JP2018075395A - Remote handling equipment and remote surgery system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide remote handling equipment and a remote surgery system capable of being operated in a posture according to a desire of an operator.SOLUTION: Remote handling equipment 2 sends an operation mode command which should be executed by a surgery manipulator 3 to the surgery manipulator. The remote handling equipment comprises: an operation handle 52 which is configured to be moved in a prescribed operation area, and input the operation mode command which should be executed by the surgery manipulator; and a support mechanism 31 for supporting the operation handle. The support mechanism can be shifted between a first mode in which the operation handle positioned on a neutral position of the operation area is positioned to a first height position where has a length of 85 cm or more from a floor surface where the remote handling equipment is installed and the operation handle is held, and a second mode in which, the operation handle positioned on the neutral position of the operation area is moved from the first height position to a second height position which is lower than the first height position by 48 cm or more then the operation handle is held.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a remote control device and a remote operation system.

  Conventionally, a minimally invasive surgical system having a handle for operating a surgical manipulator is known.

  For example, the system shown in Patent Document 1 includes a cabinet including a handle that operates in a standing state, and an operator operates a robot arm by operating the handle in a standing state.

  For example, the apparatus shown in Patent Document 2 includes a handle that is operated while sitting, and the operator operates the end effector by operating the handle while sitting.

US Patent Application Publication No. 2011/0087238 US Patent Application Publication No. 2014/0195010

  However, the system described in Patent Document 1 and the apparatus described in Patent Document 2 need to operate the handle in one of the standing posture and the sitting posture, and always take the posture desired by the operator. There was a problem that I could not.

  A remote operation device according to an aspect of the present invention is a remote operation device that transmits an operation mode command to be executed by a surgical manipulator to a surgical manipulator, and is configured to be movable within a predetermined operation region. And an operation handle for inputting an operation mode command to be executed by the surgical manipulator, and a support mechanism for supporting the operation handle, the support mechanism from a floor on which the remote operation device is installed A first form in which the operation handle positioned at the neutral position of the operation region is positioned at a first height position of 85 cm or more and the operation handle is held; and the operation handle is moved from the first height position. The operation handle located at the neutral position of the operation area is positioned at the second height position that is 48 cm or more below and the operation handle is held. Are possible transitions configured between the second embodiment that.

  The present invention has the configuration described above, and has an effect that the remote control device can be operated in a posture according to the operator's preference.

It is a perspective view which shows the structural example of the remote surgery system which concerns on Embodiment 1 of this invention. It is a perspective view which shows the structural example of the remote control apparatus of the remote surgery system of FIG. It is a side view which shows typically the structural example of the remote control apparatus which takes the sitting position adaptation form of the remote operation system of FIG. It is a side view which shows typically the structural example of the remote control apparatus which takes the standing position adaptation form of the remote operation system of FIG. It is a block diagram which shows roughly the structural example of the control system of the remote surgery system of FIG. It is a figure which shows the structural example of the attitude | position operation part of the remote control apparatus of the remote operation system of FIG. It is a side view which shows the structural example of the remote control apparatus which takes the standing position adaptation form of the remote operation system of FIG. It is a side view which shows the structural example of the remote control apparatus which takes the sitting position adaptation form of the remote operation system of FIG. It is a side view which shows the structural example of the remote control apparatus which takes another sitting position adaptation form of the remote operation system of FIG. It is a figure which shows the model of the operator who operates the remote operation system of FIG. 1, and is a figure which shows the model of a large operator. It is a figure which shows the model of the operator who operates the remote operation system of FIG. 1, and is a figure which shows the model of a small operator. It is a figure which shows the modification of the attitude | position operation part of the remote control apparatus of the remote surgery system of FIG. It is a block diagram which shows roughly the modification of the control system of the remote surgery system of FIG. It is a side view which shows the structural example of the remote control apparatus of the remote surgery system which concerns on Embodiment 2 of this invention. It is a block diagram which shows roughly the structural example of the control system of the remote surgery system of FIG. It is a side view which shows the structural example of the remote control apparatus which takes the sitting position adaptation form of the remote surgery system which concerns on Embodiment 3 of this invention. It is a perspective view which shows the structural example of the remote control apparatus which takes the standing adaptation form of the remote operation system which concerns on Embodiment 3 of this invention, and an external display apparatus. It is a perspective view which shows the structural example of the remote control apparatus which has the other display part which takes the standing position adaptation form of the remote surgery system which concerns on the modification of Embodiment 3 of this invention.

  A remote operation device according to an aspect of the present invention is a remote operation device that transmits an operation mode command to be executed by a surgical manipulator to a surgical manipulator, and is configured to be movable within a predetermined operation region. And an operation handle for inputting an operation mode command to be executed by the surgical manipulator, and a support mechanism for supporting the operation handle, the support mechanism from a floor on which the remote operation device is installed A first form in which the operation handle positioned at the neutral position of the operation region is positioned at a first height position of 85 cm or more and the operation handle is held; and the operation handle is moved from the first height position. The operation handle located at the neutral position of the operation area is positioned at the second height position that is 48 cm or more below and the operation handle is held. It may be possible transition configured with the second embodiment that.

  According to this configuration, the surgeon can operate the remote control device in an upright state by causing the remote control device to take the first form. Further, by allowing the remote control device to take the second form, the operator can operate the remote control device while sitting on a chair. Thus, the surgeon can change the posture for operating the remote control device between the standing position and the sitting position, and can operate the remote control device in a posture according to the preference of the surgeon.

In a state in which the remote control device takes the first form, the support mechanism is located at a neutral position in the operation region at a first height position of 99 cm or more from a floor surface on which the remote control device is installed. The operation handle may be held so that the handle can be positioned.

  According to this configuration, many operators having physique differences can comfortably operate the operation handle in a standing position.

  In the state in which the remote control device takes the second form, the support mechanism moves the operation handle from the first height position to a second height position that is 50 cm or more below and to the neutral position of the operation area. The operation handle that is positioned may be positioned and held.

  According to this configuration, a large number of operators having physique differences can comfortably operate the operation handle in the standing position and the sitting position.

  A remote control device according to another aspect of the present invention is a remote control device that transmits an operation mode command to be executed by a surgical manipulator to a surgical manipulator so that the remote control device can be moved within a predetermined operation region. An operation handle for inputting an operation mode command to be executed by the surgical manipulator, and a support mechanism for supporting the operation handle, wherein the support mechanism is a floor surface on which the remote operation device is installed. A first form in which the operation handle is held so that the operation area of the operation handle is stored in a clean area set to a predetermined height or more, and the operation of the operation handle in an area below the clean area It is configured to be able to transition between the second form holding the operation handle so that at least a part of the region is located.

  According to this configuration, the remote control device can be shifted between the first form and the second form according to the form of the operation. That is, by allowing the remote control device to take the first form, contamination of the operation handle and the operator's hand can be prevented, so that the operator can leave the operation handle as it is without performing a clean operation as necessary. You can switch to a surgical tool and perform surgery. In addition, by changing the form of the remote control device between the first form and the second form, the operator can change the posture for operating the remote control device, and the posture according to the preference of the operator. The remote control device can be operated.

  The clean area may be set to 70 cm or more from the floor surface.

  According to this configuration, contamination of the operation handle and the operator's hand can be suitably prevented.

  The lower limit height position of the operation region of the operation handle in a state where the remote operation device takes the second form is the lower limit of the operation region of the operation handle in a state where the remote operation device takes the first form. 48 cm or more lower than the height position.

  According to this configuration, a large number of operators having physique differences can comfortably operate the operation handle in the standing position and the standing position.

  A remote control device according to another aspect of the present invention is a remote control device that transmits an operation mode command to be executed by a surgical manipulator to a surgical manipulator, and includes a support leg and a first extending horizontally. A base end portion is attached to the support leg via a shaft and can swing around the first shaft, and a base end portion is supported on the lower side via a second shaft extending in the horizontal direction. A support mechanism including an upper support portion that is attached to a distal end portion of the unit and is swingable about the second axis; and is attached to the lower support portion so as to be positioned behind the lower support portion, and the surgery An operation handle for inputting an operation mode command to be executed by the manipulator.

  According to this configuration, the height position of the operation handle and the display unit can be changed by swinging the lower support part and the upper support part, and the operator changes the posture for operating the remote control device. be able to. As a result, the remote control device can be operated in a posture according to the operator's preference.

