opened and closed by the operator. The grip members 21f consist of elongated plate-shaped lever members, and the proximal ends of the pair of grip members 21f are rotatably connected to the proximal end G1 of the link portion 21d. A cylindrical finger insertion portion 21e is provided on the grip members 21f. The operator operates the operating handle 21R by inserting the fingers of their right hand into the pair of finger insertion portions 21e. The operator operates the operating handle 21L by inserting the fingers of their left hand into the pair of finger insertion portions 21e. The base ends of the pair of grip members 21f are connected to the link portion 21d, and the opening angle between the jaw members 104a and 104b is changed by increasing or decreasing the angle between the pair of grip members 21f. A magnet is provided on one of the grip members 21f, and a Hall sensor is provided on the link portion 21d. When the operator opens and closes the grip member 21f, the magnet and Hall sensor function as an angle detection sensor 21g, as shown in Figure 13, and the Hall sensor outputs the opening angle. Alternatively, the angle detection sensor 21g may be configured with a Hall sensor on the grip member 21f and a magnet on the link portion 21d. Alternatively, both grip members 21f may be configured with either a magnet or a Hall sensor as the angle detection sensor 21g.

[0037] The intersection of the multiple rotation axes of the control unit 120 is called the gimbal point GP. Specifically, the gimbal point GP is the point where the A4 axis, A5 axis, A6 axis, and A7 axis intersect. The gimbal point GP is located on the link portion 21d to which the pair of grip members 21f are attached. The gimbal point GP exists separately for the left-hand control unit 120L and the right-hand control unit 120R.

[0038] As shown in Figure 10, the foot pedals 22 are provided in multiple configurations to perform functions related to the surgical instruments 4. The multiple 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, clutch pedal 22b, camera pedal 22c, incision pedal 22d, and coagulation pedal 22e are operated by the operator's feet. The incision pedal 22d includes an incision pedal 22dR for the right robot arm 60 and an 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.

[0039] The switching pedal 22a switches the robot arm 60 that is operated by the operating handle 21. The clutch pedal 22b performs a clutch operation that temporarily disconnects the operating connection between the robot arm 60 and the operating handle 21. While the clutch pedal 22b is pressed down by the operator, the operation of the operating handle 21 is not transmitted to the robot arm 60. Also, while the camera pedal 22c is pressed down by the operator, it becomes possible to operate the robot arm 60 to which the endoscope 6 is attached using the operating handle 21. While the incision pedal 22d or coagulation pedal 22e is pressed down by the operator, the electrosurgical device is activated.

[0040] The foot detection unit 27 detects the foot of the operator operating the foot pedal 22. The foot detection unit 27 detects a foot in a hovering state located above the foot pedal 22. The foot detection unit 27 is located on the base unit 28.

[0041] As shown in Figure 11, the monitor 24 is a scope-type display device for displaying images taken by the endoscope 6. As shown in Figure 12, the monitor 24 rotates so as to be inclined with respect to the horizontal plane. Specifically, the monitor 24 rotates around the D1 axis along the Xa direction. The D1 axis is an example of a first axis.

[0042] As shown in Figure 11, 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 support arm 25 includes a first link portion 25a, a second link portion 25b, a third link portion 25c, and a gripping portion 25d. One end of the first link portion 25a is attached to the main body portion 2a. A joint JT 21 is located at one end of the first link portion 25a. The other end of the first link portion 25a and one end of the second link portion 25b are connected by a joint JT 22. The other end of the second link portion 25b and one end of the third link portion 25c are connected by a joint JT 23. The monitor 24 is rotatably attached to the third link portion 25c. The gripping portion 25d is located on the third link portion 25c. The gripping portion 25d is located on both the Xa1 and Xa2 sides of the third link portion 25c. The first link portion 25a and the second link portion 25b are examples of link portions. The third link portion 25c is an example of a link portion and a holding portion.

