Microsurgery-assisting robot system

Abstract

The present invention realizes a microsurgery-assisting robot system that can appropriately provide assistance in the execution of microsurgery.　A microsurgery-assisting robot system 101 comprises a main console 201 and a robot cart 2301. The main console 201 has a main controller 1001 and a display 501. The robot cart 2301 has robot forceps 3512 and a microscope video camera 4411. The display 501 displays an image or video captured by the microscope video camera 4411. The position and orientation of the robot forceps 3512 reflect an operation of the main controller 1001 by a surgeon.

Description

Microsurgery support robot system

[0001] This disclosure relates to a technology that assists a surgeon in performing microsurgery.

[0002] In the field of surgical medicine, the shortage of surgeons is becoming increasingly serious. This is thought to be due to harsh working conditions. Although the total number of doctors is increasing, the number of surgeons has remained almost flat, and the surgeon profession is aging. On the other hand, the number of surgeries is steadily increasing. According to the Ministry of Health, Labour and Welfare's "Statistics on Physicians, Dentists, and Pharmacists for 2022," as of December 31, 2022, the gender ratio of doctors in Japan was 76.4% male and 23.6% female. The proportion of female doctors is relatively high in internal medicine, pediatrics, ophthalmology, and obstetrics and gynecology, but in specialties such as surgery (respiratory surgery, cardiovascular surgery, breast surgery, tracheoesophageal surgery, digestive surgery, proctology), urology, neurosurgery, and orthopedics, the proportion of female doctors is often less than 10%. In particular, in surgery, working hours are longer than in other specialties, and immediate response in emergencies is required. Therefore, it is said that it is even more difficult for female surgeons to balance work and family life. Furthermore, gaining surgical experience is essential for a surgeon's career development. However, opportunities to acquire the skills to handle complex surgical procedures are limited. Therefore, it has been pointed out that there are problems and significant challenges in the career development of surgeons.

[0003] Given the background surrounding surgical medicine and surgeons as described above, the development of surgical robots is progressing. For example, master-slave surgical robots are being introduced in large numbers in hospitals and other facilities. These surgical robots were originally developed as support devices for laparoscopic surgery and target diseases such as prostate cancer, kidney cancer, bladder cancer, rectal cancer, and uterine cancer. For example, in robot-assisted laparoscopic radical prostatectomy for prostate cancer, the prostate and seminal vesicles are removed, and the urethra and bladder are anastomosed. Laparoscopic surgical robots enable precise and minimally invasive surgery, contributing to reduced patient burden and improved medical efficiency. However, the tip rod size of the forceps has a diameter of about 8 mm, which is too large to handle small blood vessels and nerves. In addition, images with sufficient magnification cannot be obtained with a laparoscope, and there are limitations to fine manipulation. In other words, there are limitations to the types of surgery that can be supported by the surgical robots mentioned above. For example, it has been reported that it is difficult to suture small blood vessels with a diameter of 2 mm or less with the surgical robots mentioned above.

[0004] Microsurgery refers to surgical techniques using a microscope, or surgical techniques targeting tissues approximately 1 mm or less in size. Microsurgery requires extreme delicacy and precision, such as manually treating or suturing blood vessels approximately 1 mm or less in width. Microsurgery demands highly advanced skills, such as connecting blood vessels in transplanted tissue during breast reconstruction after breast cancer surgery, or connecting lymphatic vessels to blood vessels to dramatically reduce lymphedema. The proper execution of such highly advanced surgeries directly leads to dramatic improvements in the patient's quality of life (QOL) and prognosis. However, controlling the slight tremors that occur during the delicate work of microsurgery while performing accurate procedures is generally difficult. As a result, the number of physicians capable of performing microsurgery is limited. For example, there are only about 500 certified instructors in the field of reconstruction and microsurgery in Japan, which is less than 1% of the total number of physicians in Japan. As a result, many patients do not have the opportunity to receive treatment using microsurgery, nor do they have the opportunity to learn about treatment using microsurgery, which presents a significant challenge. Physicians who perform treatment at the patient's request also face the problem of difficulty in acquiring the skills (abilities) necessary to properly perform technically challenging microsurgery, and the time required to acquire these skills. Recently, due to factors such as work-style reforms, physicians are finding it difficult to allocate time to acquire the skills (abilities) to perform microsurgery, which presents a challenge. Even physicians who already possess the skills (abilities) to perform microsurgery may encounter difficult cases where it is difficult to maintain hand stability during the procedure, depending on the treatment site. Furthermore, for microsurgical procedures that require prolonged, delicate work, the burden on the surgeon is significant, presenting another challenge. Due to the circumstances described above, it is difficult to secure physicians with the skills (ability) to perform microsurgery, as well as the time resources of such physicians. As a result, medical institutions face a dilemma in that they want to meet patient needs, but are unable to adequately meet those needs.

[0005] To solve the problems pointed out above surrounding microsurgery and to address the issues, the inventors of the present disclosure developed a micromanipulator for microsurgery disclosed in Patent Document 1 (Japanese Patent Application Laid-Open No. 2017-87322), Patent Document 2 (International Publication No. 2022 / 024296), and Patent Document 3 (International Publication No. 2023 / 021541). The micromanipulator for microsurgery is for assisting in performing microsurgery. In the micromanipulators for microsurgery disclosed in Patent Document 1, Patent Document 2, and Patent Document 3, a structure is adopted in which surgical forceps (end effector) are supported by a plurality of links. By operating each link with a linear motor, the orientation (angle) of the surgical forceps (end effector) can be adjusted with high precision and high responsiveness. In the micromanipulators for microsurgery disclosed in Patent Document 1, Patent Document 2, and Patent Document 3, a structure is adopted in which operations such as opening and closing of the surgical forceps (end effector) are driven by hydraulic pressure (oil pressure). By being driven by hydraulic pressure (oil pressure), high precision, high responsiveness, and high gripping force of operations such as opening and closing of the surgical forceps (end effector) are achieved. In the micromanipulators for microsurgery disclosed in Patent Document 1, Patent Document 2, and Patent Document 3, a structure is adopted in which the twisting rotation (rotation in the roll component) of the surgical forceps (end effector) is driven by hydraulic pressure (oil pressure). The micromanipulators for microsurgery disclosed in Patent Document 1, Patent Document 2, and Patent Document 3 are intended to be distinct from conventional surgical support robots and to enable assistance to the surgeon even in microsurgery.

[0006] Japanese Patent Application Laid-Open No. 2017-87322 International Publication No. 2022 / 024296 International Publication No. 2023 / 021541

[0007] Patent documents 1, 2, and 3 primarily disclose the technology of the robotic part that supports forceps that directly interfere with the subject undergoing microsurgery (the subject undergoing surgery). On the other hand, in order to truly optimize the support for performing microsurgery, it is desirable to consider the configuration and control of the entire system that supports microsurgery, including the robotic part that supports the forceps.

[0008] For example, when considering the configuration and control of the entire system supporting microsurgery in order to optimize the support for performing microsurgery, some or all of the following aspects may be considered:

[0009] (1) The perspective is to expand the capabilities of the operator when performing microsurgery, while maintaining the same feel of use as when the operator traditionally performed microsurgery with forceps in their hand. The expansion of capabilities may include, for example, the manipulation of forceps with greater precision than that of when the operator traditionally performed microsurgery with forceps in their hand. By expanding the capabilities of the operator when performing microsurgery, it is possible to shorten the time required to acquire the skills (abilities) to perform microsurgery. In other words, it will lead to an increase in the number of people who have the skills (abilities) to perform microsurgery. Furthermore, by expanding the capabilities of the operator when performing microsurgery, it is possible to extend the working life of people who have the skills (abilities) to perform microsurgery.

[0010] (2) From the perspective of reducing the physical and mental burden on the surgeon when performing microsurgery. The reduction of burden may include, for example, enabling the surgeon to operate the forceps smoothly at all times during microsurgery. If the forceps can be operated smoothly at all times, it will lead to a reduction in the time required for microsurgery. Furthermore, the reduction of burden may also include, for example, enabling the surgeon to perform microsurgery in a natural posture regardless of the surgeon's physique. Enabling the surgeon to perform microsurgery in a natural posture regardless of the surgeon's physique will lead to an increase in the number of people who possess the skills (ability) to perform microsurgery.

[0011] (3) The ability to handle a variety of surgical sites (treatment sites) in which microsurgery is performed. In conventional microsurgery, where the surgeon holds forceps in their hand, there is a problem that the surgeon may be forced into an uncomfortable posture depending on the location or orientation of the surgical site (treatment site). If this problem is resolved, the range of application for microsurgery will expand. In other words, it will lead to an increase in opportunities for patients to receive microsurgery, as well as a reduction in the burden on surgeons.

[0012] Based on the above, one of the objectives of this disclosure may be to realize a microsurgery support robot system that can appropriately assist in the performance of microsurgery.

[0013] To achieve at least one of the above objectives, the features that this disclosure may have may include, for example, the following: One of the features of this disclosure is a microsurgery-assisted robot system (first microsurgery-assisted robot system). The microsurgery-assisted robot system has a main console and a robot cart. The main console has a main controller and a display. The robot cart has robotic forceps and a microscope video camera. The display shows images or videos captured by the microscope video camera. The position and orientation of the robotic forceps reflect the operator's operation of the main controller. The main controller has an M1 axis arm section, an M2 axis arm section, an M3 axis arm section, an M4 axis arm section, an M5 axis arm section, and an M6 axis arm section. The M1 axis arm section is rotatable around the M1 axis. The M2 axis arm section is supported by the M1 axis arm section via an M1-M2 arm joint and is rotatable around the M2 axis using the M1-M2 arm joint. The M3 axis arm portion is supported by the M2 axis arm portion via the M2-M3 arm joint and is rotatable around the M3 axis using the M2-M3 arm joint. The M4 axis arm portion is supported by the M3 axis arm portion via the M3-M4 arm joint and is rotatable around the M4 axis using the M3-M4 arm joint. The M5 axis arm portion is supported by the M4 axis arm portion via the M4-M5 arm joint and is rotatable around the M5 axis using the M4-M5 arm joint. The M6 ​​axis arm portion is supported by the M5 axis arm portion via the M5-M6 arm joint and is rotatable around the M6 ​​axis using the M5-M6 arm joint. The M6 ​​axis arm portion is a grip portion for the operator to grasp and operate. When the main controller is in its initial position, the position of the M3-M4 arm joint as seen from the grip portion is diagonally upward.

[0014] To achieve at least one of the above objectives, the features that this disclosure may have may include, for example, the following: One of the features of this disclosure is a microsurgery-assisted robotic system (second microsurgery-assisted robotic system). The microsurgery-assisted robotic system has a main console and a robot cart. The main console has a main controller and a display. The robot cart has robotic forceps and a microscope video camera. The display shows images or videos captured by the microscope video camera. The position and orientation of the robotic forceps reflect the operator's operation of the main controller. The main console further has an armrest, a motorized lifter for the display, and a lifter frame. The armrest is a platform on which the operator rests their arm. The motorized lifter for the display moves the display vertically. The lifter frame electrically moves the main controller and the armrest vertically. The armrest is movable in the forward and backward direction between the operator and the display.

[0015] To achieve at least one of the above objectives, the features that this disclosure may have may include, for example, the following: One of the features of this disclosure is a microsurgery-assisted robot system (third microsurgery-assisted robot system). The microsurgery-assisted robot system has a main console and a robot cart. The main console has a main controller and a display. The robot cart has robotic forceps and a microscope video camera. The display shows images or videos captured by the microscope video camera. The position and orientation of the robotic forceps reflect the operator's operation to the main controller. The robot cart further has a robot cart base, a robot cart lifter, an S1 rotary axis unit, a robot upper unit body, an extension arm, an S3 rotary axis unit, a positioning arm, a camera arm, and a parallel link robot. The robot cart lifter is supported by the robot cart base and moves the robot upper unit body and the extension arm in the vertical direction. The S1 rotary axis unit rotates the robot upper unit body and the extension arm in the horizontal plane around the S1 rotary axis. The extension arm is connected to the robot upper unit body at its base and is extendable and retractable along the S2 translation axis. The orientation of the S2 translation axis in the horizontal plane changes as the robot upper unit body rotates around the S1 rotation axis. The S3 rotation axis unit is located near the tip of the extension arm and rotates the positioning arm, the camera arm, and the parallel link robot around the S3 rotation axis. The robot forceps are attached to the tip of the parallel link robot. The parallel link robot is attached to the tip of the positioning arm. The microscope video camera is attached to the camera arm.

[0016] To achieve at least one of the above objectives, the features that this disclosure may have may include, for example, the following: One of the features of this disclosure is a microsurgery-assisted robotic system (a fourth microsurgery-assisted robotic system). The microsurgery-assisted robotic system has a main console and a robot cart. The main console has a main controller and a display. The robot cart has robotic forceps and a microscope video camera. The display shows images or videos captured by the microscope video camera. The position and orientation of the robotic forceps reflect the operator's operation to the main controller. The robot cart further has a parallel link robot. The parallel link robot has an end actuator. The end actuator is to which the robotic forceps are attached and can rotate the robotic forceps. The end actuator incorporates a donut-shaped cylinder tube. The donut-shaped cylinder tube incorporates an arc-moving piston section, and both sides of the arc-moving piston section are filled with liquid. The position of the arc-moving piston portion within the donut-shaped cylinder tube is determined based on the hydraulic pressure applied by the liquid. The tip actuator further incorporates a forward magnet holder. Due to the magnetic field coupling between the forward magnet holder and the arc-moving piston portion, the position of the forward magnet holder changes in accordance with the change in the position of the arc-moving piston portion within the donut-shaped cylinder tube. The angle of the roll component of the robot forceps relative to the tip actuator is determined by the position of the forward magnet holder.

[0017] The first microsurgery support robot system described above incorporates a clever arrangement of the rotation axis of the main controller. As a result, the singularity that makes it difficult for the surgeon to operate the main controller is less likely to occur in the first microsurgery support robot system described above. Thus, while ensuring the effect described in (1) above, "from the perspective of expanding the capabilities of the surgeon when performing microsurgery while maintaining the same feel of use as when the surgeon conventionally performed microsurgery with forceps in their hand," the effect described in (2) above, "from the perspective of reducing the physical and mental burden on the surgeon when performing microsurgery," is also ensured.

[0018] The second microsurgery support robot system described above is designed to allow adjustment of the display, main controller, and armrest positions. Therefore, despite differences in physique and other factors among surgeons, the second microsurgery support robot system described above can provide an environment that reduces the burden on individual surgeons. Thus, it is possible to ensure the effects described in (1) above, "from the perspective of expanding the capabilities of surgeons when performing microsurgery while maintaining the same feel of use as when surgeons traditionally performed microsurgery with forceps in their hands," while also ensuring the effects described in (2) above, "from the perspective of reducing the physical and mental burden on surgeons when performing microsurgery."

[0019] The third microsurgery support robot system described above is designed to allow adjustment of the positioning arm, camera arm, and parallel link robot's position and orientation. Therefore, the positioning arm, camera arm, and parallel link robot can be positioned according to the position and orientation of the surgical site (treatment area) on the patient undergoing microsurgery, allowing the surgeon to perform microsurgery in a comfortable posture at the main console. Thus, while ensuring the effects described in (1) above, "from the perspective of expanding the surgeon's ability to perform microsurgery while maintaining the same feel of use as conventional microsurgery performed with forceps in the surgeon's hand," the effects described in (2) above, "from the perspective of reducing the physical and mental burden on the surgeon when performing microsurgery," and the effects described in (3) above, "from the perspective of being able to handle various types of surgical sites (treatment areas) on which microsurgery is performed," are also ensured.

[0020] The fourth microsurgery support robot system described above incorporates a mechanism for realizing the rotational movement of the roll component of the robotic forceps. As a result, it can achieve good behavior in terms of both accuracy and responsiveness in the rotational movement of the roll component of the robotic forceps in response to the operator's operation of the main controller. Thus, it can ensure the effects described in (1) above, "from the perspective of expanding the operator's ability to perform microsurgery while maintaining the same feel of use as when the operator traditionally performed microsurgery with forceps in their hand," while also ensuring the effects described in (2) above, "from the perspective of reducing the physical and mental burden on the operator when performing microsurgery."

[0021] Based on the above, this disclosure enables the realization of a microsurgery support robot system that can appropriately assist in the performance of microsurgery.

[0022] Any other features that this disclosure may possess, and the effects corresponding to such features, are disclosed in this specification, claims, or drawings.

[0023] This shows an overview of the microsurgery support robot system. This shows an overview of the main console (MC). This shows an overview of the main console (MC). This shows an overview of the three-dimensional display (3D display) and its surroundings. This shows an overview of the three-dimensional display (3D display) and its surroundings. This shows an overview of the three-dimensional display (3D display) and its surroundings. This shows an overview of the three-dimensional display (3D display) and its surroundings. This shows an overview of the three-dimensional display (3D display) and its surroundings. This shows an overview of the main controller (master manipulator). This shows an overview of the main controller (master manipulator). This shows an overview of the main controller (master manipulator). This shows an overview of the main controller (master manipulator). This shows an overview of the main controller (master manipulator). This shows an overview of the main controller (master manipulator). This shows an overview of the armrest (hand rest). This shows an overview of the armrest (hand rest). This shows an overview of the main console frame. This shows an overview of the main console frame. An overview of the handrail is shown. An overview of the foot switch unit, etc. An overview of the foot switch unit is shown. An overview of the robot cart (RC) is shown. An overview of the robot cart (RC) is shown. An overview of the robot cart (RC) is shown. An overview of the robot cart (RC) is shown. An overview of the robot cart (RC) is shown. An overview of the robot cart base with cart controller is shown. An overview of the robot cart base with cart controller is shown. An overview of the robot cart base with cart controller is shown. An overview of the robot cart base with cart controller is shown. An overview of the robot upper unit body and extension arm, etc. An overview of the positioning arm is shown. An overview of the positioning arm is shown. An overview of the parallel link robot is shown. An overview of the parallel link robot is shown. An overview of the parallel link robot is shown. An overview of the parallel link robot is shown. An overview of the donut-shaped cylinder tube and arc-moving piston section is shown. An overview of the arc-moving piston section, magnet holder and planetary gear is shown. This shows an overview of the arc-moving piston section, magnet holder, and planetary gear.This document provides an overview of the planetary gear, internal gear, and sun gear. It also shows an overview of the camera arm, control handle, and vision cart (VC). The control flow for the positioning arm and parallel link robot is shown. Finally, it explains the yaw, pitch, and roll components.

[0024] Embodiments of this disclosure will be described in detail below with reference to the drawings. The embodiments described below are not intended to limit the scope of the claims. Furthermore, not all elements and combinations thereof described in the embodiments are necessarily essential to the solutions of this disclosure. Drawings with the same reference numerals refer to the same elements.

[0025] 1. Overall Overview of the Microsurgery Assist Robot System (Figure 1) Figure 1 shows the overall configuration of the Micro Surgery Assist Robot System 101. Note that not all configurations shown in Figure 1 or any other figure are necessarily required. Furthermore, it is not prohibited for configurations other than those shown in the figures to exist. As shown in Figure 1, the Microsurgery Assist Robot System 101 may have a Main Console 201 (MC), a Robot Cart 2301 (RC), and a Vision Cart 4601 (XC). The Main Console 201 (MC) and the Vision Cart 4601 (VC) may be connected to enable mutual communication via an MC-VC system cable 151. The Robot Cart 2301 (RC) and the Vision Cart 4601 (VC) may be connected to enable mutual communication via a VC-RC system cable 152. Furthermore, the main console 201 (MC) and the robot cart 2301 (RC) may also be connected to enable mutual communication via an MC-RC system cable. As shown in Figure 1, the main console 201 (MC) may be connected to an MC power cable 102 and an MC-VC system cable 151. The robot cart 2301 (RC) may be connected to an RC power cable 123 and a VC-RC system cable 152. The vision cart 4601 (VC) may be connected to a VC power cable 146, a VC-RC system cable 152, and an MC-VC system cable 151.

[0026] The main console 201 (MC), robot cart 2301 (RC), and vision cart 4601 (VC) may be located in the same room. Alternatively, one of the main console 201 (MC), robot cart 2301 (RC), or vision cart 4601 (RC) may be located in a different location or a remote location. Note that Figure 1 does not show the actual arrangement (layout) of the main console 201 (MC), robot cart 2301 (RC), and vision cart 4601 (VC) in the location (room) where microsurgery is performed, but rather is intended to illustrate each of the devices included in the microsurgery support robot system 101.

[0027] The protection class classification for each device included in the microsurgery support robot system 101 (main console 201 (MC), robot cart 2301 (RC), and vision cart 4601 (VC)) may be "Class I equipment". The classification of applied parts for each device included in the microsurgery support robot system 101 (MC, RC, and VC) may be "CF type applied part" in terms of the degree of protection for preventing electric shock due to leakage current. The classification of the degree of protection for the foot switch unit 2101 included in the main console 201 (MC) against harmful ingress of water may be "IPX6" as defined by the International Protection Standard (IP standard). The electrical ratings for each device included in the microsurgery support robot system 101 (MC, RC, and VC) may be as follows: For the main console 201 (MC), the voltage may be 100V, the frequency may be 50Hz or 60Hz, and the power capacity may be 1000VA. For the robot cart 2301(RC), the voltage may be 100V, the frequency 50Hz or 60Hz, and the power capacity 1500VA. The battery operating time for the robot cart 2301(RC) may be 5 minutes or more. By setting the battery operating time for the robot cart 2301(RC), even if an unforeseen event occurs such as an interruption or disruption of the AC power supply to the robot cart 2301(RC), the safety of the actions performed by the robot cart 2301(RC) on the patient can be guaranteed. For the vision cart 4601(VC), the voltage may be 100V, the frequency 50Hz or 60Hz, and the power capacity 1000VA.

[0028] 2. Main Console (MC) 20. Overview of the Main Console (MC) (Figures 2, 3, 4) Figure 2 shows an overview of the main console 201 (MC). Figure 2 is also a diagram for the following explanation. Figure 3 shows an overview of the main console 201 (MC). Figure 4 shows an overview of the main console (MC). Figures 3 and 4 show the operator seated in front of the main controller 1001 (master manipulator) of the main console 201 (MC). Figures 3 and 4 show an overview of the main console 201 (MC) and the operator viewed from above and diagonally behind. Figure 3 shows the case where the size of the three-dimensional display 501 (3D display) is 55 inches. (In the drawing, the reference number of the three-dimensional display 501 (3D display) with a screen size of 55 inches is 501A.) Figure 4 shows the case where the size of the three-dimensional display 501 (3D display) is 31 inches to 32 inches. (In the drawings, the reference number for the three-dimensional display 501 (3D display), which has a screen size of 31 to 32 inches, is 501B.)

[0029] As shown in Figure 2, the main console 201 (MC) may include a three-dimensional display 501 (3D display), a main controller 1001 (master manipulator), an armrest 1701 (hand rest), a main console frame 1801, a display frame 502, a lifter frame 1601, a handrail 2001, and a foot switch unit 2101.

[0030] The three-dimensional display 501 (3D display) shows two-dimensional or three-dimensional images captured by the microscope video camera 4411 included in the robot cart 2301 (RC). Since the microscope video camera 4411 included in the robot cart 2301 (RC) and the three-dimensional display 501 (3D display) are separate, the degree of freedom in the positional relationship between the subject to surgery (or surgical area, etc.) and the parallel link robot 3501 and positioning arm 3301 included in the robot cart 2301 (RC) is increased, and regardless of the positional relationship, the surgeon can perform surgery with the microsurgery support robot system 101 in a comfortable posture. In addition, if the main console 201 (MC) is placed in the room where the microsurgery is performed, the surgeon can take their eyes off the three-dimensional display 501 (3D display) and grasp the situation of the entire room where the microsurgery is performed. Furthermore, since the screen of the three-dimensional display 501 (3D display) can be viewed by persons other than the surgeon, assistants other than the primary surgeon in microsurgery, or those receiving medical training, can also view the screen of the three-dimensional display 501 to understand the situation and gain knowledge. (Alternatively, the same can be done using the monitor 4613 of the vision cart 4601 (VC) (see Figure 46) described later.) The resolution of the screen of the three-dimensional display 501 (3D display) may be, for example, 4K (3840 x 2160 pixels, or a similar resolution) or 8K (7680 x 4320 pixels, or a similar resolution). A screen with a resolution of this level or higher is sufficient for use in microsurgery using images from the microscope video camera 4411. The surgeon may, for example, view the screen of the three-dimensional display 501 (3D display) through polarizing glasses to view a stereoscopic three-dimensional image. By enabling the surgeon to understand the depth of the object (or surgical area, etc.) being operated on, the surgeon can perform more accurate surgery.The three-dimensional display 501 (3D display) can be adjusted vertically by an electric display lifter 503 located below it. Since the vertical position (and tilt rotation position) of the three-dimensional display 501 (3D display) can be adjusted, the three-dimensional display 501 (3D display) can be adjusted to a position suitable for the operator, regardless of the operator's physique.