  The lower support part is swingable between an upright angle position extending obliquely upward and forward from the support leg and an inclining angle position rotated forward from the upright angle position, and the upper support part is An expansion angle position that extends obliquely upward and rearward from the front end portion of the lower support portion positioned at the standing angle position, and a contraction angle position that is smaller in angle with the lower support portion than the expansion angle position May be swingable between.

  According to this configuration, by swinging the lower support portion between the standing angle position and the lying angle position, and swinging the upper support portion between the expansion angle position and the contraction angle position, The height position of the operation handle and the display unit can be changed, and the operator can change the posture for operating the remote control device. As a result, the remote control device can be operated in a posture according to the operator's preference.

  The first axis and the second axis may be substantially parallel.

  According to this configuration, the remote control device can be suitably configured.

  The operation handle is configured to be movable within a predetermined operation area, and the support mechanism is configured such that the lower support portion is located at the standing angle position and the upper support portion is located at the expansion angle position. In the first form, the operation handle located at the neutral position of the operation region is positioned at a first height position of 85 cm or more from the floor surface on which the remote operation device is installed, and the operation handle is held. In the second mode in which the lower support portion is located at a lying angle position and the upper support portion is located at a contraction angle position, the operation is performed at a second height position that is 48 cm or more below the first height position. The operation handle positioned at the neutral position of the region may be positioned to hold the operation handle.

  According to this configuration, the surgeon can operate the remote control device in an upright state by causing the remote control device to take the first form. Further, by allowing the remote control device to take the second form, the operator can operate the remote control device while sitting on a chair. Thus, the surgeon can change the posture for operating the remote control device, and can operate the remote control device in a posture according to the preference of the surgeon.

  The operation handle is configured to be movable within a predetermined operation area, and the support mechanism is configured such that the lower support portion is located at the standing angle position and the upper support portion is located at the expansion angle position. In the first form, the operation handle is held so that the operation area of the operation handle is within a clean area set to a predetermined height or more from the floor surface on which the remote operation device is installed, and the In the second mode in which the lower support portion is located at the inclining angle position and the upper support portion is located at the contraction angle position, at least a part of the operation region of the operation handle is located in an area below the clean area. The operation handle may be held so as to be positioned.

  According to this configuration, in the operation performed while switching between the treatment using the surgical manipulator and the treatment by the operator's procedure, the remote control device takes the first form, thereby contaminating the operation handle and the operator's hand. Therefore, the surgeon can perform the operation by holding the operation handle as it is without performing a clean operation as necessary.

  The clean area may be set to 70 cm or more from the floor surface.

  According to this configuration, contamination of the operation handle and the operator's hand can be suitably prevented.

  A remote control device according to another aspect of the present invention is a remote control device that transmits an operation mode command to be executed by a surgical manipulator to a surgical manipulator and receives an image captured by an endoscope camera probe. An operation handle for inputting an operation mode command to be executed by the surgical manipulator, a display unit for displaying an image taken by the endoscope camera probe, and a support for supporting the operation handle and the display unit. And a first form adapted to be operated by the operator in a standing position and a second form adapted to be operated by the operator in a sitting position, and the forms can be mutually modified. The support mechanism can change the relative position of the display unit with respect to the operation handle in each of the first form and the second form. Supporting the display unit.

  According to this configuration, the position of the display unit can be changed according to the posture of the operator standing or sitting.

  The display unit may be attached to the support mechanism so as to be rotatable about an axis extending in the horizontal direction.

  According to this configuration, the position of the display unit can be more suitably changed according to the posture of the operator standing or sitting.

  A remote control device according to another aspect of the present invention is a remote control device that transmits an operation mode command to be executed by a surgical manipulator to the surgical manipulator and receives an image captured by the endoscope camera probe. A display device that receives an image captured by the endoscope camera probe and displays the received image, and is adapted for an author to operate in a standing position, and the operator operates in a sitting position. The first display device is configured to be capable of being deformed with each other in the second form adapted to do so, and the first display device has a height suitable for the operator to visually recognize in the first form. In the second embodiment, another display device different from the display device is used.

  According to this configuration, the operator who operates the remote control device can operate the operation handle while visually recognizing the display device and other display devices instead of the display unit. In this way, if the surgeon feels fatigue by performing an operation while looking at the display device for a long time, the surgeon's fatigue can be alleviated by performing an operation while looking at another display device instead of the display device. Can do.

  The other display device may be attached to be adjustable in angle.

  According to this configuration, the remote control device can be more suitably configured.

  A remote operation system according to an aspect of the present invention includes the remote operation device and the other display device installed outside the remote operation device.

  According to this configuration, an operator who operates the remote operation device of the remote operation system can operate the operation handle while visually recognizing the display device and other display devices instead of the display unit. In this way, if the surgeon feels fatigue by performing an operation while looking at the display device for a long time, the surgeon's fatigue can be alleviated by performing an operation while looking at another display device instead of the display device. Can do.

  A remote operation device according to another aspect of the present invention is a remote operation device that transmits an operation mode command to be executed by a surgical manipulator to the surgical manipulator so that it can be moved within a predetermined operation region. A first form adapted to be operated by the operator in a standing position, and the operator operates in a sitting position, comprising an operation handle for inputting an operation mode command to be executed by the surgical manipulator In the second form adapted to the above, it is possible to change the form mutually, and when changing the form between the first form and the second form, the operation handle The operation is invalidated, or the transmission of the operation mode command is invalidated.

  According to this configuration, when the configuration is changed between the first configuration and the second configuration, the operation mode command to be executed by the surgical manipulator is transmitted to the surgical manipulator, and the surgical manipulator operates without permission. Can be prevented.

  A telesurgical system according to another aspect of the present invention includes a remote control device that transmits an operation mode command to be executed by a surgical manipulator to the surgical manipulator, and the surgical manipulator, and responds to the operation mode command. A telesurgical system including a patient-side surgical device for operating the surgical manipulator, wherein the remote-operated device is configured to be movable within a predetermined operation area and is executed by the surgical manipulator An operation handle for inputting a power operation mode command and a support mechanism for supporting the operation handle, the support mechanism being at a first height position of 85 cm or more from a floor surface on which the remote control device is installed. The operation handle so that the operation handle located at a neutral position of the operation region can be positioned A first form to be held, and the operation handle is moved from the first height position, and the operation handle located at the neutral position of the operation area is positioned at a second height position lower than 48 cm. It is configured to be able to transition to the second form that holds

  According to this configuration, the surgeon can operate the remote control device in an upright state by causing the remote control device to take the first form. Further, by allowing the remote control device to take the second form, the operator can operate the remote control device while sitting on a chair. Thus, the surgeon can change the posture for operating the remote control device between the standing position and the sitting position, and can operate the remote control device in a posture according to the preference of the surgeon.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the present embodiment. In the following description, the same or corresponding elements are denoted by the same reference symbols throughout the drawings, and redundant description thereof is omitted.

(Knowledge related to the present invention)
In the operating room, a clean operation is performed to prevent surgical wounds and medical devices from being contaminated by pathogenic bacteria and foreign substances. In this clean operation, a clean area and a contaminated area other than the clean area are set. And the area from the floor surface where the possibility that foreign matters such as dust and dust are falling to a certain height is treated as a contaminated area in principle and excluded from the clean area. This area is usually an area from the floor to a height of 70 cm.

Members of the surgical team, including the surgeon, should ensure that only objects that are sterilized are located in the clean area during the operation and move objects located in the contaminated area to the clean area. Is sterilized. Similarly, when members of the surgical team, including the surgeon, place their hands in the contaminated area, sterilize the hands before directly contacting the objects located in the clean area.
The present invention relates to the knowledge regarding such a clean operation.

(Embodiment 1)
FIG. 1 is a perspective view showing a configuration example of a remote operation system 100 according to an embodiment of the present invention.

[Configuration example of remote surgery system]
As shown in FIG. 1, the telesurgical system 100 is a system that performs minimally invasive surgery. The remote surgery system 100 includes a patient-side surgical device 1 and a remote control device 2. When an operation mode command to be executed by the patient-side surgical apparatus 1 is input to the remote operation device 2 by an operator O such as a surgeon, the remote operation device 2 transmits the operation mode command to the patient-side surgical device 1. The patient-side surgical apparatus 1 handles a surgical tool or the like in response to the operation mode command transmitted from the remote operation device 2. As described above, the remote operation system 100 is a system for performing a minimally invasive operation by remotely operating the instrument arm 3 and the like from the remote operation device 2.