[0043] A spring SP1 is positioned at the base end of the first link portion 25a. Spring SP1 lifts the first link portion 25a. Spring SP2 is also positioned on the first link portion 25a. Spring SP2 lifts the second link portion 25b. Spring SP3 is positioned on the second link portion 25b. Spring SP3 lifts the third link portion 25c. Brake BRK1 is positioned on the base end side of the first link portion 25a. Brake BRK1 fixes the joint JT21 so that it does not rotate. Brake BRK2 is positioned on the joint JT23 where the second link portion 25b and the third link portion 25c are connected. Brake BRK2 fixes the joint JT23 so that it does not rotate. Springs SP1, SP2, and SP3 are positioned to support the weight of the support arm 25 and the monitor 24. Brake BRK1 and Brake BRK2 are non-excitation-operated electromagnetic brakes, configured to prevent joints JT21 and JT23 from moving even when an external force is applied. Alternatively, only one or two of springs SP1, SP2, and SP3 may be present. Furthermore, only Brake BRK1 or Brake BRK2 may be present. Joint JT22 may also have a brake.

[0044] In this embodiment, the switch unit 29b switches between a state that allows and does not allow the change in the posture of the support arm 25. The switch unit 29b is located on the gripping unit 25d. By pressing the switch unit 29b, the brake BRK1 and brake BRK2 are released, and the operator can change the posture of the support arm 25 by gripping and moving the gripping unit 25d. The tilt angle of the monitor 24 with respect to the horizontal plane can be changed by the operator gripping and tilting the gripping unit 25d. The brake BRK3 may be positioned to fix the rotation between the monitor 24 and the third link unit 25c. In addition to changing the posture of the support arm 25, the system may also be configured so that by pressing the switch unit 29b, the brake BRK3 is released, allowing the tilt angle of the monitor 24 with respect to the horizontal plane to be changed as well.

[0045] In this embodiment, the angle sensor 29a detects the inclination of the monitor 24 with respect to the horizontal plane. The monitor 24 rotates around the D1 axis with respect to the third link portion 25c. The angle sensor 29a detects the rotation angle θ of the monitor 24 around the D1 axis along the horizontal plane. The angle sensor 29a detects the rotation angle θ of the monitor 24 with respect to the third link portion 25c. The angle sensor 29a is, for example, an encoder that detects the rotation angle θ of the monitor 24.

[0046] As shown in Figure 1, 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 control unit 120 and foot pedals 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. The support arm 25 is an example of a support unit.

[0047] (Control system configuration) As shown in Figure 13, the surgical support system 100 includes a control device 130, an arm control unit 31a, a positioner control unit 31b, and an operation control unit 110.

[0048] 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 is connected to the arm control unit 31a, the positioner control unit 31b, and the operation control unit 110 by a LAN or the like. The control device 130 is located inside the medical trolley 3.

[0049] 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.

[0050] As shown in Figure 13, the input device 33 is connected to the control device 130 via a LAN or the like. The status indicator 53, arm status indicator 54, operating handle 34, throttle 34a, joystick 33b, 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 13, it is shown that all of the status indicators, such as the status indicator 53 and arm status indicator 54, are connected to a single wiring 145, but in reality, there is a separate wiring 145 for each of the status indicators 53, arm status indicator 54, operating handle 34, throttle 34a, joystick 33b, stabilizer 34c, and electric cylinder 34d.

[0051] As shown in Figure 14, the arm section 61 is equipped with multiple servo motors M1, encoders E1, and a reduction gear to correspond to multiple joints 64. The encoders E1 detect the rotation angle of the servo motors M1. The reduction gear reduces the rotation of the servo motors M1 to increase the torque. Inside the medical trolley 3, a servo control unit C1 for controlling the servo motors M1 is located adjacent to the arm control unit 31a. The encoders E1 for detecting the rotation angle of the servo motors M1 are electrically connected to the servo control unit C1.

[0052] The second link section 73 is equipped with a servo motor M2, an encoder E2, and a reduction gear for rotating a driven member 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 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.

[0053] 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.

[0054] As shown in Figure 13, the positioner control unit 31b is located on the medical trolley 3. 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, a reduction gear, and a servo control unit SC, corresponding to the multiple joints 43 of the positioner 40. 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.

[0055] As shown in Figure 15, the operating unit 120 has servo motors M6a, M6b, M6c, M6d, M6e, M6f, and M6g arranged to correspond to the rotation axes A1, A2, A3, A4, A5, A6, and A7, respectively. The medical trolley 3 also has servo control units C6a, C6b, C6c, C6d, C6e, C6f, and C6g for controlling each servo motor. Each servo control unit is electrically connected to encoders E6a, E6b, E6c, E6d, E6e, E6f, and E6g for detecting the rotation angle of each servo motor. Each servo motor, each servo control unit, and each encoder are provided in the left-hand operating unit 120L and the right-hand operating unit 120R, respectively.

