JP2007111126A - Surgery supporting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a surgery supporting device capable of preventing loads exceeding a withstand load from being applied to the robot arm of a surgery robot device. <P>SOLUTION: The surgery supporting device is provided with an imaging part for imaging a surface image for the internal organ of a subject and an internal organ weight computing part. The internal organ computing part computes the weight of the internal organ from an image for the internal organ imaged by the imaging part, judges whether or not the internal organ weight exceeds the withstand load predetermined for the robot arm of the surgery robot device arranged so as to operate on the subject, and reports a judged result. Thus, since an operator can recognize whether or not the internal organ weight exceeds the withstand load before the surgery, a measure of exchanging the robot arm or the like is taken before the surgery when the internal organ weight exceeds the withstand load. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a surgery support apparatus including a surgery robot apparatus.

  Systems that support surgery and diagnosis using various imaging devices such as magnetic resonance imaging (hereinafter referred to as MRI) devices and CT devices have been developed. For example, I-MRI (interventional-MRI or abbreviated as Intraoperative-MRI) for imaging an arbitrary tomographic plane in real time during surgery is performed. In particular, for puncture monitoring at the time of surgery, a method (ISC: Interactive Scan Control) is performed in which a position pointed to by a surgical tool or a pointer is detected three-dimensionally and a cross section including the position is imaged during surgery. ing. On the other hand, surgery that navigates high-precision surgical operations such as neurosurgery by displaying the tip position of the surgical tool detected in real time on a cross-sectional image generated from patient data imaged in advance by an MRI device A navigation system is used. In addition, a surgical support system that combines an ISC and a surgical navigation system, captures a patient image including the tip position of the pointer in real time, and superimposes it on a display indicating the tip position of the surgical tool is also disclosed.

  In addition, a surgical robot in which a surgical tool is attached to the tip of a robot arm has been developed. The operator can perform a luminoscopic surgery by operating the robot arm by operating the console while viewing the endoscopic image.

On the other hand, Patent Documents 1 and 2 disclose a technique for obtaining a visceral fat rate by obtaining an area of a fat portion based on an image taken by a CT apparatus, an MRI apparatus, or the like.
JP 2002-222410 A JP 2004-254932 A

  In acupuncture surgery using a surgical robot, a technique is performed in which a patient's organ is lifted with a surgical tool, or the organ is scooped up and shifted in position. In such a procedure, since the organ weight is applied as a load to the robot arm, it is necessary to select in advance a robot arm having a strength that can withstand this load and attach it to the surgical robot. Although the load resistance of the robot arm is predetermined at the time of design, it is difficult to accurately predict how much load is applied during the operation because the organ weight of the patient varies depending on the patient. For this reason, the surgeon empirically selects and uses surgical tools such as a robot arm and a scalpel.

  An object of the present invention is to provide a surgical operation support device that can prevent a load exceeding a load resistance from being applied to a surgical instrument used for surgery.

  In order to achieve the above object, according to the first aspect of the present invention, the following surgery support apparatus is provided. That is, it has an imaging unit for storing an image of an organ of a subject, and an organ weight calculator, and the organ weight calculator calculates the weight of the organ from the image of the organ, and the organ weight A surgical operation support device that determines whether or not a predetermined load resistance is exceeded in a surgical instrument used for operating a subject, and notifies the determination result. As a result, the operator can know whether the organ weight exceeds the load-bearing capacity before the operation, so if the organ weight exceeds the load-bearing capacity, take measures such as replacing the surgical instrument before the operation. Can take. The term “surgical instrument” as used herein includes a surgical instrument such as a scalpel or forceps, which directly contacts a subject, and a tool for holding and operating a scalpel or forceps, for example, a robot arm of a surgical robot apparatus.

  The organ weight calculation unit calculates, for example, a fat volume from an image of the organ, obtains a fat weight from the obtained fat volume, and uses the standard weight and the fat weight obtained in advance for the organ, The organ weight can be calculated.

