JP2002272758A - Operation supporting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve problems on recorded images of an endoscope, such as impossibility of recognizing behaviors of an instrument outside of the visual field and difficulty in recognizing the situations after the operation. SOLUTION: Control information of an operation input means 2, and a remote operation means 3 and information of an observation means 5, and a biomedical information measurement means 6 are recorded by a recording means 8a with unified time codes attached thereto and the information recorded is restored by a reproduction means 11a to be transmitted to a control means 19. The control means 19 realizes treating operations of the operation input means 2 and the remote operation means 3 by accomplishing the harmonizing thereof based on the recorded time codes attached to the control information.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surgery support apparatus, and more particularly, to a surgery support apparatus having a recording unit.

[0002]

2. Description of the Related Art Conventionally, what kind of operation has been performed depends on the recorded images of an endoscope or an operating microscope or the memory of a medical staff including a surgeon, etc., after operation.

Further, an image filing apparatus for recording not only an endoscope image but also the age and gender of a patient, a start time and an end time of performing an endoscopic examination, etc. has been used.

Japanese Patent Application Laid-Open No. 2000-33072 discloses a technique in which information held by an image filing device is obtained by an endoscope device, and information generated by the endoscope device is obtained by an image filing device. An endoscope image filing system is disclosed.

On the other hand, various devices have been developed for remote control by interposing computer control between an observation instrument such as a surgical instrument or an endoscope and a surgeon operating the instrument, and many patents have been published. Have been. For example, in Japanese Patent Application Laid-Open No. 61-76126, a target value provided by an operation plate provided on an operation unit is made to coincide with a detection value of a potentiometer for detecting a rotation position of a motor for winding a wire for bending a bending portion. Discloses an angle operation device for an endoscope in which an arithmetic processing unit controls the motor.

[0006]

In the prior art, in the case of an operation record by a camera image of an endoscope or the like, only a part is reflected in the image, and the screen is displayed outside the visual field of the image. No consideration is given to grasping the parts that cannot be confirmed by. For this reason, it is difficult to grasp movements such as the surgical tool coming into contact with tissue or compressing organs outside the field of view, and how the surgeon can handle the surgical tool is difficult. It is equally difficult to determine whether Regarding the range that cannot be confirmed on the screen, it is necessary to rely on imagination to grasp the situation, analyze the behavior of the surgical tool, or explain it to a third party.

[0007] Further, the prior art does not consider clarifying the causal relationship with respect to symptoms that occur in the human body during the treatment. In other words, who performed the operation and how the surgical tool was operated as shown in the recorded video, or what operation the surgical tool performed and what kind of treatment was performed on the organ It is difficult to determine whether the patient has been sick after surgery.

When a plurality of assistants besides the surgeon support the treatment, it is difficult to grasp which surgical tool is operated by who only from the images. It is difficult to read from the recorded image of the endoscope or the microscope at which point, for example, when the surgeon or assistant is changed on the way.

In the case of using a device for remotely controlling a medical instrument using a control means, the conventional technique is considered to leave a record for a surgeon, a patient, or the like to grasp a treatment state by a remote operation after the operation. Not. For this reason, it is difficult to grasp the operation state of the apparatus, the operation state of the apparatus, the operation state, and the like after the operation.

No consideration is given to clarifying the causal relationship between the operation by the operator and the operation actually occurring. Therefore, it is difficult to clearly identify whether the actually generated operation is a result of exactly following the instruction of the operator or a result of an operation different from the operation instruction. Alternatively, it is difficult to clearly grasp the difference between the operator's instruction and the movement of the actually operated surgical instrument.

In the case of using a device for remotely controlling a medical instrument by using a control means, it is necessary to sufficiently examine how to operate the device for a case and the like. An inexperienced operator makes trial and error during treatment, and it is hard to say that the treatment time is extended or the operation is not properly performed. Even if the operation record is recorded for each device, it cannot be used sufficiently.

[0012] When a plurality of images and the patient's biological information related to the same operation are recorded on each recording medium, no consideration is given to grasping the temporal relationship between the information recorded on each recording medium. In other words, when a phenomenon in one of a plurality of recordings is confirmed, other recording information at the moment when the phenomenon occurs is found from another recording medium,
It is not easy to accurately grasp the situation at the moment when the phenomenon occurs. For this reason, it is important to understand the causal relationship between records, the causes and effects of certain phenomena, the occurrence of certain phenomena and the symptoms that accompany them,
It is difficult to observe and judge variously the interrelationship between a plurality of recordings and the moment when the recorded phenomenon occurs.

When browsing a plurality of video records related to the same operation, not only is it difficult to reproduce each of the records in synchronization, but also the observer has to browse the video to which attention is paid while visually reciprocating. Therefore, it is difficult to observe the images while synchronizing the images, and the observer becomes tired.
As a result, the visual acuity and attention deteriorate, and the response time to the stimulus is delayed, which makes it difficult to accurately analyze a long-time video.

Losing the medium storing the operation record,
If the record itself or the recording medium is damaged, or if the record is duplicated or edited, the leakage of personal information or privacy will be violated, or the reliability, credibility, accuracy, etc. of the record itself will decrease. . There is a social demand for the establishment of privacy protection and information technology, and there is a need for adequate measures for devices that support surgery, but it is hard to say that conventional technologies take these into account. . Furthermore, when personal information including the symptoms of these diseases and the status of treatment is transmitted and received via a network, the risk of information leakage during transmission and reception increases.

If the reliability, accuracy, and credibility of the recorded information is impaired, even if the operation status, the treatment operation, and the like are analyzed based on the impairment, sufficient reliability is obtained for the results. , Accuracy and credibility cannot be obtained. As described above, the conventional technique has various problems, and the present invention has been made to solve at least one of these problems.

[0016]

At least one of the above objects is at least one of a surgical instrument for treating an affected part and an observation means for observing the affected part, and a remote operation which operates in response to an instruction from an operator. Means, operation input means for instructing the remote operation means to perform an operation by the operator, control means for processing the operation instruction input to the operation input means, and controlling the remote operation means, and operation of the control means Recording means for recording control information used when controlling the control means, wherein the control means controls at least one operation of the remote operation means or the operation input means based on the control information recorded by the recording means. The problem can be solved by a surgery support device having a function to perform the operation.

[0017] At least one of the above problems is
Observation means for observing the treatment state of the affected part, and operation input means for instructing an operation tool for treating the affected part or a remote operation means equipped with the operation tool and operating the operation part, the operation state or the vicinity of the patient. Treatment status observation means for photographing at least one of the situations, and time series information unified between the information, specifying the moment of occurrence of information output or the moment of recording the information output from the observation means and the treatment status observation means Recording means for recording identification information for identifying the content of the information to be recorded in accordance with the image information obtained from the observation means and the treatment status observation means; and the identification information for the content of the information recorded by the recording means. This can be solved by a surgery support apparatus that includes a reproducing unit that reproduces predetermined image information and a display unit that displays the reproduced information.

[0018] At least one of the above problems is
A surgical instrument capable of treating the diseased part or an observation means capable of observing the diseased part, an identifier included in the surgical tool or the observation means, and a position measuring device capable of measuring coordinates of the identifier in a space with a predetermined point as an origin. Data collection means for measuring the position and orientation of an operator who handles the surgical instrument or the observation means, recording means for recording information output from the position measurement device and the data collection means, And a display unit for displaying the output from the reproduction unit on a screen. The recording unit grasps a time-series relative relationship of all information to be recorded. Time-series information for recording on a recording medium attached to the information to be recorded, and the reproducing unit attaches and records the recorded information to the recording information by the recording unit. Based on the time series information of the broadcast can be solved by surgery supporting system for updating the adjustment to the screen displays the time of reproducing each of information.