[0056] The control device 130, via the operation control unit 110, controls each servo motor to generate a torque that counteracts the gravitational torque generated along the rotation axis of each servo motor, depending on the orientation of the operation unit 120. This allows the operator to operate the operation unit 120 with relatively little force.

[0057] The control device 130, via the operation control unit 110, controls each servo motor to assist the operator's operation by generating torque on each rotation axis of each servo motor in response to the operation of the operation unit 120. This makes it possible for the operator to operate the operation unit 120 with relatively little force.

[0058] (Correction of translational movement of surgical instruments) The control device 130 controls the movement of the endoscope 6 or other surgical instruments 4 based on the operation received by the operation unit 120. Specifically, as shown in Figures 8 and 9, the control device 130 sets an operation unit reference point MP for the operation unit 120. The operation unit reference point MP is also called a mapping point. The operation unit reference point MP is set, for example, to the gimbal point GP. As shown in Figure 3, the control device 130 sets a surgical instrument reference point CP for the surgical instrument 4. When the operation unit 120 is operated, the control device 130 controls the movement of the surgical instrument 4 so that the surgical instrument reference point CP moves in response to the movement of the operation unit reference point MP. The operation of moving the surgical instrument 4 so that the surgical instrument reference point CP moves in response to the movement of the operation unit reference point MP is called following. As shown in Figure 3, the surgical instrument reference point CP is set to the center of the Z1 direction side portion of the first support 4e in the JT12 axis direction. The surgical instrument reference point CP is also called the tool center point or clevis point.

[0059] As shown in Figure 16, the control unit 120 has its own coordinate system. Hereinafter, the coordinate system of the control unit 120 will be referred to as the HC coordinate system. As shown in Figure 17, the endoscope 6 has its own coordinate system. Hereinafter, the coordinate system of the endoscope 6 will be referred to as the endoscope coordinate system. For example, if the control unit 120 is moved by the operator along the Yb direction of the HC coordinate system, the surgical instrument 4 will move along the Yc direction of the endoscope coordinate system, which is the direction in which the endoscope 6 extends.

[0060] Here, the inventors of the present invention have found that the direction of operation of the control unit 120 by the operator changes due to a change in the direction of the operator's line of sight when viewing the monitor 24. For example, suppose the operator attempts to translate the surgical instrument 4 along the Yc direction of the endoscope coordinate system when the monitor 24 is tilted diagonally downward. In this case, it has been found that the operator moves the control unit 120 diagonally downward, intersecting the Yb direction, as shown by the translation vector uh in Figure 16, rather than in the Yb direction of the HC coordinate system. As a result, the surgical instrument 4 is translated in a direction different from the operator's intention. Note that uh in Figure 16 is a translation vector representing the direction in which the control unit 120 is moved as viewed from the HC coordinate system.

[0061] Therefore, in this embodiment, the control device 130 corrects the translational movement of the surgical instrument 4 based on the tilt detected by the angle sensor 29a. The surgical instrument 4 is, for example, an instrument with forceps 4b positioned at its tip. Specifically, when the control device 130 receives an operation to translate the surgical instrument 4, it corrects the direction of the translational movement of the surgical instrument 4 based on the tilt detected by the angle sensor 29a so that the surgical instrument 4 translates along the direction in which the endoscope 6 extends. That is, even if the translational vector uh of the operating unit 120 is pointed diagonally upward, the control device 130 corrects the translational vector uf so that it is aligned with the Yc direction of the endoscope coordinate system. Note that uf is a translational vector representing the direction of movement of the forceps 4b as seen from the robot reference coordinate system.

[0062] When the monitor 24 is positioned along the horizontal plane, if the control device 130 receives a translational movement operation for the surgical instrument 4 along the front-to-back direction as viewed from the operator, the direction of translational movement of the surgical instrument 4 is not corrected. That is, when the monitor 24 is positioned along the horizontal plane, if the control device 130 receives a translational movement operation along the Yb direction of the HC coordinate system, it translates the surgical instrument 4 so that it translates along the Yc direction of the endoscopic coordinate system.