  As the surgical tool, a robot arm of a surgical robot apparatus can be set as a determination target.

  The said surgery assistance apparatus can be set as the structure which further has the memory | storage part in which each load-bearing data was stored about the multiple types of robot arm which can be used for a surgery robot apparatus. In this case, the organ weight calculation unit takes in information indicating the type of the robot arm currently attached from the surgical robot apparatus, reads the corresponding load-bearing data of the type indicated by the information from the storage unit, and uses it for the determination. Can do. In addition, the organ weight calculation unit can select a load resistance data stored in the storage unit that has a load resistance larger than the organ weight among a plurality of types of robot arms, and can inform the robot arm that it can be used. is there.

  The organ weight calculator captures in real time information indicating the load applied to the robot arm during the operation from the surgical robot device, determines whether the load exceeds the predetermined load resistance of the robot arm, and the determination result Can also be notified.

  The organ weight calculation unit can also display on the display device a display prompting to stop the high-load operation or change the type of the robot arm when the load during the operation exceeds the load resistance.

  Moreover, according to the 2nd aspect of this invention, the following surgery assistance apparatuses are provided. That is, an imaging unit that captures a plane image of the organ of the subject and a load determination unit, and the load determination unit is added to the robot arm during surgery from a surgical robot apparatus arranged to operate the subject. The operation support apparatus is characterized in that information indicating the load being loaded is taken in real time, it is determined whether the load exceeds a predetermined load resistance for the robot arm, and the determination result is notified.

  According to the third aspect of the present invention, the following surgery support apparatus is provided. That is, the image processing apparatus includes an imaging device that captures an image of an organ of a subject and an organ weight calculation unit. The organ weight calculation unit calculates an organ weight from an image of the organ imaged by the imaging device, and the organ weight Is a surgical operation support device that determines whether or not a predetermined load resistance is exceeded in a surgical instrument used for operating a subject, and notifies the determination result. A magnetic resonance imaging apparatus can be used as the imaging apparatus.

  According to the fourth aspect of the present invention, the following imaging apparatus is provided. That is, an imaging apparatus that captures an image of an organ of a subject, calculates the weight of the organ from the image of the organ, and the organ weight is predetermined for a surgical instrument used to operate the subject The imaging apparatus includes an organ weight calculation unit that determines whether or not the load capacity is exceeded and notifies the determination result.

  The operator can know whether the organ weight obtained before the operation exceeds the load capacity of the surgical tool, so if the load exceeds the load capacity, take measures such as replacing the robot arm before the operation. Can take.

Hereinafter, a surgery support apparatus according to an embodiment of the present invention will be described with reference to the drawings.
As shown in FIGS. 1 and 2, the surgery support apparatus includes an imaging apparatus 80 such as an MRI apparatus and a CT apparatus that captures an image of the patient 1, a surgical robot apparatus 300, and a surgical tool 204 such as a scalpel and forceps. A position detector 82 that detects the positions of the marker 227 and the reference marker 209, a processing device 90, an endoscope device 340, and a display 401 are included.

  The surgical robot apparatus 300 includes a rail 205 installed on a side surface of a bed 280 on which a patient 1 is mounted, two or more support tables 216 respectively installed on the rail 205, and a robot arm attached on the support table 216. 217, a robot arm drive unit 207, a robot arm control unit 215, and an operation unit 210.

