Remote surgery assistance system

Abstract

In this remote surgery assistance system (100): when a physician-side operation device (2) has operation rights and a state of being in use is not detected by a sensor (27), a control device (43), on the basis of a second command outputted from a switching switch (351), switches the operation rights from the physician-side operation device (2) to an instructor-side operation device (3); and, when the physician-side operation device (2) has the operation rights, a state of being in use is detected by the sensor (27), and the second command outputted from the switching switch (351) is outputted, the control device (43) does not switch the operation rights.

Description

Remote surgery support system

[0001] The present invention relates to a remote surgery support system, and more particularly to a remote surgery support system including a doctor-side operation device and an instructor-side operation device.

[0002] A remote surgery support system including a doctor-side operation device and a supervising doctor-side operation device is known, as described in U.S. Pat. No. 9,666,101, for example.

[0003] The above-mentioned U.S. Patent No. 9,666,101 describes a multi-user medical robot system for training in minimally invasive surgery, which includes a mentor input device and a trainee input device, a surgical robot that can be operated using the mentor input device and the trainee input device, and a switching device that allows the mentor input device to switch between operating the surgical robot using the mentor input device or the trainee input device. In other words, in the system of U.S. Patent No. 9,666,101, the operating authority for the surgical robot can be switched only using the mentor input device.

[0004] U.S. Pat. No. 9,666,101

[0005] However, while U.S. Patent No. 9,666,101 describes the provision of a mentor input device and a trainee input device and the use of the mentor input device to operate a surgical robot, it does not describe the use of the mentor input device in a facility separate from the trainee input device and surgical robot to provide remote surgical assistance. Furthermore, the trainee input device does not allow switching of operating rights, and U.S. Patent No. 9,666,101 does not describe any switching of operating rights suitable for remote surgical assistance. In remote surgical assistance, it is desirable to be able to safely and smoothly switch operating rights between a supervising physician operating device and a physician operating device located in different facilities.

[0006] This invention has been made to solve the above-mentioned problems, and one object of the invention is to provide a remote surgery support system that enables safe and smooth switching of operating rights between the supervising physician's operating device and the doctor's operating device in remote surgery support.

[0007] A remote surgery support system according to one aspect of the present invention is installed in a first facility and includes a first manipulator that holds an endoscope and a second manipulator that holds a surgical instrument; a doctor-side operation device that is installed in the first facility and allows a doctor to operate the first manipulator and the second manipulator; a teaching physician-side operation device that is installed in a second facility different from the first facility and allows a teaching physician to operate the first manipulator and the second manipulator via an external network; and one or more control devices, wherein the doctor-side operation device includes a first sensor that detects whether the doctor-side operation device is in use, a first display device that displays an endoscopic image acquired by the endoscope, and a first switching device that accepts an operation by the doctor and outputs a first command to switch operation authority between the teaching physician-side operation device and the doctor-side operation device; The supervising physician side operating device includes a second sensor that detects whether the supervising physician side operating device is in use, a second display device for displaying endoscopic images transmitted via an external network, and a second switching device that accepts an operation from the supervising physician and outputs a second command for switching operating rights between the supervising physician side operating device and the supervising physician side operating device. The one or more control devices are configured to switch operating rights from the doctor side operating device to the supervising physician side operating device based on the second command output from the second switching device when the doctor side operating device has operating rights and is detected by the first sensor to be not in use, and are configured not to switch operating rights when the doctor side operating device has operating rights and is detected to be in use by the first sensor and the second command is output from the second switching device.

[0008] In one aspect of the present invention, in the remote surgery support system, as described above, the doctor-side operating device includes a first switching device that receives an operation from the doctor and outputs a first command for switching the operating authority between the supervising doctor-side operating device and the doctor-side operating device, and the supervising doctor-side operating device includes a second switching device that receives an operation from the supervising doctor and outputs a second command for switching the operating authority between the doctor-side operating device and the supervising doctor-side operating device. This allows the operating authority for operating the first manipulator and the second manipulator to be switched between the doctor-side operating device and the supervising doctor-side operating device. Furthermore, the one or more control devices are configured to switch the operating authority from the doctor-side operating device to the supervising doctor-side operating device based on the second command output from the second switching device when the doctor-side operating device has the operating authority and the first sensor detects that it is not in use. This allows the operating authority to be switched from the supervising doctor-side operating device that does not have the operating authority when the doctor-side operating device that has the operating authority is not in use, thereby enabling smooth switching of the operating authority from the doctor-side operating device to the supervising doctor-side operating device according to the situation. Furthermore, one or more control devices are configured not to switch the operating authority when the doctor-side operating device has the operating authority, the first sensor detects that the device is in use, and the second switching device outputs the second command. This prevents the operating authority from being switched from the supervising doctor-side operating device that does not have the operating authority when the doctor-side operating device with the operating authority is in use, thereby preventing the operating authority from being switched from the doctor-side operating device in use to the supervising doctor-side operating device. As a result, the operating authority can be safely and smoothly switched between the supervising doctor-side operating device and the doctor-side operating device during remote surgical support.

[0009] According to the present invention, in remote surgical support, the operation right can be switched safely and smoothly between the supervising physician side operation device and the physician side operation device.

[0010] 1 is a diagram illustrating the configuration of a remote surgery support system according to an embodiment; FIG. 2 is a diagram illustrating the configuration of a surgical robot according to an embodiment; FIG. 3 is a diagram illustrating the configuration of a doctor-side operation device (instructor-side operation device) according to an embodiment; FIG. 4 is a block diagram illustrating the configuration of a remote surgery support system according to an embodiment; FIG. 5 is a diagram illustrating a scope-type display device of the remote surgery support system according to an embodiment; FIG. 6 is a block diagram illustrating the configuration related to a control device of an information sharing device according to an embodiment; FIG. 7 is a diagram illustrating an endoscopic image on which information indicating the location of operation authority is superimposed according to an embodiment; FIG. 8 is a diagram illustrating an example of first information indicating that the doctor-side operation device has the operation authority according to an embodiment; FIG. 9 is a diagram illustrating an example of second information indicating that the instructor-side operation device has the operation authority according to an embodiment; FIG. 10 is a diagram for explaining a display area for information indicating the location of operation authority according to an embodiment; FIG. 11 is a diagram illustrating an example of a screen for selecting a display area for information indicating the location of operation authority according to an embodiment; FIG. 12 is a diagram illustrating an endoscopic image on which information indicating the usage status of the operation device according to an embodiment is superimposed; FIG. 13 is a diagram illustrating an example of a display when the operation device is in a used state according to an embodiment; FIG. 14 is a diagram illustrating an example of a display when the operation device is not in a used state according to an embodiment; FIG. 15 is a diagram illustrating an endoscopic image on which information of the operation authority and usage status is superimposed according to an embodiment; FIG. 16 is a diagram illustrating an endoscopic image on which information in a case where the operation authority is switchable is superimposed according to an embodiment. Fig. 10 is a diagram showing an example of information display when the operation authority cannot be switched according to an embodiment. Fig. 11 is a flowchart for explaining the switching possibility determination process according to an embodiment. Fig. 12 is a diagram showing an endoscopic image on which information indicating the location of the operation authority is superimposed according to a first modified example of an embodiment. Fig. 13 is a diagram showing an endoscopic image on which information indicating the location of the operation authority is superimposed according to a second modified example of an embodiment.

[0011] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, specific embodiments of the present invention will be described with reference to the accompanying drawings.

[0012] The configuration of a remote surgery support system 100 according to one embodiment will be described with reference to FIGS.

[0013] As shown in FIG. 1 , the remote surgery support system 100 includes a surgical robot 1 installed near an operating table 101 on which a patient P is placed, a doctor-side operation device 2 for a doctor A1 to operate the surgical robot 1, and a supervising doctor-side operation device 3 for a supervising doctor A2 to operate the surgical robot 1 via an external network N. The surgical robot 1 and the doctor-side operation device 2 are installed at a first facility B1. The supervising doctor-side operation device 3 is installed at a second facility B2 different from the first facility B1. At the first facility B1, an assistant A3 is positioned near the surgical robot 1 as a surgical staff member. In addition, an information sharing device 4 for sharing information with the assistant A3 is installed at the first facility B1.