[0019]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a configuration diagram of a surgery support device according to one embodiment of the present invention. FIG. 2 shows the configuration of the distal end portion 24 of the remote operation means 3 shown in FIG. FIG. 3 shows the configuration of the recording means. FIG. 4 shows the configuration of a plurality of recording means. FIG. 5 shows a screen configuration for displaying the recorded information.

The configuration of the embodiment shown in FIG. 1 will be described.

An operation input means 2 capable of inputting an operation by an operator 1 and a remote operation means 3 operable in accordance with an instruction input by the operation are connected so as to be controllable via a control means 19.
A control unit 19, a treatment state observation unit 7 for observing the operation state of the operator 1, an observation unit 5 for observing the state of the affected part,
The biological information measuring means 6 for measuring the biological information of the patient 4 is connected to the recording means 8a so that information can be transmitted.

The recording means 8a is configured to record the input information on a recording medium 10a through a recording processing unit 9 for processing the information into a predetermined format and state.

The recording means 8a passes through a recording medium 10a
It is connected to the reproducing means 11a so that information can be transmitted. Reproduction means 1
1a is connected between the display means 12a and the control means 19 so that information can be transmitted.

Information transmission is performed by connecting input / output units provided in the respective means via a signal path using electricity or light (electromagnetic waves).

The components and operations of the above configuration will be described.

The remote operation means 3 is a part for controlling the position and orientation of a part for treating and observing the patient 4 and for controlling the function of the surgical tool. In FIG. The holding unit 16 is provided so that the operation of the position and orientation of the unit 24 can be controlled. Although not shown, the holding device 16 is equipped with necessary actuators and sensors so that operation can be controlled in accordance with instructions from the operator 1 or control means 19 described below.

The distal end portion 24 is a surgical instrument 23 capable of treating an affected part.
The medical manipulators 22a and 22b (FIG. 2) capable of controlling the positions and postures and opening and closing of the a and b (FIG. 2), and the lens system 21 of the observation means 5 capable of observing the affected part are freely bundled by the holder 14. ing. The operation of opening / closing the position and orientation of the surgical tool is realized by controlling the drive unit 15 (FIG. 1) in accordance with an operation instruction from the control unit 19 or the operator 1. Although FIG. 2 shows a state in which two medical manipulators 22a and 22b are provided, it can be changed according to the judgment of the operator, and may be one or three or more.
Alternatively, there may be a case where only the position and orientation of the lens system 21 of the observation means 5 are remotely controlled instead of the surgical tool. Surgical tool 23a,
23b illustrates the shape of the forceps constituted by the two movable grippers, but the shape and type of the surgical tool are not limited to this figure. Various surgical tools such as forceps, a laser scalpel, an electric scalpel, a suction tube, a washing tube, a needle, a peeler, a scissor, a catheter, and a balloon catheter can be used at the discretion of the operator 1 as the operator.

The operation input means 2 includes an operation lever 18 which is one of input devices for the operator 1 to instruct an operation command to the remote operation means 3, and the operation input means 2 and the remote operation means 3.
The user interface 17 is used for changing the setting of a parameter for controlling the movement of the user, or transmitting the processing result of the control means 19 to the operator 1. User interface 17
Although not shown in detail, input using a button, a switch, a sensor as an electrical, optical or mechanical input means for inputting a setting by the operator 1 or a microphone as an audio input means, etc. It is preferable to include a unit, a monitor as means for displaying characters, pictures, images, and the like, a speaker as audio output means, and the like. The operation lever 18 shown in FIG. 1 has a force sensor (not shown) as a means for detecting an operation input, and drives the actuator based on the operation input of the operator 1 detected by the force sensor to perform operation. The posture of the lever 18 is controlled. The posture of the operation lever 18 is controlled in accordance with an operator's input in a normal treatment, but the posture can be changed by an operation command from the control means 19. The operation input means 2 other than the operation lever 18 may be a device that provides an electric or optical signal using a button or a switch, or a sensor such as a gyro that measures the position, speed, acceleration, or the like, or the position of the line of sight. A device that provides an output signal of a sensor such as a line-of-sight detector or a data glove that measures the body movement or the like, or a device that provides an operation instruction by voice as a signal may be used.
In this case, the operation input means 2 may be a device having no actuator. The control unit 19 controls at least one operation of the operation input unit 2 and the remote operation unit 3 in accordance with the operation instruction input from the operator 1 and the setting instructed from the user interface 17. Or operator 1
The operation of at least one of the operation input unit 2 and the remote operation unit 3 is controlled in accordance with the information output from the reproduction unit 11a or read from the reproduction unit 11a instead of the operation instruction input from. Similarly to the configuration in which both the operation input unit 2 and the remote operation unit 3 are controlled by one control unit 19, each of the operation input unit 2 and the remote operation unit 3 has the control unit 19, and the control units 19 are transmitted and received by the transmission / reception unit. Of course, it is also possible to use a configuration for connection. The recording means 8a is a recording processing unit 9 for converting input information into a state for recording.
And a recording medium 10a for recording an output from the recording processing unit 9.
Consists of As the recording medium 10a, a method based on existing technology for recording using magnetism, light, electricity, or the like can be easily used. The recording medium 10a may be fixed to the recording means 8a or may be detachable. Recording means 8a
And the reproducing means 11a may be configured in advance so as to be able to access the fixedly equipped recording medium 10a,
The recording means 8a and the reproducing means 11a may be provided with a recording medium attaching / detaching means and a recording medium reading / writing means having the same specifications so that the detachable recording medium 10a can be read / written by a plurality of means.

The recording means 8a is an output from the device operated during the treatment, and records information indicating the operation of the medical device and the status of the treatment (hereinafter referred to as treatment information 41) during the treatment operation. The treatment information 41 is, for example, an image indicating the operation status or the treatment status transmitted from the treatment status observation unit 7, or the sensor output or the sensor output of the operation input unit 2 or the remote operation unit 3 transmitted from the control unit 19. The control amount calculated from the user interface 1
7, a control output signal 75 composed of a voltage or a pulse output from the control means 19 to each actuator or sensor, and an image of the vicinity of the affected part input from the observation means 5, and a biological information measuring means. And the patient's biological information transmitted from the device 6. Information input from the control means 19 to the recording means as one of the treatment information 41 is referred to as control information 40. The control information 40 means control variables and sensor information necessary and sufficient for reproducing at least one of the operation input means 2 and the remote operation means 3.

As shown in FIG. 3A, the recording processing section 9 treats the time code transmitting section 42 for transmitting time-series data from the starting time and the time code 38 obtained from the time code transmitting section 42 as a treatment. The treatment information shaping section 43 is added to the information 41. The recording information shaping section 43 performs processing such as data alignment, combination, division, compression, selection of necessary data, and attachment of data type identification information so that the treatment information 41 can be easily used by the reproducing means 11a, if necessary. Perform some of

The time code 38, which is time-series information unified between information, indicates an elapsed time from a start time such as a control start. The time code 38 is, for example, an absolute time or an absolute time or a start time based on an absolute time. A character string consisting of differential data, a counter inside the control means that periodically occurs at predetermined intervals from the start time, and the number of occurrences of control loops, etc., which are recorded simultaneously when information on each device is recorded Information.

