JP2022055122A - Operation support system, patient side device, and medical appliance operation method - Google Patents

Abstract

To provide an operation support system capable of suppressing vibration of an arm and a medical appliance.SOLUTION: A surgical operation system 100 (operation support system) comprises: a medical manipulator 1 including an arm 60 with a medical appliance 4 attached to a tip side thereof; a remote operation device 2 including an operation manipulator arm 21 for receiving an operation amount to the medical appliance 4; and a control unit 31 for scaling the received operation amount to calculate an actual operation amount, an operation amount in actually actuating the medical appliance 4. As a TCP of the medical appliance 4 is closer to a pivot position PP that is a position to be a supporting point in moving the medical appliance 4, the control unit 31 reduces a scaling magnification so that an amount of movement of the TCP with respect to the operation amount is smaller.SELECTED DRAWING: Figure 11

Description

The present invention relates to an operation method of a surgical support system, a patient-side device and a medical instrument, and more particularly to an operation method of a surgical support system, a patient-side device and a medical instrument for scaling the operation amount of the medical instrument accepted by the operation unit.

Conventionally, a robotic surgical system that scales the operation amount of a medical device received by the operation unit (changes the movement amount of the medical device with respect to the operation amount of the medical device received by the operation unit) is known (for example, Patent Document 1). reference).

The above-mentioned Patent Document 1 includes an input handle (operation unit) that can move in a plurality of directions, and a processing device that communicates with the input handle, scales the operation amount received by the input handle, and moves the surgical tool. Robotic surgical systems are disclosed. In Patent Document 1, the three-dimensional workspace in which the input handle is operated is defined in advance, and the movement of the surgical tool when the surgeon moves the input handle in a direction away from the center of the three-dimensional workspace. The scaling is set so that the amount is greater than the amount of movement of the surgical tool when moving the input handle towards the center of the three-dimensional workspace. As a result, when moving the input handle in a direction away from the center of the three-dimensional workspace, the amount of movement of the surgical tool becomes large, so that the input handle is moved to the maximum in the movable range of the input handle. It is possible to move the surgical tool to the desired position without any need.

Japanese Patent Publication No. 2018-505739

Here, although not specified in Patent Document 1, in a conventional robotic surgical system such as Patent Document 1, a pivot position that serves as a fulcrum for movement of a surgical tool (medical instrument) is preset. The surgical tool is moved around the pivot position (eg, rotational movement). Further, in the conventional robot surgical system as in Patent Document 1, there is an inconvenience that the robot arm and the surgical tool may vibrate when the surgical tool is moved around the pivot position. Specifically, the surgical tool moves around the pivot position, so if the distance between the pivot position and the tip of the surgical tool is large, a small movement of the arm will move the tip of the surgical tool to the desired distance. It becomes possible to move by a minute. On the other hand, when the distance between the pivot position and the tip of the surgical tool is small, the tip of the surgical tool cannot be moved by a desired distance unless the arm is moved significantly. Therefore, there is a problem that the vibration of the arm and the tool becomes large due to the large movement of the arm, particularly when the distance between the pivot position and the tip of the surgical tool is small. Since the above-mentioned Patent Document 1 does not consider the vibration caused by the distance between the pivot position and the tip of the surgical tool, there is the same problem as the above.

The present invention has been made to solve the above-mentioned problems, and one object of the present invention is the operation of a surgical support system, a patient-side device and a medical device capable of suppressing vibration of an arm and a medical device. To provide a method.

In order to achieve the above object, the surgical support robot according to the first aspect of the present invention is an operator including a patient-side device including an arm to which a medical device is attached to the tip side and an operation unit for receiving an operation amount for the medical device. It includes a side device and a control unit that scales the received operation amount and calculates the actual operation amount, which is the operation amount when actually operating the medical device. The control unit is a portion on the tip side of the medical device. As the tip-side portion approaches the pivot position, which is a fulcrum position when moving the medical device, the scaling factor is reduced so that the movement amount of the tip-side portion with respect to the operation amount becomes smaller.

In the surgical support robot according to the first aspect of the present invention, as described above, the control unit is the pivot position where the tip side portion, which is the tip end side portion of the medical device, serves as a fulcrum when moving the medical device. As it approaches, the scaling factor is reduced so that the amount of movement of the tip side portion with respect to the operation amount becomes smaller. As a result, when the distance between the tip-side portion of the medical device and the pivot position is small, the amount of movement of the tip-side portion of the medical device with respect to the operation amount becomes small. That is, since the amount of movement of the arm for moving the medical device is also small, the vibration of the arm and the medical device can be suppressed accordingly.

The patient-side device according to the second aspect of the present invention is a patient-side device including an arm to which the medical device is attached to the tip side, and the operation amount received by the operation unit that receives the operation amount for the medical device is scaled. It is equipped with a control unit that calculates the actual operation amount, which is the operation amount when actually operating the medical device, and the control unit serves as a fulcrum when the tip side part, which is the tip side part of the medical device, moves the medical device. The scaling factor is reduced so that the amount of movement of the tip side portion with respect to the operation amount becomes smaller as the position approaches the pivot position.

