Medical manipulator system and control device

Abstract

This medical manipulator system comprises: a medical manipulator having a bendable bending part; an actuator for bending the bending part; a controller that receives input of a bending operation for bending the bending part; and a control device capable of controlling the actuator on the basis of the bending operation. The controller can detect a first bending operation for bending the bending part by a bending amount corresponding to an operation amount of the bending operation, and a second bending operation for bending the bending part to a predetermined bending amount regardless of the operation amount. The control device controls the actuator on the basis of the operation amount of the first bending operation when the controller detects the first bending operation, and controls the actuator until the bending amount of the bending part reaches the predetermined bending amount when the controller detects the second bending operation.

Description

Medical manipulator system and control device

[0001] This disclosure relates to a medical manipulator system and control device. This application claims priority under U.S. Provisional Patent Application No. 63 / 693,933, filed in the United States on September 12, 2024, which is incorporated herein by reference.

[0002] Conventionally, medical manipulator systems have been used for observing and treating tubular organs such as the digestive tract. These medical manipulator systems feature an electrically operated bending mechanism for the insertion portion that is inserted into the tubular organ. The operator can control the bending motion of the insertion portion by inputting bending commands to an external control unit, allowing for the treatment to proceed smoothly.

[0003] Patent Document 1 describes a medical control device that performs feedback control of a drive means based on the difference between a drive control signal of the drive means under normal conditions and a drive control signal of the drive means when force is applied to the insertion part, based on the amount of change of the insertion part which changes due to the force applied to the insertion part of the medical device from the subject's side.

[0004] Japanese Patent No. 4503985

[0005] However, since electrically operated, bending-driving medical manipulator systems differ in usability from conventional medical devices such as endoscopes that are bent manually, there is a need to improve operability during procedures.

[0006] In light of the above circumstances, this disclosure aims to provide a medical manipulator system and control device that can improve operability during treatment.

[0007] A medical manipulator system according to a first aspect of the present disclosure comprises a medical manipulator having a bendable curved portion, an actuator for bending the curved portion, a controller for which a bending operation for bending the curved portion is input, and a control device capable of controlling the actuator based on the bending operation, wherein the controller is capable of detecting a first bending operation which is a bending operation that bends the curved portion by a bending amount corresponding to the amount of the bending operation, and a second bending operation which is a bending operation that bends the curved portion to a predetermined bending amount regardless of the amount of the operation, and the control device controls the actuator based on the amount of the operation of the first bending operation when the controller has detected the first bending operation, and controls the actuator when the controller has detected the second bending operation until the bending amount of the curved portion reaches the predetermined bending amount.

[0008] A medical manipulator system according to a second aspect of the present disclosure comprises a medical manipulator having a bendable curved portion, an actuator for bending the curved portion, a controller to which a bending operation for bending the curved portion is input, and a control device capable of controlling the actuator based on the bending operation, wherein the control device is switchable between relative bending control, which controls the actuator based on the bending operation, and non-bending control, which is different from the relative bending control, and when the control device is executing the non-bending control, the actuator maintains the amount of bending of the curved portion.

[0009] A control device according to a third aspect of the present disclosure is a control device for controlling a medical manipulator system comprising: a medical manipulator having a bendable curved portion; an actuator for bending the curved portion; and a controller to which a bending operation for bending the curved portion is input, wherein when the controller detects a first bending operation, the actuator is controlled based on the amount of the first bending operation; and when the controller detects a second bending operation different from the first bending operation, the actuator is controlled regardless of the amount of the bending operation until the amount of bending of the curved portion reaches a predetermined amount of bending.

[0010] A control device according to a fourth aspect of the present disclosure is a control device for controlling a medical manipulator system comprising: a medical manipulator having a bendable curved portion; an actuator for bending the curved portion; and a controller having an input element to which a bending operation for bending the curved portion is input, and capable of detecting the input amount at a first input where the input element moves away from the origin and a second input where the input element approaches the origin, the control device being switchable between relative curve control, which controls the actuator based on the bending operation, and non-curve control, which controls the actuator so that the amount of curvature of the curved portion is maintained, and comparing a calculated input amount, which is the input amount to the input element based on the amount of curvature of the curved portion, with a detected input amount, which is the input amount to the input element detected by the controller, the control device switches from relative curve control to non-curve control when the difference between the calculated input amount and the detected input amount becomes greater than or equal to a predetermined value.

[0011] The medical manipulator system and control device of this disclosure can provide a medical manipulator system and control device that can improve operability during treatment.

[0012] This figure shows a medical manipulator system according to the first embodiment of this disclosure. This figure shows the insertion section of the endoscope of the medical manipulator system. This figure shows a cross-sectional view of a part of the curved section of the insertion section. This is an enlarged view of the nodal ring of the curved section in region E shown in Figure 3. This is a cross-sectional view of the curved section along the line C1-C1 in Figures 3 and 4. This is a functional block diagram of the drive device of the medical manipulator system. This is a functional block diagram of the image control device of the medical manipulator system. This figure shows the operating section of the medical manipulator system. This is a front view showing the angle knob of the operating section. This figure shows the curved section. This figure shows the insertion section inserted into the large intestine. This is a flowchart showing the control method of the medical manipulator system. This is a schematic diagram showing the curved section in the large intestine. This is a flowchart showing the control method of the medical manipulator system according to the second embodiment of this disclosure. This is a front view showing the angle knob of the operating section of the medical manipulator system. This is a display image showing the relationship between the input and output of the medical manipulator system. This is a flowchart showing the control method of the medical manipulator system according to the third embodiment of this disclosure. This figure shows the connecting section of the medical manipulator system. This figure shows an input element in the operating section of a medical manipulator system according to the fourth embodiment of this disclosure. This figure shows another variation of the input element. This figure shows another variation of the input element. This figure shows another variation of the input element. This figure shows another variation of the input element. This figure shows another variation of the input element. This figure shows another variation of the input element. This figure shows another variation of the input element. This figure shows another variation of the input element. This figure shows another variation of the input element. This figure shows another variation of the input element.

[0013] (First Embodiment) Hereinafter, a first embodiment of the present disclosure will be described with reference to the drawings. Figure 1 is an overall view of the electric endoscope system 1000 according to the first embodiment. The electric endoscope system 1000 is an example of a medical manipulator system.

[0014] [Electric Endoscope System 1000] The electric endoscope system 1000 is a medical system for observing and treating the inside of a patient's body. The electric endoscope system 1000 comprises an endoscope 100, a drive unit 200, a treatment instrument 400 (see Figure 2), an image control device 500, and a display device 900.

[0015] Figure 2 shows the insertion section 110 of the endoscope 100. The endoscope 100 is a device inserted into the lumen of a patient to observe and treat the affected area, and is an example of a medical manipulator. A medical manipulator includes an electrically driven endoscope, catheter, treatment instrument, endoluminal device, etc., which are inserted into the body.

[0016] The operator (user) operates the controller 140 of the endoscope 100 to perform procedures using the endoscope 100. The endoscope 100 is detachably attached to the drive unit 200. An internal passage 101 is formed inside the endoscope 100.

[0017] The drive unit 200 drives its built-in motor to electrically drive the endoscope 100 based on the operation input to the control unit 140. The drive unit 200 also drives its built-in pump or the like to perform air supply, water supply, or suction to the endoscope 100 based on the operation input to the control unit 140.

[0018] The treatment instrument 400 is a device that is inserted into the patient's lumen by passing it through the internal passage 101 of the endoscope 100 to treat the affected area. The treatment instrument 400 is inserted into the internal passage 101 of the endoscope 100 through the forceps channel 120a provided on the endoscope 100.

[0019] The image control device 500 is detachably connected to the endoscope 100 and acquires images from the endoscope 100. The image control device 500 displays the images acquired from the endoscope 100, as well as GUI images and CG images intended to provide information to the operator, on the display device 900.

[0020] The drive unit 200 and the image control device 500 constitute a control device 600 that controls the electric endoscope system 1000. The control device 600 may further include peripheral equipment such as a video printer. The drive unit 200 and the image control device 500 may be an integrated device.

[0021] The display device 900 is a device capable of displaying images such as an LCD. The display device 900 is connected to the video control device 500 via a display cable (not shown). The display device 900 displays an image based on the signal received from the video control device 500.

[0022] [Endoscope 100] The endoscope 100 includes an insertion portion 110, a connection portion 120, an extracorporeal flexible portion 130, an operation portion (controller) 140, a detachable portion 150, a bending wire 160 (see FIG. 3), and a built-in object 170 (see FIG. 5).

[0023] In the following description, as shown in FIG. 2, in the longitudinal direction A of the endoscope 100, the side inserted into the patient's lumen is referred to as the "tip side (distal side) A1", and the side attached to the driving device 200 is referred to as the "base end side (proximal side) A2".

[0024] The insertion portion 110, the connection portion 120, the extracorporeal flexible portion 130, and the detachable portion 150 are connected in this order from the tip side A1. The operation portion 140 is provided on the base end side A2 of the connection portion 120. A part of the extracorporeal flexible portion 130 connected to the base end side A2 of the connection portion 120 passes through the inside of the operation portion 140.

[0025] Inside the endoscope 100, an internal path 101 extending along the longitudinal direction A of the endoscope 100 from the tip of the insertion portion 110 to the base end of the detachable portion 150 is formed. The bending wire 160 and the built-in object 170 are inserted into the internal path 101.

[0026] The built-in object 170 includes a channel tube 171, an air supply and aspiration tube 172 (see FIG. 6), an imaging cable 173, a light guide 174, and an operation cable 175 (see FIG. 6).

[0027] [Insertion portion 110] The insertion portion 110 is an elongated member that can be inserted into the lumen. The insertion portion 110 has a tip portion 111, a bending portion 112, and an intracorporeal flexible portion 119. The tip portion 111, the bending portion 112, and the intracorporeal flexible portion 119 are connected in this order from the tip side A1.

[0028] As shown in Figure 2, the tip portion 111 has an opening 111a, an illumination portion 111b, and an imaging portion 111c. The opening 111a is an opening that communicates with the channel tube 171. As shown in Figure 2, the treatment portion 410, such as a gripping forceps, provided at the tip of the treatment instrument 400 that inserts the channel tube 171, protrudes from the opening 111a.

[0029] The illumination unit 111b is connected to a light guide 174 that guides illumination light and emits illumination light to illuminate the object to be imaged. The imaging unit 111c is equipped with an image sensor such as a CMOS and is an imaging device that images the object to be imaged. The imaging signal is sent to the image control device 500 via the imaging cable 173.

[0030] Figure 3 is a cross-sectional view of a part of the curved section 112. The curved section 112 has a plurality of nodular rings (curved pieces) 115, a tip section 116 connected to the tips of the plurality of nodular rings 115, and an outer sheath 118 (see Figure 2).

[0031] Multiple nodal rings 115 and tip portions 116 are connected in the longitudinal direction A inside the outer sheath 118. The shape and number of nodal rings 115 on the curved portion 112 are not limited to those shown in Figure 3.

[0032] Figure 4 is an enlarged view of the nodal ring 115 in region E shown in Figure 3. The nodal ring 115 is a short cylindrical member made of metal. Multiple nodal rings 115 are connected such that the internal spaces of adjacent nodal rings 115 form a continuous space.

[0033] The joint ring 115 has a first joint ring 115a at the tip end A1 and a second joint ring 115b at the base end A2. The first joint ring 115a and the second joint ring 115b are connected by a first pivot pin 115p so as to be rotatable in the vertical direction (UD direction) perpendicular to the longitudinal direction A.

[0034] The first joint wheel 115a and the second joint wheel 115b are connected by a second pivot pin 115q so as to be rotatable in the left-right direction (LR direction) perpendicular to the longitudinal direction A and the UD direction. The first joint wheel 115a and the second joint wheel 115b are alternately connected by a first pivot pin 115p and a second pivot pin 115q, and the curved portion 112 can be freely curved in any desired direction.

[0035] Figure 5 is a cross-sectional view of the curved portion 112 along the line C1-C1 in Figures 3 and 4. An upper wire guide 115u and a lower wire guide 115d are formed on the inner circumferential surface of the second joint ring 115b. The upper wire guide 115u and the lower wire guide 115d are arranged on both sides in the UD direction, with the central axis O in the longitudinal direction A in between.

[0036] A left wire guide 115l and a right wire guide 115r are formed on the inner circumferential surface of the first joint ring 115a. The left wire guide 115l and the right wire guide 115r are positioned on both sides in the LR direction, straddling the central axis O in the longitudinal direction A.

[0037] The upper wire guide 115u, lower wire guide 115d, left wire guide 115l, and right wire guide 115r have through holes formed along the longitudinal direction A through which the curved wire 160 is inserted.

[0038] The curved wire (wire) 160 is the wire that bends the curved section 112. The curved wire 160 extends through the internal path 101 to the attachment / detachment section 150. As shown in Figures 3 and 5, the curved wire 160 has an upper curved wire 161u, a lower curved wire 161d, a left curved wire 161l, a right curved wire 161r, and four wire sheaths 161s.

[0039] As shown in Figure 3, the upper curved wire 161u, the lower curved wire 161d, the left curved wire 161l, and the right curved wire 161r are each inserted through a wire sheath 161s. The tip of the wire sheath 161s is attached to the nodal ring 115 at the base end of the curved portion 112. The wire sheath 161s extends to the attachment / detachment portion 150.

[0040] The upper curved wire 161u and the lower curved wire 161d are wires that bend the curved portion 112 in the UD direction. The upper curved wire 161u is inserted through the upper wire guide 115u. The lower curved wire 161d is inserted through the lower wire guide 115d.

[0041] As shown in Figure 3, the tips of the upper curved wire 161u and the lower curved wire 161d are fixed to the tip portion 116 of the curved portion 112. The tips of the upper curved wire 161u and the lower curved wire 161d, which are fixed to the tip portion 116, are positioned on both sides in the UD direction, straddling the central axis O in the longitudinal direction A.

[0042] The left-curving wire 161l and the right-curving wire 161r are wires that bend the curved section 112 in the L-R direction. The left-curving wire 161l is inserted through the left wire guide 115l. The right-curving wire 161r is inserted through the right wire guide 115r.

[0043] As shown in Figure 3, the tips of the left-curved wire 161l and the right-curved wire 161r are fixed to the tip portion 116 of the curved section 112. The tips of the left-curved wire 161l and the right-curved wire 161r, which are fixed to the tip portion 116, are positioned on both sides in the L-R direction, straddling the central axis O in the longitudinal direction A.

[0044] The curved section 112 can be freely bent in any desired direction by pulling or relaxing the curved wires 160 (upper curved wire 161u, lower curved wire 161d, left curved wire 161l, right curved wire 161r).

[0045] As shown in Figure 5, the internal path 101 formed inside the curved section 112 has a curved wire 160, a channel tube 171, an imaging cable 173, and a light guide 174 inserted through it.

[0046] The internal flexible portion 119 is a long, flexible tubular member. A curved wire 160, a channel tube 171, an imaging cable 173, and a light guide 174 are inserted through the internal path 101 formed in the internal flexible portion 119.

[0047] [Connecting part 120] The connecting part 120 is a member that connects the internal flexible part 119 and the external flexible part 130 of the insertion part 110. The connecting part 120 is equipped with a forceps opening 120a, which is an insertion opening for inserting the treatment instrument 400.

[0048] [External Flexible Section 130] The external flexible section 130 is a long, tubular member. A curved wire 160, an imaging cable 173, a light guide 174, an air supply / suction tube 172 (see Figure 6), and an operating cable 175 (see Figure 6) are inserted through an internal path 101 formed inside the external flexible section 130.

[0049] [Controller Unit 140] The controller unit 140 is an example of a control controller for an operator to operate a medical manipulator. The controller unit 140 is connected to the drive unit 200 via an operating cable 175 that passes through an internal route 101 formed inside the external flexible part 130.

[0050] In this embodiment, the operating unit 140 is connected to the proximal end A2 of the connecting unit 120. The tip of the external flexible part 130, which is connected to the proximal end A2 of the connecting unit 120, passes through the inside of the operating unit 140. The operating unit 140 may communicate with the drive device 200 by wireless communication instead of wired communication. The operator can electrically drive the endoscope 100 by operating the operating unit 140.

[0051] [Detachable part 150] As shown in Figure 1, the detachable part 150 includes a first detachable part 1501 that is attached to the drive device 200 and a second detachable part 1502 that is attached to the video control device 500. Note that the first detachable part 1501 and the second detachable part 1502 may be a single detachable part.

[0052] The internal passage 101 formed inside the external flexible portion 130 branches into a first attachment / detachment section 1501 and a second attachment / detachment section 1502. The curved wire 160, the air supply / suction tube 172, and the operating cable 175 are inserted through the first attachment / detachment section 1501. The imaging cable 173 and the light guide 174 are inserted through the second attachment / detachment section 1502.

[0053] Figure 6 is a functional block diagram of the drive unit 200. The first attachment / detachment section 1501 has an upper and lower curved wire attachment / detachment section 151 and a left and right curved wire attachment / detachment section 152. The upper and lower curved wire attachment / detachment section 151 is a mechanism for detachably connecting wires (upper curved wire 161u and lower curved wire 161d) that bend the curved section 112 in the UD direction to the drive unit 200.

[0054] The left and right curved wire attachment / detachment section 152 is a mechanism for detachably connecting wires (left curved wire 161l and right curved wire 161r) that bend the curved section 112 in the L and R directions to the drive unit 200.

[0055] The upper and lower curved wire attachment / detachment section 151 has, for example, a rotating drum capable of winding up the upper curved wire 161u and the lower curved wire 161d, and the rotation of the rotating drum pulls and releases the upper curved wire 161u and the lower curved wire 161d.

[0056] The upper and lower curved wire attachment / detachment section 151 has a detection unit (tension sensor) 151a that detects the tension of the upper curved wire 161u and the lower curved wire 161d. The detection result of the detection unit 151a is acquired by the drive controller 260 of the drive unit 200.

[0057] The left and right curved wire attachment / detachment section 152 has, for example, a rotating drum capable of winding the left curved wire 161l and the right curved wire 161r, and the rotation of the rotating drum pulls and releases the left curved wire 161l and the right curved wire 161r.

[0058] The left and right curved wire attachment / detachment section 152 has a detection unit (tension sensor) 152a that detects the tension of the left curved wire 161l and the right curved wire 161r. The detection result of the detection unit 152a is acquired by the drive controller 260 of the drive unit 200.

[0059] [Drive Unit 200] As shown in Figure 6, the drive unit 200 includes a drive adapter 210, an operation receiving unit 220, an air supply / suction drive unit 230, a wire drive unit (actuator) 250, and a drive controller 260.