Recording information 39 stored in the recording medium 10a,
9 and 10 show examples of 39a and 39b. FIG. 9 shows an example of recording information when various types of information are arranged and recorded in time code order. Record information 39 includes date and time, patient, surgeon,
Identify the patient data 64 that summarizes the names of anesthesiologists, assistants, etc., symptoms, treatment plans, and the like, and the equipment used for the treatment, such as the serial number of the remote operation means 3 and the operation input means 2, etc. A file header 37 describing the device data 65 to be recorded is recorded at the beginning of a predetermined recording area,
Next, treatment information 41 including control information 40, biological information, image information, and the like is recorded together with the time code 38. The file header 37 is recorded at the start of operation, and other than that, it is continuously recorded every time information is input during treatment.

The time code 38 may be recorded for each treatment information 41. Alternatively, a method of recording a plurality of treatment information 41 after one time code 38 may be used. By defining a rule for designating the recording position and recording continuously, it is possible to easily specify the position of the information that the user wants to know according to the rule for recording.
Further, when the sampling timing for obtaining each information is different in each device and only the updated data is recorded, the number of information recorded for one time code 38 differs for each time code 38. Will be.
In this case, a plurality of pieces of treatment information 41 are recorded with a data header 67 for specifying the type and content of each piece of information. Thus, even if a predetermined number of pieces of information are not recorded at a predetermined position, necessary data can be specified by referring to the data header 67. Specifying the data means that the content is recognized by distinguishing each piece of information such as the output of one sensor provided in the operation input unit 2 and the pulse of the patient.

In addition to the example in which the treatment information 41 is recorded in the order of the time code 38 as shown in FIG. 9, the data format (speech information, character string information, sequence information, image information, etc.) as shown in FIG. And the device that output the data or the content of the data (classification of control information 40, biological information, image information, etc.)
A plurality of pieces of recording information 39a, 39b for each type of data such as
It is also effective to create a group of files recorded in the order of the time codes 38 and to write and manage the configuration of the group of files in the file header 37. FIG.
Although only two of A and B are illustrated, it is of course possible to divide and record two or more. At this time, the number of data recorded together with one time code 38 in one of the classified and stored recording information may be one or plural. File header 3
Reference numeral 7 includes, in addition to the patient data 64 and the device data 65 for identifying the medical device used, file configuration data of a file group indicating the type of file configuration in which all information recorded by the recording means 8 is recorded. 66, one or a plurality of data headers 67 for specifying data contents managed by a file header 37 provided for each record information, and a data header for information used simultaneously when reproducing an operation or reproducing a treatment situation The link data 68 that summarizes the data 67 is recorded.

The recording means 8a is not limited to a single recording means, but may have a configuration in which a plurality of recording means are used in accordance with input information.
In this case, as shown in FIG. 4, the unified time code 38 is transmitted from the time code transmitting section 42 to each recording means (8c,
8d, 8e), and each recording means (8c, 8d, 8)
In e), the time code 38 and the treatment information 41 are recorded together. In addition, each recording means (8c, 8d,
8e), a time code transmitting section 42 may be provided. If the time code 38 is based on the elapsed time from the start of the treatment, there is no problem even if the absolute time of the time code transmitting section 42 is shifted, but at the start of use, these plural times are transmitted via a network or the like. Code transmitter 4
By synchronizing the two, it is possible to synchronize the reproduction of the respective treatment information 41 with the time code 38 based on the absolute time.

The reproducing means 11a reads the information recorded on the recording medium 10a, and restores the information which has been subjected to processing such as compression by the recording processing section 9 to a state usable by the control means 19 and the display means 12a. Output to the display means 12 a or the control means 19. The flow of the operation of the operation input unit 2 and the remote operation unit 3 will be described with reference to FIGS.

FIG. 6 shows the operation and data flow performed in a normal treatment operation. FIG. 7 shows the operation and data for controlling the operation input means 2 and the remote operation means 3 based on the control information 40 recorded during the treatment. It shows the flow. FIG. 8 shows the control flow of the data update management routine 36 shown in FIG.

Normally, when the remote operation means 3 is operated by an instruction from the operation input of the operator 1, the operation is controlled by periodically executing a flow as shown in FIG.

First, when the operator 1 performs an operation input (25), detection of the operation input (26) and detection of the position and orientation of the operation lever 18 and the remote operation means 3 as the operation input means 2 (29) are performed. The control amount 3 of the operation input means 2 is determined based on the detected operation input information, the detected position and orientation information, and a control method such as an operation mode and a control parameter indicating operation contents.
4. That is, the operation direction and the operation amount of the operation lever 18 are calculated (27). The operation lever 18 is controlled based on the calculated control amount 34 (28), and a control signal such as a voltage or a pulse is sent to the control target. As a result, the position and orientation of the operation lever 18 are controlled. Information detected by the position and orientation detection routine 29 and the control parameter management routine 32
The control amount 34 of the remote operation means 3 is calculated based on the information of the control parameters managed in (3) (30), and the remote operation means 3 is controlled (31) based on the calculation result to realize the treatment.

Simultaneously with such control, the operation input data 33 periodically detected by the operation input detection routine 26 is displayed.
(See FIG. 7) and the position and orientation data 45 detected by the position and orientation detection routine 29, and the control amount calculation routines 27 and 30
, Control parameter data 35 set by the operator 1 through the interface 17 or changed according to control conditions, control output such as pulses and voltages output from the control means 19 to each actuator and sensor, etc. The signal 75 and the like are transmitted to the recording means 8a and recorded on the recording medium 10a. The recording means 8a may be configured in the same device as the control means 19 and the reproducing means 11a, or may be installed remotely. A configuration in which information is transmitted to a recording medium provided remotely and recorded is of course also possible. The recording medium 10a may be fixedly mounted on the recording means 8a or may be removable. Recording medium 10a
The recording on the media can be realized by a method using magnetism, electricity, or light.

Next, an operation for controlling based on the recorded control information 40 and a flow of data will be described with reference to FIG.

In the control of FIG. 6, calculation of information to be used for control and output of signals are performed based on detected data and calculation results. In the control of FIG. 7, information to be used for control is based on recorded information. Calculation and signal output. Operation control performed based on such recording is referred to as operation reproduction. The operation is reproduced, for example, as follows.

In the recording means 8a, as one of the treatment information 41, the operation input data 33 which is the control information 40, the position and orientation data 45 of the operation lever 18 and the remote operation means 3, the control amount data 34, the control parameter data 35, The control output signal 75 and the like are recorded.

Instead of the operation force generated by the operation input of the operator 1, operation input data 33 which is one of the recorded information
And the control parameter data 35 are read out by the reproducing means 11a, and the data update management routine 36 rewrites the operation input data 33 at a predetermined timing, so that the updated operation force data 33 is information as if the operation was input by the operator 1. When the control amount of the operation lever 18 is calculated by the operation input means control amount calculation routine 27 to control the position and orientation (28), the operation of the operator 1 can be simulated to reproduce the treatment operation. it can.

Alternatively, the position and orientation data 45 and the control parameter data 35 of the operation input means 2 are read out by the reproducing means 11a, and the data update management routine 36 executes the position and orientation data 45 and the control parameter data 35 at a predetermined timing.
The control position of the operation lever 18 is calculated by the operation input means control amount calculation routine 27 with reference to the control parameter data, using the updated position and orientation data 45 as a control target, to control the position and orientation (28). Thus, the operation during the treatment can be reproduced.

Alternatively, the control amount data 34 and the control parameter data 35 of the operation lever 18 are read out by the reproducing means 11a, and the data referred to in the data update management routine 36 is rewritten at predetermined timing to the data read out by the reproducing means 11a. It is also possible to control the position and orientation of the operation lever 18 according to the data (28), and transmit the control output signal 75 to the control target. In this case, reproducing the relationship between the input force and the control amount is omitted.