[0014] As shown in FIG. 2 , the surgical robot 1 includes one manipulator arm 11 that holds an endoscope 5 and multiple (three) manipulator arms 12 that hold surgical instruments 6. The endoscope 5 captures images of the surgical site inside the patient P. The surgical instrument 6 has an end effector, such as forceps, attached to its tip. The doctor-side operation device 2 and the supervising doctor-side operation device 3 are provided to operate the manipulator arms 11 and 12. The manipulator arm 11 is an example of a "first manipulator" in the claims. The three manipulator arms 12 are each an example of a "second manipulator," a "third manipulator," and a "fourth manipulator," respectively.

[0015] The surgical robot 1 is located in an operating room in the first facility B1. The surgical robot 1 also includes a medical cart 13, a positioner 14, and an arm base 15. The surgical robot 1 is configured to be movable by the medical cart 13. The medical cart 13 is provided with a control device 16 that controls the operation of the surgical robot 1. The control device 16 controls the operation of the surgical robot 1 based on commands input to the doctor-side operation device 2 or the supervising doctor-side operation device 3. The system control device 17 is located inside the medical cart 13 and controls the entire remote surgery support system 100. Specifically, the system control device 17 communicates with and controls each of the control devices 16, 28, 38, and 43. The system control device 17 and the control device 16 each include a processing unit such as a CPU that executes a program and a storage unit such as a memory in which the program is stored. The system control device 17 is an example of "one or more control devices" in the claims.

[0016] The medical cart 13 is also provided with an input device 18. The input device 18 is configured to receive operations for moving and changing the posture of the manipulator arm 11, the manipulator arm 12, the positioner 14, and the arm base 15, mainly for preparing for surgery before the procedure.

[0017] The positioner 14 is configured by, for example, a seven-axis articulated robot. The positioner 14 is placed on the medical cart 13. The positioner 14 moves the arm base 15. Specifically, the positioner 14 is configured to move the position of the arm base 15 in three dimensions.

[0018] The arm base 15 is attached to the tip of the positioner 14. The arm base 15 has a relatively long rod shape (long shape). The manipulator arms 11 and 12 are attached at their bases to the arm base 15. The arm base 15, manipulator arm 11, and manipulator arm 12 are covered with sterile drapes when in use.

[0019] As shown in FIG. 1 , the doctor-side operating device 2 is disposed, for example, inside or outside an operating room in the first facility B1. The doctor-side operating device 2 includes a doctor-side operating device main body 2a. As shown in FIG. 3 , the doctor-side operating device main body 2a includes an operating handle 21, a foot pedal 22, a touch panel 23, a scope-type display device 24, an armrest 25, a voice communication device 26, a sensor 27, a control device 28, and a support arm 30. The operating handle 21 is an example of a "first operating device" in the claims. The scope-type display device 24 is an example of a "first display device" in the claims. The armrest 25 is an example of a "first armrest" in the claims. The voice communication device 26 is an example of a "first voice communication device" in the claims. The sensor 27 is an example of a "first sensor" in the claims. The control device 28 is an example of "one or more control devices" in the claims.

[0020] The operating handle 21 constitutes an operating handle for the operator (doctor A1) to input commands. The operating handle 21 is provided so that the operator (doctor A1) can operate the manipulator arms 11 and 12 (endoscope 5 and surgical instrument 6). The operating handle 21 also receives the amount of operation for the manipulator arms 11 and 12 (endoscope 5 and surgical instrument 6). The operating handle 21 includes a pair of operating handles: a left-hand operating handle 21L operated with the left hand of the operator (doctor A1), and a right-hand operating handle 21R operated with the right hand of the operator (doctor A1). The operating handle 21L is used to operate the surgical instrument 6 held by one manipulator arm 12, and the operating handle 21R is used to operate the surgical instrument 6 held by the other manipulator arm 12.

[0021] Furthermore, the operating handle 21 changes (scales) the movement amount of the endoscope 5 and the surgical instrument 6 in accordance with the operation amount received by the operating handle 21. For example, when the magnification of the movement amount is set to 1 / 2, the endoscope 5 and the surgical instrument 6 are controlled to move a distance that is 1 / 2 of the movement distance of the operating handle 21. This allows delicate surgery to be performed accurately.

[0022] The foot pedals 22 include multiple pedals for performing functions related to the endoscope 5 and surgical instrument 6. The multiple pedals include, for example, a coagulation pedal, an incision pedal, a camera pedal, a clutch pedal, and a swap pedal. The multiple pedals are operated by the feet of the operator (doctor A1). When the camera pedal is operated, the operation handle 21 can move the endoscope 5 held by the manipulator arm 11. At this time, the endoscope 5 is operated and moved using both the operation handles 21L and 21R. The touch panel 23 accepts setting operations related to the doctor-side operation device 2. The touch panel 23 is located on the armrest 25. The scope-type display device 24 displays an endoscopic image G1 (see FIG. 7 ) acquired by the endoscope 5. The scope-type display device 24 is an immersive display device that allows only the operator (doctor A1) to view the displayed image. The operator (doctor A1) operates the operation handle 21 and the foot pedals 22 while visually checking the affected area through the scope-type display device 24. The support arm 30 supports the scope-type display device 24 so that the height of the scope-type display device 24 can be adjusted to match the height of the face of an operator such as the doctor A1.

[0023] The armrest 25 is formed in a bar shape and is configured so that the operator (doctor A1) can rest his / her arm on it when operating the operating handle 21. The armrest 25 is also provided with a changeover switch 251, as shown in FIGS. 3 and 4 . The changeover switch 251 is provided to receive an operation for switching the operating right between the supervising physician side operating device 3 and the physician side operating device 2, which will be described later. This allows the doctor A1 to easily switch the operating right by operating the changeover switch 251 located on the armrest 25 where he / she places his / her arm. The changeover switch 251 is an example of the "first switching device" and "first changeover switch" in the claims.

[0024] The audio communication device 26 is provided so that doctor A1 can communicate audio with supervising doctor A2. As shown in FIG. 5 , the audio communication device 26 is disposed in a position where the operator (doctor A1) can audio-communicate with an audio communication device 36 (described later) of the supervising doctor side operation device 3 while looking into the scope-type display device 24. Specifically, the audio communication device 26 is disposed so as to be located near the head of the operator (doctor A1) while looking into the scope-type display device 24. The audio communication device 26 is disposed integrally with the scope-type display device 24, and its height can be adjusted integrally by the support arm 30.

[0025] 4 and 5, the audio communication device 26 includes a microphone 261 and a speaker 262. The microphone 261 accepts audio input. The speaker 262 outputs audio. As shown in FIG. 5, the speaker 262 is disposed close to the ear of the operator (doctor A1) when the operator is looking into the scope-type display device 24. The microphone 261 is disposed close to the mouth of the operator (doctor A1) when the operator is looking into the scope-type display device 24. The microphone 261 and the speaker 262 are disposed integrally with the scope-type display device 24.

[0026] As shown in FIG. 5 , the sensor 27 is an optical sensor positioned to detect the head of the doctor A1 when the doctor A1 is looking into the scope-type display device 24 (i.e., in a head-in state). Only while the sensor 27 detects the head of the doctor A1, the surgical instrument 6 and the manipulator arm 12 are in a usable state in which they can be operated by the operation handle 21. That is, the sensor 27 detects whether the doctor-side operation device 2 is in a usable state. The sensor 27 also detects whether the doctor A1 has his head in the scope-type display device 24, as the usable state of the doctor-side operation device 2. The sensor 27 is integrally disposed in the scope-type display device 24. The control device 28 controls the operation of the doctor-side operation device 2. The control device 28 includes a processing unit such as a CPU that executes a program and a storage unit such as a memory in which the program is stored.