[0031] The main controller 1001 (master manipulator) receives input from the operator and reflects the content of that input in the operation of the parallel link robot 3501 and positioning arm 3301 included in the robot cart 2301 (RC). The operator operates the main controller 1001 by pinching the grip part with their fingers. As shown in Figures 2, 3, and 4, the main controller 1001 (master manipulator) has a part that the operator moves with their right hand and a part that the operator moves with their left hand. Both parts of the main controller 1001 (master manipulator) are designed to stand up from the bottom, so as not to obstruct the operator's line of sight from their eyes to the three-dimensional display 501 (3D display). When the operator operates the grip portion of the main controller 1001 (master manipulator) with their fingers, the rotation sensors (of the arm joints) corresponding to each of the six axes of the main controller 1001, consisting of M1 axis 1501, M2 axis 1502, M3 axis 103, M4 axis 1504, M5 axis 1505, and M6 axis 1506, as shown in Figure 15 below, acquire information related to the position and orientation of the grip portion operated by the fingers as angle information. The grip portion of the main controller 1001 (master manipulator) has a sensor (grip holder sensor 1214 in Figure 12 below) for determining whether the operator's fingers are in the grip holder. If the sensor indicates that the operator's fingers are not in the grip holder, the microsurgery support robot system 101 takes safety measures regarding the operation of the parallel link robot 3501 and positioning arm 3301 included in the robot cart 2301 (RC).

[0032] The armrest 1701 (hand rest) is for the operator to rest their arm on. The armrest 1701 (hand rest) helps the operator operate the main controller 1001 (master manipulator) in a comfortable posture. The position of the armrest 1701 (hand rest) can be adjusted in the front-to-back direction (towards or away from the main controller 1001 (master manipulator)) and the up-and-down direction. Since the position of the armrest 1701 (hand rest) can be adjusted in the front-to-back direction and the up-and-down direction, regardless of the operator's physique, the operator can operate the main controller 1001 (master manipulator) and view the three-dimensional display 501 (3D display) in a comfortable posture. In other words, the position of the armrest 1701 (hand rest) can be adjusted so that the relationship between the neutral position (initial position) of the grip of the main controller 1001 (master manipulator) that the operator grasps with their fingers, the position of the armrest 1701 (hand rest), and the position of the operator's body (trunk) becomes natural. In this way, it becomes easier for the operator to operate the grip of the main controller 1001 (master manipulator) according to the range of six degrees of freedom of position and orientation of the robotic forceps 3512 that can be realized by the positioning arm 3301 and parallel link robot 3501 included in the robot cart 2301 (RC). The position of the armrest 1701 (hand rest) can be changed manually in the front-to-back direction. The position of the armrest 1701 (hand rest) can be adjusted electrically in the up-to-down direction. Therefore, regardless of the weight of the armrest 1701 (hand rest), the position of the armrest 1701 (hand rest) can be adjusted with minimal burden on the operator. The armrest 1701 (hand rest) is equipped with an armrest touch panel 1707, various switches, and various buttons, as described later (see Figure 17). By operating the armrest touch panel 1707, various switches, and various buttons on the armrest 1701 (hand rest), the operator can control the main console 201 (MC) or the robot cart 2301 (RC) without leaving their seat in front of the main controller 1001 (master manipulator).

[0033] Below the main console 201 (MC), the main console frame 1801 is located on top of the swivel casters. The display frame 502 and the lifter frame 1601 are also located on top of the main console frame 1801. The foot switch unit 2101 may also be mounted on the main console frame 1801. (The foot switch unit 2101 may be separated from the main console frame 1801.) Swivel casters, which allow the main console 201 to be moved, are located at the bottom of the four corners of the main console frame 1801. The main console frame 1801 also has a lock pedal 1802 for securing the swivel casters. In this way, the arrangement of the main console 201 (MC) can be easily changed.

[0034] The display frame 502, which is mounted on the main console frame 1801, includes an electric display lifter 503, or the electric display lifter 503 is connected to the top of the display frame 502. In other words, the three-dimensional display 501 (3D display) can be electrically moved up and down via the display frame 502.

[0035] The lifter frame 1601, which is mounted on the main console frame 1801, includes a main controller and an electric lifter that also serves as an armrest. In other words, the main controller 1001 (master manipulator) and the armrest 1701 (hand rest) can be electrically moved in conjunction with each other in the vertical direction via the lifter frame 1601.

[0036] A pair of support arms 1602 are attached to the top of the lifter frame 1601. Furthermore, an armrest 1701 (hand rest) is attached to the top of the pair of support arms 1602. As described above, the armrest 1701 (hand rest) can be electrically moved vertically by the action of the lifter frame 1601 (main controller and electric lifter serving as both main controller and armrest). The armrest 1701 (hand rest) can also be manually moved horizontally.

[0037] A pair of main controllers 1001 (master manipulators) are mounted on the top of the lifter frame 1601. Each of the main controllers 1001 (master manipulators) is for the operator's right hand and left hand, respectively. The lifter frame 1601 (main controller and armrest combined electric lifter) allows the pair of main controllers 1001 (master manipulators) to be electrically moved in the vertical direction.

[0038] There are two handrails 2001 on the main console frame 1801. The two handrails 2001 may be positioned approximately symmetrically with respect to a virtual line from the operator to the three-dimensional display 501 (3D display). When changing the position of the main console 201 (MC), a person can easily change the position of the main console 201 (MC) by grasping the handrails 2001 and pulling or pushing the main console 201 (MC).

[0039] In the configuration in which the foot switch unit 2101 is mounted on the main console frame 1801, the foot switch unit 2101 may be movable horizontally electrically or manually (or by foot). The horizontal movement of the foot switch unit 2101 makes it easier for the operator to operate the switches on the foot switch unit 2101 with their feet, regardless of their physical size. The foot switch unit 2101 is a collection of switches and pedals for the operator to operate with their feet. Details of the foot switch unit 2101 will be described later, but by operating the switches and pedals included in the foot switch unit 2101 with their feet, the operator can control various devices included in the main console 201 (MC) or robot cart 2301 (EC) (see Figure 21). In this way, the operator can control various devices included in the main console 201 (MC) or robot cart 2301 (RC) using their feet, enabling simultaneous control of many devices in conjunction with manual operation.

[0040] The range in which the position of the armrest 1701 (hand rest) can be manually adjusted (moved) in the front-to-back direction as viewed from the operator may be, for example, approximately 100 mm or more to approximately 200 mm or less. The range in which the position of the armrest 1701 (hand rest) (and the position of the main controller 1001 (master manipulator)) can be electrically adjusted (moved) in the up-to-down direction may be, for example, approximately 100 mm or more to approximately 200 mm or less. The range in which the position of the three-dimensional display 501 (3D display) can be adjusted (moved) in the up-to-down direction may be, for example, approximately 100 mm or more to approximately 200 mm or less. The range in which the position of the foot switch unit 2101 can be adjusted (moved) in the front-to-back direction as viewed from the operator may be, for example, approximately 100 mm or more to approximately 150 mm or less. If this range of adjustment (movement) is secured, it becomes possible to make adjustments that can absorb differences in the physical build of operators (for example, differences in arm length, height, and sitting height), and it is possible to accommodate more than 90% of the group of operators that are expected to be used, regardless of gender.

[0041] 2.1. Three-Dimensional Display (3D Display) and its Surroundings (Figures 5, 6, 7, 8, 9) Figure 5 shows an overview of the configuration of the three-dimensional display 501 (3D display) and its surroundings, which are included in the main console 201 (MC). As shown in Figure 5, the main console frame 1801 and the display frame 502 (electric display lifter 503) are interconnected, the display frame 502 (electric display lifter 503) and the manual adjustment clamp 504 are interconnected, and the manual adjustment clamp 504 and the three-dimensional display 501 (3D display) are interconnected. The display frame 502 (electric display lifter 503) is used to adjust the vertical position (height) of the three-dimensional display 501 (3D display) to match the height of the operator's line of sight. The display frame 502 (electric display lifter 503) can be controlled by the operator operating the level adjustment switch 1704 on the armrest 1701 (hand rest), as described below (see Figure 17). The display frame 502 (electric display lifter 503) may use a motor. By using the display frame 502 (electric display lifter 503), even if the three-dimensional display 501 (3D display) is heavy, the vertical position (height) of the three-dimensional display 501 (3D display) can be adjusted without putting a burden on the operator.

[0042] The manual adjustment clamp 504 allows rotation of the vertical (pitch) component and the horizontal (yaw) component of the three-dimensional display 501 (3D display), and is a manual clamp for adjusting the orientation (tilt) in these directions. The operator may manually adjust the orientation (angle) of the vertical (pitch) component and the orientation (angle) of the horizontal (yaw) component of the three-dimensional display 501 (3D display), and then fix the adjusted angle by operating the manual adjustment clamp 504. The type of fixing device is arbitrary, but it may be fixed by screws, for example, or by other devices. In this way, the orientation (angle) of the vertical (pitch) component and the orientation (angle) of the horizontal (yaw) component of the three-dimensional display 501 (3D display) can be adjusted, so it is possible to position the three-dimensional display 501 (3D display) to suit the operator's physique and line of sight, as well as the operator's posture habits. Furthermore, if the width of the screen size of the three-dimensional display 501 (3D display) is greater than the width of the main console frame 1801 (as seen from the operator's perspective), the manual adjustment clamp 504 can also be used to temporarily tilt the orientation of the three-dimensional display 501 (3D display) to prevent it from hitting other objects when changing the position of the main console 201 (MC).

[0043] On the surface of the main console frame 1801, including the point where the display frame 502 (motorized display lifter 503) and the main console frame 1801 are connected, the position of the display frame 502 (motorized display lifter 503) (position in the distance direction as viewed from the operator) has a certain degree of freedom. On the other hand, for example, when an operator views a three-dimensional display 501 (3D display) through polarized glasses and sees a stereoscopic three-dimensional image, it is desirable to suppress the crosstalk rate (crosstalk ratio) in which the image intended for one eye is also seen by the other eye, between the field of view of the operator's right eye and the field of view of the left eye. For example, in order to keep the crosstalk rate below 7 percent, there is a minimum distance that must be maintained between the three-dimensional display 501 (3D display) and the operator's eyes, depending on the screen size of the three-dimensional display 501 (3D display). For example, to keep the crosstalk rate below 7 percent, if the screen size of the 3D display 501 is 55 inches, the minimum distance that must be maintained between the 3D display 501 and the operator's eye, as distance 711A (see Figure 7), is 1200 mm or more at the center of the display. Also, to keep the crosstalk rate below 7 percent, if the screen size of the 3D display 501 is 31 to 32 inches, the minimum distance that must be maintained between the 3D display 501 and the operator's eye, as distance 711B (see Figure 9), is 775 mm. To address this, the main console 201 (MC) may be set to ensure a distance of 1323 mm or more between the three-dimensional display 501 (3D display) and the operator's eyes, as 711A (see Figure 7). Furthermore, the main console 201 (MC) may be set to ensure a distance of 1157 mm or more between the three-dimensional display 501 (3D display) and the operator's eyes, as 711B (see Figure 9), when the three-dimensional display 501 (3D display) has a screen size of 31 to 32 inches.With this setup, when the operator views the three-dimensional display 501 (3D display) through polarized glasses and sees a stereoscopic three-dimensional image, the operator does not need to practically perceive crosstalk. Therefore, the mounting position of the display frame 502 (electric display lifter 503) to the main console frame 1801 may be adjustable according to the screen size of the three-dimensional display 501 (3D display). In order to make the mounting position of the display frame 502 (electric display lifter 503) to the main console frame 1801 adjustable, for example, there may be multiple types of plate-shaped parts that cover the upper surface of the main console frame 1801, including the part where the electric display lifter 503 and the main console frame 1801 are connected, and by attaching these parts to the main console frame 1801, a mounting position of the three-dimensional display 501 (3D display) suitable for the screen size of the three-dimensional display 501 (3D display) may be realized. In this way, it is possible to prevent crosstalk while achieving a mounting position for the three-dimensional display 501 (3D display) that is suitable for the screen size of the three-dimensional display 501 (3D display).

[0044] Figure 6 shows an overview of the three-dimensional display 501 (3D display) and its surroundings. Figure 7 shows an overview of the three-dimensional display 501 (3D display) and its surroundings. Figures 6 and 7 show a case where a screen size of 55 inches (55-inch type) is used as the three-dimensional display 501 (3D display). Among these, Figure 6 shows an overview of the main console 201 (MC) and the operator seen from directly above. Figure 7 shows an overview of the main console 201 (MC) and the operator seen from directly sideways (from the left side as seen by the operator). Figure 8 shows an overview of the three-dimensional display (3D display) and its surroundings. Figure 9 shows an overview of the three-dimensional display (3D display) and its surroundings. Figures 8 and 9 show a case where a screen size of 31 inches to 32 inches (31 - 32-inch type) is used as the three-dimensional display 501 (3D display). Among these, Figure 8 shows an overview of the main console 201 (MC) and the operator seen from directly above. Figure 9 shows an overview of the main console 201 (MC) and the operator seen from directly sideways (from the left side as seen by the operator). As is clear from comparing Figures 6, 7, 8, and 9, depending on the different screen sizes of the three-dimensional display 501 (D display), the attachment positions of the display frame 502 (electric lifter 503 for display) to the main console frame 1801 can be made different.

[0045] 2.2. Main Controller (Master Manipulator) (Figures 10, 11, 12, 13, 14, 15) Figure 10 shows an overview of the configuration of the main controller 1001 (master manipulator) included in the main console 201 (MC). Similarly, Figure 11 shows an overview of the configuration of the main controller 1001 (master manipulator). Figure 12 shows an overview of the configuration of the main controller 1001 (master manipulator). Note that in Figures 10, 11, and 12, only the main controller 1001 (master manipulator) is shown, but the main controller 1001 (master manipulator) is connected to a lifter frame 1601 (not shown) located below the main controller 1001 (master manipulator). Figure 10 shows an overview of the entire main controller 1001 (master manipulator), Figure 11 shows an overview of only the part of the main controller 1001 (master manipulator) near the grip, and Figure 12 shows a detailed appearance of only the grip. The main controller 1001 (master manipulator) shown in Figures 10 and 11 is operated by the operator with the fingers of their right hand. Separately, there is another main controller 1001 (master manipulator) that is operated by the operator with the fingers of their left hand, and it has a shape that is symmetrical to the one shown in Figures 10 and 11. The main controller 1001 (master manipulator) shown in Figures 13, 14, and 15 is operated by the operator with the fingers of their left hand. Figure 13 shows an overview of the main controller 1001 (master manipulator) viewed from directly above. Figure 14 shows an overview of the main controller 1001 (master manipulator) viewed from the front, from the operator's side. Figure 15 shows an overview of the main controller 1001 (master manipulator), which includes six axes. Figure 15 shows the six axes (M1 axis 1501, M2 axis 1502, M3 axis 1503, M4 axis 1504, M5 axis 1505, and M6 axis 1506) of the main controller 1001 (master manipulator), which are formed by six joints (axis arms).

[0046] The surgeon grasps the grip portion (which is also the M6 ​​axis arm portion 1201) included in the main controller 1001 (master manipulator) with their fingers, and instructs the position and orientation of the robotic forceps 3512 (included in the robotic cart 2301 (RC)) in the space where the object being operated on (or the surgical site, etc.) is located, in terms of its six degrees of freedom (three degrees of freedom due to the translational components X, Y, and Z, and three degrees of freedom due to the yaw, pitch, and roll components). Meanwhile, as shown in Figure 15, the main controller 1001 (master manipulator) has six degrees of freedom due to its six joints (axis arm portion). Therefore, angular information about the six degrees of freedom of the main controller 1001 (master manipulator) can be obtained in response to the surgeon's operation of the grip portion (which is also the M6 ​​axis arm portion 1201). (Of the six axes consisting of M1 axis 1501, M2 axis 1502, M3 axis 1503, M4 axis 1504, M5 axis 1505, and M6 axis 1506 described below, the position information of the three degrees of freedom in the translational direction of the grip portion is easily reflected in M1 axis 1501, M2 axis 1502, and M3 axis 1503.) The angle information for the six degrees of freedom detected by the main controller 1001 (master manipulator) is converted, thereby providing instruction information for the position and orientation of the robotic forceps 3512 in the six degrees of freedom indicated by the operator's operation of the grip portion (which is also the M6 ​​axis arm portion 1201). The instruction information for the position and orientation of the six degrees of freedom of the robotic forceps 3512 is transmitted to the robotic cart 2301 (RC) after appropriate information processing as shown in Figure 47 described later, and is reflected in the control of the robotic forceps 3512.

[0047] As shown in Figure 10, the main controller 1001 (master manipulator) has six axis arms to realize six degrees of freedom. In other words, the main controller 1001 (master manipulator) has M1 axis arm 1011, M2 axis arm 1012, M3 axis arm 1013, M4 axis arm 1014, M5 axis arm 1015, and M6 axis arm 1201 to realize rotation in each of the six axes: M1 axis 1501, M2 axis 1502, M3 axis 1503, M4 axis 1504, M5 axis 1505, and M6 axis 1506 (see Figure 15). The M1 axis arm 1011 is rotatable around the vertical M1 axis and has an M1 axis rotation sensor. The M1 axis rotation sensor acquires angle information of the M1 axis arm 1011 on the M1 axis. Furthermore, the M1 axis arm portion 1011 supports the M2 axis arm portion 1012 via the M1-M2 arm joint. An M2 axis rotation sensor is present attached to the M1-M2 arm joint. The M2 axis rotation sensor may be present on either the M1 axis arm portion 1011 or the M2 axis arm portion 1012. The M2 axis arm portion 1012 is rotatable around the M2 axis using the M1-M2 arm joint. The M2 axis rotation sensor acquires angle information of the M2 axis arm portion 1012 on the M2 axis. In addition, the M2 axis arm portion 1012 supports the M3 axis arm portion 1013 via the M2-M3 arm joint. An M3 axis rotation sensor is present attached to the M2-M3 arm joint. The M3 axis rotation sensor may be present on either the M2 axis arm portion 1012 or the M3 axis arm portion 1013. The M3 axis arm portion 1013 is rotatable around the M3 axis using the M2-M3 arm joint. The M3 axis rotation sensor acquires angle information of the M3 axis arm portion 1013 on the M3 axis. The M3 axis arm portion 1013 also supports the M4 axis arm portion 1014 via the M3-M4 arm joint 1034. An M4 axis rotation sensor is present attached to the M3-M4 arm joint 1034. The M4 axis rotation sensor may be present on either the M3 axis arm portion 1013 or the M4 axis arm portion 1014. The M4 axis arm portion 1014 is rotatable around the M4 axis using the M3-M4 arm joint. The M4 axis rotation sensor acquires angle information of the M4 axis arm portion 1014 on the M4 axis.Still, regarding rotation about the M4 axis, if it is the main controller 1001 (master manipulator) for the operator's right hand, it may be rotatable counterclockwise about 30 degrees from the initial position and clockwise about 120 degrees from the initial position. (If it is for the left hand, the set range of rotation is opposite to that for the right hand.) Also, the M4-axis arm portion 1014 supports the M5-axis arm portion 1015 via the M4-M5 inter-arm joint. A rotation sensor for the M5 axis exists in association with the M4-M5 inter-arm joint. The rotation sensor for the M5 axis may be present in either the M4-axis arm portion 1014 or the M5-axis arm portion 1015. The M5-axis arm portion 1015 is rotatable about the M5 axis using the M4-M5 inter-arm joint. The rotation sensor for the M5 axis acquires the angle information of the M5-axis arm portion 1015 at the M5 axis. Also, the M5-axis arm portion 1015 supports the M6-axis arm portion 1201 via the M5-M6 inter-arm joint. A rotation sensor for the M6 axis exists in association with the M5-M6 inter-arm joint. The rotation sensor for the M6 axis may be present in either the M5-axis arm portion 1015 or the M6-axis arm portion 1201. The M6-axis arm portion 1201 is rotatable about the M6 axis using the M5-M6 inter-arm joint. The rotation sensor for the M6 axis acquires the angle information of the M6-axis arm portion 1201 at the M6 axis. The M6-axis arm portion 1201 is also a grip portion. For example, when the operator pinches the grip portion with a finger and rotates the grip portion, the rotation sensor for the M6 axis detects it as a rotation (change in angle) about the M6 axis.

[0048] Regarding some or all of the above six axes, a motor may be provided. The motor for the axis of the main controller 1001 (master manipulator) can be used for (1) returning the grip portion to the initial position, (2) canceling the influence of gravity by driving the motor so as to perform the operation of the grip portion smoothly (for example, canceling the torque corresponding to the self-weight of the arm portion borne by the motor) regarding the M2 axis to M6 axes, and (3) corresponding to the clutch operation (for controlling the orientation of the grip portion).

[0049] Furthermore, if motors are provided for some or all of the six axes, direct-drive motors may be used. With direct-drive motors, there is no reduction gear (gears) (unlike servo motors with reduction gears), so there is no reduction in accuracy due to backlash. In addition, dead zones in such motors where data such as position information cannot be acquired are prevented. Moreover, such motors may have 12 poles. With such multi-pole motors, cogging torque is reduced and smooth operation is achieved.

[0050] Furthermore, the motor for the M3 axis may be located near the M1 axis arm. The motor for the M3 axis may apply rotational force to the M3 axis via the parallel link 1031. In this way, the configuration of the M2-M3 arm joint can be simplified.

[0051] As shown in Figures 10 and 15, when the grip is in its initial position or close to it, the position of the M3-M4 arm joint 1034 and the orientation of the M4 axis, as viewed from the grip, are diagonally upward. The orientation of the M4 axis at this time may be 45 degrees plus or minus α degrees in terms of the pitch component angle as viewed from the operator (where α is 35 degrees, more preferably 15 degrees). For example, when the grip is in its initial position or close to it, if the position of the M3-M4 arm joint 1034 and the orientation of the M4 axis, as viewed from the grip, are expressed as angles such as 30 degrees, 45 degrees, or 60 degrees relative to the horizontal plane, then it is relatively easy to construct the control program for the main controller 1001 (master manipulator). On the other hand, considering that the shape of the tip of the robotic forceps 3512 is such that the angle when viewed from the longitudinal direction of the robotic forceps 3512 is less than 10 degrees, it can be said that when the grip is in or near its initial position, even if the position of the M3-M4 arm joint 1034 and the orientation of the M4 axis as seen from the grip are about 10 degrees relative to the horizontal plane, it is unlikely that the situation described later will occur during the performance of microsurgery. When the position of the M3-M4 arm joint 1034 and the orientation of the M4 axis as seen from the grip are obliquely upward from the operator's perspective, the orientation of the M4 axis and the orientation of the M6 ​​axis are unlikely to be close together. This is because the situation in which the orientation of the M4 axis and the orientation of the M6 ​​axis are close together means that the operator manipulates the grip with their fingers to make the robotic forceps 3512 face obliquely upward, but in the first place, the situation in which it is necessary to make the robotic forceps 3512 face obliquely upward when performing microsurgery is unlikely to occur. Furthermore, when the orientations of the M4 axis and the M6 ​​axis are close together, the components around the M5 axis (for example, the M4-M5 arm joint or the motor for the M5 axis) may move due to the effect of gravity, which may force the grip to move in a predetermined manner, making it difficult for the grip to move as intended by the operator. Also, when the orientations of the M4 axis and the M6 ​​axis are close together, operations to move the grip closer to the M4-M5 arm joint or away from the M4-M5 arm joint may be hindered.In contrast, as shown in Figures 10 and 15, in the embodiments of this disclosure, when the grip portion is in its initial position or close to the initial position, the position of the M3-M4 arm joint 1034 and the orientation of the M4 axis, as seen from the grip portion, are diagonally upward. Therefore, within the range in which the operator normally uses the main controller 1001 (master manipulator), singularities that make it difficult to operate the grip portion due to the orientation of any two of the six axes of the main controller 1001 (master manipulator) being close together are unlikely to occur. Thus, within the range in which the operator normally uses the main controller 1001 (master manipulator), singularities do not appear, and the operator can operate the grip portion smoothly. Furthermore, the range in which the operator normally uses the main controller 1001 (master manipulator) (the range in which precise operation of the robotic forceps 3512 is required) may be assumed to be, for example, a range of 0 to -90 degrees for the yaw component angle (from the front direction of the operator's body (0 degrees) to a direction rotated 90 degrees inward from that front direction (-90 degrees)) and a range of 0 to -90 degrees for the pitch component angle (from the front direction of the operator's body (0 degrees) to a direction rotated 90 degrees downward from that front direction (-90 degrees)). (The roll component angle may be assumed to be plus or minus 180 degrees.) Furthermore, while minimizing the occurrence of the aforementioned singularities, the number of axes in the main controller 1001 (master manipulator) remains at six (corresponding to the six degrees of freedom of the robot forceps 3512), making it as simple as possible. Therefore, for example, by adding extra axes to the main controller 1001 (master manipulator) to minimize the occurrence of singularities, it is possible to avoid increasing the amount of hardware (which leads to increased costs and reduced operability and operational precision), and to avoid the disruption of smooth operation of the grip due to fluctuations in the load on the fingertips gripping the grip caused by motor drive on the extra axes.