  The robot arm 217 includes an arm 206 attached to the support base 216 and a manipulator 208 attached to the arm 206. The arm 206 has an arc shape so as to surround the patient 1, and the manipulator 208 is movable along the arm 208. Further, as shown in FIG. 3, the manipulator 208 has a plurality of movable mechanisms 228 for holding the surgical tool 204 and moving the held surgical tool 204 and the like in a three-dimensional direction. The support base 216 that supports the arm 206 can be moved to an arbitrary position along the rail 205 by driving the robot arm driving unit 207, thereby arranging the arm 206 at an arbitrary position in the body axis direction of the patient 1. be able to. Wires 211 are connected to the movable mechanism portions 228 of the manipulator 208, respectively. The robot arm drive unit 207 operates the wire 211 to move the manipulator 208 along the arc-shaped arm 206 and to move the tip of the surgical instrument 204 to be held in three dimensions to realize a surgical technique. Can do. The surgical tool 204 is a tool that comes into contact with a subject such as a scalpel or forceps. When the surgical instrument 204 to be held is a surgical instrument having a movable part such as forceps, the surgical instrument 204 can be opened and closed.

  The scope unit 344 of the endoscope apparatus 340 is attached to one of the two or more robot arms 217, and the patient's body can be imaged from a desired position. A surgical tool 204 such as a forceps or a scalpel is attached to the other robot arm 217 as necessary. As shown in FIG. 2, the robot arm control unit 215 receives an operation performed by the operator 212 on the operation unit 210 and outputs a control command to the robot arm drive unit 207. This causes the manipulator 208 to execute the accepted operation.

  The robot arm 217 includes a storage unit that stores an ID number indicating its type. The robot arm control unit 215 is provided with an ID detection unit 354 for reading an ID number from the robot arm 217 via the support base 216 and the robot arm drive unit 207.

  The robot arm drive unit 207 is provided with a torque detection unit 351 that detects the torque required to operate the wire 211. As a result, the force applied to the movable mechanism 228 of the manipulator 207 can be detected.

  The endoscope apparatus 340 includes a scope unit 344 at the tip, an image processing unit 40a, and an operation unit 40b. The scope unit 344 includes an objective lens and a small camera inserted into the body of the patient 1. As the structure of the scope unit 344, either monocular or stereo can be used. The image processing unit 40a captures and records image data picked up by the small camera, transfers it to the display processing unit 95 of the processing device 90, and displays it on the display area 405 of the display 401 as shown in FIG. Thereby, the operator 212 can operate the operation unit 210 of the surgical robot apparatus 300 while viewing the endoscopic image on the display 401.

  The imaging apparatus 80 is an apparatus that captures an image of the patient 1, and uses a CT apparatus or an MRI apparatus. In the present embodiment, an MRI apparatus is used as the imaging apparatus 80. Although a detailed description of the structure of the MRI apparatus can be used because it can be known, an MRI apparatus capable of 3D imaging is used in this embodiment.

  As the position detector 82, various types can be used as long as they can detect the positions (coordinates) of the markers 227 and 209 such as the surgical instrument 204, and include, for example, a plurality of cameras having parallax. In addition, it is possible to use a configuration in which position detection is performed from difference data of images captured by cameras.

  The processing device 90 reconstructs a tomographic image from the imaging data of the imaging device 80, the data storage unit 91 for storing imaging data of the imaging device 80, the position detection processing unit 92 that processes the output of the position detector 82, and the imaging data. A tomographic image reconstruction unit 93, a volume rendering processing unit 94 that generates a 3D image from imaging data of the imaging device 80, a display processing unit 95 that displays the generated image on the display 401, and a main control unit 96. ing.

  The data storage unit 91 stores in advance standard weights of organs without fat for each patient's sex, age, height, weight, organ type, and the like. In addition, load resistance data of various robot arms 217 and preoperative image data captured by the imaging device 80 for the patient 1 are also stored in the data storage unit 91.

  The main control unit 96 includes an organ weight prediction calculation unit 350, a surgical navigation unit 352, and an ISC unit 353. The organ weight prediction calculation unit 350 predicts the organ weight of the patient 1 before the operation, determines whether the load applied to the robot arm 206 during the operation exceeds the load resistance of the robot arm 206, and gives a warning.