[Configuration example of patient side surgical device]
The patient-side surgical apparatus 1 constitutes an interface between the remote surgery system 100 and the patient P. The patient-side surgical apparatus 1 is disposed beside the operating table 111 on which the patient lies.

  The patient-side surgical apparatus 1 includes one or more instrument arms 3, one or more camera arms 4, and a positioner 5 that supports and positions the instrument arms and the camera arms 4. The instrument arm 3 and the camera arm 4 constitute a surgical manipulator. The positioner 5 is supported by a base 7 placed on the floor of the operating room. Usually, two or more instrument arms 3 are provided. One camera arm 4 is usually provided.

  In the instrument arm 3, a holder provided at the tip holds the instrument 12. The instrument 12 includes an end effector at the tip of a long shaft. Examples of the end effector include, but are not limited to, forceps, a high-frequency knife, and a snare wire, and various treatment tools can be applied. In the operation using the telesurgical system 100, the instrument arm 3 is introduced into the body of the patient P via a sleeve (cannula sleeve) placed on the body surface of the patient P, and the end effector of the instrument 12 is operated. It is arranged near the part.

  The camera arm 4 has an endoscope camera probe 13 (see FIG. 4) attached to the tip. The endoscope camera probe 13 captures a surgical site in the body of the patient P, and the captured image is output to the remote control device 2. In the present embodiment, the endoscope camera probe 13 is a 3D endoscope that can capture a three-dimensional image. In the operation using the remote operation system 100, the camera arm 4 is introduced into the body of the patient P via a trocar placed on the body surface of the patient P, and the endoscopic camera probe 13 is disposed in the vicinity of the surgical site. .

[Configuration example of remote control device]
The remote control device 2 constitutes an interface between the remote operation system 100 and the operator O, and the instrument arm 3, the instrument 12, the camera arm 4, and the endoscope camera probe 13 (see FIG. 4) are connected to the operator. O is a device for operation. That is, the remote operation device 2 sends the operation mode command to be executed by the instrument arm 3, the instrument 12, the camera arm 4, and the endoscope camera probe 13 input by the operator O to the patient-side surgical device. 1 can be transmitted. Further, the remote control device 2 is configured to be able to display an image photographed by the endoscope camera probe 13. The remote control device 2 is installed beside the operating table 111, for example, but can also be installed in a separate room or the like.

  Here, the operation mode to be executed by the instrument arm 3 is, for example, movement and positioning of the instrument 12. This positioning may include determining the attitude of the instrument 12.

  The operation mode to be executed by the instrument 12 is a mode of operation realized by the function of the instrument 12. For example, when the instrument 12 is a forceps, the operation mode to be executed by the instrument 12 is a gripping operation and its releasing operation. When the instrument 12 is a high-frequency knife, the operation mode to be executed by the instrument 12 is a vibration operation of the high-frequency knife, specifically, a current supply to the high-frequency knife. Further, when the instrument 12 is a snare wire, the operation mode to be executed by the instrument 12 is a restraining operation and a releasing operation thereof, and further, by supplying a current to the snare wire, the operation target site is defined. An operation to burn out may be included.

  The operation mode to be executed by the camera arm 4 is, for example, movement and positioning of the endoscope camera probe 13. This positioning may include determining the posture of the endoscope camera probe 13.

  Furthermore, the operation mode to be executed by the endoscope camera probe 13 is, for example, setting of the zoom magnification of the endoscope camera probe 13.

  Hereinafter, for convenience of explanation, the forward direction and the backward direction when viewed from the operator O who operates the remote operation device 2 may be simply referred to as front and rear, respectively, and the left direction when viewed from the operator O who operates the remote operation device 2. The direction and the right direction may be simply referred to as left and right, respectively.

  The remote control device 2 transmits an operation mode command to be executed by the patient-side surgical device 1 to the instrument arm 3. Further, the remote control device 2 receives an image taken by the endoscope camera probe 13.

  FIG. 2 is a perspective view illustrating a configuration example of the remote control device 2.

  As shown in FIG. 2, the remote operation device 2 includes a support mechanism 31, a remote operation unit 32, a display unit 33, and a controller 6 (see FIG. 4). The remote operation device 2 includes an operation bed 36 including an operation target switching operation unit 34 and a posture operation unit 35.

  The support mechanism 31 includes a support leg 41, a lower support part 42, an upper support part 43, and a joint drive part 44 (see FIG. 4).

  FIG. 3A is a side view schematically showing a configuration example of the remote control device 2 taking a standing adaptation mode to be described later. FIG. 3B is a side view schematically showing a configuration example of the remote control device 2 taking a sitting position adaptation mode to be described later.

  As shown in FIGS. 2, 3A, and 3B, the support legs 41 are a pair of left and right legs extending in the front-rear direction. When the remote control device 2 is installed in the operating room, the support leg 41 contacts the floor of the operating room.

As shown in FIGS. 3A and 3B, the lower support portion 42 has a base end portion 42 a attached in the vicinity of the central portion in the longitudinal direction of the support leg 41. And the base end part 42a of the lower side support part 42 is attached to the support leg 41 so that it can rock | fluctuate around the axis line (1st axis | shaft L1) extended in a horizontal direction (left-right direction seeing from the operator O), The lower side support is at least an arbitrary angle position between the standing angle position P1 extending obliquely upward and forward from the support leg 41 shown in FIG. 3A and the lying angle position P2 shown in FIG. 3B rotated forward from the standing angle position P1. It is comprised so that the part 42 can be located. A portion where the support leg 41 and the base end portion 42a of the lower support portion 42 are connected constitutes the first joint JT1, and the standing angle position P1 and the lying angle position P2 are determined by the joint angle of the first joint JT1. It is prescribed.

  The upper support portion 43 has a base end portion 43 a attached to a distal end portion 42 b of the lower support portion 42. And the base end part 43a of the upper side support part 43 is the base end of the lower side support part 42 so that it can rock | fluctuate around the axis line (2nd axis | shaft L2) extended in a horizontal direction (left-right direction seeing from the operator O). An expansion angle position P3 attached to the portion 42a and extending obliquely upward and rearward from the tip end portion 42b of the lower support portion 42 located at least at the standing angle position P1 shown in FIG. 3A, and below the expansion angle position P3 The upper support 43 can be positioned at an arbitrary angle position between the angle of the angle formed with the support 42 and the contraction angle position P4 shown in FIG. 3B. The portion where the distal end portion 42b of the lower support portion 42 and the base end portion 43a of the upper support portion 43 are connected constitutes the second joint JT2, and the expansion angle position P3 and the contraction / closing angle position P4 are It is defined by the joint angle of two joints JT2.

  Further, the display unit 33 is attached to the distal end portion 43 b of the upper support portion 43 toward the operator O. The display unit 33 is configured to be rotatable around an axis (third axis L3) extending in the horizontal direction (left and right as viewed from the operator O). A portion where the tip portion 43b of the upper support portion 43 and the display portion 33 are connected constitutes the third joint JT3.

  The first to third axes L1, L2, and L3 are preferably substantially parallel to each other.

  FIG. 4 is a block diagram schematically illustrating a configuration example of a control system of the remote operation system 100.

  As shown in FIG. 4, the joint drive unit 44 includes a first joint drive unit 45, a second joint drive unit 46, and a third joint drive unit 47. The 1st joint drive part 45 changes the angular position of the lower side support part 42 with respect to the support leg 41 of 1st joint JT1. The 2nd joint drive part 46 changes the angular position of the upper side support part 43 with respect to the lower side support part 42 of 2nd joint JT2. The 3rd joint drive part 47 changes the angular position of the display part 33 with respect to the upper side support part 43 of 3rd joint JT3.

  As shown in FIGS. 2, 3A, 3B, and 4, the remote operation unit 32 is an operation unit that is operated to input operation mode commands to be executed by the instrument arm 3 and the camera arm 4. Yes, including an operating arm 51.