[0052] As shown in Figures 11 and 12, at the end of the grip section, which is also the M6 ​​axis arm section 1201, there is a flapper 1211, a clutch slide switch 1212, a grip holder 1213, and a grip holder sensor 1214. By operating the flapper 1211 with a finger, the operator can control the opening and closing of the robotic forceps 3512. By operating the clutch slide switch 1212, the operator can control the clutch state, which turns off the linkage between the operation of the grip section by the main controller 1001 (master manipulator) and the operation of each device included in the robotic cart 2301 (RC) (for example, the parallel link robot 3501 and the positioning arm 3301) (on / off control of linkage). The grip holder sensor 1214 detects whether the operator's finger is in the grip holder 1213. As shown in Figure 12, the grip holder sensor 1214 may be a pair consisting of a light-emitting unit 1241 and a light-receiving unit 1242. When visible light or infrared light output from the light-emitting unit 1241 is not detected by the light-receiving unit 1242, it may be treated as if the operator's finger has been detected. While the grip holder sensor 1214 does not detect a finger, safety measures may be taken by the information processing device of the main console 201 (MC) through control. Safety measures may include, for example, measures to prevent changes in the position or orientation of the grip portion of the main controller 1001 (master manipulator) from affecting the operation of each device included in the robot cart 2301 (RC) (e.g., the parallel link robot 3501 and the positioning arm 3301).

[0053] 2-3. Armrest (Figures 16, 17) Figure 16 shows an overview of the configuration of the armrest 1701 (hand rest) included in the main console 201 (MC). Figure 17 shows an overview of the configuration of the armrest 1701 (hand rest). Figure 17 shows details of the buttons or joysticks on the armrest 1701 (hand rest). As shown in Figures 16 and 17, the armrest 1701 (hand rest) is a stand for the surgeon to rest their arm on, and the armrest touch panel 1707 or various switches are installed on it. Therefore, the armrest 1701 (hand rest) helps the surgeon to perform microsurgery in a comfortable position and enables the surgeon to control various devices and parts present in the microsurgery support robot system 101 while positioned in front of the main console 201 (MC).

[0054] The armrest 1701 (hand rest) and the lifter frame 1601 are connected by a pair of support arms 1602. The pair of support arms 1602 support the armrest 1701 (hand rest). The pair of support arms 1602 can move like a pantograph. The pair of support arms 1602 are physically linked by a common mounting component. The pantograph-like movement of the pair of support arms 1602 makes it possible to change the position of the armrest 1701 (hand rest) in the direction (front-to-back direction, horizontal direction) that connects the operator and the three-dimensional display 501 (3D display). Furthermore, because the pair of support arms 1602 move like a pantograph, even if the direction of the force that the operator manually applies to the armrest 1701 (hand rest) is at a slightly oblique angle when viewed from the front-to-back direction (horizontal direction), the position of the armrest 1701 (hand rest) can change smoothly in the front-to-back direction (horizontal direction).

[0055] The vertical position (height) of the lifter frame 1601 can be changed (moved) electrically. Along with the change in the vertical position (height) of the lifter frame 1601, the vertical positions (heights) of the armrest 1701 (hand rest) and the main controller 1001 (master manipulator) are also changed (moved). The mechanism for moving the lifter frame 1601 vertically could, for example, involve providing drive from a motor for the lifter frame to a combination of gears, a rotating shaft, and a screw jack. As shown in Figure 16, the lifter frame 1601 is provided with two main controller mounting ports 1611. Each of these main controller mounting ports 1611 is fitted with a main controller 1001 (master manipulator).

[0056] As shown in Figure 17, the upper surface of the armrest 1701 (hand rest) may be equipped with an armrest power button 1702, an armrest emergency stop button 1703, a level adjustment switch 1704, an extension arm control switch 1706, an armrest touch panel 1707, and an armrest horizontal adjustment lever 1705 (armrest brake release lever). As shown in Figure 17, for example, the armrest power button 1702, armrest emergency stop button 1703, level adjustment switch 1704, and armrest horizontal adjustment lever 1705 may be positioned near the left end of the armrest 1701 (hand rest) as seen from the operator's perspective. More specifically, the armrest power button 1702 may be positioned relatively to the left and in front of the left end of the armrest 1701 (hand rest), the armrest emergency stop button 1703 may be positioned relatively to the left and in the back, the armrest horizontal adjustment lever 1705 may be positioned relatively to the right and in front, and the level adjustment switch 1704 may be positioned relatively to the right and in the back. As shown in Figure 17, for example, the extension arm control switch 1706 may be positioned near the right end of the armrest 1701 (hand rest) from the perspective of the operator.

[0057] The armrest power button 1702 is for turning the system's power on and off. The armrest emergency stop button 1703 is for stopping the system's operation (though not necessarily involving a complete power off). Here, "system" may refer to the entire microsurgery support robot system 101, the main console 201 (MC), or both the main console 201 (MC) and the robot cart 2301 (RC). When stopping the entire or a part of the microsurgery support robot system 101 using the armrest emergency stop button 1703 and the various emergency stop buttons described later, the object being stopped may be, for example, the operation of all or part of the rotational or translational axes. For example, the motor supply current may be cut off for the main controller 1001 (master manipulator), the various lifters of the main console 201 (MC), the parallel link robot 3501, and the camera arm 4401. The brakes may be applied to the horizontal movement of the armrest 1701. The motor supply current may be cut off to the positioning arm 3301, the extension arm 3201, and the electric wheels located at the bottom of the robot cart 2301 (RC), thereby applying brakes to the motor shafts.

[0058] The level adjustment switch 1704 is used to adjust the height of a component whose vertical position (height) can be electrically controlled. Here, the component whose vertical position (height) can be electrically controlled by the level adjustment switch 1704 may be the armrest 1701 (hand rest), the main controller 1001 (master manipulator), and the three-dimensional display 501 (3D display). The vertical position (height) of the armrest 1701 (hand rest) and the vertical position (height) of the main controller 1001 (master manipulator) are controlled in conjunction (controlled by the lifter frame 1601), while the vertical position (height) of the three-dimensional display 501 (3D display) is controlled individually (controlled by the display frame 502). As shown in Figure 17, for example, in the location where the level adjustment switch 1704 is located, the display up / down switch 1742 may be located to the relative left, and the armrest up / down switch 1741 may be located to the relative right, as various switches constituting the level adjustment switch 1704. The display up / down switch 1742 is for controlling the vertical position (height) of the three-dimensional display 501 (3D display). The armrest up / down switch 1741 is for controlling the vertical position (height) of the armrest 1701 (hand rest) and the main controller 1001 (master manipulator). Alternatively, as a modification, the vertical position (height) adjustment by the level adjustment switch 1704 may be performed individually for the armrest 1701 (hand rest), the main controller 1001 (master manipulator), and the three-dimensional display 501 (3D display). In this modified example, the various switches constituting the level adjustment switch 1704 may include, in addition to the display up / down switch 1742 and the armrest up / down switch, a switch for controlling the vertical position (height) of the main controller 1001 (master manipulator).

[0059] The extension arm control switch 1706 is for controlling the movement (position) of the extension arm 3201 included in the robot cart 2301. The extension arm control switch 1706 may consist of an extension arm horizontal position control joystick 1762 (extension XY movement control joystick), an extension arm height control switch 1761 (extension lift operation control switch), and an extension arm tip rotation control switch 1763 (extension tip swing rotation control switch). As shown in Figure 17, for example, the extension arm height control switch 1761 may be positioned relatively to the left and in front of the operator, near the right end of the armrest 1701 (hand rest), the extension arm tip rotation control switch 1763 may be positioned relatively to the left and in the back, and the extension arm horizontal position control joystick 1762 may be positioned relatively to the right and in the back. The extension arm horizontal position control joystick 1762 is used to control the position of the tip of the extension arm on the horizontal plane (the position of the S3 rotation axis 3253 (see Figure 32) described later), and may be a joystick type, for example. In response to the instructions from the operator using the extension arm horizontal position control joystick 1762, the horizontal rotation motor for the S1 rotation axis 3251 (see Figure 32) and the telescopic drive motor for the S2 translation axis 3252 (see Figure 32) are controlled, thereby controlling the angle (position) of the extension arm 3201 around the S1 rotation axis 3251 described later, as well as the movement of the extension arm 3201 along the S2 translation axis 3252 described later (the position of the tip of the extension arm 3201; the position of the S3 rotation axis 3253 described later). The extension arm height control switch 1761 controls the vertical position (height) of the robot upper unit body 3204 and the extension arm 3201. The drive motor of the robot cart lifter 3202 is controlled according to the instructions given by the operator using the extension arm height control switch 1761.The extension arm tip rotation control switch 1763 controls the orientation (angle) of a group of devices suspended near the tip of the extension arm 3201 (for example, two positioning arms 3301, a camera arm 4401, two parallel link robots 3501, and a control handle 4501) around the S3 rotation axis 3253, which will be described later. The horizontal rotation motor for the S3 rotation axis 3253 is controlled according to the instructions given by the operator using the extension arm tip rotation control switch 1763.

[0060] The armrest touch panel 1707 is for configuring the system. Here, "system" may refer to the entire microsurgery support robot system 101, the main console 201 (MC), or both the main console 201 (MC) and the robot cart 2301 (RC). The armrest touch panel 1707 may be designed to allow some or all of the physical buttons, switches, joysticks, etc. present in the microsurgery support robot system 101 to be replaced by software switches on the armrest touch panel 1707. For example, the armrest touch panel 1707 may have a software switch implemented to replace the camera XY direction fine adjustment joystick foot switch 2233 for fine adjustment of the position of the camera XY direction fine adjustment drive unit 4412. The armrest touch panel 1707 may also have a software switch implemented to control the position (tilt on the C1 arc axis 4421) of the microscope video camera 4411 on the C1 arc axis 4421. The armrest touch panel 1707 may be used to input instructions for switching modes for some or all of the devices constituting the microsurgery support robot system 101. The armrest touch panel 1707 may be used to give instructions to realize the initial state in the current mode (for example, including the initial position and orientation of the positioning arm 3301 and the parallel link robot 3501). The armrest touch panel 1707 may be used to display various status information in the microsurgery support robot system 101, or to display various information during self-diagnosis.

[0061] The armrest horizontal adjustment lever 1705 is used by the surgeon to manually change the forward / backward (horizontal) position of the armrest 1701 (hand rest). By operating the armrest horizontal adjustment lever 1705, a lock is set or released that prevents the free movement of the armrest 1701 (hand rest) in the forward / backward (horizontal) direction. The armrest horizontal adjustment lever 1705 may be mechanical. Alternatively, instead of the armrest horizontal adjustment lever 1705, the armrest 1701 (hand rest) may be equipped with an armrest horizontal movement release button that allows the armrest 1701 (hand rest) to be changed (moved) in the forward / backward (horizontal) direction only while the surgeon is pressing it. Normally, while the surgeon is performing microsurgery, the forward / backward (horizontal) movement of the armrest 1701 (hand rest) is prevented (locked).

[0062] 2-4. Main Console Frame (Figures 18, 19) Figure 18 shows an overview of the configuration of the main console frame 1801, which is part of the components included in the main console 201 (MC). Figure 19 shows an overview of the terminals and other components located on the main console rectangular area 1901, which is the surface of the main console frame 1801 that is furthest from the operator.

[0063] As shown in Figure 18, lock pedals 1802 are located on each end (left and right) of the armrest 1701 (hand rest) of the main console frame 1801. When the operator steps on the lock pedal 1802 with their foot, a columnar member is erected between the main console frame 1801 and the ground. This disables the function of the swivel casters attached to the bottom of the main console frame 1801, preventing the position of the main console 201 from changing. When the lock pedal 1802 is returned to its original position, the position (movement) of the main console 201 is permitted.

[0064] As shown in Figure 19, the main console rectangular area 1901, which is the side of the main console frame 1801 furthest from the operator, may contain a main console AC power breaker 1911 (main console AC power breaker), a main console power cord connection part 1912, a main console equipotential terminal connection part 1913, and an MC-VC cable connection part 1914. The main console AC power breaker 1911 (main console AC power breaker) cuts off the power supply from the AC power input to the main console 201 (MC) when it detects a ground fault in the main console 201 (MC). The main console AC power breaker 1911 (main console AC power breaker) is normally in an energized state (ON state). The main console power cord connection part 1912 is to which the power cord for the main console 201 is connected. The main console equipotential terminal connection section 1913 is electrically connected to an equipotential terminal installed in the location where the main console 201 is located (for example, the room where microsurgery is performed). The MC-VC cable connection section 1914 is connected to the MC-VC system cable 151.

[0065] 2.5. Handrails (Figure 20) Figure 20 provides an overview of the handrails 2001, which are part of the configuration included in the main console 201 (MC) and are installed on top of the main console frame 1801. As shown in Figure 20, a pair of handrails 2001 may be located on either side (left and right) of the main controller 1001 (master manipulator) within the main console frame 1801. The handrails 2001 may be integrated with the main console frame 1801 or connected to the main console frame 1801. The operator can change (move) the position of the main console 201 (MC) by grasping the handrails 2001 and pushing or pulling the main console 201 (MC). Such handrails 2001 make it easier to change (move) the position of the main console 201 (MC).

[0066] 2.6. Footswitch Unit (Figures 21, 22) Figure 21 shows an overview of the lower part of the main console 201 (MC) and the footswitch unit 2101. Figure 21 shows an overview of the footswitch unit 2101. Figure 22 shows an example of the arrangement of various switches or pedals in the footswitch unit 2101. (Therefore, the arrangement examples shown in Figures 21 and 22 are not necessarily the same.)

[0067] As shown in Figure 21, the foot switch unit 2101 is positioned so that the operator can reach it with their foot when the operator is in a position to operate the main controller 1001 (master manipulator) (in most cases, when the operator is sitting in a chair next to the main controller 1001 (master manipulator)). The foot switch unit 2101 may be separate from the main console frame 1801, or it may be mounted on the main console frame 1801.

[0068] As shown in Figure 22, the foot switch unit 2101 has various switches or pedals mounted on the foot switch unit base 2201. The various switches or pedals mounted on the foot switch unit base 2201 may include, for example, some or all of the following: various foot switches, various seesaw-type foot pedals, and joystick foot switches. Examples of the various foot switches may include some or all of the following: clutch switch 2202, right-hand locking switch 2241, right-hand disengagement switch 2251, left-hand locking switch 2242, or left-hand disengagement switch 2252. Examples of the various seesaw-type foot pedals may include some or all of the following: camera zoom adjustment pedal 2231, or camera focus adjustment pedal 2232. An example of a joystick foot switch may be a camera XY direction fine adjustment joystick foot switch 2233. As shown in Figure 22, in the foot switch unit 2101, for example, the clutch switch 2202 may be positioned relatively to the left from the operator's perspective, the camera zoom adjustment pedal 2231 (left side) and camera focus adjustment pedal 2232 (right side) may be positioned relatively near the center and in front, the camera XY direction fine adjustment joystick foot switch 2233 may be positioned relatively near the center and in the back, the left hand coagulation switch 2242 (left side) and right hand coagulation switch 2241 (right side) may be positioned relatively to the right and in front, and the left hand incision switch 2252 (left side) and left hand incision switch 2252 (left side) may be positioned relatively to the right and in the back.

[0069] The clutch switch 2202 controls the on / off state of the following mode, which faithfully reflects the operations performed by the operator on the main console 201 (MC) to the various devices included in the robot cart 2301 (RC). The clutch switch 2202 is a two-stage switch. When the following mode is enabled, if the operator lightly presses the clutch switch 2202, the following mode is temporarily disabled. When the operator lightly presses the clutch switch 2202 and the following mode is temporarily disabled, if the operator removes their foot from the clutch switch 2202, the following mode is re-enabled. When the following mode is enabled, if the operator deeply presses the clutch switch 2202, the following mode is permanently disabled. After the following mode has been permanently disabled, even if the operator removes their foot from the clutch switch 2202, the following mode remains disabled. When the following mode is continuously disabled, the following mode is re-enabled when the operator presses the clutch switch 2202 again with their foot. Thus, because the clutch switch 2202 is a two-stage switch, both temporary and continuous disabling of the following mode can be handled by the operator's foot operation on the clutch switch 2202. The difference between the state in following mode and the state when the following mode is released by disengaging the clutch is mainly reflected in the way the situation in the main controller 1001 (master manipulator) is associated with the situation of the robotic forceps 3512 realized by the parallel link robot 3501 and positioning arm 3301. In the state in following mode, the operation of the grip part of the main controller 1001 (master manipulator) is faithfully reflected in the 6 degrees of freedom of the position and orientation of the robotic forceps 3512. The parallel link robot 3501 and positioning arm 3301 are controlled for this purpose. On the other hand, when the following mode is deactivated by disengaging the clutch, the above-mentioned effects do not occur. (The position and orientation of the robotic forceps 3512 do not change.)However, if the orientation of the grip of the main controller 1001 (master manipulator) and the orientation of the robotic forceps 3512 are not the same for the operator when the following mode is released by disengaging the clutch and when the following mode is returned by re-engaging the clutch, it may cause problems for the operator when returning to following mode (the operator may not be able to operate it intuitively). Therefore, when the following mode is released, the position of the three translational degrees of freedom of the grip of the main controller 1001 (master manipulator) can be changed arbitrarily, but the angles of the yaw, pitch, and roll components of the grip of the main controller 1001 (master manipulator) are not changed. Specifically, the motors corresponding to the M4, M5, and M6 axes of the main controller 1001 (master manipulator) are controlled so that the orientation (angle) of the grip is not changed. On the other hand, the M1 axis 1501, M2 axis 1502, and M3 axis 1503 of the main controller 1001 (master manipulator) are not subject to such constraints. Furthermore, the clutch slide switch 1212 located on the grip portion of the main controller 1001 (master manipulator), as shown in Figure 12, may also be operated by the operator's finger to control the switching between the following mode state with the clutch engaged and the following mode release state with the clutch disengaged, as described above.

[0070] When the operator presses the seesaw-type foot pedal, camera zoom adjustment pedal 2231, forward, the zoom of the microscope video camera 4411 included in the robot cart 2301 (RC) increases. When the operator presses the seesaw-type foot pedal, camera zoom adjustment pedal 2231, backward, the zoom of the microscope video camera 4411 decreases. When the operator presses the seesaw-type foot pedal, camera focus adjustment pedal 2232, forward, the focus of the microscope video camera 4411 is set to a distant object (relative to the microscope video camera 4411). When the operator presses the seesaw-type foot pedal, camera focus adjustment pedal 2232, backward, the focus of the microscope video camera 4411 is set to a closer object. In this way, the operator can freely adjust the zoom and focus of the microscope video camera 4411, which sometimes requires fine adjustments, using the two seesaw-type foot pedals, without taking their hands off the main controller 1001 (master manipulator).

[0071] By operating the camera XY direction fine-tuning joystick foot switch 2233, the field of view of the microscope video camera 4411 moves slightly in a two-dimensional plane (the plane that intersects the line connecting the microscope video camera 4411 and the tip of the robotic forceps 3512. Here, the directions of the direction vectors of this plane may be called the X direction and the Y direction. For example, the direction included in the horizontal plane may be called the X direction, and the direction perpendicular to the X direction may be called the Y direction). This makes it possible to display the object being filmed by the microscope video camera 4411 (surgical area, etc.) at a desired position on the screen (often the center of the screen). In this way, the operator can freely adjust the position of the field of view of the microscope video camera 4411, which sometimes requires fine adjustments, using the joystick foot switch, without taking their hands off the main controller 1001 (master manipulator).

[0072] When the surgeon presses the right-hand coagulation switch 2241, the robotic forceps 3512, which corresponds to the right hand, performs a coagulation action. When the surgeon presses the right-hand incision switch 2251, the robotic forceps 3512, which corresponds to the right hand, performs an incision action. When the surgeon presses the left-hand coagulation switch 2242, the robotic forceps 3512, which corresponds to the left hand, performs a coagulation action. When the surgeon presses the left-hand incision switch 2252, the robotic forceps 3512, which corresponds to the left hand, performs an incision action. The above coagulation or incision actions are applied when a dedicated forceps compatible with an electrosurgical unit is used as the robotic forceps 3512. Depending on the manner of change in the output of the high-frequency current flowing through the electrosurgical unit, either a coagulation action or an incision action is performed. In the coagulation action, the proteins of the object (or surgical site, etc.) being operated on are burned and solidified. In the incision action, the proteins of the object (or surgical site, etc.) being operated on are burned away. Thus, if dedicated foot switches exist for coagulation or incision, which are common operations performed with the robotic forceps 3512, it becomes possible to eliminate some of the effort required for the surgeon to operate the main controller 1001 (master manipulator) with their fingers. This makes it possible to delay the accumulation of fatigue in the surgeon's hands during microsurgery.

[0073] 3. Robot Cart (RC) 30. Overview of the Robot Cart (RC) (Figures 23, 24, 25, 26, 27) Figure 23 shows an overview of the robot cart 2301 (RC). Figure 23 is also a diagram for the following explanation. Figure 24 shows an overview of the robot cart 2301 (RC). Figure 25 shows an overview of the robot cart 2301 (RC). Figure 26 shows an overview of the robot cart 2301 (RC). Figure 27 shows an overview of the robot cart 2301 (RC). Figures 24, 25, 26, and 27 show the position of the patient (or surgical area, etc.) to be operated on, placed on an operating table, in front of the robot cart 2301 (RC). Of these figures, Figure 24 shows an overview of the robot cart 2301 (RC) and the patient (or surgical area, etc.) to be operated on, viewed from diagonally in front and above. Figure 25 shows an overview of the robot cart 2301(RC) and the patient (or surgical site, etc.) as viewed from directly above. Figure 26 shows an overview of the robot cart 2301(RC) and the patient (or surgical site, etc.) as viewed from the front of the robot cart 2301(RC) (from the left side as viewed from the patient). Figure 27 shows an overview of the robot cart 2301(RC) and the patient (or surgical site, etc.) as viewed from the left side as viewed from the robot cart 2301(RC) (from the direction of the patient's head).

[0074] As shown in Figure 23, the robot cart 2301 (RC) may have a robot cart base 2801 with a cart controller, a robot cart lifter 3202, a robot upper unit body 3204, an extension arm 3201, two positioning arms 3301, a camera arm 4401, two parallel link robots 3501, and a control handle 4501. As shown in Figure 23, the robot cart base 2801 with a cart controller may be located directly above the mounting surface. The robot cart lifter 3202 may be located on top of the robot cart base 2801 with a cart controller. The robot upper unit body 3204 may be located on top of the robot cart lifter 3202. The extension arm 3201 may be located extending from the side of the robot upper unit body 3204. Two positioning arms 3301, one camera arm 4401, and one control handle 4501 may be present so as to be suspended near the tip of the extension arm 3201. A parallel link robot 3501 may be present at the end of each positioning arm 3301. Of the devices or components that make up the robot cart 2301 (RC), the robot cart base 2801 with cart controller and the robot cart lifter 3202 may be called the robot lower unit. Of the devices or components that make up the robot cart 2301, the robot upper unit body 3204, the extension arm 3201, the two positioning arms 3301, the camera arm 4401, the two parallel link robots 3501, and the control handle 4501 may be called the robot upper unit.