  The surgical navigation unit 352 reads out preoperative image data in the data storage unit 91 and transfers it to the tomographic image reconstruction unit 93 or the volume rendering processing unit 94, and superimposes a display indicating the distal end position of the surgical instrument 204 on the preoperative image data. A navigation image is generated. The navigation image is displayed in the navigation display area 516 of the display 401 as shown in FIG. This realizes surgical navigation. On the other hand, the ISC unit 353 designates the cross section of the patient 1 including the distal end position of the surgical instrument 204 to the imaging device 80 and causes the imaging device 80 to capture this cross sectional image. The obtained imaging data is stored in the data storage unit 91 and a tomographic image is generated by the tomographic image reconstruction unit 93 and displayed on the ISC display area 514 of the display 401. Thereby, the ISC operation is realized.

  The distal end position of the surgical instrument 204 used for operation by the surgical navigation unit 352 and the ISC unit 353 is the distal end position obtained from the position of the surgical instrument 204 detected by the position detection unit 92 or the robot arm drive unit 207 of the surgical robot apparatus 300. The tip position of the surgical instrument 204 obtained from the drive amount is used.

  Detection of the tip position of the surgical instrument 204 by the position detection unit 92 is performed by detecting a marker 227 attached to the surgical instrument 204. The marker 227 includes three reflection spheres or three light sources, and the position detection unit 92 detects these, whereby the position of the marker 227 can be detected in three dimensions. The positional relationship between the marker 227 and the distal end of the surgical instrument 204 is known in advance. Accordingly, the position of the distal end of the surgical instrument 204 can be detected by detecting the position of the marker 227. Note that the position of the reference marker 209 fixed to a fixed object (such as the gantry of the imaging device 80) is also detected to be a reference when the marker 227 is detected by the position detector 92.

  Prior to the start of surgery, the position of the marker 227 of the surgical instrument 204 detected by the position detector 82 and the robot coordinates set in the surgical robot apparatus 300 are respectively set in the imaging space coordinates (images) set in the imaging apparatus 80. A known registration process (registration) corresponding to the data coordinates) is performed. For example, the imaging device 80 captures the three-dimensional image data of the patient 1 so that the marker 51 of the patient 1 is reflected in the image data, and indicates the position detected by pointing the patient marker 51 with the surgical tool 204 and the three-dimensional image data. A process for obtaining a coordinate conversion formula for associating the position of the marker 51 inside is performed. Thereby, it is possible to convert the detection coordinates of the position detector 82 and the imaging space coordinates. Further, by obtaining a coordinate conversion formula that associates the coordinates set in the robot arm control unit 215 of the surgical robot apparatus 300 with the position coordinates of the surgical tool 204 detected by the position detector 82, the position detector 82 It is possible to convert coordinates and robot coordinates. By further using a conversion equation between the detection coordinates of the position detector 82 and the imaging space coordinates in this conversion equation, the robot coordinates can be converted into the imaging space coordinates. As a specific registration method, a technique described in JP-A-2003-190117 can be used.

Next, the operation of organ weight prediction and warning by the organ weight prediction calculation unit 350 will be described in detail with reference to FIG.
The organ weight prediction calculation unit 350 instructs the imaging device 80 to perform 3D imaging for a range including an organ that is scheduled to be lifted by surgery in order to predict organ weights before surgery ( Step 101). The designation of imaging conditions such as the imaging range is received from the operator 212 via the operation unit 97. In addition, when preoperative image data is already stored in the data storage unit 91 for the region, it is possible to use the data without performing imaging.

  Next, the organ weight prediction calculation unit 350 specifies an image region of the organ on which the procedure is performed in the image obtained in step 101, extracts the body fat region included in the organ image region, and obtains the volume thereof. . By multiplying the determined volume by a predetermined fat specific gravity, the fat weight of the organ is calculated (step 102). As a method for extracting the body fat region, a known method such as a method in which the operator 212 designates the contour of the fat region via the operation unit 97 or a method of automatically detecting the density difference of the image is used. The body fat region set at the time of calculation is displayed on the display region 509 of the display 401, and the obtained fat weight is displayed on the display region 503.