[0027] The doctor-side operation device 2 has been described above, but the supervising physician-side operation device 3 also has a similar structure. That is, as shown in FIG. 4 , the supervising physician-side operation device 3 includes a supervising physician-side operation device main body 3a. The supervising physician-side operation device main body 3a includes an operation handle 31, a foot pedal 32, a touch panel 33, a scope-type display device 34, an armrest 35, a voice communication device 36, a sensor 37, a control device 38, and a support arm. The scope-type display device 34 displays an endoscopic image G1 (see FIG. 7 ) transmitted via an external network N. The doctor-side operation device 2 and the supervising physician-side operation device 3 basically have the same specifications, but the normal mode and remote mode are switched between via the touch panel 23 (33). The operation handle 31 is an example of a "second operation device" in the claims. The scope-type display device 34 is an example of a "second display device" in the claims. The armrest 35 is an example of a "second armrest" in the claims. Furthermore, the audio communication device 36 is an example of a "second audio communication device" in the claims. The sensor 37 is an example of a "second sensor" in the claims. The control device 38 is an example of "one or more control devices" in the claims.

[0028] 4, a changeover switch 351 is provided on the armrest 35. The changeover switch 351 is provided to receive an operation for switching the operation right between the supervising physician side operation device 3 and the doctor side operation device 2. This allows the supervising physician A2 to easily switch the operation right by operating the changeover switch 351 arranged on the armrest 35 where he or she places his or her arm. The changeover switch 351 is an example of the "second switching device" and "second changeover switch" in the claims.

[0029] The voice communication device 36 is provided so that the supervising physician A2 can communicate with the medical doctor A1 through voice. This allows smooth voice communication between the doctor operating the physician-side operation device 2 located at the first facility B1 and the supervising physician A2 operating the supervising physician-side operation device 3 located at the second facility B2. As shown in FIG. 4 , the voice communication device 36 includes a microphone 361 and a speaker 362. The microphone 361 accepts voice input. The speaker 362 outputs voice. The speaker 362 is located close to the ear of the operator (supervising physician A2) when the operator is looking into the scope-type display device 34. The microphone 361 is located close to the mouth of the operator (supervising physician A2) when the operator is looking into the scope-type display device 34. The microphone 361 and the speaker 362 are integrated into the scope-type display device 34.

[0030] The sensor 37 is an optical sensor arranged in a position where it can detect the head of the supervising physician A2 when the supervising physician A2 is looking into the scope-type display device 34 (i.e., in a head-in state). Only while the sensor 37 detects the head of the supervising physician A2, the surgical instrument 6 and the manipulator arm 12 are in a usable state where they can be operated by the operation handle 31. In other words, the sensor 37 detects whether the supervising physician's operation device 3 is in a usable state. The sensor 37 also detects whether the supervising physician A2 has his head in the scope-type display device 34 as the usable state of the supervising physician's operation device 3.

[0031] As shown in FIGS. 1 and 4 , the information sharing device 4 is a movable monitor cart. The information sharing device 4 is located in the first facility B1. The surgical robot 1 (manipulator arm 11, manipulator arm 12) is connected to the dual unit 7 via the information sharing device 4. The information sharing device 4 also includes a display device 41 for displaying an endoscopic image G1 (see FIG. 7 ) acquired by the endoscope 5 (see FIG. 2 ). The information sharing device 4 also includes an audio communication device 42 for audio communication with the audio communication device 26 of the doctor-side operation device 2 and the audio communication device 36 of the supervising physician-side operation device 3. The information sharing device 4 is located closer to the surgical robot 1 than the doctor-side operation device 2. This allows an assistant A3, who is located near the surgical robot 1 as a surgical staff member, to view the endoscopic image G1 and communicate with the doctor A1 and the supervising physician A2. The audio communication device 42 also includes a microphone 421 and a speaker 422. The microphone 421 accepts audio input. The speaker 422 outputs audio. The display device 41 is, for example, a flat panel display device. The information sharing device 4 is an example of a "GUI generation control device" in the claims. The display device 41 is an example of a "third display device" in the claims. The audio communication device 42 is an example of a "third audio communication device" in the claims.

[0032] The information sharing device 4 also includes a control device 43. The control device 43 performs image processing on the endoscopic image G1. The control device 43 includes a processing unit such as a CPU that executes a program and a storage unit such as a memory in which the program is stored. The control device 43 generates a GUI (graphical user interface) to be superimposed on the endoscopic image G1. For example, the control device 43 generates GUIs, such as the type of surgical instrument 6, the operation state of the endoscope 5, the operation state of the surgical instrument 6, and the operation state of the foot pedal 22, on the endoscopic image G1, and superimposes them on the endoscopic image G1. The control device 43 also generates GUIs for information regarding operation rights for the supervising physician-side operation device 3 and the physician-side operation device 2, which will be described later, and superimposes them on the endoscopic image G1. The control device 43 is an example of "one or more control devices" in the claims.

[0033] The control device 43 displays the same image on the scope-type display device 24, the scope-type display device 34, and the display device 41. That is, the same endoscopic image G1 is displayed on each of the scope-type display device 24, the scope-type display device 34, and the display device 41.

[0034] 4 and 6, a dual unit 7, a network device 51, and a remote unit 61 are installed in the first facility B1. The dual unit 7 is an example of a "connection unit" in the claims. The network device 51 is an example of a "first network device" in the claims. The remote unit 61 is an example of a "first remote unit" in the claims.

[0035] The dual unit 7 is provided to connect multiple operation devices (doctor-side operation device 2, supervising physician-side operation device 3) to one information sharing device 4 installed in the first facility B1. The dual unit 7 is connected to the remote unit 61, the doctor-side operation device 2, and the surgical robot 1 (manipulator arm 11, manipulator arm 12) via the information sharing device 4. The dual unit 7 also has multiple physical interfaces (terminals) for connection to multiple operation devices.

[0036] The network device 51 communicates via an external network N. The network device 51 has a processing unit 511 and a communication unit 512. The network device 51 is connected to a remote unit 61 and the external network N. The network device 51 and the remote unit 61 are connected to each other by wire, for example, so that they can communicate with each other.

[0037] The remote unit 61 is connected to the network device 51 and converts communication data into a format that can be communicated via the external network N. The remote unit 61 also processes events caused by the state of the external network N. Events caused by the state of the external network N include, for example, changes in communication delay time, loss of communication data, and synchronization loss of communication data. The remote unit 61 includes a processing unit 611 and a communication unit 612. The processing unit 611 of the remote unit 61 converts communication data between the surgical robot 1 and the operation devices (the doctor-side operation device 2 and the supervising physician-side operation device 3) into data that can be communicated via the external network N. The communication data between the surgical robot 1 and the operation devices (the doctor-side operation device 2 and the supervising physician-side operation device 3) includes, for example, information on the operation system, video system, audio system, power supply system, and electrocautery system. The processing unit 611 of the remote unit 61 also reduces the size of relatively large data, such as video data, before transmitting it, and restores the reduced-size data upon receiving it. Furthermore, when a data delay occurs due to communication influence, the remote unit 61 adjusts the waiting time for waiting for the arrival of the data for a certain period of time.

[0038] 4 and 6, a network device 52 and a remote unit 62 are installed in the second facility B2. The network device 52 is an example of a "second network device" in the claims. The remote unit 62 is an example of a "second remote unit" in the claims.

[0039] The network device 51 communicates via an external network N. The network device 52 has a processing unit 521 and a communication unit 522. The network device 52 is connected to a remote unit 62 and the external network N. The network device 52 and the remote unit 62 are connected to each other by wire, for example, so that they can communicate with each other.