[0075] The robot cart base 2801 with cart controller has wheels attached to its underside. This means that the robot cart 2301 (RC) is mobile. The robot cart base 2801 with cart controller also has switches or buttons installed for controlling the robot cart 2301.

[0076] The robotic cart lifter 3202 changes the vertical position (height) of the robotic upper unit by a motor built into the robotic cart lifter 3202 itself or into the robotic cart base 2801 with cart controller. Through the action of the robotic cart lifter 3202, the vertical position (height) of the two positioning arms 3301, one camera arm 4401, one control handle 4501, and two parallel link robots 3501, which are installed to be suspended near the tip of the extended extension arm 3201, can be adjusted to a position (height) suitable for performing microsurgery.

[0077] The robot upper unit body 3204 can control its own rotation in the horizontal plane (control the angle at which it is positioned in the horizontal plane). The robot upper unit body 3204 can also control the extension and retraction of the extension arm 3201 (control the distance from the robot upper unit body to the tip of the extension arm 3201). Furthermore, the robot upper unit body 3204 can control a group of devices (for example, two positioning arms 3301) suspended near the tip of the extension arm 3201. In addition, the robot upper unit body 3204 can control the rotation of the group of devices suspended near the tip of the extension arm 3201 around the S3 rotation axis 3253 (control the angle at which they are positioned in the horizontal plane).

[0078] The extension arm 3201 can be extended and retracted by control from the robot's upper unit body 3204. The extension and retraction method of the extension arm 3201 may be, for example, a telescopic method. By rotating the robot's upper unit body 3204 in the horizontal plane and extending and retracting the extension arm 3201, the horizontal position and orientation of a group of devices (for example, two positioning arms 3301 and a camera arm 4401) installed to be suspended near the tip of the extended extension arm 3201 can be controlled.

[0079] Each of the positioning arms 3301 can control the position and orientation of the parallel link drive unit 3511, which is the base part of the parallel link robot 3501 attached to the end of the positioning arm 3301.

[0080] Each of the parallel link robots 3501 comprises a base unit, a parallel link drive unit 3511, multiple linear sliders attached to the parallel link drive unit 3511 that can move back and forth in the longitudinal direction of the parallel link drive unit 3511, links attached to one end of each linear slider, an end actuator 3801 (hydraulic rotary actuator) attached to the other end of each link, and a robot forceps 3512 that is detachably attached to the end actuator 3801 (hydraulic rotary actuator). Here, the mechanism consisting of multiple links may be called a parallel link mechanism. The position and orientation of the end actuator 3801 (hydraulic rotary actuator) and the robot forceps 3512 are controlled by the movement of each of the linear sliders included in the parallel link robot 3501 in the longitudinal direction of the parallel link drive unit 3511.

[0081] The camera arm 4401 has a movable microscope video camera 4411. The camera arm 4401 can control the position and orientation of the microscope video camera 4411.

[0082] The control handle 4501 is for a person near the robot cart 2301 (RC) (not necessarily the operator operating the main console 201 (MC)) to control the robot cart lifter 3202 or extension arm 3201. Since a person near the robot cart 2301 can manually control the robot cart lifter 3202 or extension arm 3201 using the control handle 4501, it is possible to adjust the robot cart lifter 3202 or extension arm 3201 based on on-site judgment during microsurgery.

[0083] To reduce the risk of infection at the patient (or surgical site, etc.) undergoing surgery, when performing microsurgery, the extension arm 3201, two positioning arms 3301, camera arm 4401, two parallel link robots 3501, and control handle 4501 are covered by a drape, while the robotic forceps 3512 included in (attached to) the parallel link robot 3501 are exposed from the drape and act on the patient (or surgical site, etc.).

[0084] 3.1. Robot Cart Base with Cart Controller (Figures 28, 29, 30, 31) Figure 28 shows an overview of the configuration of the robot cart base 2801 with a cart controller, which is included in the robot cart 2301 (RC). Figure 29 shows an overview of the robot cart 2301 (RC) viewed from diagonally above and to the rear (opposite side from the target of surgery). Figure 30 shows an overview of the robot cart base 2801 with a cart controller. Figure 31 shows an overview of the robot cart base 2801 with a cart controller. Figures 30 and 31 show an overview of the components, buttons, or terminals located in two rectangular areas (first rectangular area 3001, second rectangular area 3101) on the plane furthest from the target of surgery (or surgical site, etc.) during microsurgery on the robot cart base 2801 with a cart controller (robot lower unit body 2812).

[0085] As shown in Figure 28, the robot cart frame 2811 is located at the very bottom of the robot cart base 2801 with cart controller. The robot cart frame 2811 is the base that supports the entire robot cart 2301 (RC). Wheels are attached to each of the four corners of the bottom surface of the robot cart frame 2811. Of the four wheels attached to the robot cart frame 2811, the two wheels closer to the target of surgery (or surgical site, etc.) can be driven individually by electric motors. The two wheels further away from the target of surgery (or surgical site, etc.) are moved by swivel casters. The robot lower unit body 2812 is located directly above the robot cart frame 2811.

[0086] On the upper surface of the robot's lower unit body 2812, a handle unit 2802 is located on the side furthest from the target of surgery (or surgical site, etc.). The handle unit 2802 itself, or the area surrounding the handle unit 2802, may be called a "cart controller". The handle unit 2802 may have a handle base 2821, a pair of handles 2822 attached to the side of the handle base 2821, a pair of throttles 2823 rotatably mounted on the surface of the handles 2822, and drive switches 2824 at one or both ends of the handles 2822.

[0087] A person in the room where microsurgery is performed (operating room) can change the orientation of the robot cart 2301(RC) by rotating the handle 2822 of the handle unit 2802 in a horizontal plane. By changing the orientation of the robot cart 2301(RC), it is possible to determine the direction of movement of the robot cart 2301(RC). A person in the room where microsurgery is performed can move the robot cart 2301(RC) by pressing the drive switch 2824 and turning the throttle 2823, causing the two electrically driven wheels to rotate. When the throttle 2823 is twisted backward, the robot cart 2301(RC) moves (moves forward) in the direction from the handle unit 2802 towards the center of the robot lower unit body 2812. When the throttle 2823 is twisted forward, the robot cart 2301(RC) moves (moves backward) in the direction from the center of the robot lower unit body 2812 towards the handle unit 2802. The rotational speed of the two electrically driven wheels is controlled according to the amount (angle) of twisting the throttle 2823. The pair of throttles 2823 rotate in conjunction, and the rotational direction and speed of the two electrically driven wheels may be controlled to be the same depending on the amount (angle) of twisting the throttles 2823. Alternatively, the pair of throttles 2823 rotate independently, and the rotational direction and speed of the wheels associated with each throttle 2823 may be controlled individually depending on the amount (angle) of twisting each throttle 2823. The former control method simplifies the configuration of the throttles 2823 and the wheel drive control. The latter control method, while somewhat more complex in terms of the configuration of the throttles 2823 and wheel drive control, allows for the electric rotation of the entire robot cart 2301 (RC) in the horizontal plane through the operation of the throttles 2823.

[0088] On the upper surface of the handle base 2821 are a robot cart power button 2825, a robot cart emergency stop button 2826, and a cart lock button 2827. By operating the robot cart power button 2825, a person in the room where the microsurgery is performed can switch the power of the entire (or part of) microsurgery support robot system 101 between on and off. Alternatively, by operating the robot cart power button 2825, a person in the room where the microsurgery is performed may switch the power of each device (system) included in the robot cart 2301 between on and off. By operating the robot cart emergency stop button 2826, a person in the room where the microsurgery is performed can stop the operation of the entire microsurgery support robot system 101 (for example, the operation of all rotational and translational axes), although this does not necessarily involve turning off the power. Alternatively, a person in the room where the microsurgery is performed may operate the robot cart emergency stop button 2826 to stop the devices (systems) included in the robot cart 2301 (without necessarily having to turn off the power).

[0089] By operating the cart lock button 2827, the operator can switch the lock state of two of the four electrically driven wheels attached to the robot cart 2301 (RC) between on and off. Once the wheels are locked, the position of the robot cart base 2801 with the cart controller of the robot cart 2301 (RC) will not change (move) until the cart lock button 2827 is operated again, thus preventing unintended changes in position (movement).

[0090] As shown in Figure 30, in the robot cart base 2801 with cart controller (the robot lower unit body 2812), the first rectangular area 3001 of two rectangular areas on the plane furthest from the object (or surgical site, etc.) to be operated on during microsurgery may contain buttons and components related to an uninterruptible power supply (UPS) with a built-in battery for the robot cart 2301. The first rectangular area 3001 may contain a UPS power button 3011 and a UPS status indicator 3012. The UPS power button 3011 is for switching between enabling and disabling the uninterruptible power supply (UPS). Normally, the uninterruptible power supply (UPS) is set to the enabled state. It is necessary to ensure the safety of the object (or surgical site, etc.) to be operated on even if the AC power is interrupted or cut off during microsurgery. Therefore, the uninterruptible power supply (UPS) operates so that each device included in the robot cart 2301 (RC) that performs a function that directly acts physically on the object being operated on (or the surgical site, etc.) is supplied with stable power for a certain period of time (the maximum time required to transition to a safe state, for example, 5 minutes) even when the AC power supply is interrupted or cut off. The UPS status indicator 3012 displays information regarding the status of the uninterruptible power supply (UPS) and the remaining amount of power in the UPS battery.

[0091] As shown in Figure 31, in the robot cart base 2801 with cart controller (the robot lower unit body 2812), the second rectangular region 3101 of two rectangular regions on the plane furthest from the subject (or surgical site, etc.) to be operated on during microsurgery may contain a robot cart power cord connection part 3112, a robot cart equipotential terminal connection part 3113, a robot cart AC power breaker 3111 (robot cart AC power breaker), a LAN port 3115, and a VC-RC cable connection part 3114. The robot cart power cord connection part 3112 is connected to the power cord for the robot cart 2301(RC). The robot cart equipotential terminal connection part 3113 is electrically connected to an equipotential terminal installed in the location where the robot cart 2301(RC) is located (for example, the room in which the microsurgery is performed). The robot cart AC power breaker 3111 (robot cart AC power breaker) shuts off the power supply from the AC power input to the robot cart 2301 (RC) when it detects a ground fault in the robot cart 2301 (RC). The robot cart AC power breaker 3111 (robot cart AC power breaker) is normally in an ON state. The LAN port 3115 is connected to the terminal of a LAN cable that enables communication between the equipment used for maintenance and inspection of the robot cart 2301 (RC) and the robot cart 2301 (RC) during maintenance and inspection. The LAN port 3115 is normally not used except during maintenance and inspection. (However, this does not prevent the LAN port 3115 from being used outside of maintenance and inspection for any reason.) The VC-RC cable connection part 3114 is connected to the VC-RC system cable 152.

[0092] 3-2. Robot Cart Lifter, Robot Upper Unit Body, and Extension Arm (Figure 32) Figure 32 shows an overview of the configurations of the robot cart lifter 3202, the robot upper unit body 3204, and the extension arm 3201, which are components included in the robot cart 2301 (RC).

[0093] Control from the main console 201 (MC) can change the vertical position (height) of the robot upper unit body 3204. Control from the main console 201 (MC) can change the orientation (angle) of the robot upper unit body 3204 in the horizontal plane. In other words, the robot upper unit body 3204 can rotate in the horizontal plane. The axis of rotation of the robot upper unit body 3204 may be called the S1 rotation axis 3251. Control from the main console 201 (MC) can extend and retract the extension arm 3201 (S2 translation axis beam section). In other words, the distance from the S1 rotation axis 3251 to the position near the tip of the extension arm 3201 (S2 translation axis beam section) (the position where the positioning arm 3301 etc. is attached) may change. The translation axis including the virtual perpendicular line drawn from the position near the tip of the extension arm 3201 (S2 translation axis beam section) to the S1 rotation axis 3251 may be called the S2 translation axis. Control from the main console 201 (MC) allows the orientation (angle) in the horizontal plane of the group of devices attached near the tip of the extension arm 3201 (S2 translation axis beam section) to change, using a virtually vertical line drawn down from the tip of the extension arm 3201 (S2 translation axis beam section) (this line may be called the S3 rotation axis 3253) as the axis of rotation. In other words, the group of devices attached near the tip of the extension arm 3201 (S2 translation axis beam section) can rotate in the horizontal plane.

[0094] The robot cart lifter 3202 includes a motor for the robot cart lifter built into the robot cart base 2801 with a cart controller, and a lift axis column section 3221 protruding from the upper surface of the robot cart base 2801 with a cart controller. The lift axis column section 3221 is a columnar member that moves vertically when driven by the motor for the robot cart lifter. The motor for the robot cart lifter is controlled from the main console 201 (MC). Above the lift axis column section 3221 is the robot upper unit body 3204 (and the S1 rotation axis unit 3241). In other words, the vertical position (height) of the robot upper unit body 3204 (and the S1 rotation axis unit 3241) can change as the lift axis column section 3221 moves vertically. The range in which the vertical position (height) of the robot upper unit body 3204 (and the S1 rotating axis unit 3241) can be changed (moved) (vertical fluctuation range 3261) may be approximately 400 mm or more and approximately 500 mm or less (preferably around 450 mm).

[0095] The S1 rotary axis unit 3241 is positioned between the upper part of the lift axis column 3221 and the robot upper unit body 3204. The S1 rotary axis unit 3241 rotates the robot upper unit body 3204 in the horizontal plane around the S1 rotary axis. The S1 rotary axis unit 3241 is controlled from the main console 201 (MC). The mechanism for achieving rotation in the S1 rotary axis unit 3241 may, for example, consist of an S1 rotary axis motor, a reduction gear, and gears. When the S2 translation axis 3252 in the extension arm 3201 faces the front of the robot cart 2301 (RC) (the S2 translation axis 3252 is parallel to a virtual perpendicular line drawn from the handle base portion 2821 to the S1 rotation axis 3251), if we define the angle of the robot upper unit body 3204 (the S2 translation axis 3252 of the extension arm 3201 (S2 translation beam portion)) as 0 degrees, the possible range of angles in the horizontal plane of the robot upper unit body 3204 (the S2 translation axis 3252 of the extension arm 3201 (S2 translation beam portion)) around the S1 rotation axis 3251 may be, for example, approximately plus or minus 20 degrees or more to approximately plus or minus 40 degrees or less (preferably around plus or minus 30 degrees).

[0096] The robot upper unit body 3204 is connected to the upper part of the lift axis column section 3221. The robot upper unit body 3204 is capable of rotating in the horizontal plane around the S1 rotation axis 3251 by the action of the S1 rotation axis unit 3241. The base portion of the extension arm 3201 (S2 translation axis beam section) is attached to the robot upper unit body 3204. The robot upper unit body 3204 incorporates a control device and drive device for the extension arm 3201 (S2 translation axis beam section). The robot upper unit body 3204 also incorporates a control device for a group of devices (for example, two positioning arms 3301, a camera arm 4401, two parallel link robots 3501, and a control handle 4501) attached near the tip of the extension arm 3201 (S2 translation axis beam section).

[0097] The extension arm 3201 (S2 translation axis beam section) is connected to the robot upper unit body 3204 at its base. A group of devices (for example, two positioning arms 3301, a camera arm 4401, two parallel link robots 3501, and a control handle 4501) are attached to the extension arm 3201 (S2 translation axis beam section) near its tip. The extension arm 3201 (S2 translation axis beam section) is extendable and retractable along the S2 translation axis 3252. The orientation of the S2 translation axis is determined by the orientation (angle) of the robot upper unit body 3204 around the S1 rotation axis 3251. The mechanism for extending and retracting the extension arm 3201 (S2 translation axis beam section) may be, for example, a telescopic type (telescopic axis) and may include an S2 translation axis motor, a reduction gear, a timing belt, and a ball screw. When the extension arm 3201 (S2 translation axis beam section) extends or retracts, the control device built into the robot upper unit body 3204 receives the control information from the main console 201 (MC), and the control device operates the drive device for the extension arm 3201 (S2 translation axis beam section). The drive device for the extension arm 3201 (S2 translation axis beam section) extends or retracts the extension arm 3201 (S2 translation axis beam section). The adjustable range (length variation) of the length 3262 (distance between the S3 rotation axis 3253 and the S1 rotation axis 3251) of the virtual perpendicular line drawn from the location where the group of devices is attached (location where the S3 rotation axis 3253 is located), which is near the tip of the extension arm 3201 (S2 translation axis beam section), to the S1 rotation axis 3251 may be approximately 250 mm or more and approximately 350 mm or less (preferably around 300 mm). The minimum value of the length 3262 of the perpendicular (distance between the S3 rotation axis 3253 and the S1 rotation axis 3251) may be approximately 1050 mm or more and approximately 1100 mm or less (preferably around 1075 mm). The maximum value of the length 3262 of the perpendicular (distance between the S3 rotation axis 3253 and the S1 rotation axis 3251) may be approximately 1350 mm or more and approximately 1400 mm or less (preferably around 1375 mm).

[0098] The S3 rotary axis unit 3203 is located near the tip of the extension arm 3201 (S2 translation axis beam section). A group of devices (for example, two positioning arms 3301, a camera arm 4401, two parallel link robots 3501, and a control handle 4501) are mounted to the S3 rotary axis unit 3203 in a manner that suspends them. The S3 rotary axis unit 3203 rotates the group of devices in the horizontal plane around the S3 rotary axis 3253. The S3 rotary axis unit 3203 is controlled from the main console 201 (MC). The mechanism for rotating around the S3 rotary axis 3253 may include, for example, an S3 rotary axis motor, a reduction gear, and gears. When the two positioning arms 3301 and the two parallel link robots 3501 are in their initial positions, if the reference plane for the positional symmetry of the two positioning arms 3301 and the two parallel link robots 3501 includes the S2 translation axis 3252, then the orientation (angle) of the device group (for example, the two positioning arms 3301, the camera arm 4401, the two parallel link robots 3501, and the control handle 4501) is defined as 0 degrees. Therefore, the possible range of angles in the horizontal plane of the device group around the S3 rotation axis 3253 may be, for example, approximately plus or minus 150 degrees or more to approximately plus or minus 190 degrees or less (preferably plus or minus 170 degrees) (wherein "0 degrees" around the S3 rotation axis 3253 may mean the state in which the plane-symmetric reference plane passing between the two positioning arms 3301, when the two positioning arms 3301 are in their initial positions, encompasses the S2 translation axis 3252).

[0099] As described above, the vertical position (height) of the robot upper unit body 3204, the horizontal orientation (angle) of the robot upper unit body 3204 (extension arm 3201) around the S1 rotation axis 3251, the position (distance to) of the tip of the extension arm 3201 on the S2 translation axis 3252, and the horizontal orientation (angle) of the device group around the S3 rotation axis 3253 (for example, two positioning arms 3301, a camera arm 4401, two parallel link robots 3501, and a control handle 4501) are all adjustable. Therefore, when performing microsurgery, there is a high degree of freedom in setting the relative position and orientation of the device group with respect to the subject (or surgical site, etc.) to be operated on, enabling smooth microsurgery.

[0100] 3.3. Positioning Arm (Figures 33, 34) Figure 33 shows an overview to explain the configuration of the positioning arm 3301, which is a device suspended from near the tip of the extension arm 3201, and is part of the components included in the robot cart 2301 (RC). Figure 33 shows an overview of the robot cart 2301 (RC) viewed from slightly behind the left side. Figure 34 shows an overview of the positioning arm 3301 viewed from a position slightly to the left of the front of the robot cart 2301 (RC).

[0101] Each of the positioning arms 3301 is capable of rotational movement along three rotation axes and positional change movement along one translation axis in order to control the position and orientation of the parallel link robot 3501 attached to the tip of the positioning arm 3301. Hereinafter, each of the three rotation axes may be referred to as P1 rotation axis 3401, P2 rotation axis 3402, or P4 rotation axis 3404, and the one translation axis may be referred to as P3 translation axis 3403. Note that the direction of the axes is the same for P3 translation axis 3403 and P4 rotation axis 3404.

[0102] As shown in Figures 33 and 34, the positioning arm 3301 may have a positioning arm base 3315, a P1 rotation axis arm portion 3311, a P2 rotation axis arm portion 3312, a P3 translation axis arm portion 3313, and a P4 rotation axis arm portion 3314.

[0103] The positioning arm base 3315 is located directly below the S3 rotation axis unit 3203, which is positioned near the tip of the extension arm 3201 (S2 translation axis beam section). The rotational movement of the S3 rotation axis unit 3203 directly changes the orientation (angle) of the positioning arm base 3315 in the horizontal plane around the S3 rotation axis 3253.

[0104] The P1 rotation axis arm section 3311 is connected to the positioning arm base 3315. The P1 rotation axis arm section 3311 supports the P2 rotation axis arm section 3312 via the P1 rotation axis arm joint. The P2 rotation axis arm section 3312 is rotatable around the P1 rotation axis 3401, which is the rotation axis at the P1 rotation axis arm joint. The angle of the P2 rotation axis arm section 3312 around the P1 rotation axis 3401 changes when a motor corresponding to the P1 rotation axis arm joint (motor for the P1 rotation axis) is driven. The mechanism for rotating the P2 rotation axis arm section 3312 around the P1 rotation axis may include, for example, the motor for the P1 rotation axis and a reduction gear. In addition, a rotation sensor for the P1 rotation axis arm joint (rotation sensor for the P1 rotation axis) acquires information on the orientation (angle) of the P2 rotation axis arm section 3312 around the P1 rotation axis 3401. The rotation sensor for the P1 rotation axis may be, for example, a rotary encoder attached to the motor for the P1 rotation axis. The motor or rotation sensor here may be on the P1 rotation axis arm section 3311 side, but may also be on the P2 rotation axis arm section 3312 side. The angle between the S3 rotation axis 3253 (or the vertical line passing through the center of the positioning arm base 3315) and the P1 rotation axis 3401 may be, for example, about 15 degrees to about 25 degrees (preferably about 20 degrees). The P1 rotation axis 3401 passes near the location where the tip portion of the robot forceps 3512, which is on the tip side of the parallel link robot 3501, is normally located (the location where the tip portion of the robot forceps 3512 is located when the robot forceps 3512 is in its initial position).

[0105] The P2 rotation axis arm section 3312 supports the P3 translation axis arm section 3313 via the P2 rotation axis arm joint. The P3 translation axis arm section 3313 is rotatable around the P2 rotation axis 3402, which is the rotation axis at the P2 rotation axis arm joint. The angle of the P3 translation axis arm section 3313 around the P2 rotation axis 3402 changes when a motor corresponding to the P2 rotation axis arm joint (P2 rotation axis motor) is driven. The mechanism for rotating the P3 translation axis arm section 3313 around the P2 rotation axis 3402 may include, for example, the P2 rotation axis motor and a reduction gear. In addition, a rotation sensor of the P2 rotation axis arm joint (P2 rotation axis rotation sensor) acquires information on the orientation (angle) of the P3 translation axis arm section 3313 around the P2 rotation axis 3402. The P2 rotation axis rotation sensor may be, for example, a rotary encoder attached to the P2 rotation axis motor. The motor or rotation sensor here may be located on the P2 rotation axis arm section 3312 side, but it may also be located on the P3 translation axis arm section 3313 side. The angle between the P1 rotation axis 3401 and the P2 rotation axis 3402 may be, for example, about 30 to 40 degrees (preferably about 35 degrees). The P2 rotation axis 3402 passes near the location where the tip of the robot forceps 3512, which is located on the tip side of the parallel link robot 3501, is typically located (the location where the tip of the robot forceps 3512 is located when the robot forceps 3512 is in its initial position). Depending on the angle (rotation) of the P2 rotation axis arm section 3312 on the P1 rotation axis 3401, the angle between the S3 rotation axis 3253 and the P2 rotation axis 3402 may be, for example, a maximum of about 55 degrees or a smaller angle.