In the patient-side device according to the second aspect of the present invention, as described above, the control unit is the pivot position where the tip-side portion, which is the tip-side portion of the medical device, serves as a fulcrum when moving the medical device. As it approaches, the scaling factor is reduced so that the amount of movement of the tip side portion with respect to the operation amount becomes smaller. As a result, when the distance between the tip-side portion of the medical device and the pivot position is small, the amount of movement of the tip-side portion of the medical device with respect to the operation amount becomes small. That is, since the amount of movement of the arm for moving the medical device is also small, it is possible to provide a patient-side device capable of suppressing the vibration of the arm and the medical device accordingly.

The method of operating the medical device according to the third aspect of the present invention is an operation including a patient-side device including an arm to which the medical device is attached on the tip side and an operator-side device including an operation unit for receiving an operation amount for the medical device. It is a method of operating the medical device of the support system, and the step of accepting the operation amount for the medical device and the actual operation amount which is the operation amount when actually operating the medical device by scaling the received operation amount are calculated. The step for calculating the actual operation amount is provided with a step, and as the tip side part, which is the tip side part of the medical device, approaches the pivot position which is the fulcrum when moving the medical device, the tip side part with respect to the operation amount It includes a step of calculating the actual operation amount by reducing the scaling factor so that the movement amount becomes small.

As described above, in the method of operating the medical device according to the third aspect of the present invention, the step of calculating the actual operation amount is a fulcrum when the tip side portion, which is the tip side portion of the medical device, moves the medical device. This includes a step of calculating the actual operation amount by reducing the scaling factor so that the movement amount of the tip side portion with respect to the operation amount becomes smaller as the pivot position approaches. As a result, when the distance between the tip-side portion of the medical device and the pivot position is small, the amount of movement of the tip-side portion of the medical device with respect to the operation amount becomes small. That is, since the amount of movement of the arm for moving the medical device is also small, it is possible to provide a method of operating the medical device capable of suppressing the vibration of the arm and the medical device.

According to the present invention, the vibration of the arm and the medical device can be suppressed as described above.

It is a figure which shows the structure of the surgical operation system by one Embodiment of this invention. It is a figure which shows the structure of the medical manipulator by one Embodiment of this invention. It is a figure which shows the structure of the arm of the medical manipulator by one Embodiment of this invention. It is a figure which shows the forceps. It is a perspective view which shows the structure of the operation part of the medical manipulator by one Embodiment of this invention. It is a figure which shows the endoscope. It is a figure which shows the pivot position instruction instrument. It is a figure for demonstrating the translational movement of an arm. It is a figure for demonstrating the rotational movement of an arm. It is a block diagram which shows the structure of the control part of the medical manipulator by one Embodiment of this invention. It is a figure for demonstrating the scaling magnification with respect to the forceps. It is a figure for demonstrating the magnification of scaling with respect to an endoscope. It is a flow figure for demonstrating the operation method of forceps. It is a flow chart for demonstrating the setting method of the scaling magnification with respect to the forceps. It is a flow diagram for demonstrating the operation method of an endoscope. It is a flow diagram for demonstrating the setting method of the scaling magnification with respect to an endoscope. It is a figure (1) which shows the relationship between TCP1 of a forceps and a pivot position PP1. It is a figure (2) which shows the relationship between TCP1 of a forceps and a pivot position PP1. It is a figure which shows the relationship between TCP2 of an endoscope and the pivot position PP2.

Hereinafter, an embodiment of the present invention embodying the present invention will be described with reference to the drawings.

The configuration of the surgical operation system 100 according to the present embodiment will be described with reference to FIGS. 1 to 19. The surgical operation system 100 includes a medical manipulator 1 which is a patient P-side device, and a remote control device 2 which is an operator-side device for operating the medical manipulator 1. The medical manipulator 1 includes a medical trolley 3 and is configured to be movable. The remote control device 2 is arranged at a position separated from the medical manipulator 1, and the medical manipulator 1 is configured to be remotely controlled by the remote control device 2. The surgeon inputs a command to the remote control device 2 to cause the medical manipulator 1 to perform a desired operation. The remote control device 2 transmits the input command to the medical manipulator 1. The medical manipulator 1 operates based on the received command. Further, the medical manipulator 1 is arranged in an operating room which is a sterilized sterile field. The surgical operation system 100 is an example of a "surgery support system" within the scope of claims.