[0040] The remote unit 62 is connected to the network device 52 and converts communication data into a format that can be communicated via the external network N. The remote unit 62 also processes events caused by the state of the external network N. Events caused by the state of the external network N include, for example, changes in communication delay time, loss of communication data, and synchronization loss of communication data. The remote unit 62 has a processing unit 621 and a communication unit 622. The processing unit 621 of the remote unit 62 converts communication data between the supervising physician's operation device 3 and the surgical robot 1 into data that can be communicated via the external network N. The processing unit 621 of the remote unit 62 also reduces the size of relatively large data, such as video data, before transmitting it, and restores the reduced data upon receiving it. The remote unit 62 also adjusts the wait time for the arrival of data if a data delay occurs due to communication issues.

[0041] In this embodiment, the operation right is switched between the doctor-side operation device 2 installed at the first facility B1 and the supervising doctor-side operation device 3 installed at the second facility B2, and the surgical robot 1 (manipulator arm 11, manipulator arm 12) installed at the first facility B1 is operated by either operation device. Note that, by default (initial setting), the doctor-side operation device 2 is always set to have the operation right, and the system control device 17 is configured to first set the doctor-side operation device 2 to have the operation right when using the remote surgery support system. That is, the system control device 17 is configured to set the operation right by default (initial setting) to the doctor-side operation device 2 installed at the first facility B1 to which the doctor who is responsible for the remote surgery support belongs.

[0042] Furthermore, the changeover switch 251 of the doctor-side operating device 2 accepts operation by doctor A1 and outputs a first command for switching the operating authority between the supervising doctor-side operating device 3 and the doctor-side operating device 2. Furthermore, the changeover switch 351 of the supervising doctor-side operating device 3 accepts operation by supervising doctor A2 and outputs a second command for switching the operating authority between the doctor-side operating device 2 and the supervising doctor-side operating device 3. This makes it possible to switch the operating authority for operating the surgical robot 1 (manipulator arm 11, manipulator arm 12) on both the doctor-side operating device 2 and the supervising doctor-side operating device 3.

[0043] The changeover switch 251 is, for example, a hardware switch provided in the armrest 25. The changeover switch 351 is, for example, a hardware switch provided in the armrest 35.

[0044] Furthermore, when the doctor-side operation device 2 has the operation authority, the control device 43 displays first information Ga, indicating that the doctor-side operation device 2 has the operation authority, on the scope-type display device 24 and the scope-type display device 34. Furthermore, when the supervising doctor-side operation device 3 has the operation authority, the control device 43 displays second information Gb, indicating that the supervising doctor-side operation device 3 has the operation authority, on the scope-type display device 24 and the scope-type display device 34. Specifically, when the doctor-side operation device 2 has the operation authority, the control device 43 generates an image in which the first information Ga is superimposed as a GUI on the endoscopic image G1, as shown in FIGS. 7 and 8 , and displays the image on the scope-type display device 24 and the scope-type display device 34. Furthermore, when the supervising doctor-side operation device 3 has the operation authority, the control device 43 generates an image in which the second information Gb is superimposed as a GUI on the endoscopic image G1, as shown in FIG. 9 , and displays the image on the scope-type display device 24 and the scope-type display device 34. This makes it easy to confirm which party has the operating authority to operate the surgical robot 1 (manipulator arm 11, manipulator arm 12) on both the doctor's side operating device 2 and the supervising doctor's side operating device 3.

[0045] Furthermore, when the operating authority is switched from the supervising physician-side operating device 3 to the physician-side operating device 2, the control device 43 changes the second information Gb (see FIG. 9 ) displayed on the scope-type display device 24 and the scope-type display device 34 to the first information Ga (see FIG. 8 ). Furthermore, when the operating authority is switched from the physician-side operating device 2 to the supervising physician-side operating device 3, the control device 43 is configured to change the first information Ga (see FIG. 8 ) displayed on the scope-type display device 24 and the scope-type display device 34 to the second information Gb (see FIG. 9 ). As a result, when the operating authority for operating the surgical robot 1 (manipulator arm 11, manipulator arm 12) is switched between the supervising physician-side operating device 3 and the physician-side operating device 2, the displays of the first information Ga and the second information Gb for identifying which one has the operating authority are also switched, allowing the physicians A1 and A2 to easily recognize that the operating authority has been switched.

[0046] The first information Ga includes, for example, information indicating the doctor-side operating device 2, as shown in FIG. 8 . The second information Gb includes information indicating the supervising physician-side operating device 3, as shown in FIG. 9 . That is, in the example shown in FIG. 8 , as information indicating the doctor-side operating device 2, the display "SC1" is emphasized and the display "SC2" is dimmed. In the example shown in FIG. 9 , as information indicating the supervising physician-side operating device 3, the display "SC2" is emphasized and the display "SC1" is dimmed. As a result, when the doctor-side operating device 2 has the operation authority, it is easy to confirm that the doctor-side operating device 2 has the operation authority based on the first information Ga including the information indicating the doctor-side operating device 2. When the supervising physician-side operating device 3 has the operation authority, it is easy to confirm that the supervising physician-side operating device 3 has the operation authority based on the second information Gb including the information indicating the supervising physician-side operating device 3.

[0047] Furthermore, when the doctor-side operating device 2 has the operating right, the control device 43 displays first information Ga on the display device 41 of the information sharing device 4. Furthermore, when the supervising physician-side operating device 3 has the operating right, the control device 43 displays second information Gb on the display device 41 of the information sharing device 4. This allows the information sharing device 4 located near the surgical robot 1 (manipulator arm 11, manipulator arm 12) to display the first information Ga and second information Gb indicating which of the doctor-side operating device 2 and the supervising physician-side operating device 3 has the operating right, so that an assistant or technician located near the surgical robot 1 (manipulator arm 11, manipulator arm 12) can easily recognize which has the operating right.

[0048] In another embodiment, when the supervising physician-side operating device 3 has the operating right and the sensor 37 has not detected that the supervising physician-side operating device 3 is in use, the system control device 17 switches the operating right to the supervising physician-side operating device 2 in response to a first command output from the changeover switch 251 of the doctor-side operating device 2. When the doctor-side operating device 2 has the operating right and the sensor 27 has not detected that the doctor-side operating device 2 is in use, the system control device 17 switches the operating right to the supervising physician-side operating device 3 in response to a second command output from the changeover switch 351 of the supervising physician-side operating device 3. This allows the operating right to be switched from the operating device that does not have the operating right when the operating device that has the operating right is not in use, thereby enabling safe and smooth switching of the operating right.

[0049] In other words, the system control device 17 does not switch the operation authority when the doctor-side operation device 2 has the operation authority, the sensor 27 detects that the doctor-side operation device 2 is in use, and the second command is output from the changeover switch 351. Furthermore, the system control device 17 does not switch the operation authority when the supervising physician-side operation device 3 has the operation authority, the sensor 37 detects that the supervising physician-side operation device 3 is in use, and the changeover switch 251 outputs the first command.

[0050] Furthermore, when the doctor-side operating device 2 has the operating right, the system control device 17 switches the operating right from the doctor-side operating device 2 to the supervising doctor-side operating device 3 based on the first command output from the changeover switch 251, regardless of the detection result of the sensor 37 as to whether the supervising doctor-side operating device 3 is in use. Furthermore, when the supervising doctor-side operating device 3 has the operating right, the system control device 17 is configured to switch the operating right from the supervising doctor-side operating device 3 to the doctor-side operating device 2 based on the second command output from the changeover switch 351, regardless of the detection result of the sensor 27 as to whether the doctor-side operating device 2 is in use. This allows the operating right to be smoothly switched from the operating device side that has the operating right.