Alternatively, the control output signal 75 is read out,
Data is overwritten at a predetermined timing by the data update management routine 36, and the control means 19 outputs a voltage or pulse to the actuator or sensor according to the updated data. As a result, the operation lever 18 and the remote operation means 3 can be directly controlled based on the recorded signal to reproduce the operation. In this case, information such as the input force is omitted.

Simultaneously with the reproduction of the operation of the operation input means 2, the remote operation means 3 can also reproduce the operation based on the recorded information.

Further, for example, the operation of the operation input means 2 is omitted, and the control amount data 34 and the control parameter data 35 of the remote operation means 3 are read out by the reproducing means 11a, and based on this, the data update management routine 36 refers to the data update management routine 36. It is possible to rewrite the data to be performed at a predetermined timing, determine the control amount of the remote operation means 3 (30), and control the position and orientation of the remote operation means 3 (31). When the operation input means 2 does not include an actuator, the operation is the same.

Whether to reproduce the operation of either the operation input means 2 or the remote operation means 3 or to reproduce the operation by synchronizing both may be selected according to the request or purpose of the user. The operation of the operation input means 2 may be reproduced, and the operation of the remote operation means 3 may be reproduced by the same control as during the treatment in accordance with the reproduced operation. Further, operation input data 33, position and orientation data 45, control amount data 34, control parameter data 35
And control information 40 such as control output signal 75
There is a relation that can be calculated according to the control rule used for controlling the device. It is also possible to check the calculation under control based on the control information 40 and check whether a predetermined control signal has been output. This is an effective means of confirming that the control of the device has been functioning properly.

The control flow performed in the data update management routine 36 will be described with reference to FIG. This control flow is performed for each control loop and all information necessary for reproducing the operation. First, necessary control information 40 is read from the reproducing means 11a (56). Next, the time code 38 of the data recorded at the same time as the read control information 40 is read, and in order to calibrate the time code such as the elapsed time from the start of the operation and the time measured by the control means 19, It is converted into a variable that indicates the elapsed time from the start of operation. This is time1
(57). Next, the time measured by the control device is read and converted into a variable meaning the elapsed time from the start of operation in the same manner as time1, and this is converted into a variable time2 (5
8). Comparing time1 and time2,
When me1 is greater than or equal to time2, the control means updates the data used for control (60). When time1 is smaller than time2, the process is terminated without updating data, and FIG. 8 is repeated again in the next control loop.

When the control output signal 75 is used to reproduce the operation, in the data update (60), a voltage or pulse is output to a predetermined output destination in accordance with the updated data.

The read destination of the control information 40 is the reproduction unit 1
In addition to a storage area such as a memory temporarily processing and usable in the internal memory 1a, the reproduction unit 11a
There may be a memory in the control means 19 which temporarily stores the information fetched collectively from. The apparatus can be configured such that these reading destination memories are the same.

When the record information 39 is stored in a group of several files, a target file can be searched from the information of the file header 37. By determining the target file name in advance, it is possible to search from the file name. Treatment information 41 at a predetermined position
Is stored, the address is moved by a predetermined length from the time code 38 to read the information. Also,
Even if the order or position of the treatment information 41 is uncertain, the target information can be read with reference to the data header 67 indicating the content of the data. There is no problem if the reading of the time code 38 and the reading of the data content are respectively before and after. If the time code 38 and the data are recorded integrally, the time code 38 and the data are separated after the reading. The number of data for reproducing the operation of the operation input unit 2 and the remote operation unit 3 is at least equal to the number of degrees of freedom in each device. Data reading and data updating are performed for all information necessary for reproducing the recorded information. As for the updated data, the data to be updated next is always read from the storage medium 10a or the reproducing unit 11a or the memory of the data file read from the reproducing unit 11a, and the time code is set so that the data can be updated at any time. Wait for 38 comparisons.

With the above-described configuration, the following effects can be obtained.

The remote control means 3 has a function of controlling at least one of the remote control means 3 and the operation input means 2 by the control means 19 based on the record information 39 which records the operation during the treatment. Alternatively, the operation during operation of the operation input means 2 can be reproduced. Further, based on the recording information 39 recording the operation during the treatment, it is possible to reproduce the synchronized treatment information by referring to the time code 38 recorded along with the treatment information 41 in the recording information 39.

Since the therapeutic operation performed during the operation can be reproduced after the operation, the operation contents and the therapeutic operation, such as what kind of operation was performed or what kind of movement of the surgical tool, were performed. Confirmation, analysis and grasp of treatment status can be easily performed after surgery.

Since the operation can be reproduced using an actual device, it is possible to confirm the behavior of the surgical tool within a range that cannot be confirmed on the screen without being caught in the field of view recorded in the endoscope image. Becomes In addition, multiple observers will be able to visually check the actual movement simultaneously from various angles, making it possible to examine, understand, analyze, and explain the treatment content after surgery more specifically and more effectively. Become like

Since the operation is reproduced based on the recorded information, the operation can be repeatedly performed based on a certain range of information according to the user's request. Thus, important operations can be efficiently observed, analyzed, grasped, explained, and the like.

Since the recorded information can be moved via the removable recording medium 10a, the same specifications can be used even when the actually used operation input means 2 or remote operation means 3 cannot be used for processing such as sterilization. Using the device described above, the operation can be reproduced.

It is also possible to reproduce the operation by synchronizing the models of the operation input means 2 and the remote operation means 3 manufactured by computer graphics or the like based on the actual treatment information 41 reproduced by the reproduction means 11a. .

Even when the operation input means 2 and the remote operation means 3 have independent control means 19, the control information 40 is recorded with the unified time code 38 by the recording means 8a. Even if there is a deviation in the time setting between the devices, the information to be recorded is stored in the control unit 1.
It is possible to accurately record the timing of the operation that has actually occurred without being affected by the setting 9 or the like. Also, in the reproduction of the operation, by taking the timing of the operation based on the elapsed time from the start of the control, it is possible to reproduce in a time-synchronized manner even if a plurality of control means exist. This is not limited to the control means, and it is possible to record and reproduce the treatment information 41 in time synchronization with a plurality of medical devices connected to the recording device such as a plurality of measuring devices.

In the record information 39, the patient data 64 and the device data 65 are recorded as the file header 37, so that the information is organized or maintained after the operation or the treatment information 41 recorded by a third party is used. In this case, the contents of the recorded information can be easily grasped, and information management and information use can be easily performed. Further, the file header 37 includes the configuration of the recording information recorded during the operation, the data header 67 for identifying the data recorded in the recording information, and the link data 68 indicating the related information that needs to be reproduced simultaneously when using the recording information. By recording, even if information with different sampling timings and information with different types and contents of data are dispersed and recorded in different recording information 39a and 39b, post-operative information management and information use can be easily performed. It is possible to do. The number to be dispersed can be arbitrary. As described above, the information is managed by the file header 37, and the simplicity and flexibility regarding the handling of the information are enhanced, so that the configuration and the type of the medical device used for the treatment, the output format and the timing of the information are not restricted. In addition, it is possible to flexibly cope with the mode of the information to be recorded according to the information to be recorded, and it is possible to further enhance the operability and operability of the post-operative use of the treatment information 41.

By comparing the recorded control information 40 with each other and substituting it into the control formula used for control and recalculating, it is confirmed that the apparatus during treatment is functioning normally according to the control law. Accordingly, the validity of the reproduced operation and the operation of the remote operation unit 3 with respect to the operation input unit 2 and the reliability of the control information 40 and the reproduced operation can be improved.