  The telesurgical system 100 constitutes a master-slave type system in controlling the operation of the instrument arm 3 and the camera arm 4. That is, the operation arm 51 constitutes a master side operation unit in the master-slave type system, and the instrument arm 3 and the camera arm 4 constitute a slave side operation unit. When the operator O moves the handle (operation handle) 52 of the operation arm 51, the telesurgical system 100 changes the movement of the handle 52 to the distal end portion of the instrument arm 3 (end effector of the instrument 12) or the camera. The operation of the instrument arm 3 or the camera arm 4 is controlled so that the distal end portion (endoscopic camera probe 13) of the arm 4 traces and moves. The remote operation system 100 is not limited to a master-slave type system.

  In the present embodiment, the telesurgical system 100 is configured to control the operation of the instrument arm 3 in accordance with the set operation magnification. For example, when the operation magnification is set to ½, the end effector of the instrument 12 is controlled to move a movement distance that is ½ of the movement distance of the handle 52. As a result, precise surgery can be performed accurately.

  The operation arm 51 is attached to the lower support portion 42 so as to be located behind (inner side) the lower support portion 42. That is, the operation arm 51 has a proximal end portion 51a attached to the lower support portion 42, extends toward the operator O, and is provided with a handle 52 at the distal end portion. A plurality of joints are provided between the base end portion 51a and the handle 52, and the handle 52 is within a predetermined three-dimensional operation area A (see FIGS. 3A and 3B) with respect to the base end portion 51a of the operation arm 51. It is configured to be able to move with. That is, the handle 52 is configured to be movable in the up-down direction, the left-right direction, and the front-rear direction with respect to the base end portion 51a. Each joint between the base end portion 51a and the handle 52 is provided with a detection unit (not shown) that detects the positional relationship of each joint. The detection unit is, for example, an encoder or a resolver, and detects the relative position of the handle 52 with respect to the base end portion 51a.

Further, the handle 52 is configured so as to be moved approximately 15 cm (total approximately 30 cm) from the neutral position (center position) C, for example, upward or downward with respect to the base end portion 51a. In this case, if the operation magnification is 1/2, the instrument arm 3 is configured to be able to move a total of approximately 15 cm in the vertical direction, and the operability of the remote operation system 100 can be kept good.

  And as above-mentioned, since the base end part 51a is attached to the lower side support part 42 and the operation arm 51 is provided so that it may extend toward the operator O, the lower side support part 42 is made to stand upright angle position P1. The arm 51 can be moved obliquely downward and forward with respect to the support leg 41 or the operation bed 36 by moving from the position toward the fall angle position P2. Further, the operation arm 51 can be moved obliquely upward and rearward with respect to the support leg 41 or the operation bed 36 by moving the operation arm 51 from the lying angle position P2 toward the standing angle position P1.

  In the present embodiment, the base end 51a of the operation arm 51 is attached to the lower support 42 so as to be slidable in the extending direction of the lower support 42 in a side view. A portion where the base end portion 51a of the operation arm 51 and the lower support portion 42 are connected constitutes the fourth joint JT4. Accordingly, when the angular position of the lower support portion 42 with respect to the support leg 41 is changed, the height of the operation arm 51 can be finely adjusted by sliding the operation arm 51 with respect to the lower support portion 42. .

  The display unit 33 can display an image captured by the endoscope camera probe 13.

  In the present embodiment, the display unit 33 is, for example, a three-dimensional display, and displays images captured by the endoscope camera probe 13 by displaying different images for both eyes of the operator O. It is comprised so that O can be visually recognized in three dimensions. The display unit 33 includes a left-eye display unit 33a and a right-eye display unit 33b that are separately partitioned. Then, the operator O brings his / her face close to the display unit 33, visually recognizes the left eye display unit 33a with the left eye, and simultaneously recognizes the right eye display unit 33b with the right eye. Different images are displayed for both eyes.

It should be noted that a known stereoscopic method such as a method using a polarizing glass or a method using an active shutter glass may be applied so that the operator O stereoscopically views an image taken by the endoscope camera probe 13. .

  And as above-mentioned, since the display part 33 is attached toward the operator O at the front-end | tip part 43b of the upper side support part 43, the upper side support part 43 is changed from the expansion angle position P3 to the contraction angle position P4. The display part 33 can be moved downward by moving it toward. Moreover, the display part 33 can be moved upward by moving the upper side support part 43 toward the expansion angle position P3 from the contraction / closing angle position P4.

  The operation target switching operation unit 34 is an operation unit capable of inputting an operation target switching command for switching a target controlled by the operation arm 51 between the instrument arm 3 and the camera arm 4. The operation target switching operation unit 34 is an operation pedal attached to the support leg 41. Accordingly, when it is desired to change the field of view during the operation, the operation object switching operation unit 34 is operated to switch the object controlled by the operation arm 51 from the instrument arm 3 to the camera arm 4 and the operation arm 51 is operated. Thus, the endoscope camera probe 13 can be moved. After the endoscope camera probe 13 is moved, the operation object switching operation unit 34 is operated again, the object controlled by the operation arm 51 is returned from the camera arm 4 to the instrument arm 3, and the operation is continued. can do.

  FIG. 5 is a diagram illustrating a configuration example of the posture operation unit 35.

  The posture operation unit 35 is an operation unit that can input a posture change command for changing the posture of the support mechanism 31 between a standing position and a sitting position. As shown in FIGS. 2 and 5, the posture operation unit 35 has a plurality of operation buttons and is attached to the upper support unit 43.

  As shown in FIG. 5, the posture operation unit 35 includes a standing adaptive form transition button 61 and a sitting adaptive form transition button 62. The posture operation unit 35 includes a height position adjustment button 63 and a front / rear position adjustment button 64.

  The standing adaptive form transition button 61 is a button for inputting a command for causing the support mechanism 31 to transition to the standing adaptive form (first form). The sitting position adaptation form transition button 62 is a button for inputting a command for causing the support mechanism 31 to transition to the sitting position adaptation form (second form). Details of the standing position adaptation form and the sitting position adaptation form will be described later.

  The height position adjustment button 63 is a button for inputting a command to change the angular position of the upper support 43 with respect to the lower support 42. By changing the angular position of the upper support part 43 with respect to the lower support part 42, the height position of the display part 33 can be changed as described above. The front / rear position adjustment button 64 is a button for inputting a command to change the angular position of the upper support portion 43 with respect to the support leg 41. By changing the angular position of the lower support part 42 with respect to the support leg 41, the position of the display part 33 and the operation arm 51 in the front-rear direction can be changed as described above.

[Example of controller configuration]
As shown in FIG. 4, the controller 6 includes, for example, a control unit 66 having an arithmetic unit such as a CPU and a storage unit 67 having a memory such as a ROM and a RAM. The controller 6 may be composed of a single controller that performs centralized control, or may be composed of a plurality of controllers that perform distributed control in cooperation with each other.

The control unit 66 is an operation mode command to be executed by the instrument arm 3 according to the switching state of the operation target switching operation unit 34, or the operation mode command input to the remote operation unit 32, and It is determined whether the operation mode command is to be executed by the camera arm 4. When the control unit 66 determines that the operation mode command input to the remote operation unit 32 is an operation mode command to be executed by the instrument arm 3, the control unit 66 sends the operation mode command to the instrument arm 3. To send. As a result, the remote control device 2 controls the instrument arm 3 of the patient-side surgical device 1 to move and position the instrument 12.

  If the control unit 66 determines that the operation mode command input to the remote operation unit 32 is an operation mode command to be executed by the camera arm 4, the control unit 66 transmits the operation mode command to the camera arm 4. As a result, the remote control device 2 controls the camera arm 4 of the patient-side surgical device 1 to move and position the endoscope camera probe 13.

  Further, the control unit 66 controls the joint driving unit 44 in accordance with the posture change command input to the posture operation unit 35, and controls the joint angles of the first joint JT1, the second joint JT2, and the third joint JT3. To do.

  Further, the control unit 66 processes an image taken by the endoscope camera probe 13 received from the endoscope camera probe 13 and controls the display unit 33 to display the image.

  A predetermined control program is stored in the storage unit 67, and the operation of the remote operation system 100 is controlled by the control unit 66 reading and executing these control programs. Further, the joint angles of the first joint JT1, the second joint JT2, and the third joint JT3 according to the standing adaptive form, and the joints of the first joint JT1, the second joint JT2, and the third joint JT3 according to the sitting adaptive form. Information on the angle is stored.