[0051] Furthermore, when the operation right is switched from the supervising physician-side operation device 3 to the physician-side operation device 2, or when the operation right is switched from the physician-side operation device 2 to the supervising physician-side operation device 3, the system control device 17 notifies the supervising physician-side operation device 3 and the physician-side operation device 2 of the operation right switching. That is, when the operation right is switched from the supervising physician-side operation device 3 to the physician-side operation device 2, the system control device 17 notifies the supervising physician-side operation device 3 of the operation right switching. Furthermore, when the operation right is switched from the physician-side operation device 2 to the supervising physician-side operation device 3, the system control device 17 notifies the physician-side operation device 2 of the operation right switching. For example, the control device 43 linked with the system control device 17 causes the scope-type display device 24 of the physician-side operation device 2 and the scope-type display device 34 of the supervising physician-side operation device 3 to display that the operation right is being switched. Furthermore, the system control device 17 causes the speaker 262 of the physician-side operation device 2 and the speaker 362 of the supervising physician-side operation device 3 to notify by voice that the operation right is being switched. This allows the doctor A1 and the supervising doctor A2 to easily recognize that the operation authority is being switched by receiving the notification of the operation authority switching.

[0052] Furthermore, the system control device 17 and the control device 28 are configured to start operating the manipulator arm 12 with the operating handle 21 in response to the operating handle 21 receiving a predetermined operation when the sensor 27 detects that the doctor-side operating device 2 is in use after the operating authority is switched from the supervising physician-side operating device 3 to the doctor-side operating device 2. Furthermore, the system control device 17 and the control device 38 are configured to start operating the manipulator arm 12 with the operating handle 31 in response to the operating handle 31 receiving a predetermined operation when the sensor 37 detects that the supervising physician-side operating device 3 is in use after the operating authority is switched from the doctor-side operating device 2 to the supervising physician-side operating device 3. As a result, after the operating authority is switched, the manipulator arm 12 can be operated by the operating device having the operating authority after the operating device is in use and a predetermined operation has been performed, so that operation can be started after the side having the operating authority is ready. The specified operation accepted by the operating handle 21 or 31 is an operation for adjusting the posture of the operating handle 21 or 31 to the posture of the surgical instrument 6, such as a matching grip operation such as an operation of moving the fingers together or an operation of rotating the wrist.

[0053] Furthermore, when the doctor-side operating device 2 has the operating authority, the system control device 17 controls the operating handle 31 of the supervising doctor-side operating device 3 to be operable, but prevents the surgical robot 1 (manipulator arm 11, manipulator arm 12) from being operated by the operating handle 31. Furthermore, when the supervising doctor-side operating device 3 has the operating authority, the system control device 17 controls the operating handle 21 of the doctor-side operating device 2 to be operable, but prevents the surgical robot 1 (manipulator arm 11, manipulator arm 12) from being operated by the operating handle 21. As a result, the surgical robot 1 (manipulator arm 11, manipulator arm 12) cannot be operated from an operating device that does not have the operating authority, and therefore, it is possible to more reliably prevent the surgical robot 1 (manipulator arm 11, manipulator arm 12) from being operated against the intention of the operator who has the operating authority. Furthermore, when the supervising physician's operating device 3 has the operating authority, it is possible to operate the operating handle 21 of the physician's operating device 2, so that physician A1 can move the operating handle 21 in accordance with the movement of the surgical instrument 6 displayed on the scope-type display device 24.

[0054] Furthermore, when the doctor-side operating device 2 has the operating authority and the sensor 27 does not detect that the doctor-side operating device 2 is in use, the system control device 17 and the control device 28 control the surgical robot 1 (manipulator arm 11, manipulator arm 12) not to operate by operating the operating handle 21, and when the sensor 27 detects that the doctor-side operating device 2 is in use, the system control device 17 and the control device 38 control the surgical robot 1 (manipulator arm 11, manipulator arm 12) not to operate by operating the operating handle 21. Furthermore, when the supervising physician-side operating device 3 has the operating authority and the sensor 37 does not detect that the supervising physician-side operating device 3 is in use, the system control device 17 and the control device 38 control the surgical robot 1 (manipulator arm 11, manipulator arm 12) not to operate by operating the operating handle 31, and when the sensor 37 detects that the supervising physician-side operating device 3 is in use, the system control device 17 and the control device 38 control the surgical robot 1 (manipulator arm 11, manipulator arm 12) to operate by operating the operating handle 31.

[0055] The control devices 28 and 38 also accept a selection of positions for displaying the first information Ga and the second information Gb. For example, as shown in FIG. 10 , the first information Ga and the second information Gb can be displayed at any one of an upper left position P1 of the screen, a lower left position P2 of the screen, a lower right position P3 of the screen, and an upper right position P4 of the screen. As shown in FIG. 11 , the control devices 28 and 38 display a screen on the touch panel 23 and 33 for accepting a selection of positions for displaying the first information Ga and the second information Gb, and accept the operator's selection. For example, the control device 28 displays a first screen on the touch panel 23 for accepting a selection of positions for displaying the first information Ga and the second information Gb. When the control device 28 accepts a selection of positions for displaying the first information Ga and the second information Gb via the first screen, the control device 28 controls the scope-type display device 24 to display the first information Ga and the second information Gb at the selected positions. Furthermore, the control device 38 displays a first screen that accepts selection of positions for displaying the first information Ga and the second information Gb on the touch panel 33. Furthermore, when the control device 38 accepts selection of positions for displaying the first information Ga and the second information Gb via the first screen, it controls the scope-type display device 34 to display the first information Ga and the second information Gb at the selected positions.

[0056] Furthermore, when the doctor-side operation device 2 has the operation authority, the control device 43 displays the detection result detected by the sensor 27 on the scope-type display device 34 of the supervising doctor-side operation device 3. Specifically, as shown in FIG. 12 , when the sensor 27 does not detect that doctor A1 is head-into the scope-type display device 24, the control device 43 generates an image in which display G2b (see FIG. 14 ) is superimposed as a GUI on the endoscopic image G1, and displays the image on the scope-type display device 24 and the scope-type display device 34. When the sensor 27 detects that doctor A1 is head-into the scope-type display device 24, the control device 43 generates an image in which display G2a (see FIG. 13 ) is superimposed as a GUI on the endoscopic image G1, and displays the image on the scope-type display device 24 and the scope-type display device 34. The display G2a and the display G2b are distinguishable from each other. For example, the display G2a and the display G2b are displayed in different colors. Furthermore, when the doctor-side operating device 2 has the operating right, the control device 43 displays a GUI including the first information Ga on the scope-type display device 24 and the scope-type display device 34 .

[0057] Furthermore, when the supervising physician-side operating device 3 has the operating authority, the control device 43 displays the detection result detected by the sensor 37 on the scope-type display device 24 of the doctor-side operating device 2. Specifically, when the sensor 37 does not detect that the supervising physician A2 has his / her head in the scope-type display device 34, the control device 43 generates an image in which a display G2b (see FIG. 14 ) is superimposed as a GUI on the endoscopic image G1, and displays the image on the scope-type display device 24 and the scope-type display device 34. When the sensor 37 detects that the supervising physician A2 has his / her head in the scope-type display device 34, the control device 43 generates an image in which a display G2a (see FIG. 13 ) is superimposed as a GUI on the endoscopic image G1, and displays the image on the scope-type display device 24 and the scope-type display device 34. This makes it easy to check whether the operating device with the operating authority is in use using an operating device without the operating authority. Furthermore, when the operating device 3 on the supervising physician side has the operating right, the control device 43 displays a GUI including the second information Gb on the scope-type display device 24 and the scope-type display device 34 .

[0058] Furthermore, when the doctor-side operation device 2 has the operation authority, the control device 43 may display, on the scope-type display device 24 and the scope-type display device 34, first information Ga indicating that the doctor-side operation device 2 has the operation authority and the detection results detected by the sensors 27 and 37. Furthermore, when the supervising doctor-side operation device 3 has the operation authority, the control device 43 may display, on the scope-type display device 24 and the scope-type display device 34, second information Gb indicating that the supervising doctor-side operation device 3 has the operation authority and the detection results detected by the sensors 27 and 37. For example, when the doctor-side operation device 2 has the operation authority, the sensor 27 has detected the head of doctor A1, and the sensor 37 has not detected the head of supervising doctor A2, the control device 43 generates an image in which the first information Ga, the display G2a, and the display G2b are superimposed as GUIs on the endoscopic image G1, as shown in FIG. 15 , and displays the image on the scope-type display device 24 and the scope-type display device 34.