Next, the observation means 5, treatment state observation means 7, biological information measurement means 6, etc. will be described with reference to FIG. The observation means 5 shown in FIG. 1 is a medical instrument such as an endoscope, and is a device that provides the operator 1 with a situation near the affected part as image information or graphic information. FIGS. 1 and 2 show an example of an apparatus for bundling a lens system 21 of an endoscope together with a surgical instrument. While the image information of the observation means 5 is transmitted to the recording unit 8a as shown in the figure, it is provided to the operator using a television or a dedicated monitor (not shown) which is one of the display means. As the observation means 5, other medical instruments such as an operating microscope, a video microscope, an ultrasonic probe, and measuring instruments such as CT and MRI can be used in addition to endoscopes as long as they observe the situation near the affected part. Can be configured. These are configured according to the treatment content.

The treatment condition observation means 7 shown in FIG. 1 is an imaging system such as a camera for photographing the state of the operator 1 and the operation. The treatment status observation means 7 may be provided in a device provided in the operating room, such as a ceiling of an operating room, a surgical light, or the like, or may be provided in the operation input means 2. The operation input means 2 is provided by one or more treatment state observation means 7 and the treatment state observation means 7 operably provided with the position and orientation.
Apart from the state of the operator 1 who operates, the surroundings of the patient can be photographed, the assistants participating in the treatment, the state of the progress of the treatment, and the like can be observed and transmitted to the recording means 8a. it can. The biological information measuring means 6 shown in FIG. 1 measures some of the patient's biological information such as electrocardiogram, respiration, invasive blood pressure, non-invasive blood pressure, blood oxygen saturation, body temperature, pulse, and heart rate. While the measured information is transmitted to the recording means 8a,
Although not shown, it is possible to provide information to the operator through a television or a dedicated monitor, which is one of the display devices, by branching the information transmission path.

The treatment information 41 obtained by the observation means 5, the biological information measuring means 6 and the treatment state observation means 7 is processed by the recording means 8a together with the control information 40 obtained by the control means 19, or the same processing is performed. The recording is performed on the recording medium 10a.

FIG. 5 shows an example of the screen configuration displayed on the display means 12a or the remotely installed display means 12b. Details on remote installation will be described later. The operation state 5 obtained from the treatment status observation means 7 in one screen
2 and the biological information information indicating the current state of the patient by numerical values and graphics, such as a graph 53 indicating the state of the affected part and the transition of the biological information obtained from the observation means 5, a heartbeat 54 and a body temperature 55. At this time, by updating the data with reference to the time code 38 as in the reproduction of the operation, each information is synchronized and reproduced. In FIG. 5, the heart rate and the body temperature are shown as examples, but any of the measured biological information may be displayed according to the request of the observer. Further, whether to display a character string or a graph is merely a difference in the output format, and thus may be changed according to the request of the observer. Hereinafter, a person who reproduces the operation or looks at the display means will be referred to as an observer.

The affected part state 51, the operation state 52, and the biological information 5
3, 54, and 55 are displayed in an integrated manner, and by referring to the time code 38 recorded along with each information, the reproduction timing of each information is also displayed. It is possible to observe both synchronized images in the same field of view of the observer, so that the diseased part state 51 and the operation state 52 can always be observed at the same time. Can be easily grasped. The affected part state and the operation state may be represented by computer graphics or the like based on the actually photographed video as well as the actually photographed video.

By updating the treatment information 41 based on the time code 38, the operations of the operation input means 2 and the remote operation means 3 are simultaneously reproduced, and the recording intervals of the observation means 5 and the biological information measuring means 6 are different. Treatment information 41 of another device
Can be reproduced synchronously. This allows
The information reproduced on the display screen, the operation of the operation input means 2 and the remote operation means 3 or the change of the patient's condition and biological information, and the operation of the surgical tool using the operation input means 2 and the remote operation means 3 Relationships can be observed in relation to each other, and the status of treatment and operation can be grasped, analyzed, confirmed, and explained to others after surgery more specifically, effectively, and easily.

The recorded image of the condition of the affected part is compared with the state of the movement reproduction, and the movement that cannot be recorded in the control information 40, such as the movement of the patient itself or the movement of the affected part and the relative positional relationship of the remote operation means 3, is determined. It can be specified and observed.

The control information 40 that does not invade the privacy of the patient and the information of the observation means 5 and the treatment status observation means 7 are collected from the recorded treatment information 41, and the operation examples for the cases are used as reference data for treatment planning. It is also possible, and by referring to this, it is possible to use the precedents to realize more efficient and safe operation.

The treatment situation observation means 7 records the treatment situation by embedding the unified time code 38 together with the video of the observation means such as the endoscope, etc., and records the treatment situation. It is possible to more accurately grasp the progress of the treatment by combining the surrounding situation that cannot be grasped from the video and the control information 40 with the situation reflected in the endoscope image.

Recording and reproduction at a remote place will be described with reference to FIG. As shown in FIG. 1, the recording unit 8a is equipped with a transmission / reception unit 13a, and is connected to transmission / reception units 13b and 13c provided at a place remote from the operation site through a network or communication line constructed by wire or wirelessly. . The transmitting / receiving means 13b is connected to the recording means 8b so as to be capable of transmitting / receiving, and the recording medium 10 to be recorded by the recording means 8a.
It has a function of recording on a recording medium 10b different from a. The transmission / reception unit 13c is connected to a reproduction unit 11b provided at a location remote from the treatment site, and the output from the reproduction unit 11b is connected to be displayed on the display unit 12b. Similarly, the transmitting / receiving units 13b and 13c are also connected to a network, and are connected so that the treatment information 41 recorded on the recording medium 10b can be displayed on the display unit 12b.

Since the recording information 39 can be transmitted to the recording means 8b and the reproducing means 11b which are remotely installed via the network, the recording information using a large-capacity recording medium for collectively managing the recording information 39 can be obtained. 39 can be stored and managed, and furthermore, the recording information 39 which is remotely installed and centrally managed is reproduced through a network,
The operation can be reproduced.

The reproduction of the operation is performed not only after the operation but also during the operation by recording the recording information 39 on the recording medium 10a, and simultaneously transmitting the recording information 39 to the reproducing means 11b provided remotely via the network. Using the same type of operation input means 2 and remote operation means 3 as those used in the above, it is also possible to reproduce the current treatment operation.
At this time, by observing the information of the biological information measuring means 6, the observing means 5, and the treatment state observing means 7 in accordance with the reproduction of the operation, the operation state of the surgical instrument and the biological information of the patient can be observed even if the observer is remote. It is possible to more accurately grasp the treatment status including the transition in real time.

From the place where the treatment information 41 is managed after the operation, the specific recorded information 3 is transmitted through the transmission / reception means 13b and 13c.
9 can be used to analyze the situation of the surgery as necessary using the reproducing means 11b and the display means 12b, or to explain the situation of the surgery to a third party.

FIG. 3B shows another embodiment relating to the recording processing section 9. The information processed by the recording information shaping section 43 is subjected to encryption processing by the tampering prevention means 44, and then recorded on the recording medium 10a.

The encryption system has an encryption-only key and a decryption-only key, such as a public key system.
The dedicated encryption key is managed by the recording means 8a, and the dedicated decryption key is managed by the reproducing means 11a. When the treatment information 41 is recorded, the treatment information 41 is encrypted using an encryption-dedicated key, and then recorded on a recording medium. At the time of reproduction, the encrypted information recorded on the recording medium is decoded using a decryption-dedicated key. Combine.