  In addition, the information regarding the joint angle according to the standing adaptive form and the sitting adaptive form is stored as a default value of the remote operation device 2, and may be adjusted by the operator O at the time of use each time, or the default value is changed. Then, the information related to the joint angle according to the standing adaptive form and the sitting adaptive form may be set to different values. In addition, the joint angles relating to the standing adaptation form and the sitting adaptation form may be stored for each operator O so that different operators O can use the same remote control device 2.

[Configuration example of standing adaptation mode]
FIG. 6A is a side view showing a configuration example of a remote control device taking a standing adaptation form.

  As shown in FIG. 6A, the standing adaptation mode according to the present embodiment is a mode in which the lower support portion 42 is positioned at the standing angle position P1 and the upper support portion 43 is positioned at the expansion angle position P3. . The standing angle position P1 of the lower support portion 42 is operated to a height position suitable for grasping the handle 52 located at the neutral position C with the arm O bent in a substantially right angle. The arm 51 is set to be positioned.

  Further, the expansion angle position P3 of the upper support portion 43 is set so that the display portion 33 is positioned at a height position suitable for the operator O in a standing state to visually recognize the display portion 33.

  Note that the standing adaptation form may be a form in which the display unit 33 faces in a direction suitable for the operator O in a further standing state to visually recognize the display unit 33. In this case, the angle position of the display unit 33 with respect to the upper support unit 43, that is, the joint angle of the third joint JT3, is oriented in a direction suitable for the surgeon O with the display unit 33 standing up to visually recognize the display unit 33. Is set as follows.

In an operating room, when an area from the floor to a height H of 70 cm is set as a contaminated area, when designed based on a human model in ergonomics,
The operation area A of the handle 52 can be configured so as to be entirely contained in a clean area of 70 cm or more from the floor surface. Therefore, in the operation performed while switching between the treatment using the instrument arm 3 and the treatment by the procedure by the operator O, the operation handle and the operator's hand can be obtained by causing the remote control device 2 to adopt the standing adaptation form. Thus, the surgeon can quickly perform the operation while holding the operation handle directly as it is without performing a clean operation again in an upright state.

[Configuration example of sitting adaptation]
FIG. 6B is a side view showing a configuration example of a remote control device taking a sitting position adaptation mode.

  As shown in FIG. 6B, the sitting position adaptation form is a form in which the lower support part 42 is located at the inclining angle position P2 and the upper support part 43 is located at the contraction angle position P4. The lying angle position P2 of the lower support portion 42 is a height position suitable for the operator O sitting in a chair to grip the handle 52 positioned at the neutral position C with his arm bent at a substantially right angle. The operation arm 51 is set to be positioned at

  Further, the contraction angle position P4 of the upper support portion 43 is set so that the display portion 33 is positioned at a height suitable for the operator O sitting in a chair to visually recognize the display portion 33.

  The sitting position adaptation form may be a form in which the display unit 33 faces in a direction suitable for the surgeon O sitting in a chair to visually recognize the display unit 33. In this case, the angle position of the display unit 33 with respect to the upper support unit 43, that is, the joint angle of the third joint JT3, is an orientation suitable for the operator O with the display unit 33 sitting on the chair to visually recognize the display unit 33. It is set to face.

  In a long-time operation using the remote operation system 100, the operator O can reduce the accumulation of fatigue of the operator O by performing the operation in a sitting position.

  In the operating room, when an area from the floor surface to a height H of 70 cm is set as a contaminated area, if the design is based on a human model in ergonomics, the operation area A of the handle 52 in the sitting position adaptation mode. Are at least partially located in the contaminated area. Therefore, when the operator O directly performs a procedure on the patient P after operating the handle 52 of the remote control device 2 taking the sitting position adaptation form, it is necessary to sterilize the hand in the clean operation.

  In this way, the operator O can change the posture for operating the remote operation device 2 between standing and sitting, and can operate the remote operation device in a posture according to the operator's preference.

  The position in the front-rear direction of the handle 52 in the standing position adaptation mode is the neutral position C in a state where the operator O standing in the vicinity of the pedal of the operation target switching operation unit 34 bends his arm substantially at a right angle. The operation arm 51 may be set at a position suitable for gripping the handle 52 to be operated. Further, the position in the front-rear direction of the display unit 33 in the standing position adaptation mode is such that the operator O standing in the vicinity of the pedal of the operation target switching operation unit 34 is in a position suitable for the operator O to visually recognize the display unit 33. It may be set so that 33 is located.

  Further, the position in the front-rear direction of the handle 52 in the sitting position adaptation mode is such that the operator O in the state of sitting in the chair so that the foot of the operator O is positioned in the vicinity of the pedal of the operation target switching operation unit 34 is approximately the arm. It may be set so that the operation arm 51 is positioned at a position suitable for gripping the handle 52 positioned at the neutral position C in a state bent at a right angle. Further, the position in the front-rear direction of the display unit 33 in the sitting position adaptation mode is such that the operator O who is sitting on the chair so that the foot of the operator O is positioned in the vicinity of the pedal of the operation target switching operation unit 34. The display unit 33 may be set at a position suitable for visually recognizing the image.

  By such setting of the standing adaptive form and the sitting adaptive form, the operator O can operate the remote control device 2 by standing and sitting on the spot without moving, and can quickly change the posture. Can be done.

  FIG. 7 is a side view showing a configuration example of a remote control device taking another sitting position adaptation mode.

  Note that by operating the posture operation unit 35 according to the preference of the surgeon O, the surgeon O can also operate the remote control device 2 in another sitting position adaptation mode shown in FIG.

[Specific design of remote control device]
In order to specifically design the dimensions and the like of the remote control device 2, “1988 ANTHROPOM
ETRIC SURVEY OF US ARMY PERSONNEL: METHODS
The measurement data described in “AND SUMMARY STATISTICS (1988)” was used.

The JIS standard can be referred to for designing the remote control device 2. For example, “JIS Z8503-4: 2006 (ISO 11064-4: 2004) Ergonomics—Control Center Design—Part 4: Workstation "Placement and dimensions" specifies the use of human models of the 5th and 95th percentile.

  The operation area A is defined as 15 cm above and below the neutral position C, that is, the dimension in the height direction of the operation area A is defined as 30 cm. This is defined on the basis of the dimension in the height direction of the operation area of the surgical instrument set in order to maintain good operability of the surgical instrument during laparoscopic surgery and the operation magnification of the handle 52. The dimension of the operation region of the set surgical tool in the height direction is 30 cm, and the operation magnification of the handle 52 is ½. Therefore, the dimension in the height direction of the operation area A derived based on the dimension in the height direction of the operation area of the surgical instrument and the operation magnification of the handle 52 is 30 cm.

  FIG. 8A is a diagram showing a model of the surgeon O, and is a diagram showing a large surgeon model O1. FIG. 8B is a diagram showing a model of the operator O, and a diagram showing a small operator model O2.

  As shown in FIG. 8A, German male body data was used as a large surgeon model O1. Of the 100 German male models selected at random, with the fifth model O1 from the top standing up (standing position), the arm is bent at a right angle and the handle 52 located at the neutral position C in the operation area A is held. In this case, the height position of the handle 52 is about 118 cm, and the lower limit and upper limit of the height position of the operation area A are about 103 cm and 133 cm, respectively. On the other hand, the height position of the handle 52 when the arm 52 is bent at a right angle and the handle 52 positioned at the neutral position C of the operation area A is gripped is about 70 cm, and the lower limit of the height position of the operation area A and The upper limits are about 55 cm and 85 cm, respectively.

  On the other hand, as shown in FIG. 8B, Japanese female body data was used as the small surgeon model O2. Handle when gripping the handle 52 located at the neutral position C of the operation area A by bending the arm at a right angle with the fifth model O2 standing up from the bottom among 100 randomly selected Japanese female models The height position of 52 is about 99 cm, and the lower limit and upper limit of the height position of the operation area A are about 84 cm and 114 cm, respectively. On the other hand, the height position of the handle 52 when the arm 52 is bent at a right angle and the handle 52 positioned at the neutral position C of the operation area A is gripped is 64 cm. Are about 49 cm and 79 cm, respectively.

  Based on the above data, the height position of the handle 52 that allows a plurality of surgeons O of different physiques to take a standing and sitting posture without problems is as follows.