[0060] The drive adapter 210 is an adapter to which the first attachment / detachment part 1501 of the endoscope 100 is detachably attached. The operation receiving unit 220 receives operation input from the operation unit 140 via the operation cable 175. When the operation unit 140 and the drive device 200 communicate wirelessly rather than via wired communication, the operation receiving unit 220 has a known wireless receiving module.

[0061] The air supply and suction drive unit 230 is connected to the air supply and suction tube 172 inserted into the internal passage 101 of the endoscope 100. The air supply and suction drive unit 230 is equipped with a pump and the like, and supplies air to the air supply and suction tube 172. The air supply and suction drive unit 230 also suctions air from the air supply and suction tube 172.

[0062] The wire drive unit (actuator) 250 is connected to the upper and lower curved wire attachment / detachment unit 151 and the left and right curved wire attachment / detachment unit 152 to drive the curved wire 160. The wire drive unit 250 has an electric motor (not shown) that rotates the rotating drums of the upper and lower curved wire attachment / detachment unit 151 and the left and right curved wire attachment / detachment unit 152.

[0063] The wire drive unit 250 includes, for example, an upper and lower curved wire drive unit (first actuator) (not shown) connected to the upper and lower curved wire attachment / detachment unit 151, and a left and right curved wire drive unit (second actuator) (not shown) connected to the left and right curved wire attachment / detachment unit 152.

[0064] The upper and lower bending wire drive unit of the wire drive unit 250 is connected to the upper and lower bending wire attachment / detachment unit 151, thereby driving the wires (upper bending wire 161u and lower bending wire 161d) that bend the bending section 112 in the UD direction.

[0065] The left and right bending wire drive unit of the wire drive unit 250 is connected to the left and right bending wire attachment / detachment unit 152, thereby driving the wires (left bending wire 161l and right bending wire 161r) that bend the bending section 112 in the L and R directions.

[0066] The drive controller 260 controls the entire drive unit 200. The drive controller 260 acquires the operation input received by the operation receiving unit 220. Based on the acquired operation input, the drive controller 260 controls the air supply / suction drive unit 230 and the wire drive unit 250.

[0067] The drive controller 260 is a program-executable computer comprising a processor 261, a memory 262, a storage unit 263 capable of storing programs and data, and an input / output control unit 264. The functions of the drive controller 260 are realized by the processor executing programs. At least some of the functions of the drive controller 260 may be realized by dedicated logic circuits.

[0068] [Image Control Device 500] Figure 7 is a functional block diagram of the image control device 500. The image control device 500 controls the motorized endoscope system 1000. The image control device 500 comprises an endoscope adapter 510, an imaging processing unit 520, a light source unit 530, and a main controller 560.

[0069] The endoscope adapter 510 is an adapter to which the second attachment / detachment part 1502 of the endoscope 100 is detachably connected. The imaging processing unit 520 converts the imaging signal acquired from the imaging unit 111c of the tip 111 via the imaging cable 173 into an image. The light source unit 530 generates illumination light that is irradiated onto the object to be imaged. The illumination light generated by the light source unit 530 is guided to the illumination unit 111b of the tip 111 via the light guide 174.

[0070] The main controller 560 is a program-executable computer comprising a processor 561, memory 562, a storage unit 563 capable of storing programs and data, and an input / output control unit 564. The functions of the main controller 560 are realized by the execution of programs by the processor 561. At least some of the functions of the main controller 560 may be realized by dedicated logic circuits.

[0071] The input / output control unit 564 is connected to the imaging processing unit 520, the light source unit 530, the drive unit 200, the display device 900, the input device (not shown), and the network device (not shown). Based on the control of the processor 561, the input / output control unit 564 transmits and receives data and signals to and from the connected devices.

[0072] The main controller 560 can perform image processing on the captured images acquired by the imaging processing unit 520. The main controller 560 can generate GUI images and CG images for the purpose of providing information to the operator. The main controller 560 can display the captured images, GUI images, and CG images on the display device 900.

[0073] Next, the details of the operating unit 140 will be described. Figure 8 shows the operating unit 140. In this embodiment, the operating unit 140 includes a grip 141, a first angle knob (angle knob) 142, a second angle knob (angle knob) 143, an air supply / water supply button 144, a suction button 145, and a plurality of various buttons 146.

[0074] The grip 141 is the part that is grasped by the operator. The grip 141 is connected to the proximal end A2 of the connecting portion 120. As shown in Figure 8, a forceps tube 121 that communicates with the internal path 101 of the endoscope 100 is formed inside the connecting portion 120, and a forceps opening 120a is formed at the proximal end of the forceps tube 121. The forceps opening 120a is located near the grip 141. In addition, the external flexible portion 130 connected to the proximal end A2 of the connecting portion 120 is inserted inside the grip 141 and extends to the control device 600.

[0075] The first angle knob 142 is an input (interface) that receives an input to bend the curved section 112 in the UD direction. The second angle knob 143 is an input (interface) that receives an input to bend the curved section 112 in the LR direction.

[0076] The air / water supply button 144 receives an operation to supply air and water to the endoscope 100. For example, the air / water supply button 144 is provided with an opening, and the operator can supply air from the opening 111a of the tip 111 of the endoscope 100 by covering the opening of the air / water supply button 144 with their finger. The operator can also supply water from the opening 111a of the tip 111 of the endoscope 100 by pressing the air / water supply button 144.

[0077] The suction button 145 receives an operation to initiate suction on the endoscope 100. By pressing the suction button 145, the operator can perform suction from the opening 111a of the tip 111 of the endoscope 100.

[0078] Various functions can be assigned to the various buttons 146. For example, by operating the various buttons 146, the operator can perform actions such as magnifying the endoscopic image or switching the illumination light emitted from the illumination unit 111b.

[0079] The operations entered into the air / water supply button 144, the suction button 145, and the various buttons 146 are transmitted to the drive unit 200. Based on the operations entered into the air / water supply button 144 and the suction button 145, the drive unit 200 drives the air / suction drive unit 230 to cause the endoscope 100 to supply air, water, or suction.

[0080] Note that the arrangement of the air supply / water supply button 144, the suction button 145, and the various buttons 146 is not limited to the arrangement shown in Figure 8. Also, the number of the various buttons 146 is not limited to the number shown in Figure 8.

[0081] Figure 9 is a front view showing the first angle knob 142. Figure 10 is a diagram showing the curved portion 112. In this embodiment, the first angle knob 142 is provided on the operating unit 140 so as to be rotatable in the rotational direction M with the rotation axis RA as the center of rotation. For example, as shown in Figure 9, the initial position of the first angle knob 142 is a position where the origin OP on the operating unit 140 and the reference point L1 on the first angle knob 142 are aligned.

[0082] The first angle knob 142 is rotated in a direction that moves the reference point L1 away from the origin OP (first direction M1) and in a direction that moves the reference point L1 back towards the origin OP (second direction M2), thereby inputting a curvature operation in the UD direction.

[0083] In this embodiment, the second angle knob 143 is similarly rotated in the first direction M1 and the second direction M2 with the rotation axis RA as the center of rotation, thereby inputting a bending operation in the LR direction.

[0084] The operating unit 140 can detect the amount of bending operation input to the angle knobs 142 and 143. In this embodiment, the operating unit 140 detects the rotation angle θ of the angle knobs 142 and 143 as the amount of bending operation input. For example, the rotation angle θ when the angle knobs 142 and 143 are in the initial position described above is set to 0°. The angle knobs 142 and 143 are provided with encoders (not shown) that detect the rotation angle θ. The detection result of the encoders is transmitted to the drive unit 200.

[0085] The curved section 112 shown in Figure 10 is curved in the D direction in the UD direction by the wire drive unit 250 pulling the lower curved wire 161d. The curvature angle φ shown in Figure 10 indicates the amount of angular displacement of the curved section 112 from the reference angle. Here, the reference angle is the angle that the curved section 112 should take when the first angle knob 142 is in the initial position described above.

[0086] In this embodiment, the reference angle represents the angle when the curved portion 112 is not curved and has a straight shape. That is, when the curvature angle φ is 0°, the curved portion 112 takes a position along a straight line (reference position).

[0087] For example, the curved portion 112 curves in the +φ direction shown in Figure 10 by rotating the first angle knob 142 in the +θ direction shown in Figure 9. The curved portion 112 curves in the -φ direction shown in Figure 10 by rotating the first angle knob 142 in the -θ direction shown in Figure 9.

[0088] In the following description, in the bending operation input to the input element of the operating unit 140, the input that causes the input element to move away from the origin will be referred to as the "first input," and the input that causes the input element to move closer to the origin will be referred to as the "second input." In this embodiment, the first input is an input that rotates the angle knobs 142 and 143 in the first direction M1, and the second input is an input that rotates the angle knobs 142 and 143 in the second direction M2.

[0089] The input to which the bending operation of the curved section 112 is input may be a lever, knob, or dial, or a slide bar displayed on a touch panel screen. For example, the first input described above may be an input in which the lever, knob, dial, or slide bar displayed on a touch panel screen moves away from the origin, and the second input described above may be an input in which the lever, knob, dial, or slide bar displayed on a touch panel screen approaches the origin. Furthermore, the operation unit 140 only needs to be able to detect the input amounts of the first and second inputs input to the input, and the method of detecting the input amounts is not limited to detection by an encoder.

[0090] [Operation of the Electric Endoscope System 1000] Next, the operation of the electric endoscope system 1000 of this embodiment will be described. Specifically, an example of a procedure for observing and treating a lesion formed on the wall of the large intestine using the electric endoscope system 1000 will be described.

[0091] Figure 11 shows the insertion portion 110 inserted into the large intestine. Figure 12 is a flowchart showing the control method of the electric endoscope system 1000 in this embodiment.

[0092] In a procedure using the electric endoscope system 1000, the operator inserts the insertion section 110 of the endoscope 100 into the large intestine through the patient's anus. While observing the captured image displayed on the display device 900, the operator manipulates the internal flexible section 119 to move the insertion section 110 closer to the affected area. The operator also operates the control unit 140 to input a bending operation for the bending section 112.

[0093] (Step S11) The control device 600 first performs step S11 (bending operation determination step). In step S11, the control device 600 determines whether or not a bending operation has been input to the operating unit 140. The control device 600 determines whether or not a bending operation has been input to the operating unit 140 based on the detection results of encoders provided on the angle knobs 142 and 143, for example.

[0094] When the control device 600 determines that a bending operation has been input to the operation unit 140, it proceeds to step S12. When the control device 600 determines that no bending operation has been input to the operation unit 140, it proceeds to step S13.

[0095] (Step S12) When the control device 600 determines in step S11 that a bending operation has been input to the operating unit 140, it performs step S12 (first control step). In step S12, the control device 600 controls the wire drive unit 250 based on the bending operation input to the operating unit 140. In the following description, the control mode in which the wire drive unit 250 is controlled based on the bending operation input to the operating unit 140 will be referred to as "first control".

[0096] When the control device 600 performs the first control, it may control the wire drive unit 250 using a motion scale function in which the ratio of the amount of bending drive of the bending unit 112 to the amount of bending operation input to the operating unit 140 (for example, the rotation angle θ of the angle knobs 142 and 143) is changed to an arbitrary ratio.

[0097] The bending drive amount of the bending section 112 is information indicating the amount of bending of the bending section 112, and includes, for example, the position of the bending wire 160 and the tension of the bending wire 160 detected by the detection units 151a and 152a. The bending drive amount of the bending section 112 may also include the bending angle of the bending section 112 obtained based on the position and tension of the bending wire 160. If the endoscope 100 has a sensor capable of detecting the bending angle of the bending section 112, the bending drive amount of the bending section 112 may also include the bending angle detected by this sensor.

[0098] (Step S13) When the control device 600 determines in step S11 that no bending operation has been input to the operating unit 140, it performs step S13 (bending amount determination step). In step S13, the control device 600 determines whether the amount of bending drive of the bending section 112 is within a predetermined range.

[0099] In this embodiment, the predetermined range of the curvature drive amount of the curved portion 112 refers to the range near the curvature drive amount (reference drive amount) when the curved portion 112 takes the above-described reference posture. That is, in this embodiment, when the curvature drive amount is within the predetermined range, the curved portion 112 takes a posture where the curvature angle is close to 0° and the shape is close to a straight line.

[0100] When the control device 600 determines that the amount of curvature driven by the curved section 112 is within a predetermined range, it proceeds to step S14. When the control device 600 determines that the amount of curvature driven by the curved section 112 is outside the predetermined range, it proceeds to step S15.

[0101] (Step S14) When the control device 600 determines in step S13 that the amount of bending drive of the bending portion 112 is within a predetermined range, it performs step S14 (second control step). In step S14, the control device 600 controls the wire drive unit 250 so that the bending portion 112 bends based on the external force applied to the insertion portion 110.

[0102] In the following description, the control mode in which the wire drive unit 250 controls the bending portion 112 to bend based on the external force applied to the insertion portion 110 will be referred to as "second control (force release control)". When the control device 600 is executing the second control, the bending portion 112 operates in accordance with the external force.

[0103] When the control device 600 performs the second control, it may control the wire drive unit 250 based on the tension of the curved wire 160, which fluctuates due to the external force applied to the insertion unit 110.

[0104] As described above, the endoscope 100 has a pair of curved wires 160 (upper curved wire 161u and lower curved wire 161d) that curve the curved section 112 in the UD direction, and a pair of curved wires 160 (left curved wire 161l and right curved wire 161r) that curve the curved section 112 in the LR direction.

[0105] When the control device 600 is performing the second control, it may control the wire drive unit 250 so that the tension difference between the pair of curved wires 160 becomes smaller. Specifically, when an external force is applied and the tension difference between the pair of curved wires 160 exceeds a predetermined value, the control device 600 controls the wire drive unit 250 so that the curved wire 160 with greater tension relaxes and the curved wire 160 with less tension is pulled, thereby reducing the tension difference between the pair of curved wires 160. As a result, the curved section 112 operates in accordance with the external force.

[0106] Furthermore, when the control device 600 is performing the second control, it may control the wire drive unit 250 to reduce the tension of the curved wire 160. For example, if the wire drive unit 250 has a pair of electric motors that can independently pull and slacken a pair of curved wires 160, the tension of the curved wires 160 can be reduced by controlling both of the electric motors and putting the pair of curved wires 160 into a slack state.

[0107] Furthermore, the wire drive unit 250 may be configured to be able to pull and slacken a pair of curved wires 160 with a single electric motor. For example, in the case of a pair of curved wires 160 that can bend the curved section 112 in the UD direction, the rotational operation of a single electric motor pulls the upper curved wire 161u and slackens the lower curved wire 161d.

[0108] At this time, as the electric motor rotates in opposite directions, the pulled curved wire 160 and the relaxed curved wire 160 switch positions, causing the lower curved wire 161d to be pulled and the upper curved wire 161u to relax. In other words, in a configuration where a pair of curved wires 160 can be pulled and relaxed by a single electric motor, at least one of the pair of curved wires 160 connected to a single electric motor is maintained in a relaxed state.

[0109] In this case, by pre-setting slack in the pair of curved wires 160, the control device 600 can adjust the rotation amount of one electric motor to cause both curved wires 160 of the pair to become relaxed, thereby reducing the tension of the pair of curved wires 160. As a result, the curved section 112 operates in accordance with the external force.

[0110] Figure 13 is a schematic diagram showing a curved section 112 in the large intestine. Figure 13 shows the curved section 112 in the large intestine that passes from the descending colon CL1 to the ascending colon CL2. θ shown in Figure 13 ｃｏｎｔａｃｔ This indicates the contact angle between the tip 111 of the insertion portion 110 and the ascending colon CL2. ｂｅｎｄ This indicates the curvature angle of the curved portion 112 (corresponding to φ in Figure 10). ｆｌｅｘ This indicates the angle of inclination of the internal soft portion 119 with respect to the direction in which the descending colon CL1 extends.

[0111] In the curved section 112 passing from the descending colon CL1 to the ascending colon CL2 as shown in Figure 13, the curvature angle θ ｂｅｎｄ If the insertion portion is small and assumes a nearly straight shape, the tip portion 111 of the insertion portion 110 may get caught on the ascending colon CL2, and the curved portion 112 may not be able to pass from the descending colon CL1 to the ascending colon CL2.

[0112] As described above, in this embodiment, when the control device 600 determines in step S13 that the amount of curvature drive of the curved portion 112 is within the range near the reference drive amount, it proceeds to step S14 and executes the second control.

[0113] When the control device 600 is executing the second control, the curved portion 112 moves following the external force. Therefore, even when the bending drive amount of the curved portion 112 is within the range near the reference drive amount and the curved portion 112 takes a posture close to a linear shape, the curved portion 112 curves following the external force applied from the ascending colon CL2 to the insertion portion 110 and can pass from the descending colon CL1 to the ascending colon CL2. At this time, the operator is not inputting a bending operation to the operation unit ｂｅｎｄ ｂｅｎｄ If the bending angle θ is small and the insertion portion 110 contacts at an angle close to perpendicular to the lumen (for example, the ascending colon CL2), the second control is executed and the curved portion 112 is curved following the external force, thereby improving the safety of the treatment in the endoscope 100 and enabling the insertion portion 110 to be easily inserted into the lumen.

[0114]

[0114] The electric endoscope system 1000 can make the curved portion 112 pass from the descending colon CL1 to the ascending colon CL2 without requiring a bending operation by the operator by executing the second control when the bending drive amount of the curved portion 112 is within a predetermined range. In this way, the electric endoscope system 1000 can improve the operability during the treatment by switching the control mode according to the bending angle of the curved portion 112 of the insertion portion 110. <0000

[0115] <000027

[0115] Regarding the contact angle θ ｃｏｎｔａｃｔ ｃｏｎｔａｃｔ can be arbitrarily set between 0° and 100°. For example, when the contact angle θ ｃｏｎｔａｃｔ ｃｏｎｔａｃｔ is 60° or less, more preferably 45° or less, the curved portion 112 can pass from the descending colon CL1 to the ascending colon CL2 while maintaining the bending angle θ ｂｅｎｄ ｂｅｎｄ due to the deformation of the body soft portion

[0116] <0000 <0000<000

[0116] Regarding the contact angle θ ｃｏｎｔａｃｔ ｃｏｎｔａｃｔ When it is greater than 45°, the distal end portion 111 of the insertion portion 110 may get caught on the ascending colon CL2, and there is a possibility that the curved portion ｂｅｎｄ ｂｅｎｄ 112 cannot pass from the descending colon CL1 to the ascending colon CL2 while maintaining the bending angle θ. That is, the contact angle θｃｏｎｔａｃｔ When the angle is greater than 45°, the operator needs to input a bending operation to the control unit 140 to pass the curved section 112 from the descending colon CL1 to the ascending colon CL2. ｃｏｎｔａｃｔ , θ ｂｅｎｄ and θ ｆｌｅｘ The relationship is given by Equation 1.