[0063] In this embodiment, as shown in equation (1) below, when the control device 130 receives a translational movement operation for the surgical instrument 4, it corrects the direction of translational movement of the surgical instrument 4 based on a posture term representing the posture of the endoscope 6 based on the coordinate system of the endoscope 6 and a correction term that corrects the posture term based on the tilt detected by the angle sensor 29a. Specifically, when the control device 130 receives a translational movement operation for the surgical instrument 4, it corrects the translational vector uf of the surgical instrument 4 by multiplying the translational vector uh of the surgical instrument 4 based on the coordinate system of the operation unit 120 by the posture matrix Hcam of the endoscope 6 based on the coordinate system of the endoscope 6 and the posture correction matrix Rx based on the tilt detected by the angle sensor 29a. uf=Hcam·Rx·uh ····(1) Hcam is the attitude matrix of the camera coordinate system as viewed from the robot reference coordinate system. Rx is the attitude correction matrix corresponding to the rotation angle θ of the monitor 24 around the D1 axis. Rx is changed according to the rotation angle θ. Also, Rx corresponds to the tilt of the monitor 24 with respect to the horizontal plane. In other words, the control device 130 corrects the translational movement of the surgical instrument 4 based on the rotation angle θ around the D1 axis detected by the angle sensor 29a.

[0064] In this embodiment, the control device 130 corrects the translational movement of the surgical instrument 4 based on the tilt detected by the angle sensor 29a during surgery when the remote control device 2 receives an operation on the surgical instrument 4. Specifically, the control device 130 corrects the translational movement of the surgical instrument 4 based on the tilt detected by the angle sensor 29a while following, which is the operation of moving the surgical instrument 4, is being performed. Furthermore, if the tilt angle of the monitor 24 with respect to the horizontal plane is changed by the operator pressing the switch unit 29b during surgery, Rx in the above equation (1) is changed to correspond to the changed tilt angle of the monitor 24. Then, the translational movement of the surgical instrument 4 is corrected based on the changed Rx.

[0065] (Method for calculating manipulated variables) The method for calculating the input values ​​of the control unit 120 when an operation by the operator is received will be explained below. As shown in Figure 18, the operation by the operator is received by the control unit 120. As a result, the axis values ​​of the A1, A2, A3, A4, A5, A6, and A7 axes of the control unit 120 are input to the control unit 110. The control device 130 performs forward kinematics calculations based on each axis value input to the control unit 110. As a result, the homogeneous transformation matrix representing the displacement and rotation of the control unit reference point MP from the reference posture is updated as the input value from the control unit 120. Forward kinematics calculation is a means of calculating the displacement and rotation of a point of interest on the mechanism from the axis values ​​of the link mechanism. The control device 130 transforms the homogeneous transformation matrix representing the input from the control unit 120 according to the field of view direction of the endoscope 6. At this time, the translational movement of the surgical instrument 4 is corrected based on the above formula (1). The resulting homogeneous transformation matrix includes a translational component for the translational movement of the surgical instrument 4 and a rotational component for the rotation of the surgical instrument 4, which produce movement corresponding to the input of the control unit 120 within the field of view of the endoscope 6. The control device 130 performs scaling on the translational and rotational components. Scaling is the process of multiplying the translational and rotational components by a scaling value, which is the ratio of the amount of movement of the surgical instrument 4 to the amount of operation received by the control unit 120. Based on the scaled translational and rotational components, the control device 130 calculates the target homogeneous transformation matrix. The control device 130 performs inverse kinematics calculations on the target homogeneous transformation matrix. The control device 130 calculates the target axis values ​​of the robot arm 60 and the surgical instrument 4 through inverse kinematics calculations.

[0066] (Control method for surgical support system) Next, the control method for the surgical support system 100 will be described.

[0067] As shown in Figure 19, in step S1, the angle sensor 29a detects the tilt of the monitor 24 with respect to the horizontal plane.

[0068] In step S2, the control unit 120 receives instructions for operation on the surgical instrument 4.

[0069] In step S3, the control device 130 corrects the translation vector of the surgical instrument 4 based on the detected tilt using the above equation (1).

[0070] In step S4, the control device 130 controls the movement of the surgical instrument 4 based on the corrected translation vector.