[0106] The P3 translation axis arm section 3313 supports the P4 rotation axis arm section 3314, which is capable of linear motion along the P3 translation axis 3403, at the P3 translation axis arm joint, which is the tip portion of the arm. A motor corresponding to the P3 translation axis arm joint (P3 translation axis motor) is driven, and the rotational motion obtained by the drive of this motor is transmitted via a timing belt to a linear motion ball screw (ball screw), and the rotational motion is converted into linear motion by the linear motion ball screw (ball screw), thereby changing the position of the P4 rotation axis arm section 3314 (and parallel link robot 3501) along the P3 translation axis 3403. As a rotation sensor for the P3 translation axis, for example, a rotary encoder attached to the P3 translation axis motor may be present. Position information of the P4 rotation axis arm section 3314 (and parallel link robot 3501) along the P3 translation axis 3403 can be obtained from the angle information obtained by this rotation sensor for the P3 translation axis. Furthermore, the motor or rotation sensor here may be located on the P3 translation axis arm section 3313 side. The angle between the P2 rotation axis 3402 and the P3 translation axis 3403 (P4 rotation axis 3404) may be, for example, about 30 to 40 degrees (preferably about 35 degrees). Also, the P3 translation axis 3403 (P4 rotation axis 3404) passes near the location where the tip portion of the robot forceps 3512, which is on the tip side of the parallel link robot 3501, is normally located (the location where the tip portion of the robot forceps 3512 is located when the robot forceps 3512 is in its initial position). Furthermore, depending on the angle (rotation) of the P2 rotation axis arm 3312 on the P1 rotation axis 3401 and the angle (rotation) of the P3 translation axis arm 3313 on the P2 rotation axis 3402, the angle between the S3 rotation axis 3253 and the P3 translation axis 3403 (P4 rotation axis 3404) (that is, the longitudinal direction of the parallel link robot 3501) can be, for example, as small as 90 degrees.

[0107] The angle formed by the longitudinal direction of the parallel link robot 3501 as seen from the S3 rotation axis 3253 can be smaller than approximately 90 degrees. On the other hand, as will be described later, the linear motion of each linear slider of the parallel link robot 3501 can achieve an angle of approximately 30 degrees as the inclination of the yaw and pitch components of the robot forceps 3512, relative to the longitudinal direction of the parallel link robot 3501. Therefore, if the linear motion of each linear slider of the parallel link robot 3501 is used in combination with the rotational motion of the P1 rotation axis 3401 and P2 rotation axis 3402 of the positioning arm 3301, it is possible to sufficiently secure the range of orientation variation of the yaw component by 90 degrees and the pitch component by 90 degrees, which is the range of orientation of the robot forceps 3512 that is usually desired in microsurgery. (Even if the S3 rotation axis 3253 and the longitudinal central axis of the parallel link robot 3501 do not coincide or parallel, the orientation of the robot forceps 3512 relative to the longitudinal direction of the parallel link robot 3501 (the orientation of the two degrees of freedom in terms of the angle in the yaw direction and pitch direction) can have an angle of about 30 degrees, so it is possible to make the orientation of the robot forceps 3512 coincide with or parallel to the S3 rotation axis 3253.) In other words, microsurgery can be performed smoothly.

[0108] The linear motion of the P4 rotation axis arm section 3314 (and the parallel link robot 3501) along the P3 translation axis 3403 can, for example, be used to avoid the limit of the range of motion (stroke limit) of one of the multiple linear sliders of the parallel link robot 3501 when it approaches or is expected to approach the limit of its range of motion in linear motion. This is achieved by changing the position of the parallel link drive unit 3511, which is the base of the parallel link robot 3501, through the linear motion of the P4 rotation axis arm section 3314 (and the parallel link robot 3501) along the P3 translation axis 3403. In other words, it is possible to prevent the change in the position and orientation of the robot forceps 3512 from stopping in an unintended state due to approaching the limit of the range of motion of the linear slider.

[0109] The P4 rotary axis arm section 3314 supports the parallel link robot 3501 at the P4 rotary axis arm joint. The longitudinal direction of the parallel link robot 3501 is along a single axis that is both the P3 translation axis 3403 and the P4 rotary axis 3404. A motor corresponding to the P4 rotary axis arm joint (P4 rotary axis motor) is driven, and the rotational motion of the P4 rotary axis motor is reflected in the rotational motion of the P4 rotary axis arm section 3314 via a timing belt, so that the parallel link robot 3501 can rotate around the P4 rotary axis 3404. In addition, a rotation sensor of the P4 rotary axis arm joint (P4 rotary axis rotation sensor) acquires information on the orientation (angle) of the parallel link robot 3501 around the P4 rotary axis 3404. The P4 rotary axis rotation sensor may be, for example, a rotary encoder attached to the P4 rotary axis motor. The motor or rotation sensor here may be located on the P3 translation axis arm section 3313 side. Furthermore, the P4 rotation axis 3404 (P3 translation axis 3403) passes near the location where the robotic forceps 3512, located at the tip of the parallel link robot 3501, would normally be located. In order to cancel out as much (partially or entirely) the rotational motion caused to the parallel link robot 3501 (specifically the parallel link drive unit 3511 at its base) by the rotational motion of the P1 rotation axis 3401 and the P2 rotation axis 3402, rotational motion of the parallel link robot 3501 (specifically the parallel link drive unit 3511 at its base) in the P4 rotation axis arm section 3314 may be performed (for example, based on the control of the information processing device of the robot cart 2301 (RC) or the information processing device of the main console 201 (MC)). Regardless of the rotational movement of the positioning arm 3301 along the P1 rotation axis 3401 and the P2 rotation axis 3402, by keeping the angle of the parallel link drive unit 3511, which is the base part of the parallel link robot 3501, along the P4 rotation axis 3404 (here, the absolute angle as viewed from the direction of gravity) as constant as possible, it becomes possible to stabilize the control of each linear slider in the parallel link robot 3501 and the rotational control of the robot forceps 3512 by the tip actuator 3801 (hydraulic rotary actuator).

[0110] An emergency evacuation button 3331 is located on the side of the P3 translation axis arm 3313 opposite to the tip of the parallel link robot 3501. When someone in the room where microsurgery is performed presses the emergency evacuation button 3331, the parallel link robot 3501 (and the P4 rotation axis arm 3314) are moved (slid) along the P3 translation axis 3403 away from the object being operated on (surgical site, etc.). The emergency evacuation button 3331 can be used in an emergency when it is necessary to move the robotic forceps 3512 away from the object being operated on (surgical site, etc.).

[0111] A positioning arm control handle 3341 is located near the end of the P4 rotating axis arm section 3314 opposite to the tip of the parallel link robot 3501. When the positioning arm 3301 is set to manual mode, a person in the location (room) where the microsurgery is performed can adjust the position and orientation of the parallel link robot 3501 by manually operating the positioning arm control handle 3341. Also, when the positioning arm 3301 is in automatic mode during microsurgery, the positioning arm control handle 3341 acts as a contact detection bumper. When the positioning arm control handle 3341 is acting as a contact detection bumper and comes into contact with an obstacle, the positioning arm 3301 is controlled to stop (for example, based on the control of the information processing device of the robot cart 2301 (RC)). A mechanical sensor (strain gauge) may be used on the positioning arm control handle 3341 to realize the contact detection bumper. Thus, the positioning arm control handle 3341 combines aspects that contribute to convenience when the positioning arm 3301 is in manual mode and aspects that contribute to safety when the positioning arm 3301 is in automatic mode.

[0112] 3-4. Parallel Link Robots 3-4-0. Overview of Parallel Link Robots (Figures 35, 36, 37) Figure 35 shows an overview to explain the configuration of the parallel link robot 3501, which is connected to the P4 rotation axis arm section 3314, which is the tip of the positioning arm 3301, among the components included in the robot cart 2301(RC). There are two parallel link robots 3501 in one robot cart 2301(RC), but Figure 35 shows an overview of one of them. Figure 36 shows an overview of the parallel link robot 3501 as viewed along the P3 translation axis 3403 (P4 rotation axis 3404) from the tip of the robot forceps 3512 toward the parallel link drive unit 3511, which is the base of the parallel link robot 3501.

[0113] As shown in Figures 35 and 36, the parallel link robot 3501 includes, in order from the P4 rotary axis arm portion 3314, a parallel link drive unit 3511, six linear sliders (L1 linear slider 3611, L2 linear slider 3612, L3 linear slider 3613, L4 linear slider 3614, L5 linear slider 3615, L6 linear slider 3616), six links (L1 link 3621, L2 link 3622, L3 link 3623, L4 link 3624, L5 link 3625, L6 link 3626), an end actuator 3801 (hydraulic rotary actuator), and a robot forceps 3512 (which may be detachable from the end actuator 3801 (hydraulic rotary actuator)). The physical configuration and operating principle of the parallel link drive unit 3511, the six linear sliders (L1 linear slider 3611, L2 linear slider 3612, L3 linear slider 3613, L4 linear slider 3614, L5 linear slider 3615, L6 linear slider 3616) and the six links (L1 link 3621, L2 link 3622, L3 link 3623, L4 link 3624, L5 link 3625, L6 link 3626) included in the parallel link robot 3501, as well as the physical configuration and operating principle of the opening and closing operation of the tip portion of the robot forceps 3512, may be the same as or similar to that disclosed in Patent Document 2 (International Publication No. 2022 / 024296). Therefore, the following explanation will be simplified regarding aspects that may be the same as those disclosed in Patent Document 2 (International Publication No. 2022 / 024296). (Note that the physical configuration and operating principle for rotating the robot forceps 3512 realized by the tip actuator 3801 (hydraulic rotary actuator) differ from those disclosed in Patent Document 2 (International Publication No. 2022 / 024296). Also, the spatial arrangement of the tip actuator 3801 (hydraulic rotary actuator) and the robot forceps 3512 differs from those disclosed in Patent Document 2 (International Publication No. 2022 / 024296).)

[0114] 3-4-1. Parallel link drive unit, linear slider and link (Figures 35, 36, 37) The parallel link drive unit 3511, which is the base part of the parallel link robot 3501, is connected to the P4 rotation axis arm part 3314 of the positioning arm 3301. From the parallel link drive unit 3511, six linear sliders (L1 linear slider 3611, L2 linear slider 3612, L3 linear slider 3613, L4 linear slider 3644, L5 linear slider 3645, L6 linear slider 3616) protrude in a direction opposite to the side connected to the P4 rotary axis arm unit 3314, and are capable of linear motion on each of the six parallel translation axes (L1 translation axis 3641, L2 translation axis 3642, L3 translation axis 3643, L4 translation axis 3644, L5 translation axis 3645, L6 translation axis 3646). The position of each linear slider on the translation axis is controlled based on instructions from the main console 201 (MC).

[0115] Each linear slider may be connected to a cylindrical coil, which is the movable element of a coil-type linear motor. (The stator of the coil-type linear motor may be a cylindrical permanent magnet.) By using such a linear motor as a linear actuator, the number of mechanical moving parts can be reduced compared to other linear mechanisms such as ball screws, and contact parts involving sliding and rolling can be reduced, and backlash does not occur. As a result, the reliability of the linear mechanism is increased, and power consumption required for linear drive can be reduced by reducing frictional resistance.

[0116] The couplings at one end of each link (L1 link 3621, L2 link 3622, L3 link 3623, L4 link 3624, L5 link 3625, L6 link 3626) are connected to the couplings at the ends of the corresponding linear sliders (L1 linear slider 3611, L2 linear slider 3612, L3 linear slider 3613, L4 linear slider 3614, L5 linear slider 3615, L6 linear slider 3616). Both the couplings at the ends of the links and the couplings at the ends of the linear sliders have a structure that allows them to rotate about two axes perpendicular to each other. A similar coupling structure is also used for the couplings at the other ends of the links and for the couplings at the connection points on the tip actuator 3801 (hydraulic rotary actuator). By using the above-described joint, smooth changes can be achieved even when the position and orientation of the tip actuator 3801 (hydraulic rotary actuator) and the robot forceps 3512 change as each linear slider moves along its translation axis, suppressing friction, slippage, and rattle in the movement (which tend to occur when using ball-type universal joints). Each of the links (L1 link 3621, L2 link 3622, L3 link 3623, L4 link 3624, L5 link 3625, L6 link 3626) is a rod-shaped body formed by connecting two roughly rod-shaped members with high rigidity and resistance to deformation in the longitudinal direction. The two roughly rod-shaped members are connected so as to be rotatable relative to each other. Therefore, despite the high rigidity of the links, the link can accommodate twisting in the rotational direction around the longitudinal axis of the link between one end of the link (on the linear slider side) and the other end of the link (on the tip actuator side).

[0117] The tip actuator 3801 (hydraulic rotary actuator) is connected to each of the links (L1 link 3621, L2 link 3622, L3 link 3623, L4 link 3624, L5 link 3625, L6 link 3626). The tip actuator 3801 (hydraulic rotary actuator) has a coupling corresponding to each of the links. The coupling of the tip actuator 3801 (hydraulic rotary actuator) is then connected to the coupling at the other end of the link.

[0118] As shown in Figure 36, the distance between the translation axes of the linear sliders and the distance between the other ends of the links (L1 link other end 3631, L2 link other end 3632, L3 link other end 3633, L4 link other end 3634, L5 link other end 3635, L6 link other end 3636) (the distance between the joints of the tip actuator 3801 (hydraulic rotary actuator)) can be set to be non-uniform. Specifically, the distances between adjacent parallel axes, such as the distance between L1 translation axis 3641 and L2 translation axis 3642, the distance between L3 translation axis 3643 and L4 translation axis 3644, and the distance between L5 translation axis 3645 and L6 translation axis 3646, may be shorter than the distance between L2 translation axis 3642 and L3 translation axis 3643, the distance between L4 translation axis 3644 and L5 translation axis 3645, and the distance between L6 translation axis 3646 and L1 translation axis 3641. On the other hand, the distance between the other end 3631 of the L1 link and the other end 3632 of the L2 link, the distance between the other end 3633 of the L3 link and the other end 3634 of the L4 link, and the distance between the other end 3635 of the L5 link and the other end 3636 of the L6 link may be longer than the distance between the other end 3632 of the L2 link and the other end 3633 of the L3 link, the distance between the other end 3634 of the L4 link and the other end 3635 of the L5 link, and the distance between the other end 3636 of the L6 link and the other end 3631 of the L1 link. Furthermore, the distance between the L1 translation axis 3641 and the L2 translation axis 3642 may be shorter than the distance between the other end 3631 of the L1 link and the other end 3632 of the L2 link. The distance between the L2 translation axis 3642 and the L3 translation axis 3643 may be longer than the distance between the other end 3632 of the L2 link and the other end 3633 of the L3 link. The distance between the L3 translation axis 3643 and the L4 translation axis 3644 may be shorter than the distance between the other end of the L3 link 3633 and the other end of the L4 link 3634. The distance between the L4 translation axis 3644 and the L5 translation axis 3645 may be longer than the distance between the other end of the L4 link 3634 and the other end of the L5 link 3635. The distance between the L5 translation axis 3645 and the L6 translation axis 3646 may be shorter than the distance between the other end of the L5 link 3635 and the other end of the L6 link 3636. The distance between the L6 translation axis 3646 and the L1 translation axis 3641 may be longer than the distance between the other end of the L6 link 3636 and the other end of the L1 link 3631.By defining the relative distances as described above, it becomes possible to stably control the orientation and position of the tip actuator 3801 (hydraulic rotary actuator) and the robot forceps 3512 as each of the linear sliders moves linearly along its translation axis.

[0119] 3-4-2. Tip Actuator and Robot Forceps (Figures 35, 36, 37) A robot forceps 3512 is connected to the tip actuator 3801 (hydraulic rotary actuator). The robot forceps 3512 may be detachable from the tip actuator 3801 (hydraulic rotary actuator). Alternatively, the tip actuator 3801 (hydraulic rotary actuator) and the robot forceps 3512 may not be detachable. Alternatively, the robot forceps 3512 and a part of the tip actuator 3801 (hydraulic rotary actuator) may be detachable from the rest of the tip actuator 3801 (hydraulic rotary actuator). Magnetic force may be used to achieve detachment. If detachment is possible, the robot forceps 3512 can be smoothly replaced during microsurgery.

[0120] The tip actuator 3801 (hydraulic rotary actuator) incorporates an actuator for driving the opening and closing movements of the robotic forceps 3512, and an actuator for rotating the robotic forceps 3512 with respect to the roll component. Both actuators are operated by hydraulic pressure. Therefore, three plastic tubes are connected to the tip actuator 3801 (hydraulic rotary actuator) for supplying and dispensing the liquid (oil) used to drive the actuators. One of the three tubes is for supplying and dispensing the liquid (oil) used to operate the actuator for driving the opening and closing movements of the robotic forceps 3512. The remaining two tubes are for supplying and dispensing the liquid (oil) used to operate the actuators for rotating the robotic forceps 3512 with respect to the roll component. The three plastic tubes may be connected to the side of the tip actuator 3801 (hydraulic rotary actuator) where the six joints are located (the side opposite to the side to which the robotic forceps 3512 is connected). The three plastic tubes may pass through a space enclosed by six links and six linear sliders, and through a parallel link drive unit 3511, to reach a liquid (oil) adjustment device. The liquid (oil) adjustment device may have three coil-movable linear motor actuators, each corresponding to one of the three plastic tubes. The amount of liquid (oil) pushed out into the three plastic tubes is determined by the movement of each coil-movable linear motor actuator in the liquid (oil) adjustment device, and the operation of the actuators for driving the opening and closing of the robot forceps 3512, and the operation of the actuators for rotating the robot forceps 3512 with respect to the roll component are also determined. The liquid (oil) adjustment device is controlled according to instructions from the main console 201 (MC). Controlling actuators using liquid (oil) as described above provides high accuracy in achieving the desired state in response to instructions, and also shortens the time it takes to achieve the desired state in response to the input instructions.

[0121] The physical configuration and operating principle of the actuator for driving the opening and closing movements of the robot forceps 3512 within the tip actuator 3801 (hydraulic rotary actuator) may be the same as or similar to that disclosed in Patent Document 2 (International Publication No. 2022 / 024296), so a detailed explanation is omitted below. The actuator for driving the opening and closing movements of the robot forceps 3512 is controlled by the pressure (volume of liquid (oil)) of liquid (oil) that is supplied to and removed from the tip actuator 3801 (hydraulic rotary actuator) by a single plastic tube. Therefore, compared to a configuration in which the opening and closing movements of the forceps are realized by tensile force in a wire, the actuator for driving the opening and closing movements of the robot forceps 3512 within the tip actuator 3801 (hydraulic rotary actuator) in this embodiment of the disclosure can increase the possible carrying force of the robot forceps 3512.

[0122] Details regarding the physical configuration and operating principle of the actuator for rotating the robot forceps 3512 with respect to the roll component within the tip actuator 3801 (hydraulic rotary actuator) will be described later with reference to Figures 39, 40, 41, 42, and 43.

[0123] The robotic forceps 3512 act on the surgical site during microsurgery. The shape of the tip of the robotic forceps 3512 and the possible movements of the robotic forceps 3512 are determined by the type of robotic forceps 3512.

[0124] As shown in Figures 35, 36, and 37, the virtual central axis in the longitudinal direction of the robot forceps 3512 and the virtual central axis equidistant from the six joints of the tip actuator 3801 (hydraulic rotary actuator) may coincide or approximately coincide. By making the virtual central axis of the robot forceps 3512 coincide or approximately coincide with the virtual central axis of the six joints of the tip actuator 3801 (hydraulic rotary actuator), the control of the position and orientation of the robot forceps 3512 can be made simpler, and the range of achievable position and orientation of the robot forceps 3512 can be made approximately uniform in any direction viewed from the P3 translation axis 3403 (P4 rotation axis 3404).

[0125] Figure 37 shows an overview of the parallel link robot 3501. Figure 37 schematically shows the possible range of yaw and pitch components of the orientation of the tip actuator 3801 (hydraulic rotary actuator) and the robot forceps 3512, which are realized by the linear motion of the six linear sliders included in the parallel link robot 3501. Within a diameter of approximately 50 mm centered on the neutral position of the tip of the robot forceps 3512, as shown in Figure 37, the possible range of yaw and pitch components may be up to an angle of about 30 degrees from the longitudinal central axis of the parallel link robot 3501. Note that the further the tip of the robot forceps 3512 is from the neutral position, the narrower the possible range of yaw and pitch components becomes.

[0126] 3-4-3. Rotation of the roll component by the tip actuator (hydraulic rotary actuator) (Figures 38, 39, 40, 41, 42, 43) Figures 38, 39, 40, 41, 42, and 43 show the configuration relating to the rotation of the robot forceps 3512 with respect to the roll component by the tip actuator 3801 (hydraulic rotary actuator).

[0127] 3-4-3-1. Donut-shaped cylinder tube and arc-moving piston section (Figures 38, 39) Figure 38 shows an overview of the parallel link robot 3501. Figure 38 shows only the six linear cylinders, six links, the end actuator 3801 (hydraulic rotary actuator), and the robot forceps 3512, which are among the components that make up the parallel link robot 3501. Figure 39 shows an overview to explain the donut-shaped cylinder tube 3901 (and arc-moving piston section 3902) located inside the end actuator 3801 (hydraulic rotary actuator). The end actuator 3801 (hydraulic rotary actuator) contains a donut-shaped cylinder tube 3901 for rotating the robot forceps 3512 in terms of the roll component. Figure 39 shows a virtual cross-section of the donut-shaped cylinder tube 3901 with respect to a plane containing a virtual arc through which the arc-moving piston section 3902 passes.

[0128] As shown in Figure 39, the donut-shaped cylinder tube 3901 has a shape that is different from a normal donut shape, in which a certain part (the top in Figure 39) is not connected. In other words, the donut-shaped cylinder tube 3901 has a shape in which a single cylindrical tube is rolled up along a single imaginary circle. The donut-shaped cylinder tube 3901 is made of a material (for example, aluminum (duralumin)) that is resistant to deformation due to pressure from the liquid (oil) that fills the inside.

[0129] As shown in Figure 39, the donut-shaped cylinder tube 3901 houses an arc-moving piston section 3902. The arc-moving piston section 3902 has a packing 3921 in its center, and gears 3922 on both sides in the direction in which the arc-moving piston section 3902 moves, relative to the packing 3921, to facilitate the movement of the arc-moving piston section 3902. On both sides of the arc-moving piston section 3902, a piston 3923 is located between the gears 3922 and the space filled with liquid (oil) inside the donut-shaped cylinder tube 3901. Each of the pistons 3923 located at both ends of the arc-moving piston section 3902 may have a neodymium magnet. Furthermore, as will be described later, the front magnet holder 4001 and the rear magnet holder 4002 also have neodymium magnets (see Figure 40). Then, the neodymium magnets in the piston 3923, the front magnet holder 4001, and the rear magnet holder 4002 are arranged such that the north and south poles of neodymium magnets that are relatively close to each other attract each other. Therefore, as will be described later, magnetic coupling (magnetic field coupling) is established between the arc-moving piston section 3902 and the front magnet holder 4001, and between the arc-moving piston section 3902 and the rear magnet holder 4002. In other words, as the arc-moving piston section 3902 moves within the donut-shaped cylinder tube 3901, the front magnet holder 4001 and the rear magnet holder 4002 can also move. The packing 3921 prevents liquid (oil) from leaking from one side to the other.

[0130] In the donut-shaped cylinder tube 3901, liquid (oil) is filled into the spaces on both sides of the arc-moving piston section 3902. At a certain location in each of these spaces (near the top in Figure 39), there are liquid input / output holes 3911 for introducing liquid (oil) into the donut-shaped cylinder tube 3901 (and for releasing liquid (oil) from the donut-shaped cylinder tube 3901). The liquid (oil) entering and exiting through each of the liquid input / output holes 3911 travels through a path that penetrates the inside of the tip actuator 3801 (hydraulic rotary actuator) to each of the plastic tube mounting ports 3903 connected to each of the plastic tubes. As shown in Figure 39, the plastic tube mounting ports 3903 may be located between the six joints 3904 of the tip actuator 3801 (hydraulic rotary actuator). Furthermore, the tip actuator 3801 (hydraulic rotary actuator) has two plastic tube mounting ports 3903 for supplying and dispensing liquid (oil) to move the arc-moving piston section 3902 along the arc path, as well as one plastic tube mounting port 3903 for supplying and dispensing liquid (oil) to the actuator that controls the opening and closing movements of the robotic forceps 3512.