[0117]

[0118] In Figure 13, L represents the length of the descending colon CL1, D1 represents the thickness of the descending colon CL1, and D2 represents the diameter of the internal soft portion 119. At this time, the inclination angle θ of the internal soft portion 119 is... ｆｌｅｘ The relationship between these two is given by Equation 2.

[0119]

[0120] Based on the average size of the large intestine and the nominal values ​​of conventional endoscopes, when the length L of the descending colon CL1 is 28.28 cm, the diameter D1 of the descending colon CL1 is 4.07 cm, and the diameter D2 of the internal soft portion 119 is 12.8 mm, then from equation 2, θ ｆｌｅｘ This is approximately 3.5°.

[0121] θ ｆｌｅｘ The angle is 3.5°, and the contact angle θ ｃｏｎｔａｃｔ When is greater than 45°, from Equation 1, the curvature angle θ ｂｅｎｄ This becomes <41.5°. In other words, the curvature angle θ ｂｅｎｄ When the contact angle is less than 41.5°, ｃｏｎｔａｃｔ Because the angle becomes greater than 45°, the curved portion 112 has a curvature angle θ ｂｅｎｄ It may not be possible to pass from the descending colon CL1 to the ascending colon CL2 while maintaining this condition.

[0122] On the other hand, the curvature angle θ ｂｅｎｄ When the contact angle is 41.5° or greater, the contact angle θ ｃｏｎｔａｃｔ When the angle becomes 45° or less, the curved portion 112 has a curvature angle θ. ｂｅｎｄ It is possible to pass from the descending colon CL1 to the ascending colon CL2 while maintaining this position.

[0123] For example, in step S13 described above, the control device 600 controls the curvature angle θ of the curved portion 112. ｂｅｎｄDetermine whether the curvature angle θ is less than 41.5°. ｂｅｎｄ When the curvature angle θ is less than 41.5°, the process proceeds to step S14 to execute the second control. The control device 600 also controls the curvature angle θ ｂｅｎｄ If the angle is 41.5° or greater, proceed to step S15.

[0124] As the control device 600 executes the second control, the curved portion 112 curves in accordance with the external force applied from the ascending colon CL2 to the insertion portion 110, resulting in a contact angle θ ｃｏｎｔａｃｔ Even if the angle is greater than 45°, the operator can pass the curved section 112 from the descending colon CL1 to the ascending colon CL2 without inputting a bending operation to the control unit 140.

[0125] Curving angle θ of the curved portion 112 ｂｅｎｄ When the angle is 41.5° or greater, the contact angle θ ｃｏｎｔａｃｔ Since the angle is 45° or less, the bending section 112 can be passed from the descending colon CL1 to the ascending colon CL2 while maintaining the field of view of the imaging unit 111c, without executing a second control that moves the bending section 112 in accordance with the external force applied from the ascending colon CL2 to the insertion section 110.

[0126] Here, when the curvature angle of the curved section 112 is small, the curvature angle of the curved section 112 is maintained by the frictional force and restoring force (reaction force, contraction force, etc.) generated in the curved wire 160, nodal ring 115, internal components 170, outer sheath 118, etc., provided in the internal path 101. Therefore, by executing the second control when the curvature angle of the curved section 112 is small, the field of view of the imaging unit 111c can be maintained when no external force is applied to the insertion unit 110, and when an external force is applied to the insertion unit 110, it can be made to operate in accordance with the external force.

[0127] Furthermore, the amount of bending drive used by the control device 600 for determination in step S13 is not limited to the bending angle of the bending section 112, and the actual length and diameter of the descending colon differ from patient to patient, and the diameter of the endoscope differs depending on the endoscope used, so the predetermined range is the bending angle θ ｂｅｎｄ It is not limited to the range where the contact angle θ is less than 41.5°. ｃｏｎｔａｃｔThe value should be between 0° and 100°, more preferably between 0° and 60°, and even more preferably between 40° and 45°. In step S13, the control device 600 may determine the position and tension of the curved wire 160 as the amount of curvature drive. The predetermined range of the amount of curvature drive should be a numerical range that allows for improved operability during treatment by executing the second control.

[0128] (Step S15) When the control device 600 determines in step S13 that the amount of curvature drive is outside a predetermined range, it performs step S15 (first control mode determination step). In step S15, the control device 600 determines whether the control mode is the second control mode.

[0129] When the control device 600 determines that the control mode is the second control mode, it proceeds to step S14 and executes the second control. When the control device 600 determines that the control mode is not the second control mode, it proceeds to step S16.

[0130] Even if the control device 600 determines in step S13 that the amount of curvature drive is outside a predetermined range, if it determines in step S15 that the control mode is the second control mode, it proceeds to step S14 and executes the second control.

[0131] The electric endoscope system 1000 may be configured to allow switching of the control mode by, for example, operating various buttons 146 on the operation unit 140, or by operating a foot pedal (not shown), or by voice input to a microphone (not shown), or by operating an input device such as a keyboard connected to the control device 600.

[0132] For example, the operator operates various buttons 146 during the procedure to set the control mode to the second control mode. In step S15, even if the control device 600 determines in step S13 that the amount of bending drive is outside a predetermined range, it proceeds to step S14 based on the operator's operation and executes the second control. In other words, by switching the control mode, the operator can force the control device 600 to execute the second control even if the amount of bending drive of the bending section 112 is outside a predetermined range.

[0133] (Step S16) If the control device 600 determines in step S15 that the control mode is not the second control mode, it performs step S16 (second control mode determination step). In step S16, the control device 600 determines whether or not the control mode is the third control mode.

[0134] (Step S17) When the control device 600 determines in step S16 that the control mode is the third control mode, it proceeds to step S17 (third control step) and executes the third control.

[0135] When the control device 600 is performing the third control, it first determines whether the external force applied to the insertion portion 110 is greater than or equal to a predetermined value. For example, in step S17, the control device 600 obtains the value of the external force applied to the insertion portion 110 based on the tension of the curved wire 160 detected by the detection units 151a and 152a. If a force sensor capable of detecting external force is provided on the surface of the internal flexible portion 119 or the curved portion 112, the control device 600 may obtain the value of the external force applied to the insertion portion 110 based on the detection result of this force sensor.

[0136] The control device 600 performs a third control and, when it determines that the external force applied to the insertion portion 110 is greater than or equal to a predetermined value, it performs a control (notification control) that notifies the operator that the external force applied to the insertion portion 110 is greater than or equal to a predetermined value.

[0137] When the control device 600 performs notification control, it may notify the operator by outputting sound information such as music or voice from a speaker, by displaying image information such as strings of characters or CG images on the display device 900 indicating that the external force is above a predetermined value, or by controlling a vibration rotor or the like provided on the operation unit 140 to vibrate the operation unit 140.

[0138] When the external force applied to the insertion part 110 exceeds a predetermined value, for example, the insertion part 110 is pressed against the lumen of the large intestine or the like. If the surgeon wants to apply force to the lumen with the insertion part 110, they continue the procedure with the insertion part 110 subjected to an external force exceeding the predetermined value. At this time, since no bending operation is input to the operating unit 140 and the second control mode is not set, the control device 600 maintains the amount of bending drive of the bending part 112.

[0139] If the surgeon needs to resolve a situation where an external force exceeding a predetermined value is applied to the insertion part 110, they may input a bending operation to the operating unit 140 to reduce the external force applied to the insertion part 110, or they may change the position or orientation of the insertion part 110 inserted into the lumen to reduce the external force applied to the insertion part 110. In addition, the surgeon may manually switch the control mode of the control device 600 to the second control mode by operating various buttons 146 or a foot pedal (not shown).

[0140] The control device 600 performs a third control and notifies the operator that the external force applied to the insertion part 110 is greater than a predetermined value. This allows the operator to determine whether or not it is necessary to eliminate the condition in which an external force greater than a predetermined value is applied to the insertion part 110, and to perform operations according to the content of the procedure.

[0141] Furthermore, in step S17, the control device 600 may execute a second control if the external force applied to the insertion portion 110 is greater than or equal to a predetermined value. In step S17, the control device 600 may execute the second control after executing the notification control described above. In this case, the control device 600 may notify the operator in the notification control that the control mode has been switched to the second control.

[0142] The control device 600 executes a third control and switches to a second control when the external force applied to the insertion part 110 exceeds a predetermined value, thereby causing the insertion part 110 to operate in accordance with the external force and preventing unintended loads from being placed on the insertion part 110.

[0143] (Step S18) When the control device 600 determines in step S16 that the control mode is not the third control mode, it proceeds to step S18 (fourth control step) and executes the fourth control.

[0144] When the control device 600 is performing the fourth control, it maintains the amount of bending drive of the bending section 112. Specifically, the control device 600 controls the wire drive unit 250 so that the amount of bending drive of the bending section 112 remains constant. Bending angle θ ｂｅｎｄ If the curve is large and the insertion portion 110 contacts the lumen (for example, the ascending colon CL2) at a shallow angle, the fourth control is executed, and the curvature angle θ of the curved portion 112 is adjusted. ｂｅｎｄ By maintaining this position, the insertion portion 110 can be easily inserted into the lumen.

[0145] In this way, the control device 600 controls the wire drive unit 250 based on the bending operation when a bending operation is input to the operating unit 140, and when no bending operation is input to the operating unit 140, it determines whether the amount of bending drive of the bending unit 112 is within a predetermined range, and if the amount of bending drive is within the predetermined range, it performs a second control and controls the wire drive unit 250 so that the bending unit 112 operates in accordance with the external force applied to the insertion unit 110.

[0146] In this embodiment, the predetermined range of the bending drive amount is a range near the reference drive amount, for example, a range of bending drive amounts in which the bending angle of the bending portion 112 is less than 41.5°. When the bending angle of the bending portion 112 is small and no external force is applied to the insertion portion 110, the field of view of the imaging unit 111c is maintained by the frictional force and restoring force generated in the bending wire 160, the nodal ring 115, the internal components 170, the outer sheath 118, etc. Furthermore, when the control device 600 is executing the second control, when an external force is applied to the insertion portion 110, the insertion portion 110 moves in accordance with the external force.

[0147] Therefore, the operator can pass the curved section 112, which has been inserted into a bend in the lumen (for example, the splenic flexure of the large intestine), through the operating unit 140 without having to continuously input a bending operation. Thus, the electric endoscope system 1000 can improve operability during procedures.

[0148] Furthermore, when no bending operation is input to the operation unit 140 and the amount of bending drive of the bending unit 112 is outside a predetermined range, the control device 600 executes one of the second, third, or fourth controls based on a preset control mode. The preset control mode includes the control mode set based on the operation input by the operator to the various buttons 146, etc.

[0149] When the amount of bending of the bending section 112 is outside a predetermined range, the control device 600 executes control based on a preset control mode. This allows the operator to perform the procedure using the insertion section 110, which is controlled in an appropriate control mode suitable for the procedure. As a result, the electric endoscope system 1000 can further improve operability during procedures.

[0150] The medical manipulator system (electric endoscope system) 1000 of this embodiment includes a medical manipulator (endoscope) 100 having a bendable bending portion 112, an actuator 250 for bending the bending portion 112, detection units 151a and 152a for detecting the amount of bending drive of the bending portion 112, a controller 140 to which a bending operation for bending the bending portion 112 is input, and a control device 600 capable of controlling the actuator 250 based on the bending operation. When a bending operation is input to the controller 140, the control device 600 performs a first control to drive the actuator 250 based on the bending operation, and performs a second control when no bending operation is input to the controller 140 and the amount of bending drive is within a predetermined range. When the control device 600 is performing the second control, the bending portion 112 bends based on an external force applied to the medical manipulator 100.

[0151] With a medical manipulator system 1000 and control device 600 configured in this way, it is possible to provide a medical manipulator system 1000, a control device 600, and a control method for the medical manipulator system 1000 that can improve operability during treatment.

[0152] Although the first embodiment of this disclosure has been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment and may include design changes, etc., that do not depart from the gist of this disclosure. Furthermore, the components shown in the first embodiment described above and the modifications shown below can be combined as appropriate.

[0153] (Modification 1-1) When no bending operation is input to the operating unit 140 and the amount of bending drive is within a predetermined range, the control device 600 performs a second control in which the insertion unit 110 operates in accordance with the external force. However, a third control or a fourth control may be performed based on a preset control mode.

[0154] For example, the operator can pre-set control modes using various buttons 146, etc., to execute third and fourth control when no bending operation is input to the operating unit 140 and the amount of bending drive is within a predetermined range. This allows the operator to apply force to the lumen with the insertion unit 110 even when the bending angle of the bending unit 112 is small.

[0155] (Second Embodiment) A second embodiment of the present disclosure will be described below with reference to the drawings. In the following description, components that are common to those already described will be denoted by the same reference numerals, and redundant descriptions will be omitted.

[0156] [Electric Endoscope System 1000A] The electric endoscope system 1000A according to the second embodiment is an example of a medical manipulator system and, as shown in Figure 1, comprises an endoscope 100, a drive unit 200A, a treatment instrument 400, an image control device 500, and a display device 900.

[0157] [Drive unit 200A] The drive unit 200A includes a drive adapter 210, an operation receiving unit 220, an air supply / suction drive unit 230, a wire drive unit (actuator) 250, and a drive controller 260. The drive unit 200A and the image control device 500 constitute a control device 600A that controls the electric endoscope system 1000A.

[0158] [Operation of the Electric Endoscope System 1000A] Next, the operation of the electric endoscope system 1000A of this embodiment will be described. Specifically, an example of a procedure for observing and treating a lesion formed on the wall of the large intestine using the electric endoscope system 1000A will be described.

[0159] Figure 14 is a flowchart showing the control method of the electric endoscope system 1000A in this embodiment. In a procedure using the electric endoscope system 1000A, the operator inserts the insertion part 110 of the endoscope 100 into the large intestine through the patient's anus. While observing the captured image displayed on the display device 900, the operator operates the internal flexible part 119 to move the insertion part 110 and bring the tip 111 closer to the affected area. The operator also operates the control unit 140 to input a bending operation for the bending part 112.

[0160] (Step S21) The control device 600A first performs step S21 (maximum curvature determination step). In step S21, the control device 600A determines whether the curvature of the curved portion 112 is the maximum curvature.

[0161] In this embodiment, the maximum curvature amount of the curved portion 112 indicates the maximum curvature angle that the curved portion 112 can bend. For example, the maximum curvature amount of the curved portion 112 is pre-stored in the storage unit 263 of the control device 600A. Note that the maximum curvature amount of the curved portion 112 may be different from each other depending on the curvature direction of the curved portion 112.

[0162] In step S21, the control device 600A compares the amount of curvature of the curved section 112, obtained based on the position of the curved wire 160 and the tension of the curved wire 160 detected by the detection units 151a and 152a, with the maximum amount of curvature stored in advance, and determines whether the amount of curvature of the curved section 112 has reached the maximum amount of curvature. If the endoscope 100 has a sensor capable of detecting the curvature angle of the curved section 112, the control device 600A may obtain the curvature angle detected by this sensor.

[0163] Furthermore, the maximum curvature does not have to be exactly the maximum curvature angle, but may be within an angular range near the maximum curvature angle. For example, the maximum curvature may be within an angular range of 90% to 100% of the maximum curvature angle of the curved section 112. When the control device 600A determines that the curvature of the curved section 112 is the maximum curvature, it proceeds to step S22.

[0164] (Step S22) When the control device 600A determines that the amount of curvature of the curved section 112 is the maximum amount of curvature, it performs step S22 (input determination step). In step S22, the control device 600A determines whether the curvature operation input to the operation unit 140 is the first input.

[0165] Here, the first input, as described above, indicates an input in which the input element of the operating unit 140 moves away from the origin. In this embodiment, the first input indicates an input in which the angle knobs 142 and 143 are rotated in the first direction M1. As described above, the second input indicates an input in which the input element moves closer to the origin, and in this embodiment, it indicates an input in which the angle knobs 142 and 143 are rotated in the second direction M2.

[0166] When a first input is received by the operating unit 140, the curved portion 112 curves in a direction that increases the amount of angular displacement from the reference angle. As described above, the reference angle of the curved portion 112 indicates the angle that the curved portion 112 should take when the input element of the operating unit 140 (for example, the first angle knob 142) is in its initial position.

[0167] Conversely, when a second input is received by the operation unit 140, the curved section 112 curves in a direction that reduces the angular displacement from the reference angle. When the curved section 112, whose curvature angle is the reference angle, takes a position along a straight line (reference position), when a second input is received by the operation unit 140, the curved section 112 curves in a direction that returns it to the position along a straight line.

[0168] When the control device 600A determines that the bending operation input to the operation unit 140 is the first input, it proceeds to step S23. When the control device 600A determines that the bending operation input to the operation unit 140 is not the first input, it proceeds to step S24.

[0169] (Step S23) When the control device 600A determines that the bending operation input to the operating unit 140 is the first input, it performs step S23 (fourth control step). In step S23, the control device 600A performs the fourth control in the same manner as in step S18 in the first embodiment shown in Figure 12. Specifically, in step S23, the control device 600A controls the wire drive unit 250 so that the amount of bending drive of the bending unit 112 becomes constant.

[0170] As described above, the amount of bending drive includes the position of the bending wire 160, the tension of the bending wire 160 detected by the detection units 151a and 152a, the bending angle of the bending section 112 obtained based on the position and tension of the bending wire 160, and the bending angle detected by a sensor capable of detecting the bending angle of the bending section 112.

[0171] In step S23, the control device 600A may control the wire drive unit 250 so that the position of the curved wire 160 remains constant, or control the wire drive unit 250 so that the tension of the curved wire 160 remains constant, or control the wire drive unit 250 so that the curvature angle of the curved portion 112 remains constant.

[0172] Figure 15 is a front view showing the first angle knob 142. The first angle knob 142 shown in Figure 15 has an input limit position LM set. The input limit position LM is the position that indicates the rotation limit of the first angle knob 142 when it rotates in the first direction M1. The first angle knob 142 rotates in the direction away from the origin OP (first direction M1) when the reference point L1 reaches the input limit position LM, and it stops rotating further in the first direction M1. The input limit position LM can be set to an arbitrary position, for example, by a physical restricting shape.

[0173] Similarly, an input limit position LM is set for the second angle knob 143. In the following explanation, the angle at which the reference point L1 rotates from the origin OP to the input limit position LM at the rotation angle θ of the angle knobs 142 and 143 will also be referred to as the "input limit angle". The input limit angle of the first angle knob 142 and the input limit angle of the second angle knob 143 may be different angles from each other. Also, for the angle knobs 142 and 143, the input limit angle in the +θ direction and the input limit angle in the -θ direction may be different angles from each other.