[0059] Furthermore, when the doctor-side operation device 2 has the operation authority, the control device 43 may display on the scope-type display device 34 of the supervising doctor-side operation device 3 whether or not switching is possible based on the detection result detected by the sensor 27. Specifically, as shown in FIG. 16 , when the doctor-side operation device 2 has the operation authority and the sensor 27 has not detected that the doctor A1 has his head in the scope-type display device 24, the control device 43 generates an image in which a display G3a (see FIG. 16 ) indicating that switching is possible is superimposed as a GUI on the endoscopic image G1, and causes the scope-type display device 24 and the scope-type display device 34 to display the image. Furthermore, when the doctor-side operation device 2 has the operation authority and the sensor 27 has detected that the doctor A1 has his head in the scope-type display device 24, the control device 43 generates an image in which a display G3b (see FIG. 17 ) indicating that switching is not possible is superimposed as a GUI on the endoscopic image G1, and causes the scope-type display device 24 and the scope-type display device 34 to display the image. The display G3a and the display G3b are distinguishable from each other, for example, by being displayed in different colors.

[0060] Furthermore, when the supervising physician-side operation device 3 has the operation authority, the control device 43 may display on the scope-type display device 24 of the doctor-side operation device 2 whether or not switching is possible based on the detection result detected by the sensor 37. Specifically, when the supervising physician-side operation device 3 has the operation authority and the sensor 37 has not detected that the supervising physician A2 has his head in the scope-type display device 34, the control device 43 generates an image in which a display G3a (see FIG. 16 ) indicating that switching is possible is superimposed as a GUI on the endoscopic image G1, and displays the image on the scope-type display device 24 and the scope-type display device 34. Furthermore, when the supervising physician-side operation device 3 has the operation authority and the sensor 37 has detected that the supervising physician A2 has his head in the scope-type display device 34, the control device 43 generates an image in which a display G3b (see FIG. 17 ) indicating that switching is not possible is superimposed as a GUI on the endoscopic image G1, and displays the image on the scope-type display device 24 and the scope-type display device 34. This allows the user to easily check whether or not the operation authority can be switched in an operation device to which the user does not have the operation authority.

[0061] In addition, the control devices 28 and 38 accept selection of the positions for displaying the displays G2a, G2b, G3a, and G3b from the screen shown in Figure 11 displayed on the touch panels 23 and 33, similar to the selection of the positions for displaying the first information Ga and the second information Gb.

[0062] The process of determining whether or not switching is possible by the control device 43 will be described with reference to FIG.

[0063] In step S1 of Fig. 18, the system control device 17 determines whether the operator (doctor A1 or supervising physician A2) is head-in on the operation device (doctor-side operation device 2 or supervising physician-side operation device 3) for which it has operation authority. Specifically, the system control device 17 determines whether the operator (doctor A1 or supervising physician A2) is head-in based on the detection result of sensor 27 or 37. If the operator (doctor A1 or supervising physician A2) is head-in, the process proceeds to step S2; if the operator (doctor A1 or supervising physician A2) is not head-in, the process proceeds to step S3.

[0064] In step S2, the system control device 17 determines that the operation authority cannot be switched. Based on the determination result that the operation authority cannot be switched, the control device 43 displays information that the operation authority cannot be switched (display G3b (see FIG. 17)) on the scope-type display devices 24 and 34. In step S4, the system control device 17 determines that the operation authority can be switched. Based on the determination result that the operation authority can be switched, the control device 43 displays information that the operation authority can be switched (display G3a (see FIG. 16)) on the scope-type display devices 24 and 34.

[0065] [Modifications] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the description of the above-mentioned embodiments, and further includes all modifications (modifications) within the meaning and scope of the claims.

[0066] For example, in the above embodiment, an example was shown in which the first information included information indicating the doctor-side operating device and the second information included information indicating the supervising doctor-side operating device, but the present invention is not limited to this. In the present invention, the first information may include at least one of information indicating the doctor-side operating device, information indicating the doctor, and information related to the first facility. Furthermore, the second information may include at least one of information indicating the supervising doctor-side operating device, information indicating the supervising doctor, and information related to the second facility.

[0067] For example, as shown in Fig. 19 , the first information may include the name of the doctor ("AAA" in the example shown in Fig. 19 ) as information indicating the doctor. The second information may include the name of the supervising doctor ("BBB" in the example shown in Fig. 19 ) as information indicating the supervising doctor. The first information and the second information may also include numbers, symbols, character strings, icons, or images indicating the doctor or supervising doctor.

[0068] 20 , the first information may include the area of ​​the first facility ("Kobe" in the example shown in FIG. 20 ) as information about the first facility. The second information may include the area of ​​the second facility ("Osaka" in the example shown in FIG. 20 ) as information about the second facility. The first information and the second information may also include the name of the facility, and numbers, symbols, or character strings that indicate the facility.

[0069] In the above embodiment, the selector switch is a hardware switch provided on the armrest, but the present invention is not limited to this. For example, the selector switch may be a switch displayed on a touch panel or a foot pedal 22. Also, the operating authority may be switched by voice recognition. Furthermore, the selector switch may be provided on the surgical robot 1 or the information sharing device 4 so that it can be operated by someone other than the doctor or supervising physician, and the switching operation may be performed by someone other than the doctor or supervising physician.

[0070] In the above embodiment, the control process of the present invention is performed by a plurality of control devices, but the present invention is not limited to this. For example, the control process of the present invention may be performed by a single control device.

[0071] In the above embodiment, the first display device and the second display device of the present invention are provided as scope-type display devices, but the present invention is not limited to this. For example, the first display device and the second display device of the present invention may be provided as flat panel display devices other than scope-type display devices.

[0072] In the above embodiment, an example was shown in which sensors for detecting the head of a doctor or supervising physician are provided as the first and second sensors of the present invention, but the present invention is not limited to this. For example, a gaze detection sensor for detecting the gaze of a doctor or supervising physician may be provided as the first and second sensors of the present invention, or a sensor for detecting that a doctor or supervising physician is touching a predetermined position on the operating handle may be provided.

[0073] In the above embodiment, the first and second audio communication devices of the present invention are provided as audio communication devices integrally arranged with the scope-type display device, but the present invention is not limited to this. For example, the first and second audio communication devices of the present invention may be audio communication devices separate from the scope-type display device.

[0074] In the above embodiment, an example in which an audio communication device is provided in the information sharing device is shown, but the present invention is not limited to this. For example, an audio communication device may be provided in the surgical robot instead of the audio communication device in the information sharing device.

[0075] In the above embodiment, the supervising physician-side operation device 3 is installed in the second facility B2, but the present invention is not limited to this. In the present invention, the doctor-side operation device and the surgical robot may be installed in the second facility B2, and when the normal mode is selected in the mode selection, the doctor-side operation device in the second facility B2 may operate the surgical robot in the second facility B2. When the remote mode is selected in the mode selection, the doctor-side operation device in the second facility B2 may function as the supervising physician-side operation device, and the doctor-side operation device in the second facility B2 may operate the surgical robot in the first facility B1.

[0076] Aspects It will be appreciated by those skilled in the art that the exemplary embodiments described above are examples of the following aspects.