[0131] 3-4-3-2. Arc-shaped moving piston section, magnet holder, and planetary gear (Figures 40, 41, 42) Figure 40 shows an overview of the donut-shaped cylinder tube 3901, the front magnet holder 4001, the rear magnet holder 4002, and the planetary gear 4301. Figure 41 shows an overview of the donut-shaped cylinder tube 3901, the front magnet holder 4001, the rear magnet holder 4002, and the planetary gear 4301. Figure 42 shows an overview of the donut-shaped cylinder tube 3901, the front magnet holder 4001, the rear magnet holder 4002, and the planetary gear 4301. Figures 40, 41, and 42 are intended to explain the configuration for reflecting the change in position (movement) of the arc-shaped moving piston section 3902 inside the donut-shaped cylinder tube 3901 to the outside of the donut-shaped cylinder tube 3901. Figures 40 and 41 show parts of the tip actuator 3801 (hydraulic rotary actuator) that contribute to understanding the operating principle of reflecting the change in position (movement) of the arc-moving piston part 3902 inside the donut-shaped cylinder tube 3901 to the outside of the donut-shaped cylinder tube 3901. Of these, Figure 41 shows the arrangement of neodymium magnets to establish a magnetic field circuit (magnetic field coupling). Figure 42 is a cross-sectional view obtained by virtually cutting the robot forceps 3512 and the tip actuator 3801 (hydraulic rotary actuator) through a plane passing through the longitudinal central axis.

[0132] As shown in Figures 40, 41, and 42, the tip actuator 3801 (hydraulic rotary actuator) has a front magnet holder 4001 and a rear magnet holder 4002. The front magnet holder 4001 is located on the robot forceps 3512 side when viewed from the arc-moving piston section 3902 which is contained within the donut-shaped cylinder tube 3901. The rear magnet holder 4002 is located on the opposite side of the robot forceps 3512 when viewed from the arc-moving piston section 3902. As shown in Figure 41, each of the front magnet holder 4001 and the rear magnet holder 4002 has three neodymium magnets (in Figure 41, the poles of the neodymium magnets are indicated as "N" or "S") and two yokes 4101 (iron cores). Two of the three neodymium magnets in the front magnet holder 4001 and the rear magnet holder 4002 are positioned opposite the neodymium magnets in the piston 3923 within the arc-moving piston section 3902. Between the two neodymium magnets opposite the neodymium magnets of the two pistons 3923, the yoke 4101 (iron core), the remaining neodymium magnet, and the other yoke 4101 (iron core) are arranged in this order. As shown in Figure 41, the neodymium magnets (their north and south poles) are positioned such that the north and south poles of neodymium magnets that are relatively close to each other attract each other. Therefore, a magnetic field circuit (magnetic field coupling) is formed, consisting of a path that returns to the neodymium magnet in the piston 3923 at one end of the arc-moving piston section 3902, the three neodymium magnets and two yokes 4101 of the forward magnet holder 4001, the neodymium magnet in the piston 3923 at the other end of the arc-moving piston section 3902, the three neodymium magnets and two yokes 4101 of the rear magnet holder 4002, and finally to the neodymium magnet in the piston 3923 at one end of the arc-moving piston section 3902.In other words, although there is no physical contact between the front magnet holder 4001 and the arc-moving piston section 3902, and between the arc-moving piston section 3902 and the rear magnet holder 4002 (they are separated by the outer wall of the donut-shaped cylinder tube 3901), a magnetic field coupling is formed between the front magnet holder 4001 and the arc-moving piston section 3902, and between the arc-moving piston section 3902 and the rear magnet holder 4002. Both the front magnet holder 4001 and the rear magnet holder 4002 are rotatable around the longitudinal central axis of the tip actuator 3801 (hydraulic rotary actuator). Therefore, the positions of the front magnet holder 4001 and the rear magnet holder 4002 change (move) in accordance with the change (movement) of the position of the arc-moving piston section 3902 within the donut-shaped cylinder tube 3901. If the magnetic force of the neodymium magnets used to establish the above-mentioned magnetic field circuit (magnetic coupling) is sufficiently high, the magnetic field coupling will also be sufficiently strong. In that case, the accuracy and immediacy of the changes in position (movement) of the front magnet holder 4001 and the rear magnet holder 4002 in response to the changes in position (movement) of the arc-moving piston section 3902 can also be guaranteed. When performing microsurgery, it is required that the position and orientation (position and orientation expressed in 6 degrees of freedom) of the robotic forceps 3512 and the tip actuator 3801 (hydraulic rotary actuator), which are instructed by the surgeon operating the main controller 1001 (master manipulator), be realized as accurately as possible and with as little time delay as possible (i.e., the instructions be strictly (rigidly) implemented). From this perspective, both the movement of the arc-moving piston section 3902 by hydraulic pressure and the movement of the front magnet holder 4001 and rear magnet holder 4002 by magnetic coupling (magnetic field circuit) that is established under a sufficiently strong magnetic force can achieve the level of rigidity required for microsurgery.

[0133] As shown in Figures 40 and 42, the central axes of the front magnet holder 4001 and the planetary gear 4301 are physically connected. Therefore, when the front magnet holder 4001 rotates around the longitudinal central axis of the tip actuator 3801 (hydraulic rotary actuator), and the position of the front magnet holder 4001 changes (moves), the position of the central axis of the planetary gear 4301 also changes (moves) in the same way. As shown in Figures 40 and 42, the gears of the planetary gear 4301 mesh with the gears of the sun gear 4303. The central axis of the sun gear 4303 coincides with the longitudinal central axis of the tip actuator 3801 (hydraulic rotary actuator). When the sun gear 4303 rotates around the longitudinal central axis of the tip actuator 3801 (hydraulic rotary actuator), the robotic forceps 3512 also rotates by the same angle as the rotation angle of the sun gear 4303. As shown in Figure 42, the gears of the planetary gear 4301 mesh with the gears of the internal gear 4302. The central axis of the internal gear 4302 coincides with the longitudinal central axis of the tip actuator 3801 (hydraulic rotary actuator). The positional relationship of the gears of the internal gear 4302 with respect to the outer wall of the tip actuator 3801 (hydraulic rotary actuator) is fixed. The interaction between the planetary gear 4301, the internal gear 4302, and the sun gear 4303 will be described later using Figure 43.

[0134] 3-4-3-3. Planetary Gear, Internal Gear, and Sun Gear (Figure 43) Figure 43 shows an overview of the planetary gear 4301, internal gear 4302, and sun gear 4303. Figure 43 is intended to explain the configuration for reflecting the change in position (movement) of the planetary gear 4301 around the longitudinal central axis of the tip actuator 3801 (hydraulic rotary actuator) as an angle (direction) for the roll component of the robot forceps 3512. Figure 43 shows the parts of the components that make up the tip actuator 3801 (hydraulic rotary actuator) that contribute to understanding the operating principle for reflecting the change in position (movement) of the planetary gear 4301 around the longitudinal central axis of the tip actuator 3801 (hydraulic rotary actuator) as an angle (direction) for the roll component of the robot forceps 3512.

[0135] As shown in Figure 43, the gears of the sun gear 4303 and the planetary gear 4301 mesh, and the gears of the planetary gear 4301 mesh with the gears of the internal gear 4302. The gears of the internal gear 4302 are mounted along the outer wall of the tip actuator 3801 (hydraulic rotary actuator), and their positional relationship with the outer wall of the tip actuator 3801 (hydraulic rotary actuator) is fixed. As mentioned above, the position (angle) of the planetary gear 4301 changes along with the change in the position (angle) of the front magnet holder 4001 around the longitudinal central axis of the tip actuator 3801 (hydraulic rotary actuator). Due to the above configuration, the rotation angle of the sun gear 4303 can be greater than the angle representing the change in the position of the central axis of the planetary gear 4301 around the longitudinal central axis of the tip actuator 3801 (hydraulic rotary actuator). In other words, increased speed rotation of the sun gear 4303 can be achieved.

[0136] For example, the angular position of the central axis of the planetary gear 4301 around the longitudinal central axis of the tip actuator 3801 (hydraulic rotary actuator) can be set within a range of plus or minus 90 degrees (an absolute range of 180 degrees) (the angular position of the arc-moving piston section 3902 within the donut-shaped cylinder tube 3901 can be set within a range of plus or minus 90 degrees (an absolute range of 180 degrees)), whereas the angular position of the sun gear 4303 can be set within a range of plus or minus 270 degrees. In other words, due to the speed-increasing rotation mechanism of the internal gear 4302, planetary gear 4301, and sun gear 4303, the rotation angle of the sun gear 4303 may be three times the rotation angle of the arc-moving piston section 3902 within the donut-shaped cylinder tube 3901. Naturally, the rotation angle multiplier can be determined by the specifications (dimensions, number of teeth) of the internal gear 4302, planetary gear 4301, and sun gear 4303. As described above, in order for the rotation angle of the sun gear 4303 to be three times the rotation angle of the arc-moving piston part 3902 within the donut-shaped cylinder tube 3901, the ratio of the number of teeth per revolution of the tip actuator 3801 (hydraulic rotary actuator) to its longitudinal axis may be, for example, 4:1:2 among the internal gear 4302, planetary gear 4301, and sun gear 4303. In other words, the diameter of the circumference formed by the sun gear 4303 may be half the diameter of the circumference formed by the internal gear 4302, and the diameter of the circumference formed by the planetary gear 4301 may be half the diameter of the circumference formed by the sun gear 4303. For example, the internal gear 4302 may have 64 teeth, the planetary gear 4301 may have 16 teeth, and the sun gear 4303 may have 32 teeth. As long as the angular position of the sun gear 4303 is within a range of plus or minus 270 degrees, it can be made to include a range of plus or minus 180 degrees, which may be required as the angular position of the robotic forceps 3512 in the roll direction during the performance of microsurgery (precise operation of the robotic forceps 3512 may be required), as shown in Figure 48 below.

[0137] 3.5. Camera Arm (Figure 44) Figure 44 provides an overview of the configuration of the camera arm 4401, which is a device suspended from near the tip of the extension arm 3201, as part of the configuration included in the robot cart 2301 (RC). As shown in Figure 44, the camera arm 4401 is attached to the positioning arm base 3315. The camera arm 4401 includes a C1 arc axis rail section 4413, a camera XY direction fine adjustment drive section 4412, and a microscope video camera 4411 (microscope video camera head).

[0138] The C1 arc axis rail section 4413 is connected to the positioning arm base 3315. The C1 arc axis rail section 4413 is a virtual circle with its origin near the position where the tip of the robot forceps 3512 normally (for example, when the robot forceps 3512 is in its initial position), and includes a rail along a virtual arc in this virtual circle located roughly between the two positioning arms 3301. This coordinate axis of the virtual arc may be called the C1 arc axis 4421. The C1 arc axis rail section 4413 supports the camera XY direction fine adjustment drive unit 4412. A microscope video camera 4411 (microscope video camera head) is attached to the camera XY direction fine adjustment drive unit 4412. The camera XY direction fine adjustment drive unit 4412 is movable along the rail along the C1 arc axis 4421. The drive mechanism for changing (moving) the position of the C1 arc axis 4421 of the camera XY direction fine adjustment drive unit 4412 (microscope video camera 4411 (microscope video camera head)) on the rail may include, for example, a motor for the C1 arc axis, a reduction gear, and a timing belt guided in an arc shape. The motor for the C1 arc axis may be located within the camera XY direction fine adjustment drive unit 4412 or on the positioning arm base 3315 side. This drive mechanism is controlled according to instructions from the main console 201 (MC). The range of possible angles between the S3 rotation axis 3253 (vertical axis) and the virtual straight line connecting the microscope video camera 4411 and the object being filmed by the microscope video camera 4411 (the object shown in the center of the screen), as determined by the rail of the C1 arc axis rail section 4413, may be arbitrary. For example, this angle may range from approximately 0 degrees to approximately 30 degrees. Since the orientation of the microscope video camera 4411 can be adjusted in this way, it is possible to accommodate the diversity of the position and orientation of the surgical site, etc., in the patient undergoing microsurgery.

[0139] The camera XY direction fine adjustment drive unit 4412 has a motor drive device for fine-tuning the position of the microscope video camera 4411 (microscope video camera head). Here, the fine-tuning of the position of the microscope video camera 4411 (microscope video camera head) is used, for example, to position the subject being filmed by the microscope video camera 4411 (microscope video camera head) (generally the tip of the robot forceps 3512 and the area where microsurgery is performed (surgical area, etc.)) near the center of the captured image (field of view). The fine-tuning by the motor drive device is performed according to instructions from the main console 201 (MC) or instructions entered into the control handle touch panel 4511 in the robot cart 2301 (RC). Specifically, the fine-tuning operation of the motor-driven device may be controlled according to the operator's operation of the camera XY direction fine-tuning joystick foot switch 2233 included in the foot switch unit 2101, the operator's operation of the armrest touch panel 1707, or input to the control handle touch panel 4511 by a person near the robot cart 2301 (RC) (for example, a surgical assistant). Alternatively, some information processing function included in the microsurgery support robot system 101 may perform image recognition processing on the image (field of view) captured by the microscope video camera 4411 (microscope video camera head), recognize the position of the tip of the robot forceps 3512 and the area where microsurgery is performed (surgical area, etc.) in the image (field of view), and then automatically determine the instructions for fine-tuning by the motor-driven device. Furthermore, the camera X-axis and camera Y-axis, as indicated by the term "camera XY direction fine adjustment," may be a local two-dimensional coordinate system tangent to the C1 arc axis 4421, with the origin being the location where the camera XY direction fine adjustment drive unit 4412 is positioned on the C1 arc axis 4421. Alternatively, the two-dimensional plane indicated by the camera X-axis and camera Y-axis may be a plane intersecting the straight line connecting the tip of the robot forceps 3512 and the microscope video camera 4411.

[0140] The microscope video camera 4411 (microscope video camera head) is a three-dimensional binocular (3D binocular) video camera intended to primarily capture the tip of the robotic forceps 3512 and the area where microsurgery is performed (surgical site, etc.). The resolution of the images captured by the microscope video camera 4411 (microscope video camera head) is to be sufficiently high for microsurgery purposes. The resolution may be, for example, 4K (3840 x 2160 pixels, or equivalent resolution) or 8K (7680 x 4320 pixels, or equivalent resolution).

[0141] 3.6. Control Handle (Figure 45) Figure 45 provides an overview of the configuration of the control handle 4501, a device included in the robot cart 2301 (RC) that is suspended from a position near the tip of the extension arm 3201. As shown in Figure 45, the control handle 4501 may be connected to the part directly below the positioning arm base 3315. The control handle 4501 includes a control handle touch panel 4511, two control handle body parts 4512, a control handle enable button 4513, a control handle emergency stop button 4514, and a three-dimensional camera 4515 (3D camera).

[0142] Those present in the room where microsurgery is performed (for example, the surgeon or an assistant) can configure various devices (robots) on the robot cart 2301 (RC) by inputting control-related information via the control handle touch panel 4511. Originally, the settings for various devices (robots) on the robot cart 2301 (RC) could also be performed by the surgeon using the main console 201 (MC). In addition, the ability to configure various devices (robots) via the control handle touch panel 4511 allows for flexible and immediate responses to the situation in the surgical field from the start to the end of the microsurgery. The types of controls that can be performed via the control handle touch panel 4511 are arbitrary. For example, one or more of the following may be performed via the control handle touch panel 4511: (1) switching the modes of various devices (robots) in the robot cart 2301 (RC); (2) clutch operation to turn on or off the linkage between some or all of the operator's operations on the main console 201 (MC) and the operation of various devices (robots) in the robot cart 2301 (RC) (performing on / off control); (3) settings related to manually moving the position and orientation of the extension arm 3201, etc.; and (4) settings related to manually moving the position and orientation of the positioning arm 3301, etc. Furthermore, some or all of the controls that can be performed via the control handle touch panel 4511 may also be performed by the operator via the armrest touch panel 1707.

[0143] Regarding (4) above, a setting can be made via the control handle touch panel 4511 to switch to "manual mode (for positioning arm 3301)," which allows the position and orientation of the positioning arm 3301 to be moved manually. In "manual mode," a person in the location (room) where the microsurgery is performed can adjust the position and orientation of the parallel link robot 3501 (specifically, the parallel link drive unit 3511, which is the base part) by manually operating the positioning arm control handle 3341. After the position and orientation of the parallel link robot 3501 have been determined in this way, a setting can be made via the control handle touch panel 4511 to switch to "fixed mode (for positioning arm 3301)," as described in (2) above. (Alternatively, the above-mentioned "manual mode" and "fixed mode" may be treated as the same mode.) In "fixed mode," the surgeon's operations on the main controller 1001 (master manipulator) are reflected in the operation of each of the linear sliders and the end actuator 3801 (hydraulic rotary actuator) within the parallel link robot 3501, but not in the position or orientation of the positioning arm 3301. In other words, in "fixed mode," the position and orientation of the positioning arm 3301 are fixed regardless of the surgeon's operations on the main controller 1001 (master manipulator). Thus, in addition to the "automatic mode," in which the surgeon's operations on the main controller 1001 (master manipulator) can be reflected in both the positioning arm 3301 and the parallel link robot 3501, the above-mentioned "manual mode" and "fixed mode" are also possible. Therefore, it is possible to select a more appropriate mode depending on the type of microsurgery being performed. For example, in a series of operations during microsurgery, the "automatic mode" is suitable when the expected range of motion of the robotic forceps 3512 is relatively wide. On the other hand, if the range of motion is relatively narrow and it is desired to further improve the precision and responsiveness of the control of the robotic forceps 3512, then the "manual mode" and "fixed mode" are suitable.

[0144] The control handle body 4512 may be located on either side of the control handle touch panel 4511. A control handle enable button 4513 is positioned on the back of one or both grip surfaces of the control handle body 4512. When a person in the location (room) where microsurgery is performed (for example, the surgeon or an assistant in the surgery) presses the control handle enable button 4513 and grips the control handle body 4512 with their hand, they can move the position of the control handle body 4512 and manually adjust the vertical position (height) and horizontal angle (orientation) of the robot upper unit body 3204 (extension arm 3201) around the S1 rotation axis 3251, the length of the extension arm 3201 along the S2 translation axis 3252, and the horizontal orientation (angle) of the positioning arm base 3315 around the S3 rotation axis 3253. This allows for immediate and flexible responses depending on the situation in the surgical field.

[0145] One of the control handle bodies 4512 (the one on the right in Figure 45) has a control handle emergency stop button 4514 near its end (near the upper end in Figure 45). When a person in the room where microsurgery is performed (for example, the surgeon or an assistant in the surgery) presses the control handle emergency stop button 4514, the system stops (although this does not necessarily involve a power off). Here, the scope of the "system" that is stopped may be, for example, some or all of the devices (robots) included in the robot cart 2301. Alternatively, the scope of the "system" that is stopped may be the entire microsurgery support robot system 101. For safety reasons, when the control handle is stopped in an emergency, safety actions such as moving the robot forceps 3512 away from the surgical site may be performed before the devices (robots) are stopped.

[0146] A three-dimensional camera 4515 (3D camera) may be located below the control handle touch panel 4511 and the control handle body 4512. The three-dimensional camera 4515 (3D camera) photographs the tip of the robotic forceps 3512 and the object to be operated on (or the surgical site, etc.) (or photographs the area around where the robotic forceps 3512 is located). When the control handle enable button 4513 is pressed and manual position and orientation adjustment using the control handle body 4512 is possible, the distance between the tip of the robotic forceps 3512 and the object to be operated on (or the surgical site, etc.) is calculated from the information of the three-dimensional image captured by the three-dimensional camera 4515 (3D camera), and this distance is monitored. If a risk of collision between the tip of the robotic forceps 3512 and the object to be operated on (or the surgical site, etc.) is detected, the manual position and orientation adjustment by the control handle body 4512 described above may be forcibly disabled. Furthermore, this calculation, monitoring, and control may be performed by the three-dimensional camera 4515 (3D camera) itself, or by some functional unit (for example, an information processing device in the robot cart 2301 (RC)) that receives information from the three-dimensional image captured by the three-dimensional camera 4515 (3D camera). In this way, the vertical position (height) and orientation (angle) of the robot upper unit body 3204 (extension arm 3201) in the horizontal plane around the S1 rotation axis 3251, the length of the extension arm 3201 along the S2 translation axis 3252, and the orientation (angle) of the positioning arm base 3315 in the horizontal plane around the S3 rotation axis 3253 can be manually adjusted (providing convenience), while also ensuring safety during manual adjustment. Furthermore, collision prevention between robot forceps 3512 during microsurgery may be implemented in advance in the control of the position and orientation (position and orientation expressed in 6 degrees of freedom) of each robot forceps 3512. Even if that were the case, three-dimensional images captured by the three-dimensional camera 4515 (3D camera) may be used to monitor collisions between robotic forceps 3512, etc.

[0147] 4. Vision Cart (Figure 46) Figure 46 shows an overview of the vision cart 4601(VC). As shown in Figure 46, the vision cart 4601(VC) consists of a cart body 4614, a camera control unit 4611, a vision unit 4612, and a monitor 4613. The cart body 4614 may be a rack with casters attached to the four corners of its base. In other words, the vision cart 4601(VC) can be easily moved using the casters.

[0148] The camera control unit 4611 may be mounted inside the cart body 4614. The camera control unit 4611 may have a microscope video image processor for processing information obtained from the microscope video camera 4411. The output from the microscope video image processor may be output to the vision unit 4612. The camera control unit 4611 may also have a device (e.g., an electrical circuit) for controlling the microscope video camera 4411.

[0149] The vision unit 4612 may be mounted inside the cart body 4614. The vision unit 4612 may have an image synthesis device. The image synthesis device is capable of synthesizing multiple input pieces of information and outputs the synthesized information to the monitor 4613 for display on the monitor 4613. The information input to the image synthesis device may be one or more of the following: (1) image or video information output from the camera control unit 4611, (2) various status information (status information) of any device (robot) within the microsurgery support robot system 101, or (3) image or video information other than those described above (external image / video information). The external video referred to here is image or video information acquired from outside the microsurgery support robot system 101, and may be, for example, an image or video acquired from an external medical device, or a CT image taken before performing surgery in progress. To input such external image and video information into the vision unit 4612, the vision unit 4612 may have an interface that allows it to receive image and video information from an information processing device outside the microsurgery support robot system 101. As described above, multiple pieces of information can be combined and output to the monitor 4613, so that the monitor 4613 can display information that is easy to see and complete without being excessive or insufficient.

[0150] The monitor 4613 may be mounted on the top surface of the cart body 4614. The monitor 4613 may display information input from the vision unit 4612. Specifically, the monitor 4613 may display images or videos of microsurgery (surgery) captured by the microscope video camera 4411 (or three-dimensional camera 4515 (3D camera)), as well as various status information (status information) of the microsurgery support robot system 101. The monitor 4613 may also display external image and video information. In addition, the monitor 4613 may display a composite of the above-mentioned images, videos, and information. The existence of the monitor 4613 of the vision cart 4601 (VC) separate from the three-dimensional display 501 (3D display) of the main console 201 (MC) allows more people to understand the status of the microsurgery. This helps those assisting in the surgery, other than the surgeon, to properly perform their roles. It also helps those receiving medical education to gain appropriate knowledge.

[0151] 5. Relationship between the operator's operation of the main controller and the control content of the robot cart (Figures 47 and 48) Figures 47 and 48 show the control flow of the positioning arm 3301 and the parallel link robot 3501 in response to the operator's operation of the main controller 1001 (master manipulator). Figures 47 and 48 show the position setting of the six linear sliders on the parallel link robot 3501 (linear sliders on L1 translation axis 3641, L2 translation axis 3642, L3 translation axis 3643, L4 translation axis 3644, L5 translation axis 3645 or L6 translation axis 3646) in response to the operator operating the main controller 1001 (master manipulator) to determine the position and orientation (position and orientation in 6 degrees of freedom) of the robot forceps 3512. This shows how the position setting, the rotation angle setting of the tip actuator 3801 (hydraulic rotary actuator), and the three angle settings and one position setting of the positioning arm 3301 (angle setting on the P1 rotation axis 3401, angle setting on the P2 rotation axis 3402, position setting of the P4 rotation axis arm section 3314 on the P3 translation axis 3403, and angle setting of the P4 rotation axis arm section 3314 on the P4 rotation axis 3404) are determined. The control flow 4700 in Figure 47 and the control flow 4800 in Figure 48 are connected. The connection point of these two control flows is circled 1, shown in both Figures 47 and 48. In Figures 47 and 48, x, y, and z are symbols representing the translation component, α is a symbol representing the yaw component, β is a symbol representing the pitch component, and γ is a symbol representing the roll component. Furthermore, in Figures 47 and 48, θ is a symbol representing the angle.