The remote control device 2 is arranged, for example, inside or outside the operating room. The remote control device 2 includes an operation manipulator arm 21, an operation pedal 22, a touch panel 23, a monitor 24, a support arm 25, and a support bar 26. The operation manipulator arm 21 constitutes an operation handle for the operator to input a command. The operation manipulator arm 21 receives an operation amount for the medical device 4. The monitor 24 is a scope type display device that displays an image taken by an endoscope. The support arm 25 supports the monitor 24 so that the height of the monitor 24 matches the height of the operator's face. The touch panel 23 is arranged on the support bar 26. The medical manipulator 1 can be operated by the remote control device 2 by detecting the operator's head with a sensor (not shown) provided in the vicinity of the monitor 24. The operator operates the operation manipulator arm 21 and the operation pedal 22 while visually recognizing the affected area on the monitor 24. As a result, a command is input to the remote control device 2. The command input to the remote control device 2 is transmitted to the medical manipulator 1. The operation manipulator arm 21 is an example of an "operation unit" within the scope of the claims.

The medical trolley 3 is provided with a control unit 31 for controlling the operation of the medical manipulator 1 and a storage unit 32 for storing a program for controlling the operation of the medical manipulator 1. Then, the control unit 31 of the medical trolley 3 controls the operation of the medical manipulator 1 based on the command input to the remote control device 2.

Further, the medical trolley 3 is provided with an input device 33. The input device 33 is configured to accept an operation of moving or changing the posture of the positioner 40, the arm base 50, and a plurality of arms 60 mainly for preparing for the operation before the operation.

The medical manipulator 1 shown in FIGS. 1 and 2 is arranged in the operating room. The medical manipulator 1 includes a medical trolley 3, a positioner 40, an arm base 50, and a plurality of arms 60. The arm base 50 is attached to the tip of the positioner 40. The arm base 50 has a relatively long rod shape (long shape). Further, in the plurality of arms 60, the root portion of each arm 60 is attached to the arm base 50. The plurality of arms 60 are configured to be able to take a folded posture (storing posture). The arm base 50 and the plurality of arms 60 are covered and used by a sterile drape (not shown).

The positioner 40 is composed of, for example, a 7-axis articulated robot. Further, the positioner 40 is arranged on the medical trolley 3. The positioner 40 moves the arm base 50. Specifically, the positioner 40 is configured to move the position of the arm base 50 in three dimensions.

Further, the positioner 40 includes a base portion 41 and a plurality of link portions 42 connected to the base portion 41. The plurality of link portions 42 are connected to each other by the joint portions 43.

As shown in FIG. 1, a medical device 4 is attached to the tip of each of the plurality of arms 60. The medical device 4 includes, for example, a replaceable instrument, an endoscope 6 (see FIG. 6), and the like.

As shown in FIG. 3, the instrument is provided with a driven unit 4a driven by a servomotor M2 provided on the holder 71 of the arm 60. Further, a forceps 4b (end effector) is provided at the tip of the instrument.

Further, as shown in FIG. 4, the instrument rotatably supports the first support 4e that rotatably supports the forceps 4b with respect to the first axis A1 and the first support 4e with respect to the second axis A2. The second support 4f and the shaft 4c connected to the second support 4f are included. The driven unit 4a, the shaft 4c, the second support 4f, the first support 4e, and the forceps 4b are arranged along the Z direction.

A forceps 4b is attached to the first support 4e so as to rotate around the rotation axis R1 of the first axis A1. Further, the second support 4f rotatably supports the first support 4e with respect to the second axis A2. That is, the first support 4e is attached to the second support 4f so as to rotate around the rotation axis R2 of the second axis A2. Further, the portion of the first support 4e on the tip end side (Z1 direction side) has a U-shape. A tool center point (TCP1, clevis) is set at the center of the first support 4e on the tip side of the U-shape in the direction of the rotation axis R1.

Further, as shown in FIG. 6, TCP2 of the endoscope 6 is set at the tip of the endoscope 6.

Next, the configuration of the arm 60 will be described in detail.

As shown in FIG. 3, the arm 60 includes an arm portion 61 (base portion 62, link portion 63, joint portion 64) and a translational movement mechanism portion 70 provided at the tip of the arm portion 61. The arm 60 is configured to move the tip side three-dimensionally with respect to the root side (arm base 50) of the arm 60. The plurality of arms 60 have the same configuration as each other.

The translational movement mechanism portion 70 is provided on the tip end side of the arm portion 61, and the medical device 4 is attached to the translational movement mechanism portion 70. Further, the translational movement mechanism unit 70 translates the medical device 4 in the direction of inserting the medical device 4 into the patient P. Further, the translational movement mechanism unit 70 is configured to translate the medical device 4 relative to the arm unit 61. Specifically, the translational movement mechanism unit 70 is provided with a holder 71 for holding the medical device 4. A servomotor M2 (see FIG. 10) is housed in the holder 71. The servomotor M2 is configured to rotate a rotating body provided in the driven unit 4a of the medical device 4. The forceps 4b is operated by rotating the rotating body of the driven unit 4a.

The arm portion 61 is composed of a 7-axis articulated robot arm. Further, the arm portion 61 includes a base portion 62 for attaching the arm portion 61 to the arm base 50, and a plurality of link portions 63 connected to the base portion 62. The plurality of link portions 63 are connected to each other by the joint portions 64.