[0174] For example, if the motion scaling function is used and the ratio of the bending drive amount of the bending section 112 to the amount of bending operation input to the control unit 140 is set to be greater than 1, even when the bending section 112 has reached its maximum bending amount, the rotation angle θ of the angle knobs 142 and 143 in the first direction M1 may not have reached the input limit angle.

[0175] If the first input described above is applied to the angle knobs 142 and 143 when the curved section 112 has reached its maximum curvature, there is a possibility that the curved wire 160 and the wire drive unit 250 may be overloaded.

[0176] When the curved section 112 reaches its maximum curvature and a first input is received at the operation section 140, the control device 600A executes a fourth control and controls the wire drive unit 250 so that the amount of curvature drive of the curved section 112 remains constant, thereby preventing overloading of the curved wire 160 and the wire drive unit 250.

[0177] Furthermore, the control device 600A performs the fourth control to suppress overloading of the bending wire 160 and the wire drive unit 250, allowing the operator to input the first input to the operation unit 140 even when the bending section 112 has reached its maximum bending amount. At this time, since the control device 600A is performing the fourth control, the amount of bending drive of the bending section 112 does not change.

[0178] For example, when the curved section 112 has reached its maximum curvature in the undeciduous direction, the operator can input a first input to the operating section 140 while the curved section 112 has reached its maximum curvature, and rotate the first angle knob 142 to the input limit angle. This allows the curved section 112 to be at its maximum curvature and the first angle knob 142 to be rotated to the input limit angle. This eliminates the discrepancy between the input amount of the curvature operation input to the operating section 140 and the curvature amount (output amount) of the curved section 112, thereby improving operability.

[0179] (Step S24) In step S22 described above, when the control device 600A determines that the bending operation input to the operating unit 140 is not the first input, it performs step S24 (first control step).

[0180] In step S24, the control device 600A performs the first control in the same manner as in step S12 in the first embodiment shown in Figure 12. Specifically, in step S24, the control device 600A controls the wire drive unit 250 based on the bending operation input to the operation unit 140.

[0181] When the control device 600A determines that the bending operation input to the operating unit 140 is not the first input, for example, the operating unit 140 receives the second input described above. When the operating unit 140 receives the second input, the bending section 112 moves in the direction of returning to the reference position. Therefore, when the operating unit 140 receives the second input while the bending section 112 has reached its maximum bending amount, the bending wire 160 and the wire drive unit 250 are not overloaded.

[0182] When the bending section 112 reaches its maximum bending amount and a second input is received at the operation unit 140, the control device 600A executes the first control and controls the wire drive unit 250 based on the bending operation input at the operation unit 140, thereby allowing the bending section 112 to move in the direction intended by the operator.

[0183] (Step S25) In step S21 described above, if the control device 600A determines that the amount of curvature of the curved portion 112 is not the maximum amount of curvature, it performs step S25 (input range determination step).

[0184] Here, as shown in Figure 15, in the angular range during which the reference point L1 of the first angle knob 142 rotates from the origin OP to the input limit position LM, the range that includes the origin OP is called the "first input range (relative input range) R1", and the range that is further from the origin OP than the first input range R1 is called the "second input range (velocity input range) R2".

[0185] For example, the second input range R2 is the angular range near the input limit angle of the first angle knob 142. In this embodiment, the input limit angle is included in the second input range R2. The absolute value of the rotation angle θ of the first angle knob 142 increases as the first angle knob 142 rotates in the first direction M1, changing from the first input range R1, which includes the origin OP, to the second input range R2, and reaching the input limit angle. Similarly, the second angle knob 143 also has a first input range R1 and a second input range R2 set for it.

[0186] In step S25, the control device 600A determines whether the amount of bending operation input to the operating unit 140 is within the first input range R1. In this embodiment, the amount of bending operation input to the operating unit 140 represents the rotation angle θ of the angle knobs 142 and 143.

[0187] In step S25, if the control device 600A determines that the input amount of the bending operation input to the operation unit 140 is within the first input range R1, it proceeds to step S24 and executes the first control. If the control device 600A determines that the input amount of the bending operation input to the operation unit 140 is outside the first input range R1, it proceeds to step S26.

[0188] In step S25, the control device 600A may proceed to step S26 by determining that the amount of bending operation input to the operation unit 140 is within the second input range R2.

[0189] (Step S26) When the control device 600A determines that the amount of bending operation input to the operating unit 140 is outside the first input range R1 (or within the second input range R2), it performs step S26 (fifth control step).

[0190] When the control device 600A is executing the fifth control, it controls the wire drive unit 250 until the bending section 112 reaches a predetermined bending amount, regardless of the amount of bending operation input (operation amount) input to the operation unit 140.

[0191] In this embodiment, when the control device 600A is executing the fifth control, it controls the wire drive unit 250 until the amount of curvature of the curved section 112 reaches the maximum curvature amount described above. In this embodiment, the control device 600A executes the operations from step S21 to step S26, and when the amount of curvature of the curved section 112 has not reached the maximum curvature amount and the input amount of the curvature operation input to the operation unit 140 is within the second input range R2, it curves the curved section 112 until it reaches the maximum curvature amount.

[0192] For example, if the motion scaling function is used and the ratio of the bending drive amount of the bending section 112 to the amount of bending operation input to the control unit 140 is set to less than 1, the bending section 112 may not have reached its maximum bending amount even when the rotation angle θ of the angle knobs 142 and 143 in the first direction M1 has reached the input limit angle.

[0193] In this case, even if the operator rotates the angle knobs 142 and 143 to the input limit angle, they may not be able to bend the bending section 112 to its maximum bending amount, potentially reducing the operability of the electric endoscope system 1000A.

[0194] In this embodiment, the electric endoscope system 1000A can be configured such that when the bending amount of the bending section 112 has not reached its maximum bending amount, and the input amount of the bending operation input to the operation unit 140 is within the second input range R2, the fifth control is executed to bend the bending section 112 until it reaches its maximum bending amount, thereby causing the input of the operation unit 140 to reach the input limit position LM and the bending amount of the bending section 112 to reach its maximum bending amount. This eliminates the discrepancy between the input amount of the bending operation input to the operation unit 140 and the bending amount (output amount) of the bending section 112, thereby improving operability.

[0195] In this embodiment, the operating unit 140 detects the input amount of the bending operation by detecting the rotation angle θ of the angle knobs 142 and 143 using an encoder provided on the operating unit 140. The control device 600A executes a first control when the input amount of the bending operation is within the first input range R1, if the bending amount of the bending section 112 has not reached the maximum bending amount, and executes a fifth control when the input amount of the bending operation is outside the first input range R1 (or within the second input range R2).

[0196] When the control device 600A is executing the first control, it controls the wire drive unit 250 based on the bending operation input to the operation unit 140, and bends the bending section 112 by a bending amount corresponding to the amount of the bending operation. When the control device 600A is executing the fifth control, it controls the wire drive unit 250 until the bending amount of the bending section 112 reaches the maximum bending amount, and bends the bending section 112 to the maximum bending amount.

[0197] In other words, the operating unit 140 receives input for a bending operation (first bending operation) that bends the curved section 112 by a bending amount corresponding to the amount of bending operation, and a bending operation (second bending operation) that bends the curved section 112 to the maximum bending amount.

[0198] In this embodiment, the operation unit 140 detects the first bending operation when the input amount of the bending operation is within the first input range R1. The operation unit 140 also detects the second bending operation when the input amount of the bending operation is within the second input range R2.

[0199] Furthermore, the first bending operation, which bends the curved section 112 to a curved amount corresponding to the amount of the bending operation, and the second bending operation, which bends the curved section 112 to the maximum curved amount, may be input by operating different input means.

[0200] For example, in the electric endoscope system 1000A, angle knobs 142 and 143 on the operating unit 140 may detect the first bending operation, and a switch (for example, various buttons 146, etc.) different from the angle knobs 142 and 143 provided on the operating unit 140 may detect the second bending operation.

[0201] Even in this case, the operator can improve the operability of the electric endoscope system 1000A by inputting a second bending operation to the various buttons 146, etc., when the angle knobs 142, 143 have reached the input limit position LM, thereby eliminating the discrepancy between the input amount of the bending operation input to the angle knobs 142, 143 and the amount of bending (output amount) of the bending section 112.

[0202] Furthermore, when a second input is received in the operating unit 140 while the second bending operation is being detected, the control device 600A controls the wire drive unit 250 based on the input amount of the second input. That is, when the control device 600A executes the fifth control and controls the wire drive unit 250 so that the bending unit 112 bends to its maximum bending amount, and a second input is received in which the angle knobs 142 and 143 rotate in the second direction M2, the control device 600A controls the wire drive unit 250 so that the bending unit 112 bends in the direction returning to the reference position.

[0203] Preferably, the control device 600A can display an image on the display device 900 that informs the operator that there is a discrepancy between the amount of bending operation input to the operation unit 140 and the amount of bending of the bending unit 112.

[0204] Figure 16 is an example of a display image IM showing the relationship between input and output in the motorized endoscope system 1000A. The display image IM is displayed on the display device 900 together with, for example, the endoscope image captured by the imaging unit 111c. The display image IM illustrated in Figure 16 comprises a first display area RG1, a second display area RG2, and a third display area RG3.

[0205] The first display area RG1 is the area where a CG image of the insertion section 110, generated based on the amount of curvature drive of the curved section 112, is displayed. The first display area RG1 displays a CG image of the insertion section 110 that reproduces the actual posture of the curved section 112 based on the position and tension of the curved wire 160.

[0206] The second display area RG2 is an area where an image containing text or the like is displayed to inform the operator that there is a discrepancy between the amount of bending operation input to the operation unit 140 and the amount of bending of the bending section 112. The second display area RG2 may be located within the first display area RG1, as shown in Figure 16.

[0207] The third display area RG3 is an area that displays the relationship between input and output in the motorized endoscope system 1000A. The third display area RG3 has an upper and lower third display area RG3a that displays the relationship between input and output in the UD direction, and a left and right third display area RG3b that displays the relationship between input and output in the LR direction.

[0208] The upper and lower third display areas RG3a and the left and right third display areas RG3b each have an initial area OL indicating the initial position of the input, an output area SL1 indicating the output, and an input area SL2 indicating the input.

[0209] In this embodiment, the initial region OL indicates the positions (rotation angle θ) of the angle knobs 142 and 143 when the reference point L1 is located at the origin OP. In the third display region RG3, the initial region OL is maintained at a predetermined position.

[0210] The output area SL1 indicates the position of the input of the operating unit 140 corresponding to the amount of curvature of the curved section 112 based on the position and tension of the curved wire 160. The control device 600A, for example, acquires the amount of curvature of the curved section 112 based on the tension of the curved wire 160 detected by the detection units 151a and 152a, and displays the rotation angle θ of the angle knobs 142 and 143 based on the acquired amount of curvature of the curved section 112 as an output in the output area SL1.

[0211] The output region SL1 moves within the third display region RG3 as the amount of curvature of the curved portion 112 changes, and the position and tension of the curved wire 160 change. Specifically, as the absolute value of the amount of curvature of the curved portion 112 increases, the output region SL1 moves away from the initial region OL, and as the absolute value of the amount of curvature of the curved portion 112 decreases, it moves towards the initial region OL.

[0212] When the output area SL1 and the initial area OL are arranged to overlap, for example, the first display area RG1 displays a CG image that reproduces the curved section 112 that takes on a reference posture.

[0213] The input area SL2 indicates the position of an input element detected by a sensor or the like provided on the operation unit 140. The control device 600A, for example, displays the rotation angle θ of the angle knobs 142 and 143, based on the detection result of an encoder provided on the operation unit 140, as input in the input area SL2. The input area SL2 illustrated in Figure 16 is an area with a predetermined width that takes into account the detection error of the encoder or the like.

[0214] The input area SL2 moves within the third display area RG3 as the amount of curvature input input to the operation unit 140 changes. Specifically, as the amount of input in the first input increases, the input area SL2 moves away from the initial area OL, and as the amount of input in the second input increases, it moves towards the initial area OL.

[0215] In this embodiment, the input region SL2 moves away from the initial region OL as the angle knobs 142 and 143 rotate in the first direction M1, and moves towards the initial region OL as the angle knobs 142 and 143 rotate in the second direction M2.

[0216] In the upper and lower third display area RG3a illustrated in Figure 16, the output area SL1 is positioned to overlap with the input area SL2. In this case, the operator can confirm that there is no misalignment between the input and output in the UD direction by visually inspecting the upper and lower third display area RG3a.

[0217] On the other hand, in the left and right third display areas RG3b illustrated in Figure 16, the output area SL1 is not positioned to overlap with the input area SL2. In this case, the operator can perceive that there is a discrepancy between the input and output in the left and right directions by visually observing the left and right third display areas RG3b.

[0218] Furthermore, if a discrepancy occurs between the input and output in either the UD direction or the LR direction, the second display area RG2 may display a string of characters or the like indicating the curvature direction (UD direction or LR direction) in which the discrepancy occurs between the input and output.

[0219] The operator visually inspects the displayed image IM and confirms that a discrepancy has occurred between the input and output of the motorized endoscope system 1000A. After this, the operator attempts to eliminate the discrepancy by inputting a bending operation to the control unit 140.

[0220] In the left and right third display regions RG3b illustrated in Figure 16, the input region SL2 is located further from the initial region OL than the output region SL1. Furthermore, the input region SL2 of the left and right third display regions RG3b illustrated in Figure 16 is located at the furthest point from the initial region OL in the left and right third display regions RG3b.

[0221] In this case, for example, the second angle knob 143 of the operating unit 140 has reached the input limit position LM, and the bending section 112 has not yet bent to its maximum bending amount in the LR direction. The operator can see the display image IM illustrated in Figure 16 and understand that there is a discrepancy between the input and output in the LR direction of the electric endoscope system 1000A.

[0222] When the second angle knob 143 reaches the input limit position LM, a bending operation is input to the second angle knob 143 with an input amount within the second input range R2. That is, the operating unit 140 detects the above-mentioned second bending operation. Therefore, the control device 600A performs the above-described step S26 and executes the fifth control. At this time, since the second angle knob 143 has reached the input limit position LM, it is impossible to rotate it in the first direction M1.

[0223] When the control device 600A is executing the fifth control, it controls the wire drive unit 250 until the amount of curvature of the curved section 112 reaches its maximum curvature. The operator can bend the curved section 112 to its maximum curvature by maintaining the second angle knob 143 at the input limit position LM and continuing to input a bending operation to the second angle knob 143 with an input amount within the second input range R2.

[0224] At this time, in the left and right third display areas RG3b of the display image IM illustrated in Figure 16, the output area SL1 moves in a direction approaching the input area SL2. By the operator continuing to input a curvature operation to the second angle knob 143 with an input amount within the second input range R2, the output area SL1 and the input area SL2 eventually overlap.

[0225] In this way, the operator can easily grasp the relationship between input and output in the motorized endoscope system 1000A by visually observing the displayed image IM, and if a discrepancy occurs between input and output, the discrepancy can be easily resolved by appropriately inputting the first bending operation or the second bending operation.

[0226] Furthermore, the drive speed of the wire drive unit 250 when the control device 600A, which is executing the fifth control, bends the curved section 112 to its maximum curvature can be set to any desired drive speed.

[0227] For example, when the input amount of the bending operation input to the operating unit 140 changes from the first input range R1 to the second input range R2, the control device 600A may control the wire drive unit 250 at a drive speed based on the rate at which the input amount of the bending operation was changed in the bending operation immediately before the change from the first input range R1 to the second input range R2. This suppresses the change in the bending speed of the bending unit 112 when the input amount of the bending operation changes from the first input range R1 to the second input range R2, thereby reducing the discomfort felt by the operator.

[0228] The control device 600A may control the wire drive unit 250 such that the drive speed increases as the input amount of the first input increases when a rotation input (first input) in the first direction M1 is input to the angle knobs 142 and 143, where the input amount of the bending operation input is within the second input range R2.

[0229] For example, when the wire drive unit 250 is controlled so that the drive speed increases as the input amount in the first input increases, the bending speed ω of the bending section 112 that bends to the maximum bending amount by the fifth control is given by Equation 3.

[0230]

[0231] In equation 3, α is a coefficient greater than 0. Also, ω ｂａｓｅ This is the minimum bending speed, which is, for example, the bending speed of the bending section 112 immediately before the input amount of the bending operation changes from the first input range R1 to the second input range R2.

[0232] In Equation 3, the input amount u of the bending operation input to the operation unit 140 and the boundary input amount u, which is the input amount at the boundary between the first input range R1 and the second input range R2. ｔｈ When these are equal, the curvature speed ω of the curved section 112 is the minimum curvature speed ω ｂａｓｅ This is the result. Also, the input amount u and the limit input amount u when the angle knobs 142 and 143 reach the input limit position LM. ｌｉｍ When these are equal, the curvature velocity ω = (1 + α)ω ｂａｓｅ This is the result.

[0233] In angle knobs 142 and 143, the input amount u represents, for example, the rotation angle θ from the initial position of angle knobs 142 and 143. Boundary input amount u ｔｈ This indicates the rotation angle θ of the angle knobs 142 and 143 when the input amount u switches from the first input range R1 to the second input range R2. Limit input amount u ｌｉｍ This indicates the rotation angle θ when the angle knobs 142 and 143 reach the input limit position LM.

[0234] In this way, by appropriately adjusting the bending speed ω when the second bending operation is input and the bending section 112 bends to its maximum bending amount, the operability of the electric endoscope system 1000A can be further improved.

[0235] The medical manipulator system (electric endoscope system) 1000A of this embodiment includes a medical manipulator (endoscope) 100 having a bendable bending portion 112, an actuator 250 for bending the bending portion 112, a controller 140 to which bending operations for bending the bending portion 112 are input, and a control device 600A capable of controlling the actuator 250 based on the bending operations. The controller 140 can detect a first bending operation that bends the bending portion 112 by a bending amount corresponding to the amount of bending operation, and a second bending operation that bends the bending portion 112 to a predetermined bending amount regardless of the amount of bending operation. When the controller 140 detects the first bending operation, the control device 600A controls the actuator 250 based on the amount of the first bending operation, and when the controller 140 detects the second bending operation, it controls the actuator 250 until the bending amount of the bending portion 112 reaches a predetermined bending amount.

[0236] A medical manipulator system 1000A and control device 600A with such a configuration can be provided, which can improve operability during treatment.

[0237] Although the second embodiment of this disclosure has been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment and may include design changes and the like that do not depart from the gist of this disclosure. Furthermore, the components shown in the above-described embodiment and modifications can be combined as appropriate.