[0152] In Figures 47 and 48, the master manipulator coordinate system m is used as the coordinate system of the location where the operator is operating the main controller 1001 (master manipulator), and the slave coordinate system s is used as the coordinate system of the location where the parallel link robot 3501 (including the robot forceps 3512) and the positioning arm 3301 are located. Here, the matrix that represents the three translational components x_m, y_m_z_m indicating the position of the grip portion of the main controller 1001 (master manipulator) in the master manipulator coordinate system m, along with the yaw component α_m, pitch component β_m, and roll component γ_m indicating the orientation of the grip portion, is called the master manipulator instruction matrix R_m (see 4708 in Figure 47). Furthermore, the matrix that represents the three translational components x_s, y_s, and z_s indicating the position of the robot forceps 3512 in the slave coordinate system s, along with the yaw component α_s, pitch component β_s, and roll component γ_s indicating the orientation of the robot forceps 3512, is called the slave instruction matrix R_s (see 4801 in Figure 48). In addition, the matrix that represents the positions x_L1, x_L2, x_L3, x_L4, x_L5, and x_L6 of the six linear sliders on each of the six translational axes of the parallel link robot 3501 in the slave coordinate system s is called the parallel link instruction matrix R_tcp (see 4805 in Figure 48). In addition, the matrix that represents the angles θ_P1, θ_P2, and θ_P4 of the three rotation axes of the positioning arm 3301 in the slave coordinate system s, along with the position x_P3 of the positioning arm 3301 on one translation axis, is called the positioning arm instruction matrix R_p (see 4804 in Figure 48). For example, the operator views the three-dimensional display 501 (3D display) with a horizontal line of sight, and assumes in their mind that the image they see is located 90 degrees downward in terms of pitch component. Based on this assumption, the operator then operates the position and orientation of the grip part of the main controller 1001 (master manipulator). (Note that depending on the arrangement of the three-dimensional display 501 (3D display), other angles may be used instead of the above 90 degrees.)The position and orientation of the grip portion of the main controller 1001 (master manipulator) in the master manipulator coordinate system m must be reflected in the position and orientation of the robot forceps 3512 in the slave coordinate system s, as intended by the operator. In order for this reflection to be performed correctly, a master-slave transformation matrix R_m-s is defined, which is a transformation matrix that shows the relationship between the master manipulator instruction matrix R_m (main controller instruction matrix) and the slave instruction matrix R_s. The master-slave transformation matrix R_m-s (see 4705 in Figure 47) may be defined by the formula "R_m-s × R_mv = R_c" using the master manipulator coordinate system matrix R_mv (see 4703 in Figure 47), which is a matrix that represents the master manipulator coordinate system m, and the slave coordinate system matrix R_c (see 4704 in Figure 47), which is a matrix that represents the slave coordinate system s. The relationship between the master manipulator coordinate system matrix R_mv and the slave coordinate system matrix R_c is determined by the angle θ_C1 (the angle formed by the virtual line connecting the S3 rotation axis 3253 (the axis of the vertical line) (see 4701 in Figure 47) and the object being filmed by the microscope video camera 4411 (the object shown in the center of the screen)) which indicates the orientation of the microscope video camera 4411 on the C1 arc axis 4421, and the fine adjustment x_C1,y_C1 (see 4702 in Figure 47) of the position of the microscope video camera 4411 by the camera XY direction fine adjustment drive unit 4412. (Alternatively, the relationship between the master manipulator coordinate system matrix R_mv and the slave coordinate system matrix R_c may be determined by the angle θ_C1 indicating the orientation of the microscope video camera 4411 on the C1 arc axis 4421.) The determination of the master-slave transformation matrix R_m-s may be performed by an information processing device provided on the main console 201 (MC).

[0153] The operator manipulates the main controller 1001 (master manipulator) by pinching it with their fingers (see 4706 in Figure 47), thereby determining the position and orientation of the robot forceps 3512 in the master manipulator coordinate system m (position and orientation in 6 degrees of freedom (position x_m, y_m, z_m due to 3 translational degrees of freedom, angle α_m in the yaw component degree of freedom, angle β_m in the pitch component degree of freedom, angle γ_m in the roll component degree of freedom)). However, first directly, the main controller 1001 ( Rotation sensors corresponding to the six axes (M1 axis 1501, M2 axis 1502, M3 axis 1503, M4 axis 1504, M5 axis 1505, M6 axis 1506) (see Figure 15) included in the master manipulator acquire operator operation information as the angles θ_M1, θ_M2, θ_M3, θ_M4, θ_M5, θ_M6 (see 4707 in Figure 47) for each of the six axes. The acquisition of this information for the six angles may be performed by an information processing device associated with the main controller 1001 (master manipulator).

[0154] The operator's operation information, acquired as angles θ_M1, θ_M2, θ_M3, θ_M4, θ_M5, and θ_M6 for each of the six axes (M1 axis 1501, M2 axis 1502, M3 axis 1503, M4 axis 1504, M5 axis 1505, and M6 axis 1506) included in the main controller 1001 (master manipulator), is transformed to become the master manipulator instruction matrix R_m (main controller instruction matrix) in the master manipulator coordinate system m (see 4708 in Figure 47). As mentioned above, the master manipulator instruction matrix R_m (main controller instruction matrix) is a matrix that represents the three translational components x_m, y_m_z_m indicating the position of the grip part of the main controller 1001 (master manipulator) in the master manipulator coordinate system m, along with the yaw component α_m, pitch component β_m, and roll component γ_m indicating the orientation of the grip part. The above conversion process may be performed by the information processing device provided in the main console 201 (MC).

[0155] The slave instruction matrix R_s (see 4801 in Figure 48) is obtained using the master manipulator instruction matrix R_m (main controller instruction matrix) and the master-slave conversion matrix R_m-s (see 4705 in Figure 47) by the master-slave conversion formula "R_m-s × R_m = R_s". As mentioned above, the slave instruction matrix R_s is a matrix that represents the three translational components x_s, y_s, z_s indicating the position of the robot forceps 3512 in the slave coordinate system s, and the yaw component α_s, pitch component β_s, and roll component γ_s indicating the orientation of the robot forceps 3512. The calculation of the slave instruction matrix R_s may be performed by the information processing device provided in the main console 201 (MC).

[0156] Furthermore, during the master-slave conversion described above, the ratio of the magnitude of the change in the position and movement of the robotic forceps 3512 to the magnitude of the movement of the grip portion of the main controller 1001 (master manipulator) caused by the surgeon pinching and operating the grip portion can be set arbitrarily. For example, this ratio may be set to approximately 1 / 10. By reflecting the setting of the ratio in the master-slave conversion matrix R_m-s, a suitable slave instruction matrix R_s can be obtained. By using such a ratio setting, it becomes possible to control the position and orientation of the robotic forceps 3512 with higher precision compared to when the surgeon performs microsurgery by holding the forceps by hand. In addition, by using the ratio setting, it becomes possible to perform microsurgery even if the surgeon has little experience in microsurgery.

[0157] Furthermore, some kind of filtering function may be used to prevent the tremors of the operator's hands and fingers when they grasp and operate the grip of the main controller 1001 (master manipulator) from being reflected in the position and orientation of the robotic forceps 3512. To implement this filtering function, smoothing may be performed on the master manipulator instruction matrix R_m before the master-slave conversion is performed, or smoothing may be performed on the slave instruction matrix R_s after the master-slave conversion is performed. By using such a filtering function to prevent the tremors of the operator's hands and fingers from being reflected in the position and orientation of the robotic forceps 3512, it is possible to increase the safety of performing microsurgery. In addition, by using the filtering function, it becomes possible to perform microsurgery even if the operator has little experience in microsurgery.

[0158] Based on the slave instruction matrix R_s (see 4801 in Figure 48) and the current positioning arm instruction matrix R_p (see 4804 in Figure 48), the parallel link instruction matrix R_tcp (see 4805 in Figure 48) and the rotation angle γ_a (see 4802 in Figure 48) to be achieved by the tip actuator 3801 (hydraulic rotary actuator) are calculated, assuming the current positioning arm instruction matrix R_p. In other words, the process involves distributing the actions (controls) required to achieve the position and orientation of the robot forceps 3512 indicated by the slave instruction matrix R_s to the actions (controls) of the positioning arm 3301 indicated by the positioning arm instruction matrix R_p and the actions (controls) of the parallel link robot 3501 indicated by the parallel link instruction matrix R_tcp and the tip actuator rotation angle γ_a. As described above, the positioning arm instruction matrix R_p is a matrix that represents the angles θ_P1, θ_P2, and θ_P4 of the three rotation axes of the positioning arm 3301 in the slave coordinate system s, and the position x_P3 of the positioning arm 3301 in one translation axis. Also, as described above, the parallel link instruction matrix R_tcp is a matrix that represents the positions x_L1, x_L2, x_L3, x_L4, x_L5, and x_L6 of the six linear sliders in each of the six translation axes of the parallel link robot 3501 in the slave coordinate system s. The distribution processing of the above operations (controls) may be performed by an information processing device provided in the main console 201 (MC).

[0159] Based on the current positioning arm instruction matrix R_p (the angles θ_P1, θ_P2, θ_P4 on the three rotation axes of the current positioning arm 3301 and the position x_P3 on one translation axis), the parallel link instruction matrix R_tcp indicates the positions x_L1, x_L2, x_L3, x_L4, x_L5, x_L6 of the six linear sliders on their respective translation axes. It is then possible to determine whether there are any linear sliders (or combinations of linear sliders) whose position information is outside the possible range or close to the limit of the possible range.

[0160] If the position information of any of the linear sliders (and combinations of linear sliders) is not near the limit of the possible range, the position of each linear slider (and the rotation angle of the tip actuator 3801 (hydraulic rotary actuator)) may be controlled based on the calculated position information of the six linear sliders (and the rotation angle information of the tip actuator 3801 (hydraulic rotary actuator)).

[0161] If the calculated position information of one or more linear sliders (or combinations of linear sliders) is outside the possible range or close to the limit of the possible range, a process is performed to reset the positioning arm instruction matrix R_p (angles θ_P1, θ_P2, θ_P4 on the three rotation axes of the positioning arm 3301 and position x_P3 on one translation axis).

[0162] For example, if the positional difference between adjacent linear sliders shown in the calculation results is outside the allowable range or close to the allowable limit (or outside the possible range of angles for the yaw component and pitch component that can be achieved by changing the positions of the six linear sliders of the parallel link robot 3501, or close to the limit of the possible range) (when branching to NO is made in 4806 of Figure 48), adjustments may be made by changing the angle θ_P1 at the P1 rotation axis 3401 and the angle θ_P2 at the P2 rotation axis 3402 of the positioning arm 3301 (see 4807 of Figure 48). In this case, the angle θ_P4 at the P4 rotation axis 3404 of the positioning arm 3301 may be adjusted so as to cancel out as much as possible the rotation at the P4 rotation axis 3404 of the parallel link robot 3501 that occurs as a result of changing the angles θ_P1 and θ_P2 at the P1 rotation axis 3401 and the P2 rotation axis 3402.

[0163] For example, if any of the positions of the linear sliders of the parallel link robot 3501 (position x_L1 of linear slider L1 3611, position x_L2 of linear slider L2 3612, position x_L3 of linear slider L3 3613, position x_L4 of linear slider L4 3614, position x_L5 of linear slider L5 3615, position x_L6 of linear slider L6 3616) corresponds to the corresponding translation axis (L1 translation axis 3641, L2 translation axis 3642, L3 translation axis 643, L4 If the range of motion is outside the possible range or close to the limit of the possible range (i.e., the stroke of the linear slider is outside or close to the limit) (as in the case of branch NO in 4808 of Figure 48), adjustment may be made by changing the setting of position x_P3 of the P4 rotation axis arm portion 3314 along the P3 translation axis 3403 of the positioning arm 3301 (see 4809 of Figure 48).

[0164] If a resetting process is performed for the positioning arm instruction matrix R_p (angles θ_P1, θ_P2, θ_P4 on the three rotation axes of the positioning arm 3301 and position x_P3 on one translation axis) as described above, the parallel link instruction matrix R_tcp and the rotation angle γ_a realized by the tip actuator 3801 (hydraulic rotary actuator) are recalculated based on the slave instruction matrix R_s and the reset positioning arm instruction matrix R_p. This process is repeated until it is determined that the position information of any of the linear sliders (and combinations of linear sliders) is not near the limit of the possible range (i.e., it is within the appropriate range).

[0165] If it is determined that the position information of any of the linear sliders (and combinations of linear sliders) is not near the limit of the possible range (i.e., within the appropriate range), then the angles θ_P1 at the P1 rotation axis 3401, θ_P2 at the P2 rotation axis 3402, the position x_P3 of the P4 rotation axis arm portion 3314 on the P3 parallel axis, and the angle θ_P4 of the P4 rotation axis arm portion 3314 on the P4 rotation axis 3404 of the positioning arm 3301 may be controlled based on the information after resetting the positioning arm instruction matrix R_p in the slave coordinate system s. Furthermore, the rotational drive control of the three rotation axes and the movement drive control of the one translation axis of the positioning arm 3301, the movement drive control of the six linear sliders of the parallel link robot 3501, and the rotational drive control of the tip actuator 3801 (hydraulic rotary actuator) of the parallel link robot 3501 may be performed by the information processing device provided in the robot cart 2301 (RC). On the other hand, the determination of the parameters (angle, position) for these drive controls may be performed by the information processing device provided in the main console 201 (MC). Alternatively, the division of roles between the information processing device provided in the main console 201 (MC) and the information processing device provided in the robot cart 2301 (MC) may differ from those described above.

[0166] 6. Verification of meeting the requirements for performing microsurgery (Figure 49) The embodiments of this disclosure have the configuration described above and perform the operations described above, so that the position and orientation of the robotic forceps 3512 (a total of 6 degrees of freedom consisting of 3 translational degrees of freedom, 1 yaw component degree of freedom, 1 pitch component degree of freedom, and 1 roll component degree of freedom) required for microsurgery can be precisely controlled.

[0167] When the movement of the positioning arm 3301 is not relied upon, the linear motion of the six linear sliders included in the parallel link robot 3501, the rotational motion of the six links, and the tip actuator 3801 (hydraulic rotary actuator) allow for precise control of the position in three translational directions near the standard position of the robot forceps 3512 (roughly within a diameter range of about 50 mm). Furthermore, with respect to one degree of freedom for the yaw component and one degree of freedom for the pitch component, the orientation (angle) of the robot forceps 3512 can be precisely controlled within an angle range of about 30 degrees from the longitudinal central axis of the parallel link robot 3501 (as shown in Figure 37).

[0168] On the other hand, in order to perform microsurgery smoothly, for example, when performing vascular anastomosis, it is required that the position of the robotic forceps 3512 be controlled with high precision and responsiveness in all three translational degrees of freedom within a range of approximately 50 mm in diameter centered on the anastomosis site. Furthermore, in order to perform microsurgery smoothly, for example, when performing vascular anastomosis, it is desirable that the range of angles assumed to be the orientation of the robotic forceps 3512 when the surgeon is handling the forceps manually be accurately realized within a range of approximately 50 mm in diameter centered on the anastomosis site. Figure 49 shows an explanation of the yaw component 4901, pitch component 4902, and roll component 4903, which are the three degrees of freedom that indicate the orientation of the robotic forceps 3512 (the grip part of the main controller 1001 (master manipulator)). Figure 49 assumes that the surgeon is holding and handling the forceps (or the grip part of the main controller 1001 (master manipulator)) in their hand (left hand 4911 in Figure 49). Figure 49 illustrates the yaw component 4901, pitch component 4902, and roll component 4903 for the operator's left hand 4911 (the robotic forceps 3512 corresponding to the left hand 4911). (Note that for the right hand 4912, the definitions of the angles (positive and negative definitions) for the yaw component 4901, pitch component 4902, and roll component 4903 may be symmetrical with respect to the XZ plane in Figure 49.) As shown in Figure 49, the horizontal and frontal position as seen from the operator (the direction of the Z axis in Figure 49) may be defined as 0 degrees for the yaw component 4901 and pitch component 4902. Alternatively, the position where the operator naturally extends their hand in the Z-axis direction in Figure 49 may be defined as 0 degrees for the roll component 4903. For the yaw component 4901, the direction in which the wrist (or robotic forceps 3512) is bent inward from the 0-degree position may be defined as a negative angle. For the pitch component 4902, the negative angle may be the direction in which the wrist (or robotic forceps 3512) is bent downward from the 0-degree position. For the roll component 4903, once the angles of the pitch component and the roll component are determined, it may be determined by the angle at which the wrist (or robotic forceps 3512) is rotated.In a range of approximately 50 mm in diameter centered on the anastomosis site, the range of angles for the orientation of the robotic forceps 3512 when the surgeon is assumed to be handling the forceps manually may be, for example, a range of approximately 90 degrees for both the yaw component 4901 (4901A in Figure 49) and the pitch component 4902 (4901B in Figure 49). More specifically, with the horizontal and frontal position as seen from the surgeon (direction of the Z-axis in Figure 49) as 0 degrees for the yaw component 4901 and the pitch component 4902, the range of angles from there may be approximately 90 degrees for the yaw component 4901 in the direction of bending the wrist inward (from approximately 0 degrees to approximately minus 90 degrees as the angle of the yaw component 4901), and approximately 90 degrees for the pitch component 4902 in the direction of bending the wrist downward (from approximately 0 degrees to approximately minus 90 degrees as the angle of the pitch component). Furthermore, the range of the roll component 4903 (4903A in Figure 49) may be plus or minus 180 degrees. (Note that in Figure 49, for reference, the range of the yaw component 4901, 4901B, is shown as a range of approximately plus 90 degrees to minus 180 degrees. Also in Figure 49, for reference, the range of the pitch component 4902, 4902B, is shown as a range of approximately plus 90 degrees to minus 135 degrees.) In other words, the control of the position and orientation of the robot forceps 3512 by the parallel link robot 3501 alone does not cover the entire required range of the yaw and pitch components (because approximately 60 degrees, which is twice the approximately 30 degrees shown in Figure 37, cannot fully cover the range up to approximately 90 degrees).

[0169] Therefore, in addition to the movement of the parallel link robot 3501, the movement of the positioning arm 3301 is also utilized. In the embodiment of this disclosure, by using both the movement of the parallel link robot 3501 and the movement of the positioning arm 3301, the range in which the orientation of the robotic forceps 3512 can be controlled is broadened. Specifically, the horizontal and frontal position as seen from the surgeon (the direction of the Z axis in Figure 49) is set as 0 degrees of the yaw component 4901, and from there, the yaw component 4901 can be adjusted up to about 120 degrees in the direction of bending the wrist inward, and up to about 10 degrees in the direction of bending the wrist outward (the angle of the yaw component 4901 can range from about +10 degrees to about -120 degrees). Furthermore, if we define the pitch component 4902 as 0 degrees from the horizontal and frontal position as viewed from the surgeon (the direction of the Z-axis in Figure 49), then the pitch component 4902 can be adjusted up to approximately 120 degrees in the direction of bending the wrist downwards and up to approximately 15 degrees in the direction of bending the wrist upwards (the angle of the pitch component 4902 can range from approximately +15 degrees to -120 degrees). This covers the entire range of yaw and pitch components required when performing vascular anastomosis as described above.

[0170] Furthermore, without relying on the movement of the positioning arm 3301, the linear motion of the six linear sliders included in the parallel link robot 3501, the rotational motion of the six links, and the tip actuator 3801 (hydraulic rotary actuator) allow for precise control of the position of the robot forceps 3512 in a range of approximately 100 mm in diameter around the standard position of the robot forceps 3512. On the other hand, in order to perform microsurgery smoothly, for example, when handling a needle and thread using the robot forceps 3512, it is necessary to pass the thread about 50 mm after passing the needle. If it is assumed that the amount of thread passed needs to be precisely controlled, then it is required that the position of the robot forceps 3512 be controlled with high precision and responsiveness for all three translational degrees of freedom within a range of approximately 100 mm in diameter. In other words, the control of the position of the robot forceps 3512 by the parallel link robot 3501 satisfies this requirement regarding the three translational degrees of freedom for handling the needle and thread.

[0171] Furthermore, in order to perform microsurgery smoothly, for example, if there are multiple sites for vascular anastomosis, or if the area for precision work such as organ dissection moves, then being able to move the robotic forceps 3512 within an area of ​​approximately 100 mm x 200 mm as a single continuous operation would allow for handling most surgeries. Here, in addition to the movement of the parallel link robot 3501, the position and orientation of the extension arm 3201 can be adjusted in terms of the S1 rotation axis 3251 (see Figure 32), the S2 translation axis 3252, and the S3 rotation axis 3253, thereby satisfying the requirement to move the robotic forceps 3512 within an area of ​​approximately 100 mm x 200 mm as a single continuous operation. In this case, the positioning accuracy of the positioning arm 3301 can be achieved with high precision at the level of 0.5 mm.

[0172] In addition, for smooth microsurgery, if we consider a surgery such as performing lymphaticovenous anastomoses in about five locations from the ankle to the groin of the lower limb, it is required that the robotic forceps 3512 can move within an area of ​​approximately 200 mm x 1000 mm. The adjustments to the extension arm 3201 mentioned above may be used to move the robotic forceps 3512 within an area of ​​approximately 200 mm x 1000 mm. If the robotic forceps 3512 cannot reach part of the intended area of ​​approximately 200 mm x 1000 mm due to the placement of the robotic cart 2301(RC), the entire robotic cart 2301(RC) is moved. As mentioned above, the robotic cart 2301(RC) has wheels on its bottom, and at least some of these wheels are electrically driven, so the entire robotic cart 2301(RC) can be moved smoothly. The orientation of the entire robotic cart 2301(RC) can also be changed as appropriate.

[0173] Furthermore, in the embodiments of this disclosure, the accuracy of position control regarding the three translational degrees of freedom of the robotic forceps 3512 can be kept to an accuracy error of at least 0.01 mm or less. If properly set, the accuracy error can be as low as 500 nm. Thus, the embodiments of this disclosure make it possible to perform finer operations using the robotic forceps 3512, exceeding the accuracy error limits when a surgeon performs microsurgery using forceps by hand.

[0174] 7. Other (Variations) This disclosure is not limited to the embodiments described above and includes various modifications. Some of the configurations and processes of the embodiments may be replaced with configurations and processes of other conceivable embodiments. Other configurations and processes of other conceivable embodiments may be added to the configurations and processes of the embodiments. There may be modifications in which some of the configurations and processes of the embodiments are deleted. The technical matters shown in each of the embodiments and modifications of the embodiments of this disclosure shown above may be combined as appropriate, as long as no technical inconsistencies arise.

Claims

1. A microsurgery support robot system, wherein the microsurgery support robot system comprises a main console and a robot cart, the main console comprises a main controller and a display, the robot cart comprises robotic forceps and a microscope video camera, the display displays images or videos captured by the microscope video camera, the position and orientation of the robotic forceps reflect the operator's operation to the main controller, the main controller comprises an M1 axis arm, an M2 axis arm, an M3 axis arm, an M4 axis arm, an M5 axis arm, and an M6 axis arm, the M1 axis arm is rotatable around the M1 axis, the M2 axis arm is supported by the M1 axis arm via an M1-M2 arm joint and is rotatable around the M2 axis using the M1-M2 arm joint, the M3 axis arm is supported by the M2 axis arm via an M2-M3 arm joint and is rotatable around the M3 axis using the M2-M3 arm joint. The M4 axis arm is supported by the M3 axis arm via an M3-M4 arm joint and is rotatable around the M4 axis using the M3-M4 arm joint; the M5 axis arm is supported by the M4 axis arm via an M4-M5 arm joint and is rotatable around the M5 axis using the M4-M5 arm joint; the M6 ​​axis arm is supported by the M5 axis arm via an M5-M6 arm joint and is rotatable around the M6 ​​axis using the M5-M6 arm joint; the M6 ​​axis arm is a grip portion for the surgeon to grasp and operate; and when the main controller is in its initial position, the position of the M3-M4 arm joint as seen from the grip portion is diagonally upward.

2. A microsurgery support robot system according to claim 1, wherein direct drive motors are provided for some or all of the M1 axis, M2 axis, M3 axis, M4 axis, M5 axis, and M6 axis of the main controller.

3. A microsurgery support robot system according to claim 2, wherein the direct drive motor is used to return the grip portion to its initial position, or to counteract some or all of the torque due to the weight of some or all of the M2 axis arm portion, the M3 axis arm portion, the M4 axis arm portion, the M5 axis arm portion and the M6 ​​axis arm portion, or to control the orientation of the grip portion when the clutch is disengaged so that the operator's operation of the grip portion does not affect the movement of the robot cart.