  First, it is preferable that the height position of the handle 52 positioned at the neutral position C in the operation area A in the standing position adaptation mode is set to about 99 cm or more corresponding to the model O2 of the small operator in the standing position. Thereby, most operators O can operate the handle 52 comfortably in the standing position. In this case, in the handle 52 configured to be able to move downward by 15 cm from the neutral position C, the lower limit of the height position of the operation region A of the handle 52 in the standing position adaptation mode is 84 cm or more as described above. .

  Further, the height position of the handle 52 positioned at the neutral position C in the standing position adaptation mode is preferably set to 85 cm or more. As a result, in the handle 52 configured to be able to move 15 cm downward from the neutral position C, the lower limit of the height position of the operation region A of the handle 52 in the standing position adaptation mode is 70 cm or more. Region A can be stored in a clean area. Therefore, the surgeon O can perform the operation by holding the operation handle as it is without performing a clean operation as necessary. That is, when the surgeon O operates the remote control device 2 in a standing position, the surgeon O can interrupt the operation of the remote control device 2 and immediately perform the patient's direct operation. The patient can be accessed in parallel while operating 2 and the procedure can be performed. Further, as described above, since the lower limit of the height position of the operation area A corresponding to the model O2 of the small standing operator is about 84 cm, the lower limit of the height position of the operation area A should be set to 70 cm. Thus, a large number of surgeons O having a physique difference can operate the handle 52 in a comfortable position while standing.

  Next, the height position of the handle 52 positioned at the neutral position C of the operation area A in the sitting position adaptive form is preferably set to about 64 cm or more corresponding to the model of the small operator O2 in the sitting position. Thereby, most operators O can operate the handle 52 comfortably in the standing position.

  Next, the displacement (adjustment width) of the height position of the handle 52 when the remote control device 2 is transitioned between the standing adaptive form and the sitting adaptive form is changed to the model O2 of the small operator in the standing position. About 35 cm, which is the difference between the height position of the handle 52 located at the corresponding neutral position C and about 99 cm, and the height position of the handle 52 located at the neutral position C corresponding to the small operator model O2 in the sitting position. It is preferable to ensure the above.

  Further, the displacement of the height position of the handle 52 when the remote control device is transitioned between the standing position adaptation form and the sitting position adaptation form is changed to the neutral position C corresponding to the model O1 of the large standing operator. Corresponds to the model position O1 of a large operator in the sitting position and the height position of the steering wheel 52 is approximately 118 cm (in this model, the position where the height position of the handle 52 located at the neutral position C in the standing position adaptation mode is the maximum). It is preferable to secure about 48 cm or more, which is a difference from the height position of about 70 cm of the handle 52 positioned at the neutral position C.

  In this way, the adjustment width of the height position of the handle 52 when transitioning between the standing adaptive form and the sitting adaptive form is ensured in order to match the physique of the operator in the standing adaptive form. Adjustment width (for example, the height of the handle 52 located at the neutral position C corresponding to the large operator model O1 and the height of the handle 52 located at the neutral position C corresponding to the small operator model O2). The position of the adjustment position (for example, the neutral position C corresponding to the large model O1 of the operator). The difference between the height position of the handle 52 and the height position of the handle 52 located at the neutral position C corresponding to the small surgeon's model O2 is greater than about 6 cm).

  In addition, when the position of the handle 52 is set to be higher than the height position of about 118 cm of the handle 52 positioned at the neutral position corresponding to the model O1 of the large standing operator, this adjustment range should be further expanded. It becomes.

  And it is preferable to ensure 50 cm or more from the height position of the position of the handle 52 in the standing adaptive form.

  Furthermore, the displacement of the height position of the handle 52 when the remote control device is transitioned between the standing position adaptation form and the sitting position adaptation form is changed to a neutral position C corresponding to the model O1 of a large standing operator. A height of about 54 cm or more, which is a difference between the height position of the handle 52 positioned at about 118 cm and the height position of the handle 52 positioned at the neutral position C corresponding to the small model O2 of the sitting operator 52 cm, is secured. It is preferable.

  Regarding the definition of the operation area A, the vertical width is assumed to be 30 cm this time, but the design may be changed in consideration of the size of the handle 52 such as 20 cm, 25 cm, or 35 cm.

[Operation example]
Next, an operation example of the remote control device 2 will be described.

  When transitioning the remote control device 2 from the standing adaptive form to the sitting adaptive form, the operator O presses the sitting adaptive form transition button 62 and inputs a command to cause the support mechanism 31 to transition to the sitting adaptive form.

  When a command to change the support mechanism 31 to the sitting position adaptation mode is input, the control unit 66 sets the joint angles of the first joint JT1, the second joint JT2, and the third joint JT3 according to the sitting position adaptation mode from the storage unit 67. Read such information.

  And the control part 66 controls the 1st joint drive part 45, moves the lower side support part 42, and changes the angle position of the lower side support part 42 from the standing angle position P1 to the fall angle position P2. As a result, the handle 52 moves downward and adapts to the height position of the hand of the operator O who moves downward by changing the posture from the standing state (standing position) to the sitting state (sitting position). Thus, the height position of the handle 52 can be adjusted. Further, the display unit 33 also moves downward, and the height of the display unit 33 is adjusted so as to adapt to the eye height position of the operator O moving downward by changing the posture from the standing state to the sitting state on the chair. The position can be adjusted.

  In addition, the control unit 66 controls the second joint driving unit 46 to move the upper support unit 43 to change the angular position of the upper support unit 43 from the expanded angular position P3 to the contracted angular position P4. As a result, the display unit 33 moves further downward, and changes the posture from the standing state to the sitting state on the chair, thereby further adapting to the eye position of the operator O moving downward. The height position can be adjusted.

  Next, when the remote control device 2 is transitioned from the sitting position adaptive form to the standing position adaptive form, the operator O presses the standing position adaptive form transition button 61 and inputs a command to cause the support mechanism 31 to transition to the standing position adaptive form. To do.

  When a command to shift the support mechanism 31 to the standing adaptive form is input, the control unit 66 receives the joints of the first joint JT1, the second joint JT2, and the third joint JT3 according to the standing adaptive form from the storage unit 67. Read information related to the angle.

  And the control part 66 controls the 1st joint drive part 45, moves the lower side support part 42, and changes the angle position of the lower side support part 42 from the fall angle position P2 to the standing angle position P1. Accordingly, the handle 52 moves upward, and the height of the handle 52 is adjusted so as to adapt to the height position of the hand of the operator O who moves upward by changing the posture from the sitting state to the standing state. The position can be adjusted. Further, the display unit 33 also moves upward, and the height of the display unit 33 is adjusted so as to adapt to the eye height position of the surgeon O moving upward by changing the posture from the sitting state to the standing state. The position can be adjusted.

  In addition, the control unit 66 controls the second joint driving unit 46 to move the upper support unit 43, thereby changing the angular position of the upper support unit 43 from the contracted angular position P4 to the expanded angular position P3. Accordingly, the display unit 33 can be moved further upward, and the display is further adapted to the position of the eye of the operator O moving downward by changing the posture from the sitting state to the standing state. The height position of the part 33 can be adjusted.

  In addition, the change between the standing adaptive form and the sitting adaptive form is realized by the standing adaptive form transition button 61 and the sitting adaptive form transition button 62. For example, each of the lower support part 42 and the upper support part 43 is manually operated. You may enable it to change a form. In this case, each of the lower support portion 42 and the upper support portion 43 has a grip portion such as a lever, and the angular position of the lower support portion 42 with respect to the support leg 41 and the upper support portion 43 with respect to the lower support portion 42. A fixing unit 71 for fixing the angular position is provided. Further, as shown in FIG. 9, for example, a fixing button 68 for inputting a command for fixing the posture of the fixing unit 71 to the posture operating unit 35, and a fixing unit 71. There may be provided a fixing release button 69 for inputting a command for releasing the fixing of the posture.

  And as shown in FIG. 10, the command input into the fixing operation part 70 containing the fixing button 68 and the fixing release button 69 is input into the control part 66, and the control part 66 controls a fixing part.

  Accordingly, the posture can be manually deformed by grasping the grip portion after the posture is fixed and released by the operation of the fixing button 68 and the fixing release button 69. As the fixing part 71, for example, a brake mechanism or a latch mechanism can be applied.