[0071] [Effects of this embodiment] The control device 130 corrects the translational movement of the surgical instrument 4 based on the tilt detected by the angle sensor 29a, which detects the tilt of the monitor 24 relative to the horizontal plane. This ensures that even if the tilt of the monitor 24 relative to the horizontal plane changes, the control device 130 corrects the translational movement of the surgical instrument 4. Therefore, even if the tilt of the monitor 24 changes, the surgical instrument 4 can be accurately translated in the desired direction intended by the operator. Furthermore, the tilt of the monitor 24 relative to the horizontal plane can be detected relatively easily based on the angle sensor 29a. Therefore, while easily detecting the tilt of the monitor 24 relative to the horizontal plane, the surgical instrument 4 can be accurately translated in the desired direction intended by the operator even if the tilt of the monitor 24 changes.

[0072] When the control device 130 receives a translational movement operation for the surgical instrument 4, it corrects the direction of translational movement of the surgical instrument 4 based on the tilt detected by the angle sensor 29a, so that the surgical instrument 4 translates in the direction in which the endoscope 6 extends. This ensures that even if the tilt of the monitor 24 changes, the surgical instrument 4 can be accurately translated in the direction in which the endoscope 6 extends.

[0073] When the control device 130 receives a translational movement operation for the surgical instrument 4, it corrects the direction of translational movement of the surgical instrument 4 based on a posture term representing the posture of the endoscope 6 based on the coordinate system of the endoscope 6, and a correction term that corrects the posture term based on the tilt detected by the angle sensor 29a. As a result, the posture term representing the posture of the endoscope 6 is corrected by the correction term based on the tilt detected by the angle sensor 29a, so that the surgical instrument 4 can be appropriately translated to conform to the posture of the endoscope 6.

[0074] When the control device 130 receives a translational movement operation for the surgical instrument 4, it corrects the translational vector uf of the surgical instrument 4 by multiplying the translational vector uh of the surgical instrument 4, based on the coordinate system of the operating unit 120, by the attitude matrix Hcam of the endoscope 6, based on the coordinate system of the endoscope 6, and the attitude correction matrix Rx, based on the tilt detected by the angle sensor 29a. As a result, the translational vector uf of the surgical instrument 4 is corrected by the attitude matrix Hcam and the attitude correction matrix Rx of the endoscope 6, so that the surgical instrument 4 can be appropriately translated to follow the attitude of the endoscope 6.

[0075] The remote control device 2 includes a support arm 25 that supports the monitor 24. The support arm 25 includes a first link portion 25a, a second link portion 25b, a third link portion 25c, joints JT21, JT22, and JT23, a brake BRK1 that fixes joint JT21 to prevent rotation, a brake BRK2 that fixes joint JT23 to prevent rotation, a spring SP1 that lifts the first link portion 25a, a spring SP2 that lifts the second link portion 25b, and a spring SP3 that lifts the third link portion 25c. As a result, even if an external force is applied to the support arm 25, joints JT21 and JT23 can be fixed in place by brakes BRK1 and BRK2 so as not to move. In addition, the support arm 25 maintains its posture because the weight of the support arm 25 and the monitor 24 is supported by springs SP1, SP2, and SP3.

[0076] During surgery, when the remote control device 2 accepts an operation on the surgical instrument 4, the control device 130 corrects the translational movement of the surgical instrument 4 based on the tilt detected by the angle sensor 29a. This allows the operator to translate the surgical instrument 4 in the desired direction even if the tilt of the monitor 24 changes during surgery.

[0077] The angle sensor 29a detects the rotation angle θ of the monitor 24 around the D1 axis along the horizontal plane, and the control device 130 corrects the translational movement of the surgical instrument 4 based on the rotation angle θ around the D1 axis detected by the angle sensor 29a. This makes it easy to detect the tilt of the monitor 24 with respect to the horizontal plane using the rotation angle θ of the monitor 24 around the D1 axis.

[0078] The remote control device 2 includes a switch unit 29b that switches between a state that allows and a state that does not allow changes in the tilt angle of the monitor 24 with respect to the horizontal plane. This prevents the tilt of the monitor 24 from being changed at a time unintended by the operator.

[0079] [Differentiation] It should be noted that the embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of this disclosure is defined by the claims rather than the description of the embodiments above, and includes all modifications or variations within the meaning and scope equivalent to the claims.

[0080] In the above embodiment, an example was shown in which the direction of translation of the surgical instrument 4 is corrected so that the surgical instrument 4 translates along the Yc direction of the endoscopic coordinate system to which the endoscope 6 extends. However, the present disclosure is not limited to this. For example, the direction of translation of the surgical instrument 4 may be corrected so that the surgical instrument 4 translates along a direction other than the Yc direction of the endoscopic coordinate system.