By separately managing and operating the respective keys in the recording means 8a and the reproducing means 11a, the recorded information 39 can be browsed only by using a specific reproducing means. Prevent privacy infringement.

Since it is difficult for the reproducing means 11a having no dedicated encryption key to re-encrypt, the recorded information 39
Can be prevented, and the credibility of the recorded information 39 can be improved. Since the credibility of the record information 39 is high, it is possible to enhance the accuracy, credibility, and effectiveness of reproducing the operation based on the record information 39 and analyzing and grasping the treatment status.

A plurality of recording means 8a and reproduction means 1 are grouped in a facility such as a hospital or an inter-hospital where the recording information 39 is allowed to be mutually browsed.
When installing 1a, a plurality of recording means 8a manage the same dedicated encryption key, and a plurality of reproducing means 11a manage the same dedicated decryption key. Thus, the recording information 39 using the recording unit 8a that manages the same encryption-dedicated key can be decrypted with the same decryption-dedicated key, regardless of which recording unit 8a is used. The encrypted recording information 39 can be easily reproduced via a network by using any reproducing means for managing the same decryption-dedicated key, and decryption is performed at an external facility where mutual browsing is not permitted. Since the encrypted recording information 39 cannot be browsed because the dedicated key is different, it is possible to prevent the leakage of the recording information 39 and the personal information while securing the convenience that the information can be easily reproduced.

FIG. 13 is a block diagram of the recording means and the reproducing means of the surgery support apparatus having the detachable permission means for managing the keys dedicated to encryption and decryption. Other components of the recording means and the reproducing means are the same as those in FIG. As shown in FIG. 13, the encryption-only key or the decryption-only key is made independent as the encryption permission means 73 or the decryption permission means 74, and can be detached from the recording means 8a or the reproduction means 11a. If these permission means can record an encryption-only key or a decryption-only key,
Any shape such as a card type or a shape like a car key may be used. Each permission unit records an encryption-only key or a decryption-only key as electric information or magnetic information. Alternatively, a circuit for an electric signal or an optical signal capable of identifying the encryption key or the decryption key is provided in each permission means. Alternatively, the portion where the permission means is attached to the recording means or the reproduction means is printed with a code meaning an encryption-dedicated key or a decryption-dedicated key, and is shaped such as a step or a through hole.

These permission means will be referred to as encryption key hardware and decryption key hardware.

The recording information 39 is attached with the time code 38 by the recording information shaping section 43, processed as described above, and encrypted by the tampering prevention means 44. When encrypting the treatment information 41, the tampering prevention unit 44 converts the dedicated encryption key recorded in the encryption key hardware, which is the encryption permission unit 73, into an electric signal, an optical signal, a magnetic signal, or an image signal.
Alternatively, it is read by recognizing the shape of the attached permission means. The information is encrypted using the read encryption-specific key, and the encrypted information is recorded on the recording medium 10a.

[0086] The encrypted information is decrypted by the decrypting means 70 of the reproducing means 11a. At this time, the decryption means 70
Is a decryption permitting means 74 attached to the reproducing means 11a.
Read the decryption-only key recorded in the decryption key hardware using the same method as for reading the encryption-only key,
Decrypting is performed using the read decryption key. The decoded information is restored by the recording information restoring unit 71 from the processing performed by the recording information shaping unit 43 of the recording unit 8a to a state that can be used to reproduce the information, and is restored to a predetermined device. 72 is sent. If the dedicated decryption key recorded in the decryption permitting means 74 does not correspond to the dedicated encryption key at the time of encryption, the decryption cannot be performed normally.

The read-only key for encryption or decryption is stored, and the number of times of reading during a series of recording processing or reproduction processing can be made only once. Alternatively, it may be read every time the encryption and decryption processes are performed.

Each permission means has information (manager identification information) for identifying a person who manages the permission means, for example,
A personal name and a serial number are recorded in addition to the encryption key and the decryption key. When the encryption permission means 73 and the decryption permission means 74 are used, a recording device for recording administrator identification information recorded in each permission means is provided in the recording means 8a and the reproduction means 11a. Alternatively, the administrator identification information when the encryption permission unit 73 is used may be recorded in a file header of the recording information recorded by the recording unit 8a. It is also easy to record the date and time of use in accordance with the administrator identification information.

At the time of recording the record information 39, by attaching the encryption key hardware to the recording means 8a, the recording and the encryption of the information become possible. When the record information 39 is reproduced, the decryption key hardware is attached to the reproduction means 11a. By attaching the ware, it is possible to decrypt and reproduce the information. A person who is permitted to record or reproduce the treatment information 41 manages the encryption key hardware and the decryption key hardware, so that the management of the encryption-only key and the decryption-only key can be facilitated and the authorized key can be easily managed. Since it becomes more difficult for a person who does not record or view the information, the effect of preventing leakage of personal information can be further enhanced.

In the encryption permitting means 73 and the decryption permitting means 74, information for identifying the person who manages each permitting means is recorded together with the encryption exclusive key and the decryption exclusive key. Can be kept as a record, so you can know who recorded the information and when, or who viewed the information and when,
The storage and management of the record information 39 can be performed more safely, and the effect of preventing leakage of personal information can be improved.

Further, even if different recording means 8a are used in a plurality of treatments, if the same encryption key is stored in the encryption key hardware, the decryption key corresponding to the same is stored. The use of such hardware makes it possible to reproduce the treatment information 41 using any reproducing means, and the operational convenience can be further improved.

Even if the same recording means is used, by using encryption key hardware in which different encryption-dedicated keys are stored, a group that can view this information can use a dedicated decryption key corresponding to the encryption-dedicated key. The group can be limited to the group having the key, and the convenience of management and operation of the record information 39 can be further improved.

When transmitting and receiving via a network,
Since the recording information 39 can be encrypted for communication, the recording information 3
9 can be prevented from leaking to third parties during transmission.
It is possible to safely transmit and receive information relating to the privacy of the patient, which is record information 39, via a network. In addition, it is possible to prevent leakage of personal information even by transmission using radio waves etc. and to perform it safely, even in remote places where network networks such as optical fibers are not maintained,
By installing a transmission / reception device for radio waves, transmission / reception of the record information 39 can be used.

Since the recording information 39 has high security in transmitting and receiving the recording information 39 via the network and can prevent tampering after the recording, the recording information 39 using a large-capacity recording medium for collectively managing the recording information 39 is used. Can be stored and managed more safely.

FIG. 11 shows an embodiment in which a surgical instrument having no control means for performing operation control is used.
Although the transmission / reception means shown in FIG. 1 is omitted in FIG. 11, a similar configuration can be adopted. An identifier 63 is provided on the surgical tool 62. The hand of the operator 1 who handles the surgical tool 62 is equipped with a data glove 61 which is a means for detecting an operation input state. The data glove 61 can detect, for example, a change in the amount of resistance of a resistor, a change in the optical path length of an optical fiber, and the like, and detect, for example, the angle of each joint beyond the wrist.
The treatment situation observation means 7 detects the coordinates of the identifier 63 or outputs a signal capable of calculating the coordinates by an optical, magnetic, or mechanical position measuring device, or processes a photographed image with a camera as a photographing means. And an image processing means for detecting the coordinates of the identifier 63. The identifier 63 includes a marker of a type specified by the position measuring device or the image processing unit, or a characteristic point such as a unique shape that can be specified by the position measuring device or the image processing unit.