[0238] (Modification 2-1) The angle knobs 142 and 143 may be configured such that the rotation angle θ is maintained when the operator releases their hands, but they are biased in a second direction M2 when the operator releases their hands.

[0239] For example, an elastic member such as a spring can be used as a member that biases the angle knobs 142 and 143 in the second direction M2. In the second embodiment described above, the angle knobs 142 and 143 rotate in the first direction M1 from an initial position where the reference point L1 corresponds to the origin OP, and transition from a state where the reference point L1 is located in the first input range R1 to a state where the reference point L1 is located in the second input range R2.

[0240] By providing an elastic member that biases the angle knobs 142 and 143 in a second direction M2, when the operator releases the angle knobs 142 and 143 while the reference point L1 is in the second input range R2, the elastic member rotates the angle knobs 142 and 143 in the second direction M2, causing the reference point L1 to be in the first input range R1. In other words, the amount of bending operation input detected by the operating unit 140 can be changed from the second input range R2 to the first input range R1 by the biasing force of the elastic member.

[0241] When the amount of bending operation input to the operating unit 140 is within the second input range R2, the control device 600A executes a fifth control and bends the bending section 112 to its maximum bending amount. By biasing the angle knobs 142 and 143 in the second direction M2 with an elastic member, the amount of bending operation input can be changed from the second input range R2 to the first input range R1 when the operator releases their hands from the angle knobs 142 and 143, thereby preventing the bending section 112 from continuing to bend to its maximum bending amount when the operator does not intend it.

[0242] (Modification 2-2) The electric endoscope system 1000A may be equipped with a clutch that can switch between a state in which the input is reflected in the output and a state in which the input is not reflected in the output. When the input is reflected in the output, the bending section 112 bends based on the bending operation input to the operating section 140. That is, when the input is reflected in the output, the control device 600A performs the first control described above and controls the wire drive unit 250 based on the bending operation input to the operating section 140.

[0243] On the other hand, when the input is not reflected in the output, the amount of curvature of the curved section 112 is maintained. That is, when the input is not reflected in the output, the control device 600A performs the fourth control described above and controls the wire drive unit 250 so that the amount of curvature of the curved section 112 remains constant.

[0244] In the following explanation, the first control, in which the input is reflected in the output and the wire drive unit 250 is controlled based on the bending operation input to the operation unit 140, will also be referred to as "relative bending control." The fourth control, in which the input is not reflected in the output and the wire drive unit 250 is controlled so that the amount of bending of the bending section 112 remains constant, will also be referred to as "non-bending control."

[0245] The control device 600A switches between relative curvature control (first control) and non-curvature control (fourth control) based on the switching operation input to the clutch described above. As the clutch to which the switching operation to switch between relative curvature control and non-curvature control is input, for example, various buttons 146 on the operation unit 140 or a foot pedal (not shown) can be used.

[0246] The operator can eliminate the discrepancy between the input and output in the electric endoscope system 1000A by inputting a switching operation to the clutch and switching between relative curvature control and non-curvature control.

[0247] For example, when the angle knobs 142 and 143 have reached the input limit position LM, and the amount of curvature of the curved section 112 has not reached the maximum amount of curvature, the operator can operate the clutch to switch from relative curvature control to non-curvature control and rotate the angle knobs 142 and 143 in the second direction M2 to eliminate the discrepancy between the input and output.

[0248] At this time, the operator checks the display image IM shown in Figure 16, for example, and rotates the angle knobs 142 and 143 in the second direction M2 so that the input region SL2, which is moving in the direction approaching the initial region OL, overlaps with the output region SL1, thereby eliminating the misalignment that has occurred between the input and output.

[0249] Furthermore, when the curvature of the curved section 112 reaches its maximum curvature and the angle knobs 142 and 143 have not reached the input limit position LM, the operator can switch from relative curvature control to non-curvature control by operating the clutch and rotate the angle knobs 142 and 143 in the first direction M1 to eliminate the discrepancy between the input and output.

[0250] At this time, the operator checks the display image IM shown in Figure 16, for example, and rotates the angle knobs 142 and 143 in the first direction M1 so that the input region SL2, which is moving away from the initial region OL, overlaps with the output region SL1, thereby eliminating the misalignment between the input and output.

[0251] Furthermore, the control device 600A may automatically switch from relative curvature control to non-curvature control when the amount of deviation between the input and output exceeds a predetermined value. For example, the control device 600A calculates the input amount (rotation angle θ) to the angle knobs 142 and 143 based on the amount of curvature of the curved section 112.

[0252] For example, the control device 600A calculates the input amount to the angle knobs 142 and 143 based on the position and tension of the curved wire 160. In the following description, the input amount to the angle knobs 142 and 143 calculated based on the amount of curvature of the curved section 112 will also be referred to as the "calculated input amount". The calculated input amount is the input amount estimated based on the amount of curvature of the curved section 112. In the display image IM illustrated in Figure 16, the calculated input amount is shown as the output area SL1. That is, the calculated input amount is a value that indicates the output in the electric endoscope system 1000A.

[0253] Furthermore, the control device 600A acquires the input amounts to the angle knobs 142 and 143 detected by encoders or the like provided on the operation unit 140. In the following description, the input amounts to the angle knobs 142 and 143 detected by the operation unit 140 will also be referred to as the "detected input amount". In the display image IM illustrated in Figure 16, the detected input amount is shown as the input area SL2. That is, the detected input amount is a value that indicates the input in the electric endoscope system 1000A.

[0254] The control device 600A compares the calculated input amount with the detected input amount, and switches from relative curvature control to non-curvature control when the difference between the calculated input amount and the detected input amount exceeds a predetermined value.

[0255] As a result, when the difference between the calculated input amount and the detected input amount is greater than or equal to a predetermined value, and the angle knobs 142 and 143 rotate in a direction that increases the difference between the calculated input amount and the detected input amount, non-curving control is performed, so the input is not reflected in the output, and the amount of curvature of the curved section 112 does not change.

[0256] On the other hand, if the difference between the calculated input amount and the detected input amount is greater than or equal to a predetermined value, the angle knobs 142 and 143 rotate in a direction that reduces the difference between the calculated input amount and the detected input amount. When the difference between the calculated input amount and the detected input amount falls below the predetermined value, the control switches from non-curving control to relative curving control, and the input is reflected in the output. As a result, the curving section 112 curves in accordance with the curving operation input to the operation unit 140.

[0257] In this way, by automatically switching from relative curvature control to non-curvature control when the difference between the calculated input and the detected input exceeds a predetermined value, the operator can eliminate the discrepancy between input and output without having to input a switching operation to a clutch or the like.

[0258] (Third Embodiment) A third embodiment of this disclosure will be described below with reference to the drawings.

[0259] [Electric Endoscope System 1000B] The electric endoscope system 1000B according to the third embodiment is an example of a medical manipulator system and, as shown in Figure 1, comprises an endoscope 100B, a drive unit 200B, a treatment instrument 400, an image control device 500, and a display device 900.

[0260] [Endoscope 100B] Endoscope 100B is an example of a medical manipulator and, as shown in Figure 1, comprises an insertion section 110, a connecting section 120B, an external flexible section 130, an operating section (controller) 140, a detachable section 150, a curved wire 160, and internal components 170. Details of the connecting section 120B will be described later.

[0261] [Drive unit 200B] The drive unit 200B includes a drive adapter 210, an operation receiving unit 220, an air supply / suction drive unit 230, a wire drive unit (actuator) 250, and a drive controller 260. The drive unit 200B and the image control device 500 constitute a control device 600B that controls the electric endoscope system 1000B.

[0262] [Operation of the Electric Endoscope System 1000B] Next, the operation of the electric endoscope system 1000B of this embodiment will be described. Specifically, an example of a procedure for observing and treating a lesion formed on the wall of the large intestine using the electric endoscope system 1000B will be described.

[0263] Figure 17 is a flowchart showing the control method for the electric endoscope system 1000B in this embodiment. In a procedure using the electric endoscope system 1000B, the operator inserts the insertion part 110 of the endoscope 100B into the large intestine through the patient's anus. While observing the captured image displayed on the display device 900, the operator operates the internal flexible part 119 to move the insertion part 110 and bring the tip 111 closer to the affected area. The operator also operates the control unit 140 to input a bending operation for the bending part 112.

[0264] (Step S31) The control device 600B first performs step S31 (initial operation determination step). In step S31, the control device 600B determines whether or not it has detected a predetermined initial operation that indicates the operator is about to input a bending operation.

[0265] Figure 18 shows the connecting portion 120B. Inside the connecting portion 120B, a forceps tube 121 is formed that communicates with the internal path 101 of the endoscope 100B, and a forceps opening 120a is formed at the base end of the forceps tube 121. In this embodiment, a detection unit (treatment instrument detection unit) 122 capable of detecting when a treatment instrument 400 has been inserted into the forceps tube 121 is provided near the forceps opening 120a.

[0266] When the surgeon performs a procedure using the electric endoscope system 1000B, the surgeon inserts the treatment instrument 400 into the forceps tube 121 through the forceps channel 120a and extends the treatment instrument 400 through the opening 111a that opens at the tip A1 of the channel tube 171 which communicates with the forceps tube 121.

[0267] Furthermore, the operator inputs a bending operation to the control unit 140, and performs the procedure using the electric endoscope system 1000B while simultaneously bending the bending section 112 and inserting the treatment instrument 400 through the opening 111a. In other words, the operator primarily inputs a bending operation to the control unit 140 with the treatment instrument 400 inserted into the forceps tube 121. Therefore, the action of inserting the treatment instrument 400 into the forceps tube 121 is an initial action indicating that the operator is about to input a bending operation.

[0268] When the detection unit 122 detects that the treatment instrument 400 has been inserted into the channel (forceps tube 121 or channel tube 171) of the endoscope 100B, the control device 600B determines that it has detected a predetermined initial action indicating that the operator is about to input a bending operation.

[0269] Furthermore, the detection unit that detects a predetermined initial movement indicating that the operator is about to input a bending operation is not limited to the instrument detection unit 122 that can detect that the instrument 400 has been inserted into the forceps tube 121.

[0270] For example, the detection unit for detecting a predetermined initial action indicating that the operator is about to input a bending operation may include a sensor capable of detecting whether the operator's hand is touching the input element of the operation unit 140 (e.g., the angle knobs 142 and 143). As a sensor capable of detecting whether the operator's hand is touching, for example, a capacitance sensor may be provided on the angle knobs 142 and 143. By providing a capacitance sensor on the side surface of the angle knobs 142 and 143 that the operator's fingers that input the bending operation contact, it is possible to detect whether or not the operator is touching the angle knobs 142 and 143. The control device 600B may determine that it has detected a predetermined initial action indicating that the operator is about to input a bending operation when the capacitance sensor provided on the angle knobs 142 and 143 detects that the operator's fingers have made contact. In this case, the predetermined initial action indicating that the operator is about to input a bending operation is the action of the operator touching the angle knobs 142 and 143. In addition to the capacitive sensor, pressure sensors provided on the surface of the angle knobs 142 and 143, or strain sensors provided on the rotation axis of the angle knobs 142 and 143 may also be used as sensors capable of detecting when the operator's hand is touching the device.

[0271] Furthermore, an encoder that detects the rotation angle θ and rotation direction of the angle knobs 142 and 143 may be used as a detection unit to detect a predetermined initial action indicating that the operator is about to input a bending operation. By using an encoder that can detect the amount of movement (rotation angle θ) of the angle knobs 142 and 143, it is possible to detect that the input of a bending operation to the angle knobs 142 and 143 has started. The control device 600B may determine that a predetermined initial action indicating that the operator is about to input a bending operation has been detected when the encoder provided on the operation unit 140 detects that the input of a bending operation to the angle knobs 142 and 143 has started. In this case, the predetermined initial action indicating that the operator is about to input a bending operation is the action of the operator starting to rotate the angle knobs 142 and 143.

[0272] Furthermore, in the operating section 140, the angle knobs 142 and 143 may be provided so as to be movable in a direction inclined with respect to the rotation axis RA (inclination direction), in a direction approaching the grip 141 along the rotation axis RA (pushing direction), or in a direction perpendicular to the rotation axis RA (sliding direction).

[0273] The operating unit 140 may have a detection unit capable of detecting inputs such as tilting the angle knobs 142 and 143 in the aforementioned tilting direction (tilting operation), pushing the angle knobs 142 and 143 in the aforementioned pushing direction (pushing operation), or moving the angle knobs 142 and 143 in the aforementioned sliding direction (sliding operation).

[0274] The control device 600B may determine that it has detected a predetermined initial action indicating that the operator is about to input a bending operation when the detection unit provided on the operation unit 140 detects the above-mentioned tilting operation, pushing operation, or sliding operation. For example, the operator inputs the above-mentioned tilting operation, pushing operation, or sliding operation to the operation unit 140, and then inputs a bending operation to the operation unit 140. In this case, the predetermined initial action indicating that the operator is about to input a bending operation may be the operator tilting the angle knobs 142 and 143, the operator pushing the angle knobs 142 and 143, or the operator sliding the angle knobs 142 and 143.

[0275] In addition, the inputs that receive tilt, push, or slide operations in the operation unit 140 are not limited to the angle knobs 142 and 143, but may also be inputs such as a joystick or jog dial.

[0276] In the following explanation, the state in which a detection unit (for example, a treatment instrument detection unit 122 or an encoder, etc.) capable of detecting a predetermined initial movement indicating that the operator is about to input a bending operation has detected the above-mentioned initial movement will be referred to as the "operation detection state," and the state in which the initial movement has not been detected will be referred to as the "operation not detected state."

[0277] When the control device 600B determines that the detection unit has detected a predetermined initial movement indicating that the operator is about to input a bending operation, that is, when the operation detection state described above is reached, it proceeds to step S32. When the control device 600B determines that the detection unit has not detected a predetermined initial movement indicating that the operator is about to input a bending operation, that is, when the operation is not detected state described above, it proceeds to step S33.

[0278] (Step S32) When the control device 600B determines that it has detected a predetermined initial action in step S31 indicating that the operator is about to input a bending operation, it performs step S32 (first control step).

[0279] In step S32, the control device 600B performs the first control in the same manner as in step S12 in the first embodiment shown in Figure 12 and step S24 in the second embodiment shown in Figure 14. Specifically, in step S32, the control device 600B controls the wire drive unit 250 based on the bending operation input to the operation unit 140.

[0280] (Step S33) When the control device 600B determines that it has not detected a predetermined initial action in step S31 that indicates the operator is attempting to input a bending operation, it performs step S33 (second control determination step).

[0281] In step S33, the control device 600B determines whether or not to execute the second control. As described above, the second control is a control mode in which the wire drive unit 250 controls the bending portion 112 so that it bends based on the external force applied to the insertion portion 110.

[0282] In step S33, the control device 600B may determine whether or not to execute the second control based on a preset control mode or the operator's input, or it may determine whether or not to execute the second control based on the amount of bending drive of the bending portion 112, similar to step S13 of the first embodiment, or it may determine whether or not to execute the second control based on the external force applied to the insertion portion 110.

[0283] When the control device 600B determines to execute the second control, it proceeds to step S34. When the control device 600B determines not to execute the second control, it proceeds to step S35.

[0284] (Step S34) When the control device 600B determines in step S33 to execute the second control, it performs step S34 (second control process).

[0285] In step S34, the control device 600B performs a second control, similar to step S14 in the first embodiment shown in Figure 12. Specifically, in step S34, the control device 600B controls the wire drive unit 250 so that the curved portion 112 curves based on the external force applied to the insertion portion 110.

[0286] In procedures using the electric endoscope system 1000B, there are steps in which the bending section 112 is required to move in accordance with external forces in order to suppress overloading of the insertion section 110. Furthermore, when withdrawing the insertion section 110 or inserting it into the pharynx, the operability of the insertion section 110 can be improved by moving the bending section 112 in accordance with external forces.

[0287] For example, if the operator switches between a control mode in which the bending section 112 operates in accordance with an external force (second control) and a control mode in which the bending section 112 operates based on a bending operation input to the operating section 140 (first control), based on an operation such as pressing a button (for example, various buttons 146) by the operator, if the operator forgets to perform the operation in the process of switching from the first control to the second control, the control mode may not switch to the second control, and the insertion section 110 may be overloaded by the external force.

[0288] The electric endoscope system 1000B of this embodiment is capable of detecting a predetermined initial action indicating that the operator is about to input a bending operation. When an operation detection state is reached and an initial action is detected, the system executes the first control. When an operation detection state is reached and no initial action is detected, the system determines whether or not to execute the second control, and executes the second control according to the determination result.

[0289] The electric endoscope system 1000B can switch control modes without operator intervention by having the control device 600B automatically switch from the first control mode to the second control mode. This prevents overloading of the insertion section 110 due to the operator forgetting to perform the operation. Furthermore, since the operator does not need to perform the operation to switch control modes, the operator's operational steps are reduced, improving operability.

[0290] The control device 600B may proceed to step S34 and execute the second control when it determines in step S31 that no operation has been detected, without determining whether or not to execute the second control in step S33. Even in this case, the electric endoscope system 1000B can improve operability by automatically executing the second control when it is in an operation-undetected state where no initial operation has been detected.

[0291] Furthermore, for example, if a capacitance sensor provided on the angle knobs 142 and 143 is used as a detection unit to detect a predetermined initial movement indicating that the operator is about to input a bending operation, the bending section 112 can be made to move in accordance with the external force by the operator releasing their hands from the angle knobs 142 and 143, similar to a conventional endoscope driven by manual operation, thereby providing the operator with an operating feel similar to that of a conventional endoscope. This further improves the operability during procedures in the electric endoscope system 1000B.

[0292] The control device 600B may execute the first control when the detection unit detects a predetermined initial movement indicating that the operator is about to input a bending operation while the second control is being executed in step S34. For example, if a capacitance sensor provided on the angle knobs 142 and 143 is used as the detection unit for detecting a predetermined initial movement indicating that the operator is about to input a bending operation, the operator who has released their hands from the angle knobs 142 and 143 can touch the angle knobs 142 and 143 to input a bending operation, thereby transitioning the bending part 112 from a state in which it operates in accordance with an external force to a state in which the bending part 112 bends based on the bending operation.

[0293] (Step S35) If the control device 600B determines in step S33 that it will not perform the second control, it performs step S35 (fourth control step).

[0294] In step S35, the control device 600B performs the fourth control, similar to step S18 in the first embodiment shown in Figure 12 and step S23 in the second embodiment shown in Figure 14. Specifically, in step S35, the control device 600B controls the wire drive unit 250 so that the amount of bending drive of the bending unit 112 becomes constant. At this time, no predetermined initial action indicating that the operator is about to input a bending operation is detected. That is, the operator has not input a bending operation to the operation unit 140.