4. A microsurgery support robot system according to claim 1, wherein the main console further has a lifter frame, a pair of main controllers are mounted on the upper surface of the lifter frame, and the M1 axis arm portion, the M2 axis arm portion, the M3 axis arm portion, the M4 axis arm portion, the M5 axis arm portion, and the M6 ​​axis arm portion of the pair of main controllers are positioned so as not to obstruct the view of the display from the operator.

5. A microsurgery support robot system according to claim 1, wherein the grip portion comprises a flapper, a clutch slide switch, a grip holder, and a grip holder sensor, the flapper is for controlling the opening and closing operation of the robot forceps, the clutch slide switch is for controlling the on / off connection between the operator's operation of the grip portion and the operation of the robot cart, the grip holder sensor is for detecting whether the operator's fingers are in the grip holder, and when the grip holder sensor detects that the operator's fingers are not in the grip holder, the information processing device in the main console takes measures to prevent changes in the position or orientation of the grip portion from being reflected in the operation of the robot cart.

6. A microsurgery support robot system according to claim 1, wherein motors are provided for all of the M4 axis, M5 axis and M6 axis of the main controller, the microsurgery support robot system is capable of switching between a state in a following mode with the clutch engaged and a state in which the following mode is released with the clutch disengaged, in the following mode state, the operator's operation on the grip portion is reflected in the position and orientation of the robot forceps, in the state in which the following mode is released, the operator's operation on the grip portion is not reflected in the position and orientation of the robot forceps, and in the state in which the following mode is released, the motors for the M4 axis, M5 axis and M6 axis of the main controller are controlled so that the relationship between the orientation of the robot forceps and the orientation of the grip portion is maintained as it was at the time when the state changed from the following mode state to the state in which the following mode is released.

7. A microsurgery support robot system according to claim 1, wherein when the main controller is in its initial position, the angle between the grip portion and the position of the M3-M4 arm joint is 30 degrees or more and 60 degrees or less with respect to the horizontal plane.

8. A microsurgery support robot system according to claim 1, wherein when the main controller is in its initial position, the angle between the grip portion and the position of the M3-M4 arm joint is 10 degrees or more and 80 degrees or less with respect to the horizontal plane.

9. A microsurgery support robot system according to claim 1, wherein the main console further comprises a foot switch unit, the foot switch unit comprising a clutch switch, a camera XY direction fine adjustment joystick foot switch, a camera zoom adjustment pedal, and a camera focus adjustment pedal, the clutch switch is for on / off control of the linkage between the operator's operation of the grip and the operation of the robot cart, the camera XY direction fine adjustment joystick foot switch is for adjusting the position of the microscope video camera on a two-dimensional plane, the camera zoom adjustment pedal is for adjusting the zoom of the microscope video camera, and the camera focus adjustment pedal is for adjusting the focus of the microscope video camera.

10. A microsurgery support robot system according to claim 1, wherein the robot cart has a pair of robotic forceps, the main console further has a foot switch unit, the foot switch unit has a right-hand coagulation switch, a left-hand coagulation switch, a right-hand incision switch, and a left-hand incision switch, the right-hand coagulation switch is for causing the robotic forceps corresponding to the right hand to perform a coagulation operation, the left-hand coagulation switch is for causing the robotic forceps corresponding to the left hand to perform a coagulation operation, the right-hand incision switch is for causing the robotic forceps corresponding to the right hand to perform an incision operation, and the left-hand incision switch is for causing the robotic forceps corresponding to the left hand to perform an incision operation.

11. A microsurgery support robot system comprising: a main console and a robot cart; the main console comprising a main controller and a display; the robot cart comprising robotic forceps and a microscope video camera; the display comprising images or videos captured by the microscope video camera; the position and orientation of the robotic forceps reflecting the operator's operation to the main controller; the main console further comprising an armrest, a motorized lifter for the display and a lifter frame; the armrest being a platform for the operator to rest their arm on; the motorized lifter for the display moving the display vertically; the lifter frame electrically moving the main controller and the armrest vertically; and the armrest being movable in the front-back direction between the operator and the display.

12. A microsurgery-assisted robotic system according to claim 11, wherein the display is a three-dimensional display, the operator views the display through polarized glasses, the mounting position of the motorized lifter for the display on the main console is adjustable according to the screen size of the display, and the distance from the operator's eye to the display is set such that the screen on the display for one of the operator's eyes is visible to the other of the operator's eye, resulting in a crosstalk rate of 7 percent or less.

13. A microsurgery support robot system according to claim 12, wherein, when the screen size of the display is 55 inches, the distance from the operator's eye to the display is maintained to be 1200 mm or more, and when the screen size of the display is 31 inches or 32 inches, the distance from the operator's eye to the display is maintained to be 775 mm or more.

14. A microsurgery support robot system according to claim 11, wherein the range in which the position of the display can be electrically adjusted in the vertical direction is 100 mm or more and 200 mm or less, whichever is the range of length; the range in which the position of the main controller and the armrest can be electrically adjusted in the vertical direction is 100 mm or more and 200 mm or less, whichever is the range of length; and the range in which the position of the armrest can be adjusted in the front-to-back direction as viewed from the surgeon is 100 mm or more and 200 mm or less, whichever is the range of length.

15. A microsurgery-assisted robotic system according to claim 11, wherein the orientation of the display relative to the operator is adjustable, and the main console has a manual adjustment clamp used to fix the adjusted orientation of the display.

16. A microsurgery support robot system according to claim 11, wherein the main console has a pair of support arms, the pair of support arms are mounted on the upper surface of the lifter frame, an armrest is mounted on the upper part of the pair of support arms, and the pair of support arms can move in a pantograph manner when the armrest moves in the front-rear direction between the surgeon and the display.

17. A microsurgery support robot system according to claim 11, wherein the upper surface of the armrest is provided with a level adjustment switch and an armrest horizontal adjustment lever, the level adjustment switch is composed of a display up / down switch and an armrest up / down switch, the display up / down switch controls the motorized lifter for the display to adjust the vertical position of the display, the armrest up / down switch controls the lifter frame to adjust the vertical position of the main controller and the armrest, and the armrest horizontal adjustment lever controls whether or not to lock the armrest so that it does not move in the front-to-back direction between the surgeon and the display.

18. A microsurgery support robot system according to claim 11, wherein the upper surface of the armrest is provided with an armrest touch panel, an armrest power button, and an armrest emergency stop button, the armrest touch panel is for setting some or all of the settings of the microsurgery support robot system, the armrest touch panel implements a software switch that can replace some or all of the functions of the physical buttons, switches or joysticks present in the microsurgery support robot system, the armrest power button is for controlling the on / off of some or all of the power of the microsurgery support robot system, and the armrest emergency stop button is for stopping some or all of the operation of the rotational or translational axes in the microsurgery support robot system.

19. A microsurgery support robot system according to claim 11, wherein a swivel caster is attached to the lower part of the main console, the main console has a lock pedal, the lock pedal is for setting whether or not the main console can be moved by the swivel caster, the main console has a handrail, the handrail is for grasping and pushing / pulling the main console by hand when moving it.

20. A microsurgery support robot system according to claim 11, wherein the microsurgery support robot system further comprises a vision cart, the vision cart comprises a camera control unit, a vision unit, and a monitor, the camera control unit processes information obtained from the microscope video camera and controls the microscope video camera, the vision unit is capable of synthesizing a plurality of input pieces of information and outputting the synthesized information to the monitor, the information input to the vision unit is any of the following: image or video information output from the camera control unit, various state information in the microsurgery support robot system, or external image video information which is image or video information obtained from outside the microsurgery support robot system, and the monitor is for displaying the information input from the vision unit.

21. A microsurgery support robot system, wherein the microsurgery support robot system comprises a main console and a robot cart, the main console comprises a main controller and a display, the robot cart comprises robotic forceps and a microscope video camera, the display shows images or videos captured by the microscope video camera, the position and orientation of the robotic forceps reflect the operator's operation to the main controller, the robot cart further comprises a robot cart base, a robot cart lifter, an S1 rotation axis unit, a robot upper unit body, an extension arm, an S3 rotation axis unit, a positioning arm, a camera arm, and a parallel link robot, the robot cart lifter is supported by the robot cart base and moves the robot upper unit body and the extension arm in the vertical direction, the S1 rotation axis unit rotates the robot upper unit body and the extension arm in the horizontal plane around the S1 rotation axis, the extension arm is connected to the robot upper unit body at the base of the extension arm and is extendable and retractable along the S2 translation axis. The S2 translation axis changes orientation in the horizontal plane as the robot upper unit body rotates around the S1 rotation axis; the S3 rotation axis unit is located near the tip of the extension arm and rotates the positioning arm, the camera arm, and the parallel link robot around the S3 rotation axis; the robot forceps are attached to the tip of the parallel link robot; the parallel link robot is attached to the tip of the positioning arm; and the microscope video camera is attached to the camera arm, in a microsurgery support robot system.

22. A microsurgery support robot system according to claim 21, wherein the main console further comprises an armrest, the armrest being a platform for the surgeon to rest their arm on, an extension arm control switch provided on the upper surface of the armrest, the extension arm control switch comprising an extension arm height control switch, an extension arm horizontal position control joystick, and an extension arm tip rotation control switch, the extension arm height control switch for controlling the robot cart lifter to adjust the vertical position of the robot upper unit body and the extension arm, the extension arm horizontal position control joystick for controlling the S1 rotation axis unit and the extension arm to adjust the position of the S3 rotation axis unit located near the tip of the extension arm on the horizontal plane, and the extension arm tip rotation control switch for controlling the S3 rotation axis unit to adjust the orientation of the positioning arm, the camera arm, and the parallel link robot around the S3 rotation axis.

23. A microsurgery support robot system according to claim 21, wherein the range in which the position of the robot upper unit body and the extension arm can be electrically adjusted in the vertical direction is a length of either 400 mm or more and 500 mm or less, the range in which the angle of the S2 translation axis of the extension arm in the horizontal plane can be electrically adjusted based on the S1 rotation axis unit is a length of either plus or minus 20 degrees or more and plus or minus 40 degrees or less, the range in which the distance between the S3 rotation axis and the S1 rotation axis, which changes based on the electric extension and retraction of the extension arm, is such that the minimum value of the distance is a length of either 1050 mm or more and 1100 mm or less, and the maximum value of the distance is a length of either 1350 mm or more and 1400 mm or less. A microsurgery support robot system in which, based on the S3 rotation axis unit, the electrically adjustable range of the angles of the positioning arm, the camera arm, and the parallel link robot in the horizontal plane is within the range of either plus or minus 150 degrees or more, or plus or minus 190 degrees or less.

24. A microsurgery support robot system according to claim 21, wherein the camera arm has a C1 arc axis rail portion and a camera XY direction fine adjustment drive unit, the C1 arc axis rail portion is a rail along a C1 arc axis which is one of the arcs centered near the location where the tip portion of the robot forceps is located when the robot forceps is in its initial position, the camera XY direction fine adjustment drive unit to which the microscope video camera is attached and whose position on the C1 arc axis rail portion can be changed electrically, and the camera XY direction fine adjustment drive unit can adjust the position of the microscope video camera on a plane intersecting the straight line connecting the tip portion of the robot forceps and the microscope video camera.

25. A microsurgery support robot system according to claim 21, wherein the robot cart further has a control handle, the control handle is capable of rotating together with the positioning arm about the S3 rotation axis by the S3 rotation axis unit, the control handle has a control handle touch panel, a pair of control handle bodies, a camera, a control handle enable button, and a control handle emergency stop button, the control handle touch panel is capable of receiving input for controlling various devices in the robot cart, the pair of control handle bodies are located on either side of the control handle touch panel, the control handle enable button is located on one or both of the control handle bodies, and while the control handle enable button is pressed, the position of the control handle bodies can be manually moved. A microsurgery support robot system wherein the position of the control handle body is manually set, thereby determining the vertical position of the robot upper unit body and the extension arm, the position of the S3 rotation axis unit located near the tip of the extension arm on the horizontal plane, and the orientation of the positioning arm, the camera arm, the parallel link robot and the control handle on the S3 rotation axis; when the position of the control handle body is being moved manually, the camera photographs the position of the robot forceps; the information processing device of the robot cart, based on the image or video captured by the camera, detects a risk of collision between the robot forceps and the object receiving microsurgery, and controls the manual movement of the control handle body to forcibly prevent it; and the control handle emergency stop button is used to stop part or all of the microsurgery support robot system.

26. A microsurgery support robot system according to claim 25, wherein the control handle touch panel is capable of receiving input for setting the mode of the positioning arm, the modes of the positioning arm include an automatic mode, a manual mode, and a fixed mode, in the automatic mode of the positioning arm, the operation of the main controller by the surgeon is permitted to be reflected in the operation of either the parallel link robot or the positioning arm, in the manual mode of the positioning arm, the positioning arm control handle of the positioning arm is permitted to be operated by hand, thereby allowing the position and orientation of the parallel link drive unit, which is the base of the parallel link robot, to be adjusted manually, and in the fixed mode of the positioning arm, the operation of the main controller by the surgeon is permitted to be reflected in the operation of each of the linear sliders and the end actuators of the parallel link robot, but not in the operation of the positioning arm.

27. A microsurgery support robot system according to claim 26, wherein the manual mode and the fixed mode of the positioning arm are treated as the same mode.

28. A microsurgery-assisted robot system according to claim 21, wherein a plurality of wheels are mounted on the lower part of the robot cart base to make the robot cart movable, at least some of the plurality of wheels are electrically operable, a handle unit is present on the upper part of the robot cart base, the handle unit has a handle base portion, a pair of handles, a pair of throttles, and a drive switch, the pair of handles are mounted on the sides of the handle base portion, the pair of handles are used to change the orientation of the robot cart, the pair of throttles are rotatably mounted on the corresponding surfaces of the handles, the drive switch is provided on one or both ends of the handles, and when the drive switch is pressed and the throttle is turned, the direction and speed of rotation of the electrically operable wheels among the plurality of wheels are controlled in accordance with the direction and angle of rotation of the throttle.

29. A microsurgery support robot system according to claim 28, wherein the handle base portion is equipped with a robot cart power button, a robot cart emergency stop button, and a cart lock button, the robot cart power button is for controlling the on / off state of part or all of the power to the microsurgery support robot system, the robot cart emergency stop button is for stopping the operation of part or all of the rotational or translational axes in the microsurgery support robot system, and the cart lock button is for controlling the on / off state of not rotating the electrically operated wheels among the plurality of wheels located at the bottom of the robot cart base.

30. A microsurgery support robot system according to claim 21, wherein the robot cart has an uninterruptible power supply, and the uninterruptible power supply is for supplying a stable power supply to the robot cart for the maximum time required to transition to a safe state in which the object to be microsurgered can be ensured when the AC power supply is interrupted or cut off during the performance of the microsurgery.

31. A microsurgery support robot system, wherein the microsurgery support robot system comprises a main console and a robot cart, the main console comprises a main controller and a display, the robot cart comprises robotic forceps and a microscope video camera, the display shows images or videos captured by the microscope video camera, the position and orientation of the robotic forceps reflect the operator's operation to the main controller, the robot cart further comprises a parallel link robot, the parallel link robot comprises an end actuator, the end actuator is to which the robotic forceps are attached and which can rotate the robotic forceps, the end actuator incorporates a donut-shaped cylinder tube, the donut-shaped cylinder tube incorporates an arc-moving piston portion, both sides of the arc-moving piston portion are filled with liquid, the position of the arc-moving piston portion within the donut-shaped cylinder tube is determined based on the liquid pressure applied by the liquid, and the end actuator further incorporates a front magnet holder. A microsurgery-assisting robot system in which, due to the magnetic field coupling between the forward magnet holder and the arc-moving piston portion, the position of the forward magnet holder changes in accordance with the change in the position of the arc-moving piston portion within the donut-shaped cylinder tube, and the angle of the roll component of the robot forceps with respect to the tip actuator is determined by the position of the forward magnet holder.

32. A microsurgery-assisting robot system according to claim 31, wherein the tip actuator further comprises a planetary gear, an internal gear, and a sun gear, the planetary gear is connected to the front magnet holder, the position of the central axis of the planetary gear moves in an arc around the longitudinal axis of the tip actuator in response to a change in the position of the front magnet holder, the internal gear is provided along the outer wall of the tip actuator and is fixed in relation to the outer wall of the tip actuator, the gear of the planetary gear and the gear of the internal gear mesh, the gear of the planetary gear and the gear of the sun gear mesh, and the angle of rotation of the roll component of the sun gear is reflected in the angle of rotation of the roll component of the robot forceps.

33. A microsurgery-assisting robot system according to claim 32, wherein the ratio of the number of teeth per revolution of the tip actuator to the longitudinal axis is 4:1:2 between the internal gear, the planetary gear, and the sun gear.

34. A microsurgery support robot system according to claim 31, wherein the front actuator further incorporates a rear magnet holder, and the position of the rear magnet holder is changed in accordance with the change in the position of the arc-moving piston portion within the donut-shaped cylinder tube by magnetic field coupling between the rear magnet holder and the arc-moving piston portion, the arc-moving piston portion has a packing, a pair of gears on both sides of the packing, and a pair of pistons located at both ends of the arc-moving piston portion, the pistons have magnets, the front magnet holder and the rear magnet holder each have three magnets and two yokes, two of the three magnets are arranged to attract the magnets of the pistons, and the remaining one of the three magnets and the two yokes are arranged between the two magnets arranged to attract the magnets of the pistons so as to establish magnetic field coupling within the front magnet holder or the rear magnet holder. A microsurgery support robot system in which a magnetic field circuit is formed by the pair of pistons, the front magnet holder, and the rear magnet holder.

35. A microsurgery support robot system according to claim 31, wherein the robot cart further has a positioning arm, the positioning arm having a positioning arm base, a P1 rotation axis arm portion, a P2 rotation axis arm portion, a P3 translation axis arm portion, and a P4 rotation axis arm portion, the positioning arm base is connected to the P1 rotation axis arm portion, the P1 rotation axis arm portion supports the P2 rotation axis arm portion via a P1 rotation axis arm joint, the P2 rotation axis arm portion is rotatable about a P1 rotation axis which is the axis of rotation at the P1 rotation axis arm joint, the P2 rotation axis arm portion supports the P3 translation axis arm portion via a P2 rotation axis arm joint, the P3 translation axis arm portion is rotatable about a P2 rotation axis which is the axis of rotation at the P2 rotation axis arm joint, and the P3 translation axis arm portion supports the P4 rotation axis arm portion via a P3 translation axis arm joint. A microsurgery support robot system wherein the P4 rotation axis arm portion is capable of linear motion along the P3 translation axis, which is the translation axis in the P3 translation axis arm joint, the P4 rotation axis arm portion supports the parallel link robot, and the P4 rotation axis arm portion is rotatable together with the parallel link drive portion, which is the base portion of the parallel link robot, about the P3 translation axis, which is also the P4 rotation axis, which is the rotation axis in the P3 translation axis arm joint.

36. A microsurgery-assisting robot system according to claim 35, wherein the angle between the vertical line passing through the center of the positioning arm base and the P1 rotation axis is 15 degrees or more and 25 degrees or less, the angle between the P1 rotation axis and the P2 rotation axis is 30 degrees or more and 40 degrees or less, the angle between the P2 rotation axis and the P4 rotation axis is 30 degrees or more and 40 degrees or less, and all three of the P1, P2, and P4 rotation axes pass near the location where the tip portion of the robot forceps is located when the robot forceps are in their initial position.

37. A microsurgery support robot system according to claim 35, wherein the P4 rotary axis arm portion has a positioning arm control handle on the side opposite to the side to which the parallel link robot is attached, there are at least an automatic mode and a manual mode as modes of the positioning arm, in the automatic mode of the positioning arm, the operation of the main controller by the surgeon is permitted to be reflected in the operation of either the parallel link robot or the positioning arm, in the manual mode of the positioning arm, the positioning arm control handle on the positioning arm is permitted to be operated by hand, thereby allowing the position and orientation of the parallel link drive unit, which is the base portion of the parallel link robot, to be adjusted manually, in the automatic mode of the positioning arm, the positioning arm control handle operates as a contact detection bumper. A microsurgery support robot system wherein, when the positioning arm is in the automatic mode, if an obstacle hits the positioning arm control handle which acts as a contact detection bumper, the positioning arm stops based on the control of an information processing device of the robot cart.

38. A microsurgery support robot system according to claim 35, wherein the positioning arm has an emergency retraction button, and when the emergency retraction button is pressed, the parallel link robot and the P4 rotation axis arm move linearly along the P3 translation axis in a direction away from the object to be microsurgery, based on the control of an information processing device of the robot cart.

39. A microsurgery support robot system according to claim 35, wherein the rotation of the P4 rotation axis arm is performed around the P4 rotation axis based on the control of an information processing device of the robot cart or an information processing device of the main console, so as to cancel out part or all of the rotational movement that occurs in the parallel link drive unit which is the base of the parallel link robot as a result of the rotation of the P2 rotation axis arm around the P1 rotation axis or the rotation of the P3 translation axis arm around the P2 rotation axis.

40. A microsurgery support robot system according to claim 35, wherein the main controller has an M1 axis arm, an M2 axis arm, an M3 axis arm, an M4 axis arm, an M5 axis arm, and an M6 axis arm, the M1 axis arm is rotatable around the M1 axis, the M2 axis arm is supported by the M1 axis arm via an M1-M2 arm joint and is rotatable around the M2 axis using the M1-M2 arm joint, the M3 axis arm is supported by the M2 axis arm via an M2-M3 arm joint and is rotatable around the M3 axis using the M2-M3 arm joint, the M4 axis arm is supported by the M3 axis arm via an M3-M4 arm joint and is rotatable around the M4 axis using the M3-M4 arm joint. The M5 axis arm portion is supported by the M4 axis arm portion via the M4-M5 arm joint and is rotatable around the M5 axis using the M4-M5 arm joint, the M6 ​​axis arm portion is supported by the M5 axis arm portion via the M5-M6 arm joint and is rotatable around the M6 ​​axis using the M5-M6 arm joint, the M6 ​​axis arm portion is a grip portion for the operator to grasp and operate, the parallel link robot further has an L1 linear slider, an L2 linear slider, an L3 linear slider, an L4 linear slider, an L5 linear slider, an L6 linear slider, an L1 link, an L2 link, an L3 link, an L4 link, an L5 link, and an L6 link, Each of the L1, L2, L3, L4, L5, and L6 linear sliders is supported by the parallel link drive unit, which is the base of the parallel link robot, and each of the L1, L2, L3, L4, L5, and L6 linear sliders is capable of linear motion along the L1, L2, L3, L4, L5, and L6 translation axes, which are parallel to each other.The tip of each of the L1 linear slider, the L2 linear slider, the L3 linear slider, the L4 linear slider, the L5 linear slider, and the L6 linear slider is connected by a coupling to one end of each of the L1 link, the L2 link, the L3 link, the L4 link, the L5 link, and the L6 link. The other end of each of the L1 link, the L2 link, the L3 link, the L4 link, the L5 link, and the L6 link is connected by a coupling to different connection parts of the tip actuator. The information processing device of the main console converts the angle information indicated by the rotation sensors corresponding to the M1, M2, M3, M4, M5, and M6 axes of the main controller, which are determined in accordance with the operator's operation of the grip portion of the main controller, into a main controller instruction matrix, the main controller instruction matrix is ​​a matrix that represents the three translational components indicating the position of the grip portion of the main controller, and the yaw, pitch, and roll components indicating the orientation of the grip portion, the information processing device of the main console performs a master-slave conversion using the main controller instruction matrix and a master-slave conversion matrix to obtain a slave instruction matrix, the slave instruction matrix is ​​a matrix that represents the three translational components indicating the position of the robot forceps, and the yaw, pitch, and roll components indicating the orientation of the robot forceps, the master-slave conversion matrix reflects information regarding the orientation of the microscope video camera,The information processing device on the main console determines, based on the slave instruction matrix, the angle information on the P1 rotation axis, the angle information on the P2 rotation axis, the position information on the P3 translation axis, and the angle information on the P4 rotation axis for each of the arm portions of the positioning arm, the position information on the L1 translation axis, the position information on the L2 translation axis, the position information on the L3 translation axis, the position information on the L4 translation axis, the position information on the L5 translation axis, and the position information on the L6 translation axis for each of the linear sliders of the parallel link robot, and the rotation angle information for the end actuator of the parallel link robot. The information processing device on the main console adjusts, based on the slave instruction matrix, the position information on each of the angle information, the position information, and the rotation angle information for the end actuator, so that the position information for each of the linear sliders of the parallel link robot is acceptable.

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