  As described above, the remote control device 2 of the present invention is configured to be able to transition between the standing adaptive configuration and the sitting adaptive configuration, so that the remote control device 2 takes the vertical adaptive configuration. Thus, the operator O can operate the remote control device 2 in a standing state. Further, by causing the remote control device 2 to adopt the sitting position adaptation mode, the operator O can operate the remote control device 2 while sitting on a chair. In this way, the operator O can change the posture for operating the remote operation device 2 between standing and sitting, and can operate the remote operation device in a posture according to the operator's preference.

(Embodiment 2)
FIG. 11 is a side view showing the remote control device 202 of the remote operation system 200 according to the second embodiment.

  In the first embodiment, the transition between the standing position adaptation form and the sitting position adaptation form of the support mechanism 31 is performed by adjusting the joint angles of the first joint JT1 and the second joint JT2 which are rotating joints. Yes.

  On the other hand, in the present embodiment, the support mechanism 231 includes a slide mechanism (linear motion joint) 201 in which the first joint JT1 is provided between the support leg 41 and the lower support portion 42.

  The slide mechanism 201 is a mechanism for changing the height position of the lower support 42 with respect to the support leg 41, and the support leg is slidable in the vertical direction (vertical direction) with respect to the support leg 41. 41 is a mechanism for connecting 41 and the lower support 42. Then, the first joint driving unit 245 moves the slide mechanism 201 to change the height position of the lower support unit 42 with respect to the support leg 41.

  FIG. 12 is a block diagram schematically showing a configuration example of a control system of the remote surgery system 200.

  The configuration of the controller according to this embodiment is shown in FIG. The same reference numerals are used for portions that perform the same functions as those in the first embodiment.

  In the present embodiment, the control unit 66 controls the joint drive unit 44 in accordance with the posture change command input to the posture operation unit 35, the height position of the lower support unit 42 with respect to the support leg 41, the second joint The joint angles of JT2 and third joint JT3 are controlled.

A predetermined control program is stored in the storage unit 67, and the operation of the remote operation system 200 is controlled by the control unit 66 reading and executing these control programs. Further, the height position of the lower support portion 42 with respect to the support leg 41 of the first joint JT1 according to the standing adaptive form, the joint angle of the second joint JT2, the joint angle of the third joint JT3, and the sitting adaptive form Information relating to the height position of the lower support portion 42 relative to the support leg 41 of the first joint JT1, the joint angle of the second joint JT2, and the joint angle of the third joint JT3 is stored.
In the present embodiment, the support mechanism 231 is configured by the support leg 41, the slide mechanism 201, the lower support part 42, and the upper support part 43, but the lower support part 42 and the upper support part are illustrated. 43 may be integrally formed as a support portion, and the second joint JT2 may be eliminated. Furthermore, it is possible to eliminate the third joint JT3 for adjusting the angle of the display unit. In these cases, the adaptive form of the standing posture and the sitting posture is changed only by the vertical movement of the integrated support portion.

  Next, an operation example of the remote control device 2 according to the present embodiment will be described.

  When the remote control device 2 is transitioned from the standing adaptive form to the sitting adaptive form, the operator O presses the sitting adaptive form transition button 62 and inputs a command to cause the support mechanism 231 to transition to the sitting adaptive form.

  When a command for causing the support mechanism 231 to transition to the sitting position adaptation mode is input, the control unit 66 receives the height of the (lower) support unit according to the sitting position adaptation mode (in some cases, the second joint JT2, And information related to the joint angle of the third joint JT3).

  Then, the control unit 66 controls the first joint driving unit 245 to move the (lower) support unit so that the height of the (lower) support unit is increased from the height of the standing adaptive configuration to the height of the sitting adaptive configuration. Change it. Accordingly, the handle 52 moves downward, and the height of the handle 52 is adjusted so as to adapt to the height position of the hand of the operator O who moves downward by changing the posture from the standing state to the sitting state. The position can be adjusted. Further, the display unit 33 also moves downward, and the height of the display unit 33 is adjusted so as to adapt to the eye height position of the operator O moving downward by changing the posture from the standing state to the sitting state on the chair. The position can be adjusted.

  Next, when the remote control device 2 is transitioned from the sitting adaptive form to the standing adaptive form, the operator O presses the standing adaptive form transition button 61 and inputs a command to cause the support mechanism 231 to transition to the standing adaptive form. To do.

  When a command to change the support mechanism 231 to the standing adaptive form is input, the control unit 66 receives the height of the (lower) support part according to the sitting adaptive form from the storage unit 67 (in some cases, the second joint JT2 , And the joint angle of the third joint JT3).

  Then, the control unit 66 controls the first joint driving unit 245 to move the (lower) support unit, and changes the height of the (lower) support unit from the height of the sitting adaptive configuration to the height of the standing adaptive configuration. Change it. Accordingly, the handle 52 moves upward, and the height of the handle 52 is adjusted so as to adapt to the height position of the hand of the operator O who moves upward by changing the posture from the sitting state to the standing state. The position can be adjusted. Further, the display unit 33 also moves upward, and the height of the display unit 33 is adjusted so as to adapt to the eye height position of the surgeon O moving upward by changing the posture from the sitting state to the standing state. The position can be adjusted.

  Also in this embodiment, the form may be changed manually by changing the standing adaptive form and the sitting adaptive form.

(Embodiment 3)
FIG. 13A is a perspective view showing a remote operation system 300 according to Embodiment 3, and shows a state in which the remote control device 2 takes a sitting position adaptation form. FIG. 13B is a perspective view showing remote surgery system 300 according to Embodiment 3, and shows a state in which remote control device 2 takes a standing adaptation form.

  The remote surgery system 300 according to the present embodiment further includes an external display device 333 in addition to the patient-side surgical device 1 and the remote operation device 2 according to the remote surgery system 100 of the first embodiment. Accordingly, the operator O can use different display devices when standing and when sitting.

  The external display device 333 is capable of displaying an image captured by the endoscope camera probe 13, and the display content of the external display device 333 can be viewed from the operator O holding the handle 52 of the remote control device 2. It is arranged in the position. That is, the external display device 333 is attached to the tip of an arm extending from the ceiling of the operating room, for example, and is disposed behind the remote operation device 2, for example. The external display device 333 is configured to display the same image as the display unit 33.

  The operator O who operates the remote operation device 2 of the remote operation system 300 can operate the handle 52 while visually recognizing the external display device 333 instead of the display unit 33 in the standing position adaptation mode.

  Note that a display device suitable for use when standing is not necessarily provided outside the remote control device 2, but is provided at a height suitable for the operator to visually recognize when sitting, as shown in FIG. Apart from the display unit 33 provided, another display unit 334 provided at a height suitable for the operator to visually recognize when standing is provided in the main body of the remote control device 2 so that the angle can be adjusted. Also good.

  As described above, when the display device is configured so that the operator O can be used differently between the standing position and the sitting position, the position of the handle 52 is imitated according to the first embodiment in the standing adaptive form and the sitting adaptive form. Therefore, the remote control device 2 can be easily designed. For example, as shown in FIGS. 13A and 13B, the second joint JT2 can be omitted, and in some cases, the third joint JT3 for adjusting the angle of the display unit 33 can be omitted. Is also possible.

In the present embodiment, the display unit 33 is provided at a height suitable for the operator to visually recognize. However, as shown in FIG. It is not excluded to perform an operation while viewing the display unit 334. For example, when the operator O feels fatigue by performing an operation while looking at the display unit 33 for a long time, the operation is performed while looking at the external display device 333 or another display unit 334 that has adjusted the angle instead of the display unit 33. If performed, the operator O can change the posture and perform the operation, and the operator O can be relieved of fatigue.

  As described above, the remote control device having the first form adapted to be operated by the operator in the standing position and the second form adapted to be operated by the operator in the sitting position described in each embodiment is as follows. There are cases where the operator chooses which form to take before performing the operation and adjusts the posture, and when the operator changes the form during a long operation to reduce fatigue, etc. is there. In the latter case, in order to ensure safety, when any of the standing adaptation mode transition button 61, the sitting adaptation mode transition button 62, and the fixation release button 69 is operated, the operation by the operation handle is invalidated. Alternatively, the controller 66 is configured to be controlled so as to invalidate the transmission of the operation mode command to the surgical manipulator.