[0295] The control device 600B determines in step S33 whether or not to execute the second control. For example, it executes the second control when the external force applied to the insertion section 110 exceeds a predetermined value, and executes the fourth control when the external force applied to the insertion section 110 is less than the predetermined value. This allows the electric endoscope system 1000B to suppress overloading of the insertion section 110 due to external force. Furthermore, the electric endoscope system 1000B can maintain the field of view of the imaging unit 111c by executing the fourth control when the external force applied to the insertion section 110 is less than the predetermined value.

[0296] The control device 600B executes the second or fourth control according to the determination result of whether or not to execute the second control in step S33. This allows the field of view of the imaging unit 111c to be maintained when it is not necessary to move the curved portion 112 in accordance with the external force. Therefore, compared to the case where the second control is executed without determining whether or not to execute the second control in step S33, the operability during treatment can be further improved.

[0297] The electric endoscope system 1000B may also be equipped with a control operation unit that can input a switching operation to switch between the first control and the second control. As the control operation unit that can input a switching operation to switch between the first control and the second control, for example, various buttons 146 on the operation unit 140, a foot pedal (not shown), an emergency switch, etc., can be used. When the control device 600B is executing the second control and the bending section 112 is moving in accordance with the external force, the operator can input a switching operation to the control operation unit (for example, various buttons 146) to cause the control device 600B to execute the first control and bend the bending section 112.

[0298] Conversely, when the control device 600B has executed the first control and the bending section 112 is bending based on the bending operation, the operator can input a switching operation to the control operation unit to cause the control device 600B to execute the second control, thereby causing the bending section 112 to operate in accordance with the external force.

[0299] When various buttons 146 are used as a control operation unit that can input a switching operation to switch between the first control and the second control, for example, the control device 600B may execute the second control while the various buttons 146 are pressed, and execute the first control when the buttons 146 are released. The surgeon can maintain the amount of curvature of the curved portion 112 by releasing their fingers from the various buttons 146 when it is necessary to apply force to the lumen with the insertion portion 110, and can prevent the curved portion 112 from unintentionally moving in accordance with external forces while performing a process in which it is necessary to apply force to the lumen with the insertion portion 110.

[0300] Furthermore, when various buttons 146 are used as control operation units that can input a switching operation to switch between the first control and the second control, the control device 600B may switch the control mode from the first control to the second control when one of the buttons 146 is pressed, and continue executing the second control even after the operator's fingers have left the buttons 146. In this case, for example, the control device 600B may switch the control mode from the second control to the first control when a bending operation is input to the angle knobs 142 and 143. This reduces the number of operations performed by the operator and reduces the effort required to operate the electric endoscope system 1000B.

[0301] The medical manipulator system (electric endoscope system) 1000B of this embodiment comprises a medical manipulator (endoscope) 100B having a bendable bending portion 112, an actuator 250 for bending the bending portion 112, a controller 140 to which a bending operation for bending the bending portion 112 is input, a detection unit (for example, a treatment instrument detection unit 122) capable of detecting a predetermined initial operation indicating that a user (operator) is about to input a bending operation, and a control device 600B capable of controlling the actuator 250 based on the bending operation. The control device 600B executes a first control to drive the actuator 250 based on the bending operation when an operation detection state is reached in which a detection unit such as the treatment instrument detection unit 122 has detected an initial operation, and executes a second control in which the bending portion 112 bends based on an external force applied to the medical manipulator 100B when an operation undetected state is reached in which the detection unit has not detected an initial operation.

[0302] With a medical manipulator system 1000B and control device 600B configured in this way, it is possible to provide a medical manipulator system 1000B, a control device 600B, and a control method for the medical manipulator system 1000B that can improve operability during treatment.

[0303] Although the third embodiment of this disclosure has been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment and may include design changes and the like that do not depart from the gist of this disclosure. Furthermore, the components shown in the above-described embodiments and modifications can be combined as appropriate.

[0304] (Modification 3-1) The control device 600B may execute a second control when it determines that an abnormal condition exists in the operation of the electric endoscope system 1000B shown in Figure 17. For example, the control device 600B determines that an abnormal condition exists when the operator is not properly gripping the operating unit 140 and executes the second control.

[0305] As shown in Figure 18, the operating unit 140 may have a grip detection unit 147 capable of detecting whether the operator is gripping the operating unit 140 (gripping state). The grip detection unit 147 may be, for example, a switch or a capacitance sensor provided on the surface of the grip 141, and may include a sensor capable of detecting whether the operator's hand is touching the grip detection unit 147.

[0306] The grip detection unit 147 is located in the operating unit 140 at a point where the operator's hand (for example, the ring finger, the inside of the palm, or the area between the thumb and index finger) touches the device when the operator properly grips it. The control device 600B determines whether or not the above-mentioned abnormal condition exists based on the detection result of the grip detection unit 147.

[0307] The operating unit 140 may have a plurality of grip detection units 147. If a plurality of grip detection units 147 are provided on the operating unit 140, the gripping state described above may be detected when the operator's hand is touching at least one of the plurality of grip detection units 147, or the gripping state described above may be detected when the operator's hand is touching all of the plurality of grip detection units 147.

[0308] The control device 600B executes a second control when the grip detection unit 147 does not detect a gripping state. When the grip detection unit 147 does not detect a gripping state, the operating unit 140 is separated from the operator's hand, for example, when the operator unintentionally drops the operating unit 140.

[0309] The control device 600B executes a second control when the operating unit 140 is released from the operator's hand, such as when the operator drops the operating unit 140, causing the bending unit 112 to move in accordance with the external force. This suppresses the load placed on the patient or the insertion unit 110 when the insertion unit 110 moves unintended by the operator during treatment.

[0310] Furthermore, the operating unit 140 may also have an acceleration sensor 148, as shown in Figure 18. The acceleration sensor 148 is provided, for example, inside the grip 141. The control device 600B may perform a second control when the detection result of the acceleration sensor 148 exceeds a predetermined value.

[0311] The control device 600B determines that an abnormal state exists when, for example, the acceleration detected by the acceleration sensor 148 exceeds the acceleration due to gravity, and executes a second control. For example, when the operating unit 140 is falling, the acceleration sensor 148 detects an acceleration greater than or equal to the acceleration due to gravity. When the detection result of the acceleration sensor 148 exceeds a predetermined value (for example, the acceleration due to gravity), the control device 600B executes a second control to set the curved portion 112 in a state where it moves in accordance with the external force, thereby suppressing the load placed on the patient or the insertion portion 110 when the insertion portion 110 moves in a way unintended by the operator during treatment.

[0312] When the operator is twisting or moving the insertion part 110 forward or backward, the detection result of the acceleration sensor 148 provided on the operating part 140 will not exceed the acceleration due to gravity. Therefore, by setting the acceleration threshold for the second control performed by the control device 600B to the acceleration due to gravity, the operator can perform a procedure in which force is applied to the lumen while twisting or moving the insertion part 110 forward or backward.

[0313] (Fourth Embodiment) The fourth embodiment of this disclosure will be described below with reference to the drawings.

[0314] [Electric Endoscope System 1000C] The electric endoscope system 1000C according to the fourth embodiment is an example of a medical manipulator system and, as shown in Figure 1, comprises an endoscope 100C, a drive unit 200, a treatment instrument 400, an image control device 500, and a display device 900.

[0315] [Endoscope 100C] The endoscope 100C is an example of a medical manipulator and, as shown in Figure 1, comprises an insertion section 110, a connecting section 120, an external flexible section 130, an operating section (controller) 140C, a detachable section 150, a curved wire 160, and internal components 170.

[0316] As shown in Figure 8, the operating unit 140C includes a grip 141, a first angle knob (angle knob) 142C, a second angle knob (angle knob) 143C, an air supply / water supply button 144, a suction button 145, and a number of various buttons 146.

[0317] The first angle knob 142C is an input (interface) that receives an input to bend the curved section 112 in the UD direction. The second angle knob 143C is an input (interface) that receives an input to bend the curved section 112 in the LR direction.

[0318] Figure 19 shows the input elements of the operating unit 140C. In Figure 19, the first angle knob 142C is shown as an example of the input elements of the operating unit 140C. In the following description, the first angle knob 142C will be described as an example of the input elements of the operating unit 140C, but the same structure can be applied to the second angle knob 143C. In the following description, the first angle knob 142C will also be simply referred to as "input element 142C". Furthermore, the first angle knob 142C will also be referred to as "first input element 142C", and the second angle knob 143C will also be referred to as "second input element 143C".

[0319] In the operating section 140C, the input element 142C is provided so as to be rotatable in the rotational direction M with respect to the grip (main body) 141 held by the operator, with respect to the rotation axis RA as the center of rotation.

[0320] As shown in Figure 19, in the main body 141 of the operating unit 140C, the origin OP of the input element 142C is positioned on an axis O2 that intersects the axis O1 of the operating unit 140C at a predetermined angle when viewed from the direction in which the rotation axis RA extends. The axis O1 of the operating unit 140C refers to the axis extending in the longitudinal direction of the operating unit 140C. The rotation axis RA and the origin OP are positioned on axis O2.

[0321] In the following explanation, the direction perpendicular to the rotation axis RA will be referred to as the "radial direction RD," and the side away from the rotation axis RA will be referred to as the "outer RD1" in the radial direction RD. As shown in Figure 19, the input element 142C has a first projection 10 and a second projection 20 that protrude outward RD1.

[0322] In the input element 142C, the outer RD1 surface is the surface (contact surface) that the operator touches when inputting a bending operation to the input element 142C. The contact surface that the operator touches when inputting a bending operation to the input element 142C includes the first contact surface 11, which is the outer RD1 surface of the first projection 10, and the second contact surface 21, which is the outer RD1 surface of the second projection 20.

[0323] In the input element 142C, the first contact surface 11 is positioned at the origin OP when the curved portion 112 assumes the above-described reference posture. In the operating section 140C of this embodiment, the position shown in Figure 19 where the first contact surface 11 is positioned at the origin OP is defined as the initial position of the input element 142C. That is, in the input element 142C located at the initial position, the first contact surface 11 is a contact surface positioned on the axis O2 shown in Figure 19.

[0324] The angle θ1 formed by the axis O1 of the operating unit 140C and the axis O2 on which the origin OP is located can be set to an appropriate angle. The angle θ1 shown in Figure 19 is preferably set to an angle such that, for example, when the operator grasps the grip 141 with their left hand and operates the input element 142C with their left thumb, the first contact surface 11 located at the origin OP is positioned close to the left thumb. Alternatively, the axis O2 may coincide with the axis O1 of the operating unit 140C, and the origin OP may be located on the axis O1 of the operating unit 140C.

[0325] The operator can curve the curved section 112, which takes on a reference position, by rotating the input element 142C, which is in its initial position with the first contact surface 11 located at the origin OP, in the first direction M1. Specifically, the operator inputs a curving operation to the operating section 140C by moving the thumb that is touching the first contact surface 11 to rotate the input element 142C in the rotation direction M.

[0326] By rotating the input element 142C shown in Figure 19 in the first direction M1, the first contact surface 11 is moved away from the origin OP. For example, when the input element 142C shown in Figure 19 is rotated in the +θ direction at an angle θ1, the second contact surface 21 is positioned at the origin OP. At this time, the curved portion 112 is curved at a predetermined angle from the reference position.

[0327] Here, the first contact surface 11 and the second contact surface 21 have different surface shapes. The first contact surface 11 of the input element 142C illustrated in Figure 19 has a projection 12 that protrudes outward from the RD1.

[0328] The projection 12 is positioned in the central part of the first contact surface 11 in the direction around the rotation axis RA (circumferential direction). In addition, in the circumferential direction, a notch 12a is formed in the central part of the projection 12, where a part of the projection 12 is cut out.

[0329] Furthermore, the second contact surface 21 of the input element 142C illustrated in Figure 19 has two recesses 22 formed on the rotation axis RA side (inward) in the radial direction RD. The operator, who is manipulating the input element 142C with the pad of their thumb, can distinguish between the first contact surface 11 on which the projection 12 is formed and the second contact surface 21 on which the recesses 22 are formed by touch.

[0330] In conventional manually driven flexible endoscopes, the operator receives a reaction force from the input element due to the tension of the bending wire that bends the bending section. The operator can perceive the amount and direction of rotation of the input element through this reaction force, and thereby recognize the amount and direction of curvature of the bending section.

[0331] In the electrically driven endoscope 100C, driven by the drive unit 200, the curved wire 160 and the input element 142C are not physically connected. Therefore, the operator cannot receive a reaction force from the input element 142C, and thus cannot determine the amount or direction of rotation of the input element 142C through the reaction force.

[0332] In this embodiment, the operating section 140C has a first contact surface 11 and a second contact surface 21 with different surface shapes. Therefore, the operator can grasp the amount and direction of rotation of the input element 142C by touch based on the difference in surface shapes between the first contact surface 11 and the second contact surface 21, and thereby recognize the amount and direction of curvature of the curved section 112.

[0333] In this way, the operating section 140C has an input element 142C in which the first contact surface 11 and the second contact surface 21 have different surface shapes, thereby improving the operability of the endoscope.

[0334] The input element 142C illustrated in Figure 19 has a plurality of second protrusions 20. For example, in the region where the first protrusion 10 of the input element 142C is not provided, the plurality of second protrusions 20 are provided at equal intervals around the rotation axis RA.

[0335] With the first contact surface 11 positioned at the origin OP, the operator fixes the position of their thumb near the origin OP of the input element 142C and rotates the input element 142C in the rotational direction M by touching the first contact surface 11 and the second contact surface 21 located at the origin OP.

[0336] In this case, the operator does not receive a reaction force from the input element 142C, and therefore cannot determine the amount of rotation of the input element 142C based on the reaction force of the input element 142C. In the operating unit 140C of this embodiment, the operator can determine the amount of rotation of the input element 142C by touch. For example, when the input element 142C, which has been rotated in the first direction M1, is rotated in the second direction M2 to return it to its initial position, the operator can determine that the first contact surface 11 is located at the origin OP and the input element 142C is in its initial position by feeling the touch of the first contact surface 11, which has a different surface shape from the second contact surface 21. As a result, the operator can determine that the curved portion 112 is in a reference position.

[0337] Furthermore, when the operator rotates the input element 142C in the first direction M1 to the amount of rotation that positions the second contact surface 21 at the origin OP, the operator can understand that the input element 142C has rotated from the origin OP in the first direction M1 by feeling the tactile sensation of the second contact surface 21, which has a different surface shape from the first contact surface 11, when they release their finger from the input element 142C and move their finger again to the vicinity of the origin OP and touch the input element 142C. This allows the operator to understand that the curved portion 112 is curved from its reference position.

[0338] In the first embodiment of the electric endoscope system 1000 described above, in step S13 shown in Figure 12, when the amount of bending drive of the bending section 112 is within a predetermined range, the system proceeds to step S14 and executes the second control. This puts the bending section 112 into a state where it operates in accordance with the external force. When the operation unit 140C of this embodiment is applied to the electric endoscope system 1000 of the first embodiment, the operator can recognize the amount of bending and the bending angle of the bending section 112 by the tactile sensation of the input sensor 142C, and therefore can recognize the timing of the switch to the second control mode by the tactile sensation of the input sensor 142C. This improves the operability of the endoscope operation.

[0339] Furthermore, in the electric endoscope system 1000A of the second embodiment described above, the operator can rotate the input element (for example, the first angle knob 142) of the operating unit 140 to eliminate the discrepancy between the input amount of the bending operation input to the operating unit 140 and the amount of bending (output amount) of the bending unit 112.

[0340] When the operating unit 140C of this embodiment is applied to the electric endoscope system 1000A of the second embodiment described above, even if a discrepancy occurs between the input amount of the bending operation input to the operating unit 140C and the amount of bending (output amount) of the bending unit 112, the discrepancy can be eliminated by performing control according to the flowchart shown in Figure 14, and the amount and direction of rotation of the input element 142C can be grasped by touch, thereby further improving the operability of the endoscope operation.

[0341] In the case of the input element 142C operated with the pad of the thumb, it is preferable that the width W1 of the recess 22 be less than 8 mm. By making the width W1 of the recess 22 less than 8 mm, it is possible to make it easier for the operator's thumb to grip, ensuring sufficient gripping force, and also to allow the operator to feel sufficient tactile sensation to grasp the position of the input element 142C.

[0342] In the case of the input element 142C which is operated with the pads of the middle or ring fingers, the width W1 of the recess 22 is preferably less than 6 mm. By making the width W1 of the recess 22 less than 6 mm, it is possible to make it easier for the operator's middle or ring fingers to grip, ensuring sufficient gripping force, and also allowing the operator to feel sufficient tactile sensation to grasp the position of the input element 142C.

[0343] The operating unit 140C may have an elastic member (for example, a torsion spring, etc.) that biases the input element 142C in the second direction M2. For example, in a procedure using the electric endoscope system 1000C, the operation of bending the bending section 112 in the LR direction is input to the operating unit 140C less frequently than the operation of bending the bending section 112 in the UD direction. By biasing the input element, which is operated less frequently, in the second direction M2 with an elastic member, the input element can be returned to its initial position by the elastic member even if the operator forgets to return the input element to its initial position due to the infrequent operation. Furthermore, if an elastic member is provided for the input element that receives the bending operation in the LR direction, the operator can perform operations assuming that the amount of bending in the LR direction of the bending section 112 has returned to its initial position (reference position) if the operator has not touched the input element that receives the bending operation in the LR direction.

[0344] In the operating unit 140C, the input element 142C may be provided to be infinitely rotatable in the rotational direction M. For example, when the motion scale function changes the ratio of the amount of bending drive of the bending section 112 to the amount of bending operation input to the input element 142C to an arbitrary ratio, by providing the input element 142C to be infinitely rotatable, the motion scale ratio can be set to be larger compared to the state in which the input element 142C is physically restricted from rotating. Furthermore, by providing the input element 142C to be infinitely rotatable, even if a discrepancy occurs between the amount of bending operation input and the amount of bending of the bending section 112 when the second control (control in which the bending section 112 bends according to the external force) is executed, the bending operation can be started immediately without performing the control to resolve the discrepancy as shown in the second embodiment.

[0345] The electric endoscope system 1000C may be configured to allow the placement of the origin OP of the input element 142C in the operating unit 140C to be changed within a preset area. By making the placement of the origin OP of the input element 142C changeable, it is possible to achieve an origin OP position that makes it easy for the operator to operate the input element 142C with their thumb, regardless of the size of the operator's hand or how they grip the operating unit 140C.