[0077] (Item 1) A surgical system comprising: a first manipulator that is installed in a first facility and that holds an endoscope and a second manipulator that holds a surgical instrument; a doctor-side operation device that is installed in the first facility and that allows a doctor to operate the first manipulator and the second manipulator; a supervising physician-side operation device that is installed in a second facility different from the first facility and that allows a supervising physician to operate the first manipulator and the second manipulator via an external network; and one or more control devices, wherein the doctor-side operation device comprises: a first sensor that detects whether the doctor-side operation device is in use; a first display device that displays an endoscopic image acquired by the endoscope; and a first switching device that receives an operation by the doctor and outputs a first command to switch operation rights between the supervising physician-side operation device and the doctor-side operation device, wherein the supervising physician-side operation device comprises: a second sensor that detects whether the supervising physician-side operation device is in use; and a second display device that displays the endoscopic image transmitted via the external network. a second switching device that receives an operation by the supervising physician and outputs a second command for switching operation rights between the physician-side operating device and the supervising physician-side operating device, wherein the one or more control devices are configured to switch operation rights from the physician-side operating device to the supervising physician-side operating device based on the second command output from the second switching device when the physician-side operating device has operation rights and is not detected as being in use by the first sensor, and to not switch operation rights when the physician-side operating device has operation rights and is detected as being in use by the first sensor and the second command is output from the second switching device.

[0078] (Item 2) The one or more control devices are configured to switch the operation right from the supervising physician side operation device to the doctor side operation device based on the first command output from the first switching device when the supervising physician side operation device has the operation right and is not detected as being in use by the second sensor, and to not switch the operation right when the supervising physician side operation device has the operation right, is detected as being in use by the second sensor, and the first command is output from the first switching device. This is the remote surgery support system described in Item 1.

[0079] (Item 3) The remote surgery support system according to item 1 or 2, wherein the one or more control devices are configured to display the detection result detected by the second sensor on the first display device of the doctor-side operation device when the supervising physician-side operation device has operation authority, and to display the detection result detected by the first sensor on the second display device of the supervising physician-side operation device when the doctor-side operation device has operation authority.

[0080] (Item 4) The remote surgery support system according to any one of items 1 to 3, wherein the one or more control devices are configured to, when the supervising physician side operation device has operation authority, display on the first display device of the physician side operation device whether or not switching is possible based on the detection result detected by the second sensor, and, when the physician side operation device has operation authority, display on the second display device of the supervising physician side operation device whether or not switching is possible based on the detection result detected by the first sensor.

[0081] (Item 5) The remote surgery support system according to any one of items 1 to 4, wherein the one or more control devices are configured to, when the doctor-side operating device has operating authority, display on the first display device and the second display device first information indicating that the doctor-side operating device has operating authority, and, when the supervising physician-side operating device has operating authority, display on the first display device and the second display device second information indicating that the supervising physician-side operating device has operating authority.

[0082] (Item 6) The one or more control devices are configured to switch the operation authority from the doctor-side operation device to the supervising physician-side operation device based on the first command output from the first switching device when the doctor-side operation device has the operation authority and the second sensor has not detected that it is in use, and to switch the operation authority from the supervising physician-side operation device to the doctor-side operation device based on the second command output from the second switching device when the supervising physician-side operation device has the operation authority and the first sensor has not detected that it is in use. This remote surgery support system is described in any one of items 1 to 5.

[0083] (Item 7) A remote surgery support system according to any one of items 1 to 6, wherein the first display device includes an immersive display device, the first sensor is configured to detect whether or not the doctor has his head in on the first display device as a usage state of the doctor-side operation device, the second display device includes an immersive display device, and the second sensor is configured to detect whether or not the supervising doctor has his head in on the second display device as a usage state of the supervising doctor-side operation device.

[0084] (Item 8) The remote surgery support system according to any one of items 1 to 7, wherein the doctor-side operation device includes a first audio communication device for the doctor to communicate with the supervising doctor by voice, and the supervising doctor-side operation device includes a second audio communication device for the supervising doctor to communicate with the doctor by voice.

[0085] (Item 9) The remote surgery support system described in Item 8 further comprises an information sharing device that is disposed in the first facility, includes a third display device and a third audio communication device, and is disposed closer to the first manipulator and the second manipulator than the doctor's side operation device, wherein the third display device is configured to display the endoscopic image acquired by the endoscope, and the third audio communication device is configured to perform audio communication with the first audio communication device and the second audio communication device.

[0086] (Item 10) The remote surgery support system according to any one of items 1 to 9, wherein the one or more control devices are configured to notify the supervising physician side operation device and the physician side operation device of the switching of operation rights when the operation rights are switched from the supervising physician side operation device to the physician side operation device, or when the operation rights are switched from the physician side operation device to the supervising physician side operation device.

[0087] (Item 11) A remote surgery support system according to any one of items 1 to 10, wherein the doctor-side operating device comprises a first armrest, the first switching device includes a first changeover switch arranged on the first armrest, the supervising doctor-side operating device comprises a second armrest, and the second switching device includes a second changeover switch arranged on the second armrest.

[0088] (Item 12) The remote surgery support system according to any one of items 1 to 11, wherein the doctor-side operating device includes a first operating device for the doctor to operate the second manipulator, and the supervising doctor-side operating device includes a second operating device for the supervising doctor to operate the second manipulator, and the one or more control devices are configured to: after operating authority is switched from the supervising doctor-side operating device to the doctor-side operating device, if the first sensor detects that the device is in use, start operating the second manipulator by the first operating device in response to the first operating device receiving a predetermined operation; and after operating authority is switched from the doctor-side operating device to the supervising doctor-side operating device, if the second sensor detects that the device is in use, start operating the second manipulator by the second operating device in response to the second operating device receiving a predetermined operation.

[0089] (Item 13) The remote surgery support system according to any one of items 1 to 12, wherein the doctor-side operating device comprises a first operating device for the doctor to operate the first manipulator or the second manipulator, the supervising doctor-side operating device comprises a second operating device for the supervising doctor to operate the first manipulator or the second manipulator, and the one or more control devices are configured to control the first operating device so that, when the supervising doctor-side operating device has operating rights, the first operating device can be operated but the first manipulator and the second manipulator cannot be operated by operating the first operating device.

[0090] (Item 14) A remote surgery support system according to any one of items 1 to 13, further comprising a third manipulator installed in the first facility for holding a surgical instrument and a fourth manipulator for holding a surgical instrument, wherein the doctor-side operation device is configured to operate the first manipulator, the second manipulator, the third manipulator, and the fourth manipulator, and the supervising doctor-side operation device is configured to operate the first manipulator, the second manipulator, the third manipulator, and the fourth manipulator via the external network.

[0091] (Item 15) The remote surgery support system according to any one of items 1 to 14, wherein the one or more control devices set operation rights for operating the first manipulator and the second manipulator in the doctor-side operation device by default.

[0092] (Item 16) A remote surgery support system according to any one of items 1 to 15, comprising: a first network device installed at the first facility; a first remote unit installed at the first facility, connected to the first network device, and converting communication data into a format that can be communicated over a network; a connection unit installed at the first facility, to which the first remote unit, the doctor-side operation device, the first manipulator, and the second manipulator are connected; a second network device installed at the second facility, communicating with the first network device via the external network; and a second remote unit installed at the second facility, connected to the supervising doctor-side operation device and the second network device, and converting communication data into a format that can be communicated over a network.

[0093] (Item 17) The remote surgery support system described in Item 16, wherein the one or more control devices include a GUI generation control device that is installed in the first facility and generates a GUI to be superimposed on the endoscopic image, and the first manipulator and the second manipulator are connected to the connection unit via the GUI generation control device.