  From the foregoing description, many modifications and other embodiments of the present invention are obvious to one skilled in the art. Accordingly, the foregoing description should be construed as illustrative only and is provided for the purpose of teaching those skilled in the art the best mode of carrying out the invention. The details of the structure and / or function may be substantially changed without departing from the spirit of the invention.

A operation area JT1 first joint JT2 second joint JT3 third joint O operator P patient P1 standing angle position P2 lying angle position P3 widening angle position P4 contraction angle position 1 patient side surgical device 2 remote control device 3 surgical manipulator DESCRIPTION OF SYMBOLS 4 Servo manipulator 5 Setup joint arm 6 Controller 7 Base 11 Movable part 12 Operating tool 13 Endoscope camera probe 31 Support mechanism 32 Remote operation part 33 Display part 33a Display part for left eye 33b Display part for right eye 34 Operation object Switching operation section 35 Posture operation section 36 Operation pedal 41 Support leg 42 Lower support section 42a Base end section 42b Tip section 43 Upper support section 43a Base end section 44 Joint drive section 45 First joint drive section 46 Second joint drive section 47 3rd joint drive part 51 Operation arm 51a Base end part 52 Handle 61 Standing position adaptation form transition button Down 62 loci adaptations shift button 63 height adjustment button 64 before and after the position adjustment button 66 the control unit 67 operating table storage unit 100 telesurgery system 111

Claims (19)

A remote control device for transmitting an operation mode command to be executed by a surgical manipulator to a surgical manipulator,
An operation handle configured to be movable within a predetermined operation region, for inputting an operation mode command to be executed by the surgical manipulator, and a support mechanism for supporting the operation handle;
The support mechanism is configured to hold the operation handle by positioning the operation handle located at the neutral position of the operation region at a first height position of 85 cm or more from a floor surface on which the remote operation device is installed. And moving the operation handle from the first height position to position the operation handle located at the neutral position of the operation region at a second height position lower than 48 cm and holding the operation handle. A remote control device configured to be able to transition between forms.   In a state in which the remote control device takes the first form, the support mechanism is located at a neutral position in the operation region at a first height position of 99 cm or more from a floor surface on which the remote control device is installed. The remote control device according to claim 1, wherein the operation handle is held so that the handle can be positioned.   In the state in which the remote control device takes the second form, the support mechanism moves the operation handle from the first height position to a second height position that is 50 cm or more below and to the neutral position of the operation area. The remote operation device according to claim 1, wherein the operation handle that is positioned is positioned to hold the operation handle. A remote control device for transmitting an operation mode command to be executed by a surgical manipulator to a surgical manipulator,
An operation handle configured to be movable within a predetermined operation region, for inputting an operation mode command to be executed by the surgical manipulator, and a support mechanism for supporting the operation handle;
The support mechanism is configured to hold the operation handle so that the operation area of the operation handle fits in a clean area set to a predetermined height or more from a floor surface on which the remote operation device is installed; The remote control device is configured to be capable of transition between a second form in which the operation handle is held so that at least a part of the operation region of the operation handle is located in an area below the clean area.   The remote control device according to claim 4, wherein the clean area is set to be 70 cm or more from the floor surface.   The lower limit height position of the operation region of the operation handle in a state where the remote operation device takes the second form is the lower limit of the operation region of the operation handle in a state where the remote operation device takes the first form. The remote control device according to claim 4 or 5, wherein the remote control device is at least 48 cm below the height position. A remote control device for transmitting an operation mode command to be executed by a surgical manipulator to a surgical manipulator,
A supporting leg, a lower supporting part whose base end is attached to the supporting leg via a first axis extending in the horizontal direction and swingable around the first axis, and a second extending in the horizontal direction. A support mechanism including an upper support portion whose base end portion is attached to a distal end portion of the lower support portion via a shaft and swingable around the second shaft;
An operation handle attached to the lower support so as to be located behind the lower support and for inputting an operation mode command to be executed by the surgical manipulator;
A remote control device.   The lower support part is swingable between an upright angle position extending obliquely upward and forward from the support leg and an inclining angle position rotated forward from the upright angle position, and the upper support part is An expansion angle position that extends obliquely upward and rearward from the front end portion of the lower support portion positioned at the standing angle position, and a contraction angle position that is smaller in angle with the lower support portion than the expansion angle position The remote control device according to claim 7, wherein the remote control device can swing between the two.   The remote control device according to claim 7 or 8, wherein the first axis and the second axis are substantially parallel. The operation handle is configured to be movable within a predetermined operation area,
In the first mode in which the lower support portion is located at the standing angle position and the upper support portion is located at the expansion angle position, the support mechanism is 85 cm or more from the floor surface on which the remote control device is installed. The operation handle positioned at the neutral position of the operation area is positioned at the first height position of the operation area to hold the operation handle, the lower support portion is positioned at the fall angle position, and the upper support portion is contracted. In the second form positioned at the closed angle position, the operation handle positioned at the neutral position of the operation area is positioned at a second height position 48 cm or more below the first height position to hold the operation handle. The remote control device according to claim 8. The operation handle is configured to be movable within a predetermined operation area,
In the first mode in which the lower support portion is located at the standing angle position and the upper support portion is located at the widening angle position, the support mechanism has a predetermined distance from a floor on which the remote control device is installed. The operation handle is held such that the operation area of the operation handle is within a clean area set to be higher than the height, and the lower support portion is located at a fall angle position, and the upper support portion is a contraction angle The remote control device according to claim 8, wherein the operation handle is held so that at least a part of the operation area of the operation handle is located in an area below the clean area in the second form located at the position. .   The remote control device according to claim 11, wherein the clean area is set to be 70 cm or more from a floor surface. A remote control device that transmits an operation mode command to be executed by a surgical manipulator to a surgical manipulator and receives an image captured by an endoscope camera probe,
An operation handle for inputting an operation mode command to be executed by the surgical manipulator, a display unit for displaying an image taken by the endoscope camera probe, and a support mechanism for supporting the operation handle and the display unit With
The first form adapted for the operator to operate in a standing position and the second form adapted for the operator to operate in a sitting position are configured so that the forms can be mutually modified.
In the first mode and the second mode, the support mechanism supports the display unit so that the relative position of the display unit with respect to the operation handle can be changed.   The remote control device according to claim 13, wherein the display unit is attached to the support mechanism so as to be rotatable about an axis extending in a horizontal direction. A remote control device that transmits an operation mode command to be executed by a surgical manipulator to the surgical manipulator and receives an image captured by an endoscope camera probe,
A display device for receiving an image captured by the endoscope camera probe and displaying the received image;
The first form adapted for the operator to operate in a standing position and the second form adapted for the operator to operate in a sitting position are configured so that the forms can be mutually modified.
The first display device is provided at a height suitable for the operator to visually recognize in the first form, and another display device different from the display device is used in the second form. Remote control device.   The remote control device according to claim 15, wherein the other display device is attached so as to be adjustable in angle.   A remote operation system including the remote control device according to claim 15 and the other display device installed outside the remote control device. A remote control device for transmitting an operation mode command to be executed by a surgical manipulator to a surgical manipulator,
An operation handle configured to be movable within a predetermined operation area and for inputting an operation mode command to be executed by the surgical manipulator;
The first form adapted for the operator to operate in a standing position and the second form adapted for the operator to operate in a sitting position are configured so that the forms can be mutually modified.
In the case of changing the form between the first form and the second form, the operation by the operation handle is invalidated, or the transmission of the operation mode command is invalidated. Remote control device. A remote control device that transmits an operation mode command to be executed by a surgical manipulator to the surgical manipulator; a patient-side surgical device that includes the surgical manipulator and operates the surgical manipulator in response to the operation mode command; A telesurgical system comprising:
The remote control device is:
An operation handle configured to be movable within a predetermined operation region, for inputting an operation mode command to be executed by the surgical manipulator, and a support mechanism for supporting the operation handle;
The support mechanism holds the operation handle so that the operation handle located at a neutral position of the operation area can be positioned at a first height position of 85 cm or more from a floor surface on which the remote operation device is installed. And the operation handle is moved from the first height position, the operation handle located at the neutral position of the operation area is positioned at a second height position lower than 48 cm, and the operation handle is moved. A remote control device configured to be capable of transitioning between the second form to be held.

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