[0346] The origin OP of the input element 142C is preferably positioned on a plane horizontal to the button surface (operating surface) of the operation button (for example, various buttons 146) of the operation unit 140C, which is operated by the operator with their thumb. This allows the operator to press the button surface of the operation button simply by moving their thumb in parallel to operate the input element 142C, thereby improving the operability of the operation unit 140C.

[0347] Furthermore, the origin OP of the input element 142C may be positioned at the location that is the shortest distance from the operation button of the operation unit 140C. This allows the operator to easily move their finger from the input element 142C to the button surface of the operation button.

[0348] Furthermore, the origin OP of the input element 142C may be positioned on the extension of the outer surface of the grip 141. This allows the operator to easily manipulate the input element 142C and the treatment instrument 400 inserted into the forceps channel 120a with the left hand holding the grip 141.

[0349] Furthermore, the size of the input element 142C in the radial direction RD may be set to be equal to or smaller than the size at which the outer surface (contact surface) of the input element 142C is positioned near the flat area where the operation button is provided near the origin OP. In this case, the operator can easily operate the input element 142C while firmly gripping the grip 141.

[0350] The sizes of the first angle knob 142C and the second angle knob 143C in the radial direction RD may be different or the same. By making the first angle knob 142C and the second angle knob 143C the same size, the fingers of the hand holding the grip 141 can operate both the first angle knob 142C and the second angle knob 143C simultaneously, thereby improving the operability of the operating section 140C.

[0351] Furthermore, by making the second angle knob 143C slightly larger than the first angle knob 142C to match the distance from the joint at the base of the operator's thumb to the pad of the thumb, the operability of the second angle knob 143C can be further improved.

[0352] The input element 142C may have a capacitive sensor (touch sensor) on the contact surface of the outer RD1, including the first contact surface 11 and the second contact surface 21. Preferably, the capacitive sensor is provided around the entire circumference of the input element 142C. The electric endoscope system 1000C can detect whether the operator's finger is touching the input element 142C or whether the operator's finger is positioned within a predetermined area around the input element 142C, using the capacitive sensor provided on the input element 142C.

[0353] For example, the motorized endoscope system 1000C may perform the first control described above when the capacitance sensor of the input element 142C detects the operator's finger, and perform the second control described above when the capacitance sensor of the input element 142C does not detect the operator's finger. In other words, the motorized endoscope system 1000C may determine whether or not the capacitance sensor of the input element 142C detects the operator's finger and switch the control mode based on the determination result.

[0354] When the capacitance sensor of the input element 142C does not detect the operator's finger, the operator's finger is positioned at a predetermined distance or greater from the input element 142C. When the operator's finger is away from the input element 142C, the second control is automatically executed, and the bending section 112 is made to move in accordance with the external force, thereby providing the operator with the same operating feel as a conventional flexible endoscope and improving operability.

[0355] Furthermore, in the electric endoscope system 1000B of the third embodiment described above, when the operator's finger is detected by the capacitance sensor provided on the input element 142C, it may be determined that a predetermined initial action indicating that the operator is attempting to input a bending operation has been detected.

[0356] The touch sensor provided on the contact surface of the input element 142C can be any sensor capable of detecting the operator's finger touching the input element 142C, or the distance from the contact surface of the input element 142C to the operator's finger, and is not limited to a capacitive sensor. Preferably, the touch sensor provided on the contact surface of the input element 142C is a sensor capable of detecting the operator's finger positioned within a few millimeters of the contact surface of the input element 142C.

[0357] As illustrated in Figure 19, when the distance from the rotation axis RA of the input element 142C to the contact surface (outer surface) differs depending on the location, the distance from the capacitance sensor provided around the entire circumference of the contact surface of the input element 142C to the operator's finger changes depending on the rotation angle of the input element 142C. In this case, the capacitance sensor can detect the position and movement of the operator's finger around the rotation axis RA relative to the input element 142C. Therefore, by determining whether the capacitance sensor has detected the operator's finger based on the distance from the input element 142C to the operator's finger and the position and movement of the operator's finger around the rotation axis RA relative to the input element 142C, false detections by the capacitance sensor can be prevented.

[0358] The range in which the capacitance sensor provided on the contact surface of the input element 142C can detect the operator's finger may be a circular range at a certain distance from the rotation axis RA, or a range at a certain distance from the contact surface of the input element 142C. For example, if the shape of the input element on which the capacitance sensor is provided is a cylindrical shape with the rotation axis RA as its central axis, the range in which the capacitance sensor can detect the operator's finger can be set to a range at a certain distance from the contact surface of the input element and a circular range at a certain distance from the rotation axis RA, making it easy to set a distance threshold for the capacitance sensor to detect the operator's finger.

[0359] In the first angle knob 142C and second angle knob 143C illustrated in Figure 8, the operator's fingers operating the first angle knob 142C are positioned away from the second angle knob 143C. Therefore, the capacitance sensor provided on the contact surface of the second angle knob 143C does not detect the operator's fingers operating the first angle knob 142C.

[0360] In this case, the electric endoscope system 1000C can perform first control when bending in the UD direction due to an input to the first angle knob 142C where the capacitance sensor detects the operator's finger, and can perform second control when bending in the LR direction due to an input to the second angle knob 143C where the capacitance sensor does not detect the operator's finger.

[0361] On the other hand, since the operator's fingers operating the second angle knob 143C are positioned near the first angle knob 142C, there is a possibility that the capacitance sensor provided on the contact surface of the first angle knob 142C may detect the operator's fingers operating the second angle knob 143C. As a result, not only the bending motion in the LR direction that the operator is inputting, but also the bending motion in the UD direction may be controlled by the first control.

[0362] In this case, for example, by making the diameter of the second angle knob 143C larger than the diameter of the first angle knob 142C, it is possible to suppress the false detection of the operator's finger operating the second angle knob 143C by the capacitance sensor provided on the contact surface of the first angle knob 142C.

[0363] Alternatively, the capacitance sensor of the first angle knob 142C may be positioned away from the second angle knob 143C to prevent false detection by the capacitance sensor of the first angle knob 142C. In this case, since the capacitance sensor of the first angle knob 142C is positioned close to the operator's palm, it is possible to suppress false detection of the operator's fingers operating the second angle knob 143C by the capacitance sensor provided on the contact surface of the first angle knob 142C.

[0364] Furthermore, in the operating section 140C, the angle knobs 142C and 143C may be provided so as to be movable in a direction inclined with respect to the rotation axis RA (inclination direction), in a direction approaching the grip 141 along the rotation axis RA (pushing direction), or in a direction perpendicular to the rotation axis RA (sliding direction).

[0365] The operating section 140C may have a sensor or the like that can detect input from operations such as tilting the angle knobs 142C and 143C in the aforementioned tilting direction (tilting operation), pushing the angle knobs 142C and 143C in the aforementioned pushing direction (pushing operation), or moving the angle knobs 142C and 143C in the aforementioned sliding direction (sliding operation).

[0366] When the electric endoscope system 1000C detects the above-mentioned tilting, pushing, or sliding operation, it may switch control modes, for example, by performing a switching operation between first control and second control.

[0367] In addition, the inputs that receive tilt, push, or slide operations in the operation unit 140C are not limited to the angle knobs 142C and 143C, but may also be inputs such as a joystick or jog dial.

[0368] The medical manipulator system (electric endoscope system) 1000C of this embodiment comprises a medical manipulator (endoscope) 100C having a bendable bending portion 112, an actuator 250 for bending the bending portion 112, a controller 140C to which bending operations for bending the bending portion 112 are input, and a control device 600 capable of controlling the actuator 250 based on the bending operation. The controller 140C has a main body (grip 141) and an input element 142C on which a contact surface is formed for the user to touch when inputting the bending operation. The control device 600 drives the bending portion 112 to bend based on the amount of movement of the input element 142C from the origin OP. The contact surface includes a first contact surface 11 positioned at the origin OP when the bending portion 112 takes a reference position, and a second contact surface 21 positioned at the origin OP when the bending portion 112 is bent from the reference position, and the first contact surface 11 and the second contact surface 21 have different surface shapes.

[0369] A medical manipulator system 1000C and controller 140C with this configuration can be provided, which can improve operability during treatment.

[0370] Although the fourth embodiment of this disclosure has been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment and may include design changes and the like that do not depart from the gist of this disclosure. Furthermore, the components shown in the above-described embodiments and modifications can be combined as appropriate.

[0371] (Modification 4-1) Figure 20 shows an input element 142D, which is another modification of the input element 142C. The outer circumferential surface of the input element 142D has a first contact surface 11D and a second contact surface 21 that are touched by the fingers of the operator who is operating the input element 142D.

[0372] The second contact surface 21 is a surface formed on each of the multiple second protrusions 20 that protrude outward from the RD1, similar to the input element 142C of the fourth embodiment described above, and on which a recess 22 is formed.

[0373] On the outer circumferential surface (contact surface) of the input element 142D, the first contact surface 11D is positioned at the origin OP when the curved portion 112 takes a reference position. The first contact surface 11D is formed on the first projection 10D that protrudes outward RD1, and is the surface on which the recess 13 is formed.

[0374] In the input element 142D illustrated in Figure 20, the recess 13 is a portion of the first contact surface 11D that is recessed toward the rotation axis RA, and has a larger recess shape than the recess 22 of the second contact surface 21.

[0375] The first contact surface 11D and the second contact surface 21 have different surface shapes due to the formation of recesses of different sizes (recess 13 and recess 22). This allows the operator to grasp the amount and direction of rotation of the input element 142D by touch, improving operability during treatment.

[0376] (Modification 4-2) Figure 21 shows an input element 142E, which is another modification of the input element 142C. The outer circumferential surface of the input element 142E has a first contact surface 11D and a second contact surface 21E that are touched by the fingers of the operator who is operating the input element 142E.

[0377] On the outer circumferential surface (contact surface) of the input element 142E, the second contact surface 21E is positioned at the origin OP when the curved portion 112 is curved from the reference position. The input element 142E illustrated in Figure 21 has four second protrusions 20E projecting outward RD1.

[0378] Of the four second protrusions 20E, the second contact surfaces 21E formed on the two second protrusions 20E located closer to the first protrusion 10D and the second contact surfaces 21E formed on the two second protrusions 20E located further away from the first protrusion 10D have different surface shapes.

[0379] The second contact surface 21E formed on the two second protrusions 20E located near the first protrusion 10D is a surface on which a stepped portion 23 is formed. The stepped portion 23 is a portion of the second contact surface 21E that has a stepped shape in which at least a part of it is recessed toward the rotation axis RA in the direction in which the rotation axis RA extends. The stepped portion 23 is formed over the entire width of the second contact surface 21E in the circumferential direction CD around the rotation axis RA.

[0380] The second contact surface 21E formed on the two second protrusions 20E located far from the first protrusion 10D is the surface on which the tip projection 24 and the side projection 25 are formed.

[0381] The tip projection 24 is a projection shape provided on the outer surface RD1 of the second contact surface 21E. In the input element 142E illustrated in Figure 21, three tip projections 24 are formed on the second contact surface 21E. The side projections 25 are projection shapes provided in pairs on both sides of the circumferential direction CD of the second contact surface 21E.

[0382] In the plurality of second contact surfaces 21E having a surface shape different from the first contact surface 11D, the second contact surfaces 21E positioned close to the first contact surface 11D and the second contact surfaces 21E positioned far from the first contact surface 11D have different surface shapes from each other. This allows the operator to more accurately grasp the amount of rotation of the input element 142E by touch, thereby enabling them to more accurately recognize the amount of curvature and the direction of curvature of the curved portion 112.

[0383] (Modification 4-3) Figure 22 shows an input element 142F, which is another modification of the input element 142C. The outer circumferential surface of the input element 142F has a first contact surface 11F and a second contact surface 21F that are touched by the fingers of the operator who is operating the input element 142F.

[0384] On the outer circumferential surface (contact surface) of the input element 142F, the first contact surface 11F is positioned at the origin OP when the curved portion 112 takes a reference position. The first contact surface 11F is formed on the first projection 10F that protrudes outward RD1. The first contact surface 11F is provided with a projection 12 that protrudes outward RD1 and a plurality of side projections 14 formed on both sides of the circumferential CD.

[0385] The second contact surface 21F is positioned at the origin OP when the curved portion 112 is curved from the reference position. The input element 142F illustrated in Figure 22 has four second protrusions 20F projecting outward RD1, and a second contact surface 21F is formed on each of the four second protrusions 20F. The second contact surface 21F has two recesses 22 and a plurality of side projections 25.

[0386] The operator manipulating the input element 142F can determine the position of the input element 142F by the difference in tactile sensation between the projection 12 on the first contact surface 11F and the recess 22 on the second contact surface 21F. This allows the operator to determine whether or not the curved portion 112 is curved from its reference position.

[0387] Furthermore, the number of side projections 14 formed on the first contact surface 11F and the number of side projections 25 formed on the second contact surface 21F are different from each other. In addition, each of the four second contact surfaces 21F formed on the input element 142F has a different number of side projections 25.

[0388] For example, when the operator rotates the input element 142F, as illustrated in Figure 22, counterclockwise, they rotate the input element 142F using their thumb, which is positioned near the origin OP. When the input element 142F, which is in its initial position, is rotated counterclockwise, one side projection 14 first touches the operator's thumb. As the input element 142F is rotated counterclockwise while touching the side projection 14, two side projections 25 then touch the operator's thumb. As the input element 142F is further rotated counterclockwise, and multiple second contact surfaces 21F sequentially touch the operator's thumb, the number of side projections 25 touching the operator's thumb increases to three, then four, and so on.

[0389] Furthermore, when the operator rotates the input element 142F clockwise, the operator rotates the input element 142F using their middle finger while their thumb is positioned near the origin OP. When the input element 142F is rotated clockwise from its initial position, one lateral projection 25 first touches the operator's middle finger. When the input element 142F is rotated clockwise while touching the lateral projection 25, two lateral projections 25 then touch the operator's middle finger. When the input element 142F is rotated further clockwise, three lateral projections 14 touch the operator's middle finger, and then four lateral projections 25 touch it.

[0390] In this way, by forming the first contact surface 11F and the second contact surface 21F such that the number of lateral protrusions 14 and 25 that touch the operator's thumb or middle finger increases as the amount of rotation of the input element 142F from its initial position increases, the operator can grasp the amount of rotation of the input element 142F with greater accuracy by touch.

[0391] Figure 23 shows an input element 142G, which is another modified form of the input element 142C. The outer circumferential surface of the input element 142G has a first contact surface 11G and a second contact surface 21F that are touched by the fingers of the operator who is operating the input element 142G.

[0392] On the outer circumferential surface (contact surface) of the input element 142G, the first contact surface 11G is positioned at the origin OP when the curved portion 112 takes a reference position. The first contact surface 11G is formed on the first projection 10G that protrudes outward RD1. The first contact surface 11G is provided with a recess 13 and a side projection 14.

[0393] The operator manipulating the input element 142G can determine the position of the input element 142G by the difference in tactile sensation between the recess 13 of the first contact surface 11G and the recess 22 of the second contact surface 21F. This allows the operator to determine whether or not the curved portion 112 is curved from its reference position.

[0394] Furthermore, the number of side projections 14 formed on the first contact surface 11G and the number of side projections 25 formed on the second contact surface 21F are different from each other. In addition, each of the four second contact surfaces 21F formed on the input element 142G has a different number of side projections 25.

[0395] In the input element 142G illustrated in Figure 23, the first contact surface 11G and the second contact surface 21F are formed such that when the input element 142G, which is initially positioned, is rotated counterclockwise using a thumb positioned near the origin OP, the number of lateral protrusions 14 and 25 that contact the thumb increases as the amount of rotation of the input element 142G increases.

[0396] Furthermore, the first contact surface 11G and the second contact surface 21F are formed such that when the input element 142G, which has been rotated counterclockwise from its initial position, is rotated clockwise using a thumb positioned near the origin OP to return it to its initial position, the number of lateral protrusions 14 and 25 that contact the thumb decreases as the input element 142G approaches its initial position.

[0397] In this way, by providing an appropriate number and arrangement of lateral protrusions 14 and 25 on the first contact surface 11G and the second contact surface 21F, depending on the position and contact points of the operator's fingers operating the input element 142G, the operator can more accurately grasp the amount of rotation of the input element 142G by touch.

[0398] (Modification 4-4) Figure 24 shows an input element 142H, which is another modification of the input element 142C. The outer circumferential surface of the input element 142H has a first contact surface 11H and a second contact surface 21H that are touched by the fingers of the operator who is operating the input element 142H.

[0399] On the outer circumferential surface (contact surface) of the input element 142H, the first contact surface 11H is positioned at the origin OP when the curved portion 112 takes a reference position. The first contact surface 11H is formed on the first projection 10H that protrudes outward RD1. The first contact surface 11H is provided with a projection 12 that protrudes outward RD1 and two recesses 15 that are recessed toward the rotation axis RA side.

[0400] The second contact surface 21H is positioned at the origin OP when the curved portion 112 is curved from the reference position. The input element 142H illustrated in Figure 24 has eight second protrusions 20H projecting outward RD1, and a second contact surface 21H is formed on each of the eight second protrusions 20H. Two recesses 22 are formed on the second contact surface 21H.

[0401] In the input element 142H located at the initial position, the amount of the depression shape formed at the boundary between adjacent first protrusions 10H and eight second protrusions 20H increases as it moves away from the origin OP.

[0402] The operator manipulating the input element 142H can grasp the amount of rotation of the input element 142H by touch, based on the difference in tactile sensation between the protrusions 12 and recesses 15 of the first contact surface 11H and the recesses 22 of the second contact surface 21H, as well as the difference in the amount of indentation at the boundary between the first protrusion 10H and the second protrusion 20H.

[0403] (Modification 4-5) Figure 25 shows an input element 142J, which is another modification of the input element 142C. The outer circumferential surface of the input element 142J has a first contact surface 11J and a second contact surface 21J that are touched by the fingers of the operator who is operating the input element 142J.

[0404] On the outer circumferential surface (contact surface) of the input element 142J, the first contact surface 11J is positioned at the origin OP when the curved portion 112 takes a reference position. The first contact surface 11J is an arc-shaped surface formed on the first projection 10J that protrudes outward RD1. Projections 16 that protrude outward RD1 are provided at both ends and the center of the first contact surface 11J in the circumferential direction CD.

[0405] The second contact surface 21J is positioned at the origin OP when the curved portion 112 is curved from the reference position. The input element 142J illustrated in Figure 25 has two second protrusions 20J that project outward RD1. Preferably, the second contact surface 21J has an uneven shape that is sufficient to ensure a good grip for the operator's fingers.