[0094] 1: Surgical robot, 2: Doctor-side operation device, 3: Supervising doctor-side operation device, 4: Information sharing device (GUI generation control device), 5: Endoscope, 6: Surgical instrument, 7: Dual unit (connection unit), 11: Manipulator arm (first manipulator), 12: Manipulator arm (second manipulator, third manipulator, fourth manipulator), 16: Control device (one or more control devices), 21: Operation handle (first operation device), 24: Scope-type display device (first display device), 25: Armrest (first armrest), 26: Voice communication device (first voice communication device), 27: Sensor (first sensor), 28: Control device (one or more control devices), 31: Operation handle (second operation device), 34: Scope-type display device (second display device), 3 5: Armrest (second armrest), 36: Audio communication device (second audio communication device), 37: Sensor (second sensor), 38: Control device (one or more control devices), 41: Display device (third display device), 42: Audio communication device (third audio communication device), 43: Control device (one or more control devices), 51: Network device (first network device), 52: Network device (second network device), 61: Remote unit (first remote unit), 62: Remote unit (second remote unit), 100: Remote surgery support system, 251: Changeover switch (first changeover device, first changeover switch), 351: Changeover switch (second changeover device, second changeover switch), A1: Doctor, A2: Supervising doctor, B1: First facility, B2: Second facility, N: External network

Claims

1. A system comprising: a first manipulator that is installed in a first facility and that holds an endoscope and a second manipulator that holds a surgical instrument; a doctor-side operation device that is installed in the first facility and that allows a doctor to operate the first manipulator and the second manipulator; a supervising physician-side operation device that is installed in a second facility different from the first facility and that allows a supervising physician to operate the first manipulator and the second manipulator via an external network; and one or more control devices, wherein the doctor-side operation device comprises: a first sensor that detects whether the doctor-side operation device is in use; a first display device that displays an endoscopic image acquired by the endoscope; and a first switching device that receives an operation by the doctor and outputs a first command to switch operation rights between the supervising physician-side operation device and the doctor-side operation device, wherein the supervising physician-side operation device comprises: a second sensor that detects whether the supervising physician-side operation device is in use; and a second display device that displays the endoscopic image transmitted via the external network. a second switching device that receives an operation by the supervising physician and outputs a second command for switching operation rights between the physician-side operating device and the supervising physician-side operating device, wherein the one or more control devices are configured to switch operation rights from the physician-side operating device to the supervising physician-side operating device based on the second command output from the second switching device when the physician-side operating device has operation rights and is not detected as being in use by the first sensor, and to not switch operation rights when the physician-side operating device has operation rights and is detected as being in use by the first sensor and the second command is output from the second switching device.

2. The remote surgery support system according to claim 1, wherein the one or more control devices are configured to switch the operation right from the supervising physician's operation device to the physician's operation device based on the first command output from the first switching device when the supervising physician's operation device has the operation right and is not detected as being in use by the second sensor, and are configured not to switch the operation right when the supervising physician's operation device has the operation right and is detected as being in use by the second sensor and the first command is output from the first switching device.

3. The remote surgery support system of claim 1, wherein the one or more control devices are configured to display the detection results detected by the second sensor on the first display device of the doctor-side operation device when the supervising physician-side operation device has operation authority, and to display the detection results detected by the first sensor on the second display device of the supervising physician-side operation device when the doctor-side operation device has operation authority.

4. The remote surgery support system of claim 1, wherein the one or more control devices are configured to, when the supervising physician side operation device has operation authority, display on the first display device of the physician side operation device whether or not switching is possible based on the detection result detected by the second sensor, and when the physician side operation device has operation authority, display on the second display device of the supervising physician side operation device whether or not switching is possible based on the detection result detected by the first sensor.

5. The remote surgery support system of claim 1, wherein the one or more control devices are configured to, when the doctor-side operating device has operating authority, display on the first display device and the second display device first information indicating that the doctor-side operating device has operating authority, and, when the supervising physician-side operating device has operating authority, display on the first display device and the second display device second information indicating that the supervising physician-side operating device has operating authority.

6. The remote surgery support system according to claim 1, wherein the one or more control devices are configured to switch the operation authority from the doctor-side operation device to the supervising doctor-side operation device based on the first command output from the first switching device when the doctor-side operation device has the operation authority and is not detected to be in use by the second sensor, and to switch the operation authority from the supervising doctor-side operation device to the doctor-side operation device based on the second command output from the second switching device when the supervising doctor-side operation device has the operation authority and is not detected to be in use by the first sensor.

7. A remote surgery support system as described in claim 1, wherein the first display device includes an immersive display device, the first sensor is configured to detect whether or not the doctor has his head in on the first display device as a usage state of the doctor-side operation device, and the second display device includes an immersive display device, and the second sensor is configured to detect whether or not the supervising doctor has his head in on the second display device as a usage state of the supervising doctor-side operation device.

8. A remote surgery support system as described in claim 1, wherein the doctor-side operating device is provided with a first audio communication device for the doctor to communicate with the supervising doctor by voice, and the supervising doctor-side operating device is provided with a second audio communication device for the supervising doctor to communicate with the doctor by voice.

9. A remote surgery support system as described in claim 8, further comprising an information sharing device disposed in the first facility, including a third display device and a third audio communication device, and disposed closer to the first manipulator and the second manipulator than the doctor's side operation device, wherein the third display device is configured to display the endoscopic image acquired by the endoscope, and the third audio communication device is configured to perform audio communication with the first audio communication device and the second audio communication device.

10. The remote surgery support system of claim 1, wherein the one or more control devices are configured to notify the supervising physician side operating device and the physician side operating device of the switching of operating rights when the operating rights are switched from the supervising physician side operating device to the physician side operating device, or when the operating rights are switched from the physician side operating device to the supervising physician side operating device.

11. A remote surgery support system as described in claim 1, wherein the doctor-side operating device comprises a first armrest, the first switching device includes a first change-over switch arranged on the first armrest, the supervising doctor-side operating device comprises a second armrest, and the second switching device includes a second change-over switch arranged on the second armrest.

12. The remote surgery support system according to claim 1, wherein the doctor-side operating device comprises a first operating device for the doctor to operate the second manipulator, and the supervising doctor-side operating device comprises a second operating device for the supervising doctor to operate the second manipulator, and the one or more control devices are configured to: after operating authority is switched from the supervising doctor-side operating device to the doctor-side operating device, if the first sensor detects that the device is in use, start operating the second manipulator by the first operating device in response to the first operating device receiving a predetermined operation; and after operating authority is switched from the doctor-side operating device to the supervising doctor-side operating device, if the second sensor detects that the device is in use, start operating the second manipulator by the second operating device in response to the second operating device receiving a predetermined operation.

13. The remote surgery support system of claim 1, wherein the doctor-side operating device comprises a first operating device for the doctor to operate the first manipulator or the second manipulator, and the supervising doctor-side operating device comprises a second operating device for the supervising doctor to operate the first manipulator or the second manipulator, and the one or more control devices are configured to control the first operating device so that, when the supervising doctor-side operating device has operating authority, the first operating device can be operated, but the first manipulator and the second manipulator cannot be operated by operating the first operating device.

14. The remote surgery support system of claim 1, further comprising a third manipulator for holding a surgical instrument and a fourth manipulator for holding a surgical instrument, the doctor-side operation device being configured to operate the first manipulator, the second manipulator, the third manipulator, and the fourth manipulator, and the supervising doctor-side operation device being configured to operate the first manipulator, the second manipulator, the third manipulator, and the fourth manipulator via the external network.

15. The remote surgery support system according to claim 1, wherein the one or more control devices set operating rights for operating the first manipulator and the second manipulator in the doctor-side operating device by default.

16. The remote surgery support system according to claim 1, comprising: a first network device installed in the first facility; a first remote unit installed in the first facility and connected to the first network device, which converts communication data into a format that can be communicated via the network; a connection unit installed in the first facility and to which the first remote unit, the doctor-side operation device, the first manipulator, and the second manipulator are connected; a second network device installed in the second facility and which communicates with the first network device via the external network; and a second remote unit installed in the second facility and connected to the supervising doctor-side operation device and the second network device, which converts communication data into a format that can be communicated via the network.

17. The remote surgery support system described in claim 16, wherein the one or more control devices include a GUI generation control device installed in the first facility that generates a GUI to be superimposed on the endoscopic image, and the first manipulator and the second manipulator are connected to the connection unit via the GUI generation control device.

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