The translational movement mechanism unit 70 is configured to translate the medical device 4 attached to the holder 71 along the Z direction (the direction in which the shaft 4c extends) by the translational movement of the holder 71 along the Z direction. ing. Specifically, the translational movement mechanism portion 70 includes a proximal end side link portion 72 connected to the distal end of the arm portion 61, a distal end side link portion 73, and a proximal end side link portion 72 and a distal end side link portion 73. It includes a connecting link portion 74 provided between them. Further, the holder 71 is provided on the tip side link portion 73.

The connecting link portion 74 of the translational movement mechanism portion 70 is configured as a double speed mechanism that moves the tip end side link portion 73 relative to the proximal end side link portion 72 along the Z direction. Further, the medical device 4 provided in the holder 71 is translated along the Z direction by moving the tip side link portion 73 relative to the proximal end side link portion 72 along the Z direction. It is configured as follows. Further, the tip of the arm portion 61 is connected to the proximal end side link portion 72 so as to rotate the proximal end side link portion 72 about the X direction orthogonal to the Z direction.

Further, as shown in FIG. 5, the medical manipulator 1 is attached to the arm 60 and includes an operation unit 80 for operating the arm 60. The operation unit 80 includes an enable switch 81, a joystick 82, and a switch unit 83. The enable switch 81 permits or disallows the movement of the arm 60 by the joystick 82 and the switch unit 83. Further, the enable switch 81 is in a state of permitting the movement of the medical device 4 by the arm 60 when an operator (nurse, assistant, etc.) grips and presses the operation unit 80.

Further, the switch unit 83 has a switch unit 83a for moving the medical device 4 in a direction in which the medical device 4 is inserted into the patient P along the longitudinal direction of the medical device 4, and a direction in which the medical device 4 is inserted into the patient P. It includes a switch portion 83b for moving the medical device 4 to the opposite side. Both the switch unit 83a and the switch unit 83b are composed of push button switches.

Further, as shown in FIG. 5, the operation unit 80 includes a pivot button 85 that teaches a pivot position PP that serves as a fulcrum (see FIG. 9) for movement of the medical device 4 attached to the arm 60. The pivot button 85 is provided on the surface 80b of the operation unit 80 so as to be adjacent to the enable switch 81. Then, in a state where the tip of the endoscope 6 (see FIG. 6) or the pivot position teaching instrument 7 (FIG. 7) is moved to a position corresponding to the insertion position of the trocar T inserted into the body surface S of the patient P. By pressing the pivot button 85, the pivot position PP is taught and stored in the storage unit 32. In the teaching of the pivot position PP, the pivot position PP is set as one point (coordinates), and the teaching of the pivot position PP does not set the direction of the medical device 4.

Further, as shown in FIG. 1, an endoscope 6 is attached to one of the plurality of arms 60 (for example, arm 60b), and the remaining arms 60 (for example, arms 60a, 60c and 60d) are attached. A medical device 4 other than the endoscope 6 is attached to the body. Specifically, in surgery, an endoscope 6 is attached to one of the four arms 60, and a medical device 4 (forceps 4b or the like) other than the endoscope 6 is attached to the three arms 60. .. Then, the pivot position PP2 (see FIG. 19) is taught to the arm 60 to which the endoscope 6 is attached with the endoscope 6 attached. Further, the pivot position PP1 (see FIG. 17) is taught with the pivot position teaching device 7 attached to the arm 60 to which the medical device 4 other than the endoscope 6 is attached. The endoscope 6 is attached to one of two arms 60 (arms 60b and 60c) arranged in the center among the four arms 60 arranged adjacent to each other. That is, the pivot position PP is individually set for each of the plurality of arms 60. The arm 60a, the arm 60c, and the arm 60d are examples of the "first arm" in the claims. Further, the arm 60b is an example of the "second arm" in the claims.

Further, as shown in FIG. 5, an adjustment button 86 for optimizing the position of the arm 60 is provided on the surface 80b of the operation unit 80. After teaching the pivot position PP to the arm 60 to which the endoscope 6 is attached, the position of the other arm 60 (arm base 50) is optimized by pressing the adjustment button 86.

Further, as shown in FIG. 5, the operation unit 80 has a mode switching button for switching between a mode for translating (see FIG. 8) and a mode for rotating (see FIG. 9) the medical device 4 attached to the arm 60. Includes 84. Further, a mode indicator 84a is provided in the vicinity of the mode switching button 84. The mode indicator 84a displays the switched mode. Specifically, when the mode indicator 84a is turned on (rotational movement mode) or off (translational movement mode), the current mode (translational movement mode or rotation movement mode) is displayed.

Further, the mode indicator 84a also serves as a pivot position indicator that indicates that the pivot position PP has been taught.