The patient's biological information from the biological information measuring means 6, the image of the affected part from the observation means 5, and the data glove 6
1 and the coordinate information of the identifier 63 from the treatment status observing means 7 are input to the recording means 8a, and converted into a state for recording the treatment information 41 by the recording processing unit 9 similar to FIG. The recorded information is restored by the reproducing means 11a,
It is displayed on the display means 12a. At this time, as shown in FIG. 5, various kinds of information are integrated and tuned and played back, and the operation state 52 is created based on information obtained from the data glove and the position detecting means. Display using computer graphics. Regarding the reproduction of the motion, the position and orientation of the surgical tool, the movement of the operator's hand, and the like are expressed using computer graphics based on the recorded information 39. Computer graphics creates models based on three-dimensional information obtained from data gloves and optical position measuring devices, so it is possible to change the orientation and posture of the displayed model according to the needs of the observer. is there. By using such a configuration, it is possible to obtain the same effect as the configuration shown in FIG. 1 even when using a surgical tool having no control means.

In the configuration shown in FIG. 1, the operator 1 is equipped with the data glove 61 and operates the operation input means 2 or the remote operation means 3 is provided with the identifier 63 to detect the position and orientation of the identifier. For example, a configuration having a position measurement device or an image processing device can be used as the treatment status observation means.

With this configuration, in addition to the information on the position and orientation at which the operation lever 18 has operated according to the operation input, the operation lever 1
8 can be recorded. Alternatively, before starting treatment, the identifier 63 is attached to a part of the patient's body, or a part of the patient's body and a characteristic part is used as the identifier 63, and the position of the patient in the coordinate system of the operating room can be set. Identify the posture, during treatment,
By detecting the identifier 63 of the remote operation means 3, the patient 4
It is possible to quantitatively measure the relative positional relationship between the remote operation means 3 and the remote operation means 3.

Since the information on the position and orientation of the operation lever 18 can be compared with the information from the data glove 61 separately from the control of the operation input means 2, the data on the position and orientation of the operation lever 18 detected by the operation input means 2 are complemented. Alternatively, there is an effect that the credibility of the control information 40 is increased.

Since the position and orientation of the remote operation means 3 in the coordinate system of the operating room can be specified, the arrangement of the operation input means 2,
The positional relationship with the patient 4 can be clarified, and the treatment operation can be reproduced more accurately.

FIG. 12 shows the configuration shown in FIG. 1 in which a plurality of remote operation means 3, 3a, identifiers 63, 63a provided in the respective remote operation means 3, 3a, identifiers 63, 63
The treatment status observation means 7 is capable of detecting the coordinates of the distal end portion 63a.
Like the distal end portion 24, the 4a has a plurality of observation means 5, 5a and a plurality of surgical instruments. Parts that can be described with reference to FIG. 1 are omitted in FIG.

In the treatment status observation means 7, the identifiers 63, 6
The position of the position 3a is calculated using image processing, or the position is detected or calculated using a position measuring device which is one of the treatment status observation means 7. The position measuring device may be a device capable of simultaneously detecting a plurality of devices, or a device capable of detecting one identifier with one position measuring device. When a position measuring device that detects one identifier is used, a position measuring device is prepared for each remote operation unit, and the coordinates of each identifier are detected. At this time, when the position measuring means is an optical type, each of the identifier and the position measuring means is set to a positional relationship in which the identifier other than the identifier of the remote operation means to be measured does not fall within the measurement range, or the identifier of each identifier is set. A shielding plate or the like may be provided in between to prevent unnecessary identifiers from entering the measurement range.

The detected remote operation means 3, 3a
Is transmitted to the recording means in the same manner as the control information 40 and the like.

As a result, a plurality of remote operation means 3, 3a
Can be reproduced in time synchronization, and when reproducing the operations of the remote operation means 3 and 3a, by referring to the coordinate information of each remote operation means 3 and 3a. Also, it is possible to accurately reproduce the installation status between the devices.

Even when the reproduction of the operation is displayed using graphic means such as computer graphics, the position and orientation of the remote operation means are controlled based on the control information 40 and the coordinate information of each remote operation means is displayed. Based on this, it is possible to accurately reproduce the change in the relative positional relationship of the remote operation means.

Thus, in addition to being able to accurately and easily grasp the operation of the surgical instrument and the remote operating means during the treatment, the relative relationship between the remote operating means and the surgical instrument during the treatment is also detailed.
And it can be easily grasped.

By using these embodiments, the recorded information 3 can be adapted to various situations without being limited by the type of medical equipment used during treatment or the specifications of data output.
9 can be stored, and the contents of treatment can be grasped more easily and accurately after surgery than before. By reproducing the treatment information 41 based on the recorded information, a plurality of observations can be performed. It is possible for patients to analyze and examine the treatment at the same time, and to give explanations to the third party from the doctor in charge while checking each other's treatment situation and degree of understanding,
Secondary use of information, such as flexible reproduction and provision of information in accordance with the situation, is possible with an easy-to-understand expression.
Further, in accordance with these effects, the protection of the privacy of the patient and the ease of use, management and maintenance of the record information 39 can be achieved at the same time. be able to. Confirmation that the control of the device was functioning normally, and recording information 39
Together with the reproduction of, the intention of the surgeon regarding the treatment content can be clarified. Furthermore, it is possible to provide a system that is difficult to falsify and that is highly convenient to operate.
Effective and highly credible information can be easily provided even in cause identification.

[0108]

According to the present invention, since it is configured as described above, it is possible to provide a surgery support device suitable for grasping and analyzing the contents of a treatment operation performed after an operation or the like.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a surgery support device of the present invention.

FIG. 2 is a schematic view of a distal end of a remote operation means.

FIG. 3 is a configuration example of a recording processing unit.

FIG. 4 is a configuration example using a plurality of recording units.

FIG. 5 is an example of a treatment information display screen.

FIG. 6 is a diagram showing a control operation and data flow in a control unit when performing a normal operation.

FIG. 7 is a diagram showing a control operation and data flow in the control means when reproducing the operation.

FIG. 8 is a control flow for updating data based on a time code.

FIG. 9 is a conceptual diagram of treatment information arranged by a time code.

FIG. 10 is a conceptual diagram of treatment information configured by a plurality of file groups classified according to types of treatment information.

FIG. 11 is a configuration diagram when an operation tool that does not perform operation control by a control unit is used.

FIG. 12 is a configuration diagram using a plurality of remote operation means.

FIG. 13 is a configuration diagram having hardware dedicated to encryption and decryption.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... operator, 2 ... operation input means, 3 and 3a ... remote operation means, 4 ... patient, 5 and 5a ... observation means, 6 ... biological information measuring means, 7 ... treatment state observation means, 8a, 8b, 8c, 8
d, 8e: recording means, 9: recording processing unit, 10a, 10b
... Recording medium, 11a, 11b ... Reproducing means, 12a, 12
b: display means, 13a, 13b, 13c: transmission / reception means,
14, 14a ... holder, 15, 15a ... drive unit, 16,
16a: holding device, 17: user interface, 18
... operation lever, 19 ... control means, 21 ... lens system, 22
a, 22b: medical manipulator, 23a, 23b: surgical tool, 24, 24a: distal end, 25: operation input operation, 26
... operation force detection routine, 27 ... operation input means control amount calculation routine, 28 ... operation input means control routine, 29 ... position and orientation detection routine, 30 ... remote operation means control amount calculation routine, 31 ... remote operation means control routine, 32 ... control parameter management routine, 33 ... operation input data, 34
... Control amount data, 35 ... Control parameter data, 36 ...
Data update management routine, 37 ... file header, 38
... time code, 39, 39a, 39b ... record information, 4
0: control information, 41, 41a, 41b, 41c: treatment information, 42: time code transmission unit, 43: recording information shaping unit, 44: falsification prevention means, 45: position and orientation data, 4
8, 49, 50: recording means, 51: affected part state image, 52
... operation state image, 53 ... graph showing transition of biological information,
54: heart rate display, 55: body temperature display, 61: data glove, 62: surgical tool, 63, 63a: identifier, 64: patient data, 65: device data, 66: configuration data, 67: data header, 68: link data .. 70 decoding means,
71: Recorded information restoring unit, 72: Reconstructed treatment information, 73
... Encryption permission means, 74 ... Decryption permission means, 75 ... Control output signal.