  The data storage unit 91 stores in advance standard weights of organs without fat for each patient's sex, age, height, weight, organ type, and the like. The organ weight prediction calculation unit 350 receives the gender, age, height, weight, organ type, and the like of the patient 1 via the operation unit 97, and calculates the standard weight of the organ that matches these conditions from the data storage unit 91. read out. The fat weight calculated in step 102 is added to the read standard weight of the organ to determine the organ weight of the patient 1 (step 103).

  Next, the organ weight prediction calculation unit 350 takes in an ID number indicating the type of the robot arm 217 currently attached to the surgical robot 300 from the ID detection unit 354 of the robot arm control unit 215 (step 204). The data storage unit 91 stores the load resistance data for each ID number of the robot arm 217 in advance. The organ weight prediction calculation unit 350 reads load resistance data corresponding to the ID number fetched from the robot arm control unit 215 from the data storage unit 91. Since the maximum load applied to the robot arm 217 can be approximated to the weight when the organ is lifted, the load resistance is compared with the organ weight obtained in step 103. If the organ weight is larger than the load resistance, An image for notifying the operator 212 that it exceeds the limit is displayed on the display area 502 of the display 401 via the display processing unit 95. At the same time, the ID number of another type of robot arm 217 having a greater load resistance than the organ weight is retrieved from the data stored in the data storage unit 91 and displayed on the display 401 as a candidate for the usable robot arm 217. It is displayed in area 502. On the other hand, when the load resistance is larger than the organ weight, the display area 502 of the display 401 displays that the current robot arm 217 is appropriate from the viewpoint of load. At the same time, a safety factor (= organ weight / withstand load) is calculated and displayed in the display area 502 (step 105).

  The operator 212 looks at the display in the display area 502, and when the organ weight is larger than the load resistance, the operator 212 selects a desired one from other types of robot arms 217 displayed as candidates. The robot arm 217 is replaced and set on the support base 216. The organ weight prediction calculation unit 350 takes in the ID number of the attached robot arm 217 from the robot arm control unit 215 and confirms that the appropriate robot arm 217 is attached (step 106).

  When the organ weight prediction calculation unit 350 confirms that the appropriate robot arm 217 is attached in step 106, the main control unit 96 permits the robot arm control unit 215 to start robot surgery (step 107). The operator 212 controls the robot arm 217 by operating the operation unit 210 to execute a surgical technique. At the same time, the surgical navigation unit 352 of the main control unit 96 generates a navigation image in which the display indicating the distal end position of the surgical instrument 204 is superimposed on the preoperative image data, and displays the navigation image on the navigation display area 516 of the display 401. The ISC unit 353 designates a cross section of the patient including the distal end position of the surgical instrument 204 to the imaging device 80, causes the imaging device 80 to capture this cross sectional image, and displays it in the ISC display area 514.

  The organ weight prediction calculation unit 350 tracks the position of the robot arm 217 (step 108), and the robot arm driving unit 207 needs to drive the wire 211 for each operation of the robot arm 217 performed by the robot arm driving unit 207. Torque is received via the torque detector 351 and the robot arm controller 215. Based on this torque and structural information of the manipulator 208 (the length from the fulcrum of the movable mechanism 228 of the manipulator 208 to the point of action, the length of the attachment position of the wire 211 and the fulcrum, etc.) The calculated load (load) is calculated (step 109).

  The load obtained in step 109 is compared with the load resistance of the robot arm 217 having the ID number fetched in step 106 (step 110). If the load capacity is exceeded, the robot arm control unit 215 is instructed to stop the movement of the robot arm 217. At the same time, a display that warns the robot arm 217 operator 212 that further high-load work is impossible is displayed in the display area 502 of the display 401 (step 111).