As shown in FIG. 8, in the mode of translating the arm 60, the arm 60 is moved so that the tip 4d of the medical device 4 moves on the XY plane. Further, as shown in FIG. 9, in the mode in which the arm 60 is rotationally moved, when the pivot position PP is not taught, the arm 60 is rotationally moved around the forceps 4b, and when the pivot position PP is taught, the pivot is pivoted. The arm 60 is moved so that the medical device 4 rotates around the position PP as a fulcrum. The medical device 4 is rotationally moved while the shaft 4c of the medical device 4 is inserted into the trocar T.

Further, as shown in FIG. 10, the arm 60 is provided with a plurality of servomotors M1, an encoder E1, and a speed reducer (not shown) so as to correspond to a plurality of joint portions 64 of the arm portion 61. Has been done. The encoder E1 is configured to detect the rotation angle of the servomotor M1. The speed reducer is configured to reduce the rotation of the servomotor M1 to increase the torque.

Further, as shown in FIG. 10, the translational movement mechanism unit 70 includes a servomotor M2 for rotating a rotating body provided in the driven unit 4a of the medical device 4 and a servomotor M2 for moving the medical device 4 in translation. A servomotor M3, an encoder E2 and an encoder E3, and a speed reducer (not shown) are provided. The encoder E2 and the encoder E3 are configured to detect the rotation angles of the servomotor M2 and the servomotor M3, respectively. The speed reducer is configured to reduce the rotation of the servomotor M2 and the servomotor M3 to increase the torque.

Further, the positioner 40 is provided with a plurality of servomotors M4, an encoder E4, and a speed reducer (not shown) so as to correspond to the plurality of joint portions 43 of the positioner 40. The encoder E4 is configured to detect the rotation angle of the servomotor M4. The speed reducer is configured to reduce the rotation of the servomotor M4 to increase the torque.

Further, the medical trolley 3 is provided with a servomotor M5 for driving each of a plurality of front wheels (not shown) of the medical trolley 3, an encoder E5, and a speed reducer (not shown). The encoder E5 is configured to detect the rotation angle of the servomotor M5. The speed reducer is configured to reduce the rotation of the servomotor M5 to increase the torque.

The control unit 31 of the medical trolley 3 is an arm control unit 31a that controls the movement of a plurality of arms 60 based on a command, and the movement of the positioner 40 and the front wheel (not shown) of the medical trolley 3 based on the command. It includes a positioner control unit 31b that controls driving. A servo control unit C1 for controlling the servo motor M1 for driving the arm 60 is electrically connected to the arm control unit 31a. Further, an encoder E1 for detecting the rotation angle of the servomotor M1 is electrically connected to the servo control unit C1.

Further, a servo control unit C2 for controlling the servomotor M2 for driving the medical device 4 is electrically connected to the arm control unit 31a. Further, an encoder E2 for detecting the rotation angle of the servomotor M2 is electrically connected to the servo control unit C2. Further, a servo control unit C3 for controlling the servomotor M3 for translating the translational movement mechanism unit 70 is electrically connected to the arm control unit 31a. Further, an encoder E3 for detecting the rotation angle of the servomotor M3 is electrically connected to the servo control unit C3.

Then, the operation command input to the remote control device 2 is input to the arm control unit 31a. The arm control unit 31a generates a position command based on the input operation command and the rotation angle detected by the encoder E1 (E2, E3), and sends the position command to the servo control unit C1 (C2, C2). Output. The servo control unit C1 (C2, C3) generates a torque command and a torque command based on the position command input from the arm control unit 31a and the rotation angle detected by the encoder E1 (E2, E3). Is output to the servo motors M1 (M2, M3). As a result, the arm 60 is moved so as to follow the operation command input to the remote control device 2.

Further, the control unit 31 scales the operation amount of the medical device 4 received by the operation manipulator arm 21 and calculates an actual operation amount which is an operation amount when actually operating the medical device 4. Here, "scaling" is the portion on the tip side of the medical device 4 by the amount obtained by multiplying the operation amount by the user (operator) operating the operation manipulator arm 21 by a certain ratio (scaling magnification). (In this embodiment, it means to move the tool center point: TCP). For example, as shown in FIG. 11, when the operation amount of the operator is “2” and the portion on the tip side of the medical instrument 4 is moved by “1” (magnification 1: 2 in FIG. 11), scaling is performed. The magnification of is 0.5. The tool center point (TCP) is an example of the "tip side portion" of the claims.

Here, in the present embodiment, as shown in FIG. 11, as the TCP of the medical device 4 approaches the pivot position PP, which is a fulcrum position when the medical device 4 is moved, the control unit 31 relatives to the operation amount. Reduce the scaling factor so that the amount of TCP movement is small. Specifically, the control unit 31 dynamically changes the scaling factor so that the scaling factor becomes smaller as TCP approaches the pivot position PP. In other words, the scaling factor decreases in real time (continuously) as the TCP of the medical device 4 approaches the pivot position PP.