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 5C053 GB40 JA22 JA30 LA01 LA14 5C054 AA02 CC07 DA01 DA07 DA08 DA09 FE16 FE17 GB01 GB05 GB06 HA12

Claims (13)

[Claims] A remote operating means equipped with at least one of a surgical instrument for treating an affected part and an observing means for observing an affected part and operating in response to an instruction from an operator; Operation input means for instructing, processing means for processing an operation instruction input to the operation input means, controlling the remote operation means, and recording means for recording control information used when the control means controls the operation With
A surgery support apparatus having a function of controlling at least one of the remote operation unit and the operation input unit based on the control information recorded by the recording unit. 2. The operation support apparatus according to claim 1, wherein the plurality of types of control information input to the recording means are time-series information unified among information for identifying the generation or recording moment of each information. A surgery support apparatus that records the information by the recording means and causes at least one of the remote operation means and the operation input means to operate in accordance with the time-series information based on the recorded information. 3. The operation support apparatus according to claim 1, wherein the control information input to the recording means is attached with identification information for identifying the content of the control information, and is recorded by the recording means. When the control unit controls at least one operation of the remote operation unit or the operation input unit based on the recording information, the control unit specifies necessary information based on the identification information, and the control unit determines a predetermined control information. A surgery support device having a function of reading an image and performing operation control. 4. The operation support apparatus according to claim 2, wherein at least one of an observation unit for observing a treatment state of the affected part, a state of operating the operation input unit, or a state around the patient is photographed. Means for observing treatment status,
Time-series information unified between information identifying the occurrence or recording moment of each information, or identification information identifying the content of information to be recorded in addition to the time-series information,
Recording means for recording in accordance with the image information obtained from the observation means and the treatment status observation means, and reproduction means for identifying the contents of the image information recorded by the recording means with the identification information and reproducing predetermined image information And display means for displaying reproduced information, wherein at least one operation of the remote operation means or the operation input means is controlled based on the recorded control information, based on the time-series information. At the same time, a surgery support apparatus for reproducing and displaying the image information on the display means in synchronization with the operation control based on time-series information recorded in accordance with the recorded information. 5. The surgery support apparatus according to claim 4, further comprising a biological information measuring means for measuring biological information of the patient, wherein the measurement is performed by the biological information measuring means, and generation or recording of the plurality of measured information is performed. The time-series information unified between the information for identifying the moment or the identification information for identifying the content of the information to be recorded in addition to the time-series information is recorded in accordance with the biological information obtained from the biological information measuring means. Recording means, reproducing means for reproducing predetermined biological information, and display means for displaying the reproduced information, at least one of the remote operation means or the operation input means based on the recorded control information At the same time as controlling the operation based on the time-series information, further reproducing and displaying the image information using the reproducing means and the display means, and simultaneously displaying the biological information on the display means. Distribution, said based on the time series information together recorded on the recording biological information, surgery supporting system which the operation control further displays reproduced in synchronization with the image information playback. 6. The operation support apparatus according to claim 2, wherein at least one of the remote operation unit and the operation input unit operates based on the recorded information. A surgical support device for displaying on a display means using video or drawing. 7. A situation in which an observation means for observing a treatment state of an affected part and an operation input means for giving an operation instruction to a surgical tool for treating the affected part or a remote operating means equipped with the surgical tool and operating are operated. Alternatively, the treatment status observation means for photographing at least one of the surroundings of the patient and the information for identifying the moment when the information output from the observation means and the treatment situation observation means or the moment when the information is recorded are unified. Time-series information, and identification information for identifying the content of the information to be recorded, recording means for recording in accordance with the image information obtained from the observation means and the treatment status observation means, and information recorded by the recording means. A surgery support apparatus comprising: a reproducing unit that identifies contents by the identification information and reproduces predetermined image information; and a display unit that displays the reproduced information. 8. The information to be recorded in the recording means for recording at least one of the control information, the image information, and the biological information in the surgical assistance device according to claim 2. Provided with a falsification preventing means for encrypting the data, and having a reproducing means for decrypting the encrypted information, based on the information decrypted by the reproducing means, at least one of the remote operation means or the operation input means. A surgery support apparatus that controls one operation based on the time-series information, or reproduces and displays the image information based on the time-series information, or reproduces and displays the biological information based on the time-series information. . 9. The encryption and decryption method according to claim 8, wherein the falsification preventing means encrypts the data using a dedicated encryption key and decrypts the encrypted information using the dedicated decryption key. A surgery support device comprising a decryption means, wherein the recording means has a dedicated encryption key, and wherein the reproducing means has a dedicated decryption key. 10. The surgery support apparatus according to claim 8, wherein the encryption-dedicated key or the decryption-dedicated key of the falsification preventing means is a removable encryption permission means or a decryption permission means. A certain surgery support device. 11. The surgery support apparatus according to claim 2, further comprising a transmitting / receiving means, wherein said transmitting / receiving means is communicably connected to another transmitting / receiving means, and said another transmitting / receiving means is provided. Reproduces and displays the received information via another recording means capable of recording the information received from the transmitting / receiving means, or another reproducing means capable of reproducing the received information, or via the other reproducing means. Surgery assistance connected to at least one of another possible display means or another control means capable of controlling another operation input means or another remote operation means based on the received information. apparatus. 12. The surgery support apparatus according to claim 2, wherein the identifier provided in the remote operation means and a position at which coordinates of the identifier in a space having a predetermined point as an origin can be measured. A measuring device, and a data collecting unit that measures a position and orientation of an operator who handles the surgical instrument or the observation unit, and the recording unit stores information output from at least one of the position measuring device and the data collecting unit. The control information or the image information or the biological information as well as the time-series information, or recorded with the identification information in addition to the time-series information,
The recorded information is read by the reproducing means, and the output of the position measuring device or the output of the data collecting means is displayed by using the display means, the remote operation means, or a graphic representing the photographed image or shape of the operator's hand. Or a surgery support apparatus for displaying the output using a graphic indicating the transition or the amount of change of the output. 13. An operating tool capable of treating an affected part or an observing means capable of observing an affected part, an identifier included in the operating tool or the observing means, and a coordinate of the identifier in a space having a predetermined point as an origin can be measured. A position measurement device, a data collection unit that measures the position and orientation of an operator who handles the surgical tool or the observation unit, a recording unit that records information output from the position measurement device and the data collection unit, A reproducing unit for reading the information recorded by the recording unit and outputting the read information to a display unit; and a display unit for displaying the output from the reproducing unit on a screen. The time series information for grasping the relative relationship is attached to the information to be recorded and recorded on a recording medium, and the reproducing means records the information by attaching to the recording information by the recording means. It was based on the time series information of the respective information, surgery supporting system for updating the adjustment to the screen displays the time of reproducing each of information.