  Further, a display for prompting the operator 212 to cancel the current high-load operation or change to the robot arm 217 having a higher load resistance is displayed in the display area 502 (steps 112 and 113). . If the operator 212 selects neither, a display prompting the user to determine whether or not to end the robotic operation is displayed in the display area 502 (step 114). In step 110, if the load does not exceed the load capacity, the operation by the robot apparatus is continued as it is, but if the operator 212 gives an instruction to end the robot operation, the operation is ended (step 115).

  As described above, the surgical operation support apparatus including the surgical robot apparatus according to the present embodiment obtains the weight of the specific organ to be operated on in advance based on the preoperative image, and the currently attached robot arm 217. It is possible to determine whether the load capacity of the device can withstand the operation. In addition, when the robot arm 217 cannot withstand the organ weight, it is possible to suggest the type of robot arm having a large load resistance, so that a smooth surgical environment can be provided. As a result, the accuracy of treatment can be improved.

  Even during the operation, the load applied to the robot arm is detected, and if the load exceeds the load resistance, the operation of the robot arm is stopped to stop the heavy load operation or to the robot arm with a large load load. Can be exchanged. As a result, it is possible to prevent the robot arm from continuing the work exceeding the load resistance, and thus it is possible to prevent troubles in the device. As a result, the treatment time can be shortened and the treatment accuracy can be improved, and the burden on the operator / patient can be reduced.

  In steps 101 to 115 of the above-described embodiment, the load resistance data determined at the time of designing the robot arm is used as it is as the load resistance of the robot arm. It is also possible to use the product multiplied by the value) as the load resistance. Thus, by using the load resistance with the safety factor multiplied in advance, it is possible to prevent the load of the load resistance limit from being applied to the robot arm.

  In the above-described embodiment, the example in which the MRI apparatus is used as the imaging apparatus 80 has been described. However, the present invention is not limited to the MRI apparatus. If it is an imaging device that can obtain an image capable of calculating fat mass by image processing, the organ weight prediction calculation in steps 101 to 105 in FIG. 5 is performed even when another device such as a CT device is used. It is possible. In the present embodiment, the MRI apparatus capable of 3D imaging is used to determine the fat volume, but an MRI apparatus that cannot perform 3D imaging may be used. In this case, it is possible to approximately calculate the fat volume by a method of obtaining the fat area for each slice and considering the slice thickness and integrating the fat areas of a plurality of slices.

  In the present embodiment, the organ weight is obtained by adding the obtained fat weight to the standard organ weight. However, the method for calculating the organ weight in the present invention is not limited to this method. Other methods can also be used. For example, the fat percentage is obtained from the subject image, and the organ weight data of the corresponding fat percentage is read out from the organ weight data for each fat percentage stored in the data storage unit in advance, and may be used as the organ weight of the subject. Is possible. Various methods can be used as a method for calculating the fat percentage.For example, the fat volume is divided by the organ volume, or the fat area of a cross section at a specific position is divided by the organ area to calculate the fat percentage. In addition to methods using approximate values, known methods can also be used.

  Further, in the surgery support apparatus including the surgery robot apparatus illustrated in FIG. 1, the processing device 90 in which the organ weight prediction calculation unit 350 is disposed is configured separately from the imaging device 80. Can also be configured as part of the imaging device 80. In this case, the surgery support apparatus and the surgery robot apparatus may be separate devices, and the surgery support apparatus may be configured to have an organ weight prediction calculation function.