Further, in the present embodiment, as shown in FIGS. 11 and 12, the forceps are changed according to the distance L1 (see FIGS. 17 and 18) between TCP1 of the forceps 4b and the pivot position PP1 for the forceps 4b. What is the scaling factor for the endoscope and the scaling factor for the endoscope that is changed according to the distance L2 (see FIG. 19) between TCP2 of the endoscope 6 and the pivot position PP2 for the endoscope? Set independently of each other. In the following, TCP1 of the forceps 4b and TCP2 of the endoscope 6 may be collectively referred to as TCP. Further, the pivot position PP1 for the forceps 4b and the pivot position PP2 for the endoscope may be collectively referred to as the pivot position PP. Further, the distance L1 between the TCP1 of the forceps 4b and the pivot position PP1 for the forceps 4b and the distance L2 between the TCP2 of the endoscope 6 and the pivot position PP2 for the endoscope are collectively referred to as the distance L. May be described. Further, the distance L1 and the distance L2 are examples of the "separation distance" in the claims.

Specifically, in the present embodiment, as shown in FIG. 11, a plurality of scaling magnifications for the forceps 4b are provided in advance so as to be selectable by the user (operator). For example, three types of scaling magnifications for forceps 4b are provided: 1: 1.5 (= 0.667), 1: 2 (= 0.5), and 1: 3 (= 0.333). The surgeon selects one of the three scaling factors. Further, the selection of the scaling magnification is performed by the remote control device 2.

As shown in FIG. 12, only one type of scaling magnification for the endoscope 6 is provided, for example, 1: 3 (= 0.333).

Further, in the present embodiment, the control unit 31 reduces the scaling factor when the distance L1 between TCP1 of the forceps 4b and the pivot position PP1 is the first distance L14 or less. Further, the control unit 31 reduces the scaling factor when the distance L2 between TCP2 of the endoscope 6 and the pivot position PP2 is equal to or less than the first distance L22. For example, in the arm 60 provided with the forceps 4b, the first distance L14 is 100 mm. Further, in the arm 60 provided with the endoscope 6, the first distance L22 is 50 mm.

Further, in the present embodiment, the control unit 31 constants the scaling factor when the distance L1 between TCP1 of the forceps 4b and the pivot position PP1 is less than the second distance L11, which is smaller than the first distance L14. do. Further, the control unit 31 makes the scaling magnification constant when the distance L2 between TCP2 of the endoscope 6 and the pivot position PP2 is less than the second distance L21, which is smaller than the first distance L22. For example, the second distance L11 (L21) is 10 mm. Further, the scaling magnification to be constant is 1: 5 (= 0.2) for both the forceps 4b and the endoscope 6.

Further, in the present embodiment, as shown in FIGS. 11 and 12, the control unit 31 linearly interpolates between the magnifications of each scaling based on the distance L between the TCP of the medical device 4 and the pivot position PP. By doing so, the scaling factor corresponding to the distance L is acquired. For example, in the case of forceps 4b, the scaling factor is 0.667 when the distance L1 between TCP1 and the pivot position PP1 of the forceps 4b is L14, and the scaling factor is 0.5 when the distance is L13. It is assumed that the scaling factor when the distance is L12 is 0.333. Then, when the current distance L1 between TCP1 of the forceps 4b and the pivot position PP1 is L15 (L13 <L15 <L14), the control unit 31 has coordinates (L14, 0.667) and coordinates (L14, 0.667). By linearly interpolating based on the line segment connecting L13, 0.5), the magnification K (0.5 <K <0.667) corresponding to L15 is calculated. The method of linear interpolation is the same for the endoscope 6.

Further, in the present embodiment, the control unit 31 dynamically changes the scaling magnification within a range not exceeding the movement amount corresponding to the scaling magnification selected in advance by the operator. That is, it is assumed that the operator has previously selected 1: 2 (= 0.5) of the scaling magnifications for the forceps 4b. In this case, even if the distance L1 exceeds L13, the scaling factor does not exceed 1: 2 (= 0.5). That is, the scaling magnification changes within the range of the magnification or less selected in advance by the operator. The scaling factor for the endoscope 6 is one (1: 3), and even when the distance L2 exceeds L22, the scaling factor does not exceed 1: 3.

Further, the arm 60 includes a plurality of arms 60a, 60c and 60d to which the forceps 4b are attached, and one arm 60b to which the endoscope 6 is attached. Here, the operator operates (steps on) the operation pedal 22 of the remote control device 2, and the arms 60a to 60d operated by the operation manipulator arm 21 are selected. For example, two of the plurality of arms 60a, 60c and 60d to which the forceps 4b are attached are selected as the arms 60 operated by the operating manipulator arm 21. Further, one arm 60b to which the endoscope 6 is attached is selected as the arm 60 operated by the operating manipulator arm 21.