[0081] In the above embodiment, an example was shown in which the translation vector is corrected based on equation (1) above, but the disclosure is not limited thereto. In the disclosure, the translation vector may be corrected based on an equation other than equation (1) above.

[0082] In this embodiment, an example is shown in which the translational movement of the surgical instrument 4 is corrected when an operation on the surgical instrument 4 is received by the remote control device 2, but the disclosure is not limited thereto. For example, a state in which the translational movement of the surgical instrument 4 is corrected and a state in which the translational movement of the surgical instrument 4 is not corrected may be switched based on the operator's operation.

[0083] In this embodiment, the control device 130 is shown to correct the translational movement of the surgical instrument 4 based on the rotation angle θ of the monitor 24 around the D1 axis detected by the angle sensor 29a, but the disclosure is not limited thereto. For example, an acceleration sensor 201 may be arranged as in the modified remote control device 200 shown in Figure 20. The acceleration sensor 201 is located on the monitor 24 at the Ya1 direction end of the third link portion 25c of the remote control device 200. The acceleration sensor 201 detects the tilt of the monitor 24 with respect to at least the horizontal plane. Specifically, the acceleration sensor 201 detects the rotation angle of the monitor 24 around the D1 axis along the horizontal plane, around the D2 axis perpendicular to the D1 axis and along the horizontal plane, and around the D3 axis along the vertical direction. This makes it easy to detect the tilt of the monitor 24 using the acceleration sensor 201. Furthermore, the acceleration sensor 201 makes it easy to detect three-dimensional changes in the tilt of the monitor 24. The control device 130 corrects the translational movement of the surgical instrument 4 based on the rotation angles around the D1, D2, and D3 axes detected by the acceleration sensor 201. This allows the surgical instrument 4 to be accurately translated in the desired direction intended by the operator, even when the tilt of the monitor 24 is changed in three dimensions. Specifically, the translational movement of the surgical instrument 4 is corrected based on the following equation (2). uf=Hcam·Mcomp·uh···(2) Mcomp is an attitude correction matrix that changes according to the rotation angle of the monitor 24 around the D1, D2, and D3 axes. The acceleration sensor 201 is an example of a tilt detection sensor. The D2 and D3 axes are examples of the second and third axes, respectively.

[0084] In this embodiment, an example is shown in which the switch unit 29b switches between a state that allows and a state that does not allow the change in the tilt angle of the monitor 24 with respect to the horizontal plane, but the disclosure is not limited thereto. For example, the tilt angle of the monitor 24 may be freely changed by the operator without a switch unit 29b.

[0085] In the above embodiment, an example is shown in which four robot arms 60 are provided, but 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.

[0086] In the above embodiment, an example was shown in which the arm portion 61 and the positioner 40 are composed of a 7-axis articulated robot, but the disclosure is not limited thereto. 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.

[0087] In the above embodiment, an example was shown in which the surgical support robot 1 includes a medical cart 3, a positioner 40, and an arm base 50, but the disclosure is not limited thereto. 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.

[0088] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, dedicated processors, integrated circuits, ASICs (Application Specific Integrated Circuits), 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 circuits. In this disclosure, a circuit, unit, or means is hardware that performs the enumerated functions, or hardware programmed to perform the enumerated functions. The hardware may be hardware disclosed herein, or other known hardware that is programmed or configured to perform the enumerated functions. If the hardware is a processor, which is considered a type of circuit, then the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.

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

[0090] (Item 1) A surgical apparatus including a first robotic arm to which an endoscope is attached at its tip, and a second robotic arm to which a predetermined surgical instrument other than the endoscope is attached at its tip, An operating device including an operating section that receives operations on the predetermined surgical instrument or the endoscope, The system includes a control device that controls the movement of the predetermined surgical instrument or the endoscope based on the received operation, The aforementioned operating device is The display unit, which displays images captured by the aforementioned endoscope and rotates to be inclined with respect to the horizontal plane, The display unit includes a tilt detection sensor that detects the tilt of the display unit with respect to the horizontal plane, The control device is a surgical support system that corrects the translational movement of a predetermined surgical instrument based on the tilt detected by the tilt detection sensor.