1 is a block diagram illustrating an overall configuration of a surgery support apparatus including a surgery robot apparatus according to an embodiment of the present invention. FIG. 2 is an explanatory diagram showing a state in which an arm 206 and a manipulator 208 of a surgical robot apparatus are arranged on a bed 280 of an imaging apparatus (MRI apparatus) 80 in the surgery support apparatus of FIG. 1. It is a perspective view which shows an example of the structure of the manipulator 208 of the surgical robot apparatus of FIG. It is explanatory drawing which shows the display area of the display 401 and the example of a display screen of the surgery assistance apparatus of FIG. 3 is a flowchart showing an operation of an organ weight prediction calculation unit 350 in the surgery support apparatus of FIG. 1.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Patient, 51 ... Patient marker, 80 ... Imaging device, 82 ... Position detector, 90 ... Processing device, 91 ... Data storage part, 92 ... Position detection processing part, 93 ... Tomographic image reconstruction part, 94 ... Volume rendering processing unit, 95 ... display processing unit, 96 ... main control unit, 97 ... operation unit, 204 ... surgical tool, 205 ... rail, 206 ... arm, 207 ... robot arm drive unit, 208 ... manipulator, 210 ... operation unit , 212, operator, 216, support base, 217, robot arm, 227, marker, 209, reference marker, 280, bed, 300, surgical robot apparatus, 340, endoscope apparatus, 344, scope unit, 350, organ Weight prediction calculation unit, 351, torque detection unit, 401, display, 502, 503, 505, 509, 514, 516, display area.

Claims (11)

An image storage unit for storing an image of the organ of the subject, and an organ weight calculation unit;
The organ weight calculation unit calculates the weight of the organ from an image of the organ in the image storage unit, and the organ weight is a predetermined load resistance for a surgical instrument used for operating the subject. A surgical operation support apparatus that determines whether or not the threshold is exceeded and notifies the determination result.   2. The surgery support apparatus according to claim 1, wherein the organ weight calculation unit calculates a fat volume from an image of the organ, obtains a fat weight from the obtained fat volume, and obtains a standard obtained in advance for the organ. An operation support apparatus that calculates an organ weight of the subject using the weight and the fat weight.   The surgery support apparatus according to claim 1 or 2, wherein the surgical tool is a robot arm of a surgery robot apparatus. The surgical operation support device according to claim 3, further comprising a load-bearing data storage unit storing load-bearing data for each of the plurality of types of robot arms that can be used in the surgical robot apparatus,
The organ weight calculator captures information representing the type of the robot arm currently attached from the surgical robot apparatus, reads the corresponding load bearing data of the type indicated by the information from the load bearing data storage, An operation support apparatus characterized by being used for determination.   5. The surgery support apparatus according to claim 4, wherein the organ weight calculation unit selects a robot arm whose load-bearing data stored in the load-bearing data storage unit is larger than the organ weight, and can be used. An operation support apparatus having means for informing the user of the operation.   The operation support device according to any one of claims 3 to 5, wherein the organ weight calculation unit takes in information indicating a load applied to a robot arm during surgery from the surgical robot device in real time, and the load A surgery support apparatus comprising: means for determining whether or not the robot arm exceeds a predetermined load resistance and notifying the determination result.   The operation support device according to claim 6, wherein the organ weight calculation unit displays a display prompting to stop the high-load operation or change the type of the robot arm when the load exceeds the load resistance. An operation support apparatus characterized by being displayed on the screen.   The information indicating the load applied to the robot arm during the operation is taken in real time from the surgical robot apparatus arranged for operating the subject, and whether or not the load exceeds the predetermined load resistance of the robot arm. An operation support apparatus comprising means for determining and notifying a determination result. An imaging device that captures an image of an organ of a subject, and an organ weight calculator;
The organ weight calculation unit calculates the weight of the organ from an image of the organ imaged by the imaging device, and the organ weight is determined in advance for a surgical instrument used for operating the subject. A surgical operation support device that determines whether or not a load is exceeded and notifies a determination result.   The surgery support apparatus according to claim 9, wherein the imaging apparatus is a magnetic resonance imaging apparatus. An imaging device that captures an image of an organ of a subject,
Calculate the weight of the organ from the image of the organ, determine whether the organ weight exceeds a predetermined load resistance for a surgical instrument used to operate the subject, and determine the determination result An imaging apparatus comprising an organ weight calculation unit for reporting.

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