Then, in the present embodiment, the control unit 31 sets the smallest scaling magnification among the scaling magnifications of each arm 60 (any two of the arms 60a, 60c, and 60d) to which the forceps 4b are attached. A scaling factor common to the arms 60 (any two of the arms 60a, 60c and 60c). For example, when the arms 60a and 60c are selected as the arm 60 operated by the operating manipulator arm 21, the smaller of the scaling factor for the arm 60a and the scaling factor for the arm 60c (manipulator arm for operation). The scaling factor (whichever has the smaller movement amount of TCP1 with respect to the operation amount of 21) is the scaling factor common to the arms 60a and 60c.

Further, the control unit 31 (arm control unit 31a) is configured to operate the arm 60 based on an input signal from the joystick 82 of the operation unit 80. Specifically, the arm control unit 31a generates a position command based on the input signal (operation command) input from the joystick 82 and the rotation angle detected by the encoder E1, and the position command is sent to the servo control unit. Output to C1. The servo control unit C1 generates a torque command based on the position command input from the arm control unit 31a and the rotation angle detected by the encoder E1, and outputs the torque command to the servomotor M1. As a result, the arm 60 is moved so as to follow the operation command input to the joystick 82.

The control unit 31 (arm control unit 31a) is configured to operate the arm 60 based on an input signal from the switch unit 83 of the operation unit 80. Specifically, the arm control unit 31a generates a position command based on the input signal (operation command) input from the switch unit 83 and the rotation angle detected by the encoder E1 or E3, and also issues a position command. Output to the servo control unit C1 or C3. The servo control unit C1 or C3 generates a torque command based on the position command input from the arm control unit 31a and the rotation angle detected by the encoder E1 or E3, and issues the torque command to the servomotor M1 or M3. Output to. As a result, the arm 60 is moved so as to follow the operation command input to the switch unit 83.

Further, as shown in FIG. 10, a servo control unit C4 for controlling the servomotor M4 that moves the positioner 40 is electrically connected to the positioner control unit 31b. Further, an encoder E4 for detecting the rotation angle of the servomotor M4 is electrically connected to the servo control unit C4. Further, a servo control unit C5 for controlling a servomotor M5 for driving a front wheel (not shown) of the medical carriage 3 is electrically connected to the positioner control unit 31b. Further, an encoder E5 for detecting the rotation angle of the servomotor M5 is electrically connected to the servo control unit C5.

Further, an operation command regarding setting of the preparation position and the like is input from the input device 33 to the positioner control unit 31b. The positioner control unit 31b generates a position command based on the operation command input from the input device 33 and the rotation angle detected by the encoder E4, and outputs the position command to the servo control unit C4. The servo control unit C4 generates a torque command based on the position command input from the positioner control unit 31b and the rotation angle detected by the encoder E4, and outputs the torque command to the servomotor M4. As a result, the positioner 40 is moved so as to follow the operation command input to the input device 33. Similarly, the positioner control unit 31b moves the medical trolley 3 based on the operation command from the input device 33.

(How to operate forceps)
Next, the operation method of the medical instrument 4 (forceps 4b) will be described with reference to FIGS. 13 and 14. In the following, two arms 60 to which the forceps 4b are attached are selected as the arms 60 operated by the operation manipulator arm 21 by the operator operating (stepping on) the operation pedal 22 of the remote control device 2. It is assumed that it has been done. Further, it is assumed that the operator has previously selected one of the three scaling magnifications.

First, as shown in FIG. 13, in step S1, the control unit 31 receives the operation amount for the forceps 4b. Specifically, the operator operates the operation manipulator arm 21. The control unit 31 receives the operation amount of the operated manipulator arm 21 for operation.

Next, in step S2, the control unit 31 scales the operation amount for the forceps 4b received by the operation manipulator arm 21 and calculates the actual operation amount which is the operation amount when the forceps 4b is actually operated. Specifically, the control unit 31 scales so that the movement amount of TCP1 with respect to the operation amount becomes smaller as the TCP1 of the forceps 4b approaches the pivot position PP1 which is a fulcrum position when moving the forceps 4b. Is reduced to calculate the actual operation amount.

Specifically, as shown in FIG. 14, first, in step S2a, it is determined whether or not the scaling factor selected in advance by the operator is 1: 1.5.

In step S2a, in the case of yes, in step S2b, it is determined whether or not the distance L1 between TCP1 of the forceps 4b and the pivot position PP1 is L14 (for example, 100 mm) or more. In step S2b, in the case of yes, in step S2c, the scaling factor is set to 1: 1.5.

In step S2b, in the case of no, in step S2d, it is determined whether or not the distance L1 is L13 (for example, 70.5 mm) or more. In step S2b, in the case of yes, in step S2e, a linearly interpolated scaling factor is set between 1: 1.5 and 1: 2.

In step S2d, in the case of no, in step S2f, it is determined whether or not the distance L1 is L12 (for example, 50 mm) or more. In step S2f, in the case of yes, in step S2g, a linearly interpolated scaling factor is set between the scaling factors 1: 2 and 1: 3.