[0091] (Item 2) The surgical support system according to item 1, wherein when a translational movement operation for the predetermined surgical instrument is received, the control device corrects the direction of translational movement of the predetermined surgical instrument based on a posture term representing the posture of the endoscope based on the coordinate system of the endoscope and a correction term that corrects the posture term based on the tilt detected by the tilt detection sensor.

[0092] (Item 3) The surgical support system according to item 2, wherein when a translational movement operation for the predetermined surgical instrument is received by the control device, the control device corrects the translational movement vector of the predetermined surgical instrument by multiplying the translational vector of the predetermined surgical instrument based on the coordinate system of the control unit by the attitude matrix of the endoscope based on the coordinate system of the endoscope and the attitude correction matrix based on the tilt detected by the tilt detection sensor.

[0093] (Item 4) The operating device includes a support arm that supports the display unit, The support arm is, Multiple link sections, Multiple joints connecting the aforementioned multiple link portions, A surgical assistance system according to any one of items 1 to 3, comprising a brake for fixing at least one of the aforementioned multiple joints so as not to rotate. (Item 5) The operating device includes a support arm that supports the display unit, The support arm is, Multiple link sections, A joint connecting the aforementioned multiple link parts, A surgical assistance system according to any one of claims 1 to 4, comprising a spring for lifting at least one of the plurality of link portions.

[0094] (Item 6) The surgical support system according to any one of items 1 to 5, wherein the control device corrects the translational movement of the predetermined surgical instrument based on the tilt detected by the tilt detection sensor during surgery in which an operation of the predetermined surgical instrument is accepted by the operating device.

[0095] (Item 7) The tilt detection sensor detects the rotation angle of the display unit around a first axis along the horizontal plane, The surgical support system according to any one of items 1 to 6, wherein the control device corrects the translational movement of the predetermined surgical instrument based on the rotation angle around the first axis detected by the tilt detection sensor.

[0096] (Item 8) The tilt detection sensor detects the rotation angle of the display unit around a first axis along the horizontal plane, around a second axis perpendicular to the first axis and along the horizontal plane, and around a third axis along the vertical direction. The surgical support system according to any one of items 1 to 6, wherein the control device corrects the translational movement of the predetermined surgical instrument based on the rotational angles around the first axis, second axis, and third axis detected by the tilt detection sensor.

[0097] (Item 9) The operating device includes a holding part for holding the display unit, The display unit rotates around a first axis along the horizontal plane relative to the holding unit. The surgical support system according to any one of items 1 to 8, wherein the tilt detection sensor includes an angle sensor that detects the rotation angle of the display unit around the first axis.

[0098] (Item 10) The surgical support system according to any one of items 1 to 8, wherein the tilt detection sensor includes an acceleration sensor that detects the tilt of the display unit with respect to at least a horizontal plane.

[0099] (Item 11) The surgical assistance system according to any one of items 1 to 10, wherein the operating device further includes a switch that switches between a state that allows and a state that does not allow a change in the inclination angle of the display unit with respect to the horizontal plane.

[0100] (Item 12) A surgical apparatus including a first robotic arm to which an endoscope is attached at its tip, and a second robotic arm to which a predetermined surgical instrument other than the endoscope is attached at its tip, A control method for a surgical support system comprising: an operating device including an operating unit that receives operations on the predetermined surgical instrument or the endoscope; and a control device that performs control to move the predetermined surgical instrument or the endoscope based on the received operations, The image captured by the aforementioned endoscope is displayed, and the tilt of the display unit, which rotates so as to be inclined with respect to the horizontal plane, is detected by a tilt detection sensor. A control method for a surgical support system, comprising correcting the translational movement of a predetermined surgical instrument based on the detected tilt. [Explanation of Symbols]

[0101] 1. Surgical support robot (surgical device) 2. Remote control device (operating device) 4 Surgical instruments 6 Endoscope 24 Monitor (Display Unit) 25 Support Arm 25a First link section (link section) 25b Second link section (link section) 25c Third link section (link section, retaining part) 29a Angle sensor (tilt detection sensor) 29b Switch section 60a, 60b, 60d Robot Arm (Second Robot Arm) 60c Robot Arm (First Robot Arm) 100, 200 Surgical Support Systems 120 Operation section 130 Control device 201 Accelerometer (Tilt Detection Sensor) BRK1, BRK2 Brakes D1 axis (1st axis) D2 axis (second axis) D3 axis (3rd axis) Hcam Endoscope Posture Matrix JT21, JT22, JT23 joints Rx, Mcomp posture correction matrix SP1, SP2, SP3 springs uh, uf Translation vector of surgical instrument