[0406] In the circumferential direction CD on which the input element 142J rotates, the length of the first contact surface 11J is greater than the length of the second contact surface 21J. The operator manipulating the input element 142J can grasp the amount of rotation of the input element 142J by touch, based on the feel of the protrusion 16 formed on the first contact surface 11J, the difference in surface shape between the first contact surface 11J and the second contact surface 21J, and the difference in length between the first contact surface 11J and the second contact surface 21J in the circumferential direction CD.

[0407] In the circumferential direction CD, the length of the first contact surface 11J of the input element 142J, which is initially positioned, may be set such that the length (angle) from the end of the first contact surface 11J to the input (rotation) limit position of the input element 142J is a predetermined value. This allows the operator to determine by touch whether the input element 142J has rotated to near the rotation limit position.

[0408] Furthermore, since the operator can perceive the amount of rotation of the input element 142J by touch based on the difference in length between the first contact surface 11J and the second contact surface 21J in the circumferential direction CD, the first contact surface 11J does not need to have a projection 16.

[0409] The first contact surface 11J preferably has an uneven shape that allows the operator to grasp the shape (arc shape) of the first contact surface 11J by touch. Furthermore, the width of the recess in the uneven shape formed on the first contact surface 11J is preferably less than 8 mm, similar to the width W1 of the recess 22 shown in Figure 19.

[0410] By providing an uneven surface on an arc-shaped surface such as the first contact surface 11J, where the width of the recess is less than 8 mm, the operator can perceive that they are touching the arc-shaped surface by the convex portion of the uneven surface making sufficient contact with the pad of their finger, thereby allowing them to perceive, through touch, that they are touching the first contact surface 11J.

[0411] Furthermore, when operating the first protrusion 10J, which has a large arc-shaped surface (first contact surface 11J) in the circumferential direction CD, with a finger, it is difficult to rotate the input element 142J by hooking a finger onto the side surface of the first protrusion 10J formed in the valley between the first protrusion 10J and the second protrusion 20J. Therefore, the operator operates the input element 142J with a finger that is in contact with the first contact surface 11J. In this case, by providing the first contact surface 11J with an uneven shape in which the width of the recess is less than 8 mm, sufficient grip force can be ensured for the operator's finger.

[0412] In this way, by providing the first contact surface 11J, which is an arc-shaped surface, with a recessed shape having a width of less than 8 mm, sufficient gripping force can be ensured while allowing the operator to perceive that they are touching the arc-shaped surface. Furthermore, it is preferable that the width of the recesses in the recessed shape formed on the first contact surface 11J is greater than 2 mm. By making the width of the recesses greater than 2 mm, the operator can sufficiently feel the texture of the recessed shape and perceive that they are touching the arc-shaped surface.

[0413] Furthermore, when operating the input element 142J by touching the first contact surface 11J with the pads of the middle or ring fingers, it is preferable that the width of the recess on the first contact surface 11J is less than 6 mm. This allows the operator to feel the texture of the surface even when touching the first contact surface 11J with the middle or ring fingers, which are thinner than the thumb, and to understand that they are touching an arc-shaped surface.

[0414] Figure 26 shows an input element 142K, which is another variation of the input element 142C. The outer circumferential surface of the input element 142K has a first contact surface 11K and a second contact surface 21K that are touched by the fingers of the operator who is operating the input element 142K.

[0415] On the outer circumferential surface (contact surface) of the input element 142K, the first contact surface 11K is positioned at the origin OP when the curved portion 112 takes a reference position. Preferably, the first contact surface 11K has an uneven shape that can ensure sufficient gripping force for the operator's fingers.

[0416] The second contact surface 21K is positioned at the origin OP when the curved portion 112 is curved from the reference position. The second contact surface 21K is an arc-shaped surface formed on the second projection 20K that protrudes outward RD1. In the circumferential direction CD, the second contact surface 21K is provided with projections 26 that protrude outward RD1 at predetermined intervals.

[0417] In the circumferential direction CD on which the input element 142K rotates, the length of the first contact surface 11K is smaller than the length of the second contact surface 21K. The operator manipulating the input element 142K can grasp the amount of rotation of the input element 142K by touch, based on the difference in surface shape between the first contact surface 11K and the second contact surface 21K, the feel of the protrusion 26 formed on the second contact surface 21K, and the difference in length between the first contact surface 11K and the second contact surface 21K in the circumferential direction CD.

[0418] Furthermore, since the operator can determine the amount of rotation of the input element 142K by touch based on the difference in length in the circumferential direction CD between the first contact surface 11K and the second contact surface 21K, the second contact surface 21K does not need to have a projection 26.

[0419] (Modification 4-6) Figure 27 shows an input element 142L, which is another modification of the input element 142C. The outer circumferential surface of the input element 142L has a first contact surface 11L and a second contact surface 21L that are touched by the fingers of the operator who is operating the input element 142L.

[0420] On the outer circumferential surface (contact surface) of the input element 142L, the first contact surface 11L is positioned at the origin OP when the curved portion 112 takes a reference position. The first contact surface 11L is an arc-shaped surface that protrudes outward RD1 on the outer circumferential surface of the input element 142L.

[0421] The second contact surface 21L is positioned at the origin OP when the curved portion 112 is curved from the reference position. The second contact surface 21L protrudes outward RD1, with one end in the circumferential direction CD formed in an arc shape and the other end in the circumferential direction CD formed in an angular shape.

[0422] The input element 142L has a plurality of second contact surfaces 21L that are arranged on both sides of the first contact surface 11L in the circumferential direction CD. As shown in Figure 27, the second contact surfaces 21L arranged on the +θ side of the first contact surface 11L and the second contact surfaces 21L arranged on the -θ side of the first contact surface 11L have different surface shapes.

[0423] Specifically, at the ends in the circumferential direction CD of a plurality of second contact surfaces 21L arranged on both sides of the first contact surface 11L of the input member 142L located at the initial position, the end close to the origin OP is formed in an arc shape, and the end far from the origin OP is formed in a rectangular shape. The input member 142L located at the initial position illustrated in FIG. 27 has a symmetrical shape with respect to the axis O2. For example, in the radial direction RD, the length from the rotation axis RA to the first contact surface 11L and the length from the rotation axis RA to the second contact surface is substantially equal.

[0424] Since the second contact surface 21L arranged on the +θ side of the first contact surface 11L and the second contact surface 21L arranged on the -θ side of the first contact surface 11L have different surface shapes, an operator who operates the input member can grasp the bending direction and bending amount of the end of the endoscope by touch from the position and rotation direction of the input member 142L.

[0425] Note that the length from the rotation axis RA to the first contact surface 11L and the length from the rotation axis RA to the second contact surface 21L may be different from each other. For example, the length from the rotation axis RA to the first contact surface 11L may be larger than the length from the rotation axis RA to the second contact surface 21L, and in the plurality of second contact surfaces 21L provided on both sides of the first contact surface 11L, the first contact surface 11L and the second contact surface 21L may be provided such that the length from the rotation axis RA to the second contact surface 21L decreases as it moves away from the first contact surface 11L in the circumferential direction CD.

[0426] By changing the lengths (radii) from the rotation axis RA to the first contact surface 11L and the second contact surface 21L, the required operating force is different between the portion with a large radius and the portion with a small radius, and the operator can be made to grasp the position of the input member 142L by the difference in the operating force.

[0427] (Modification Example 4-7) FIG. 28 is a view showing an input member 142M which is another modification example of the input member 142C. A first contact surface 11M and a second contact surface 21M are formed on the outer peripheral surface of the input member 142M.

[0428] On the outer peripheral surface (contact surface) of the input member 142M, the first contact surface 11M is disposed at the origin OP when the curved portion 112 takes the reference posture. The first contact surface 11M is formed on the first protruding portion 10M protruding to the outer side RD1.

[0429] The second contact surface 21M is disposed at the origin OP when the curved portion 112 is curved from the reference posture. The second contact surface 21M is an arc-shaped surface provided in a region on the outer peripheral surface of the input member 142M where the first contact surface 11M is not formed.

[0430] In the input member 142M, the operator may operate the input member 142M by touching only the first contact surface 11M without touching the second contact surface 21M. For example, by making the rotatable range of the first contact surface 11M from the origin OP within the movable range of the operator's thumb, the operator can rotate the input member 142M to the rotation limit position while maintaining the state of touching the first contact surface 11M with the thumb. The operator can easily grasp the position of the input member 142M by grasping the amount of movement of the first contact surface 11M from the origin OP, and thereby can easily grasp the amount of curvature and the direction of curvature of the curved portion 112.

[0431] (Modified Example 4-8) FIG. 29 is a diagram showing an input member 142N which is another modified example of the input member 142C. On the outer peripheral surface of the input member 142N, a first contact surface and a second contact surface 21N that are touched by the finger of the operator who operates the input member 142N are formed.

[0432] On the outer peripheral surface (contact surface) of the input member 142N, the first contact surface 11N is disposed at the origin OP when the curved portion 112 takes the reference posture. The first contact surface 11N is formed on the first protruding portion 10N protruding to the outer side RD1. As shown in FIG. 29, protrusions 16 protruding to the outer side RD1 are provided at both ends of the first contact surface 11N in the circumferential direction CD. The width W2 between the two protrusions 16 provided on the first contact surface 11N is preferably 15.9 mm or less.

[0433] The second contact surface 21N is positioned at the origin OP when the curved portion 112 is curved from the reference position. The input element 142N illustrated in Figure 29 has four second protrusions 20N projecting outward RD1. In the input element 142N at the initial position, the second contact surface 21N formed on the second protrusions 20N is an inclined surface that slopes outward RD1 as it moves away from the origin OP.

[0434] By forming the second contact surface 21N with the inclined surface shown in Figure 29, when the input element 142N, which is rotated with the first contact surface 11L moving away from the origin OP (first direction M1), is rotated in the direction in which the first contact surface 11L moves towards the origin OP (second direction M2), the operator can apply rotational torque to the input element 142N using not only the frictional force generated between the finger and the second contact surface 21N, but also the component force applied from the finger to the second contact surface 21N, thus easily rotating the input element 142N.

[0435] Furthermore, at the second contact surface 21N formed by the inclined surface, the end furthest from the first contact surface 11N has an acute corner. Therefore, when the operator rotates the input element 142N in the first direction M1, they can easily rotate the input element 142N by hooking their finger onto the corner of the second contact surface 21N.

[0436] (Modification 4-9) Figure 30 shows modified versions of the inputs of the operation unit 140C (first input 142C and second input 143C), namely the first input 142P and the second input 143P.

[0437] In the following explanation, as shown in Figure 30, the direction in which the rotation axis RA extends will be referred to as the "rotation axis direction B", the side on which the grip 141 is positioned will be referred to as the "base end side B1" in the rotation axis direction B, and the opposite side will be referred to as the "tip end side B2" in the rotation axis direction B.

[0438] The first input element 142P is a cylindrical input element with the rotation axis RA as its central axis. The second input element 143P is a cylindrical input element with the rotation axis RA as its central axis. The first input element 142P and the second input element 143P are rotatably mounted on the main body (grip) 141 of the operating unit 140C with the rotation axis RA as the center of rotation.

[0439] The second input element 143P is provided such that at least a portion of it is surrounded by the inner circumferential surface of the first input element 142P in the radial direction RD perpendicular to the rotation axis direction B. That is, the second input element 143P is provided on the rotation axis RA side (inner RD2) in the radial direction RD than the first input element 142P.

[0440] When the operator bends the curved portion 112 in the UD direction, for example, the operator rotates the first input element 142P around the rotation axis RA by moving a finger that is in contact with the outer circumferential surface 142s of the first input element 142P. Alternatively, the operator may rotate the first input element 142P around the rotation axis RA by moving a finger that is in contact with the tip side surface B2 (upper surface) of the first input element 142P.

[0441] Furthermore, when the operator bends the curved portion 112 in the L / R direction, the operator rotates the second input element 143P around the rotation axis RA by moving the finger that is in contact with the tip side B2 surface (upper surface) 143s of the second input element 143P.

[0442] Inputs such as the first input 142P and the second input 143P are also called jog dials. By placing the second input 143P inside RD2 of the first input 142P, the space required to place the first input 142P and the second input 143P can be reduced.

[0443] Furthermore, when the operator operates the upper surface 143s of the second input element 143P with the thumb of the hand holding the grip 141, contact between the operator's thumb and the outer surface 142s of the first input element 142P can be suppressed, thereby preventing unintended operations from being input to the first input element 142P.

[0444] The program in each embodiment may be recorded on a computer-readable recording medium, and the program recorded on this recording medium may be loaded into a computer system and executed. "Computer system" includes hardware such as an operating system and peripheral devices. "Computer-readable recording medium" refers to portable media such as flexible disks, magneto-optical disks, ROMs, CD-ROMs, and storage devices such as hard disks built into a computer system. Furthermore, "computer-readable recording medium" may include those that dynamically hold programs for a short period, such as communication lines used when transmitting programs via networks such as the Internet or communication lines such as telephone lines, as well as those that hold programs for a certain period, such as volatile memory within a computer system acting as a server or client. The program may also be intended to implement only a part of the functions described above, and may also be able to implement the functions described above in combination with programs already recorded in the computer system.

[0445] 1000, 1000A Medical manipulator system (electric endoscope system) 100 Medical manipulator (endoscope) 112 Bending section 140 Controller (operating section) 142, 143 Input element (angle knob) OP Origin M1 First direction M2 Second direction 151a, 152a Detection section 160 Wire (bending wire) 250 Actuator (wire drive section) 600, 600A Control device R1 First input range R2 Second input range

Claims

1. A medical manipulator system comprising: a medical manipulator having a bendable curved portion; an actuator for bending the curved portion; a controller for which a bending operation for bending the curved portion is input; and a control device capable of controlling the actuator based on the bending operation, wherein the controller is capable of detecting a first bending operation, which is a bending operation that bends the curved portion by a bending amount corresponding to the amount of the bending operation, and a second bending operation, which is a bending operation that bends the curved portion to a predetermined bending amount regardless of the amount of the operation; and the control device controls the actuator based on the amount of the operation of the first bending operation when the controller has detected the first bending operation, and controls the actuator when the controller has detected the second bending operation until the bending amount of the curved portion reaches the predetermined bending amount.

2. The medical manipulator system according to claim 1, wherein the control device controls the actuator when the controller detects the second bending operation until the amount of bending of the bending portion reaches the maximum amount of bending.

3. The medical manipulator system according to claim 1, wherein the controller has an input element to which the bending operation is input, and is capable of detecting input amounts at least in a first input where the input element is spaced away from the origin and a second input where the input element is approaching the origin, and detects the first bending operation when the input amount is within a first input range including the origin, and detects the second bending operation when the input amount is within a second input range further from the origin than the first input range.

4. The medical manipulator system according to claim 3, wherein the control device controls the actuator based on the input amount of the second input when the second input is input to the controller while the controller is detecting the second bending operation.

5. The medical manipulator system according to claim 3, wherein the input element is movable between the first input range and the second input range by moving in a first direction away from the origin when the first input is received and in a second direction returning to the origin when the second input is received, and the controller has an elastic member that moves the input element located in the second input range to the first input range by biasing it in the second direction.

6. The medical manipulator system according to claim 3, wherein the control device controls the actuator at a drive speed based on the rate of change of the input amount immediately before the change from the first input range to the second input range, when the input amount is changed from the first input range to the second input range.

7. The medical manipulator system according to claim 3, wherein the control device controls the actuator such that the drive speed increases as the input amount of the first input increases when the first input is input to the input element within the second input range.

8. The medical manipulator system according to claim 1, wherein the controller comprises a knob that is rotatably mounted and into which the first bending operation is input by a rotational operation, and a switch into which the second bending operation is input.

9. A medical manipulator system comprising: a medical manipulator having a bendable curved portion; an actuator for bending the curved portion; a controller to which a bending operation for bending the curved portion is input; and a control device capable of controlling the actuator based on the bending operation, wherein the control device is switchable between relative bending control, which controls the actuator based on the bending operation, and non-bending control, which is different from the relative bending control, and when the control device is performing the non-bending control, the actuator maintains the amount of bending of the curved portion.

10. A medical manipulator system according to claim 9, comprising a clutch to which a switching operation is input for switching between the relative curvature control and the non-curvature control, wherein the control device switches between the relative curvature control and the non-curvature control based on the switching operation.

11. The medical manipulator system according to claim 9, wherein the controller has an input element to which the bending operation is input, and is capable of detecting input amounts at least for a first input in which the input element moves away from the origin and a second input in which the input element approaches the origin, and the control device compares a calculated input amount, which is the input amount to the input element based on the amount of bending of the bending portion, with a detected input amount, which is the input amount to the input element detected by the controller, and switches from relative bending control to non-bending control when the difference between the calculated input amount and the detected input amount becomes greater than or equal to a predetermined value.

12. A control device for controlling a medical manipulator system comprising a medical manipulator having a bendable curved portion, an actuator for bending the curved portion, and a controller to which a bending operation for bending the curved portion is input, wherein when the controller detects a first bending operation, the control device controls the actuator based on the amount of the first bending operation, and when the controller detects a second bending operation different from the first bending operation, the control device controls the actuator regardless of the amount of the bending operation until the amount of bending of the curved portion reaches a predetermined amount of bending.

13. The control device according to claim 12, wherein when the controller detects the second bending operation, the actuator is controlled until the amount of bending of the bending portion reaches the maximum amount of bending.

14. A control device according to claim 12, having an input element to which the bending operation is input, capable of detecting input amounts in at least a first input where the input element is spaced away from the origin and a second input where the input element is approaching the origin, detecting the first bending operation when the input amount is within a first input range including the origin, and detecting the second bending operation when the input amount is within a second input range further from the origin than the first input range, wherein when the second input is input to the controller while the controller is detecting the second bending operation, the controller controls the actuator based on the input amount in the second input.

15. The control device according to claim 14, wherein when the input amount is changed from the first input range to the second input range, the actuator is controlled at a drive speed based on the rate at which the input amount was changed immediately before the change from the first input range to the second input range.

16. The control device according to claim 14, wherein when the first input is input to the input element within the second input range, the actuator is controlled such that the drive speed increases as the input amount in the first input increases.

17. A control device for controlling a medical manipulator system comprising: a medical manipulator having a bendable curved portion; an actuator for bending the curved portion; and a controller having an input element to which a bending operation for bending the curved portion is input, and capable of detecting the input amount at a first input where the input element moves away from the origin and a second input where the input element approaches the origin, wherein the control device is switchable between relative curve control, which controls the actuator based on the bending operation, and non-curve control, which controls the actuator so that the amount of curvature of the curved portion is maintained, and compares a calculated input amount, which is the input amount to the input element based on the amount of curvature of the curved portion, with a detected input amount, which is the input amount to the input element detected by the controller, and switches from relative curve control to non-curve control when the difference between the calculated input amount and the detected input amount becomes greater than or equal to a predetermined value.

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