Claims

1. A surgical apparatus including a first robotic arm to which an endoscope is attached at its tip, and a second robotic arm to which a predetermined surgical instrument other than the endoscope is attached at its tip, An operating device including an operating section that receives operations on the predetermined surgical instrument or the endoscope, The system includes a control device that controls the movement of the predetermined surgical instrument or the endoscope based on the received operation, The aforementioned operating device is The display unit, which displays images captured by the aforementioned endoscope and rotates to be inclined with respect to the horizontal plane, The display unit includes a tilt detection sensor that detects the tilt of the display unit with respect to the horizontal plane, The control device is a surgical support system that corrects the translation vector of a predetermined surgical instrument based on the tilt detected by the tilt detection sensor.

2. The surgical support system according to claim 1, wherein when a translational movement operation for the predetermined surgical instrument is received by the control device, the control device corrects the translation vector of the predetermined surgical instrument based on a posture term representing the posture of the endoscope based on the coordinate system of the endoscope and a correction term that corrects the posture term based on the tilt detected by the tilt detection sensor.

3. The surgical support system according to claim 2, wherein when the control device receives a translational movement operation for the predetermined surgical instrument, it corrects the translational vector of the predetermined surgical instrument based on the coordinate system of the operation unit by multiplying the translational vector of the predetermined surgical instrument based on the coordinate system of the endoscope by the attitude matrix of the endoscope based on the coordinate system of the endoscope and the attitude correction matrix based on the tilt detected by the tilt detection sensor.

4. The operating device includes a support arm that supports the display unit, The support arm is Multiple link sections, Multiple joints connecting the aforementioned multiple link portions, The surgical support system according to claim 1, further comprising a brake for fixing at least one of the plurality of joints so as not to rotate.

5. The operating device includes a support arm that supports the display unit, The support arm is Multiple link sections, A joint connecting the aforementioned multiple link parts, The surgical support system according to claim 1, further comprising a spring for lifting at least one of the plurality of link portions.

6. The surgical support system according to claim 1, wherein the control device corrects the translation vector of the predetermined surgical instrument based on the tilt detected by the tilt detection sensor during surgery in which an operation of the predetermined surgical instrument is received by the operating device.

7. The tilt detection sensor detects the rotation angle of the display unit around a first axis along the horizontal plane, The surgical support system according to claim 1, wherein the control device corrects the translation vector of the predetermined surgical instrument based on the rotation angle around the first axis detected by the tilt detection sensor.

8. The tilt detection sensor detects the rotation angle of the display unit around a first axis along the horizontal plane, around a second axis perpendicular to the first axis and along the horizontal plane, and around a third axis along the vertical direction. The surgical support system according to claim 1, wherein the control device corrects the translation vector of the predetermined surgical instrument based on the rotation angles around the first axis, the second axis, and the third axis detected by the tilt detection sensor.

9. The operating device includes a holding part for holding the display unit, The display unit rotates around a first axis along the horizontal plane relative to the holding unit. The surgical support system according to claim 1, wherein the tilt detection sensor includes an angle sensor that detects the rotation angle of the display unit around the first axis.

10. The surgical support system according to claim 1, wherein the tilt detection sensor includes an acceleration sensor that detects the tilt of the display unit with respect to at least a horizontal plane.

11. The surgical support system according to claim 1, further comprising a switch unit for switching between a state that allows and a state that does not allow a change in the inclination angle of the display unit with respect to the horizontal plane.

12. A surgical apparatus including a first robotic arm to which an endoscope is attached at its tip, and a second robotic arm to which a predetermined surgical instrument other than the endoscope is attached at its tip, A control method for a surgical support system comprising: an operating device including an operating unit that receives operations on the predetermined surgical instrument or the endoscope; and a control device that performs control to move the predetermined surgical instrument or the endoscope based on the received operations, The tilt detection sensor detects the tilt of the display unit, which displays an image captured by the endoscope and rotates to tilt relative to the horizontal plane, with respect to the horizontal plane. A control method for a surgical support system, comprising: the control device correcting the translation vector of a predetermined surgical instrument based on the detected tilt.

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