In step S2f, in the case of no, in step S2h, it is determined whether or not the distance L1 is L11 (for example, 10 mm) or more. In step S2h, in the case of yes, in step S2i, a linearly interpolated scaling factor is set between 1: 3 and 1: 5. In step S2h, in the case of no, the scaling factor is set to 1: 5 in step S2j.

In step S2a, in the case of no, in step S2k, it is determined whether or not the scaling ratio preselected by the operator is 1: 2. In the case of yes in step S2k, it is determined in step S2l whether or not the distance L1 is less than L13. In step S2l, if yes, the process proceeds to step S2f. In step S2l, in the case of no, the scaling factor is set to 1: 2 in step S2m.

In the case of no in step S2k, it is determined in step S2n whether or not the distance L1 is less than L12. In step S2n, if yes, the process proceeds to step S2h. In the case of no in step S2n, the scaling magnification is set to 1: 3 in step S2o.

Then, as shown in FIG. 13, in step S3, the control unit 31 determines whether or not the scaling magnification has been calculated for each of the two arms 60 to which the forceps 4b are attached. In the case of no in step S3, the process returns to step S2.

In the case of yes in step S3, in step S4, the control unit 31 compares the scaling magnifications for each of the two arms 60 to which the forceps 4b are attached, and determines the smallest scaling magnification among the scaling magnifications. The scaling factor is common to the two arms 60 to which the forceps 4b are attached.

Then, in step S5, the control unit 31 operates the two arms 60 to which the forceps 4b are attached based on the common scaling magnification. Specifically, the control unit 31 drives the arm 60 by inversely converting a value obtained by multiplying the operation amount received by the operation manipulator arm 21 by a common scaling factor. The "reverse conversion" is to obtain the displacement of the joint of the arm 60 (rotation angle of the servomotors M1 to M3) from the operation amount (position / posture of the target arm 60). The above operation is repeated during the operation of the arm 60. Further, when the arm 60 operated by the operation manipulator arm 21 is changed, the above operation is performed on the changed arm 60.

(How to operate the endoscope)
Next, the operation method of the endoscope 6 will be described with reference to FIGS. 15 and 16. In the following, it is assumed that the arm 60 operated by the operation manipulator arm 21 is selected by the operator operating (stepping on) the operation pedal 22 of the remote control device 2.

As shown in FIG. 15, in step S11, the control unit 31 receives an operation amount for the endoscope 6.

Next, in step S12, the operation amount for the endoscope 6 received by the operation manipulator arm 21 is scaled, and the actual operation amount, which is the operation amount when actually operating the endoscope 6, is calculated.

Specifically, as shown in FIG. 16, in step S12a, it is determined whether or not the distance L2 is L22 (for example, 50 mm) or less. In step S12a, in the case of yes, in step S12b, it is determined whether or not the distance L2 is L21 (for example, 10 mm) or more. In step S12b, in the case of yes, in step S12c, a linearly interpolated scaling factor is set between 1: 3 and 1: 5.

In step S12b, in the case of no, the scaling factor is set to 1: 5 in step S12d.

In step S12a, in the case of no, the scaling factor is set to 1: 3 in step S12e.

Then, as shown in FIG. 15, in step S13, the control unit 31 operates the arm 60 to which the endoscope 6 is attached based on the set scaling magnification. Specifically, the control unit 31 drives the arm 60 by inversely converting a value obtained by multiplying the operation amount received by the operation manipulator arm 21 by the scaling magnification set.

Next, with reference to FIGS. 17 and 18, the relationship between the distance L1 between TCP1 of the forceps 4b and the pivot position PP1 and the vibration of the arm 60 will be described.

As shown in FIG. 17, when the distance L1 between TCP1 of the forceps 4b and the pivot position PP1 is relatively large, when trying to move TCP1 of the forceps 4b by a desired distance L3, a small movement of the arm 60 is performed. It becomes possible to move TCP1 of the forceps 4b. On the other hand, as shown in FIG. 18, when the distance L1 between TCP1 of the forceps 4b and the pivot position PP1 is relatively small, when trying to move TCP1 of the forceps 4b by a desired distance L3, the arm 60 is increased. Need to move. At this time, the arm 60 and the forceps 4b vibrate. Therefore, as described above, by reducing the scaling factor as TCP1 of the forceps 4b approaches the pivot position PP1, the movement amount of the arm 60 becomes smaller than the operation amount of the operator, so that the vibration of the arm 60 is caused. It becomes possible to suppress. As shown in FIG. 19, similarly, for the endoscope 6, the vibration of the arm 60 and the endoscope 6 is suppressed by reducing the scaling factor as TCP2 of the endoscope 6 approaches the pivot position PP2. Will be possible.

[Effect of this embodiment]
In this embodiment, the following effects can be obtained.

(Effect of surgery support robot)
In the present embodiment, as described above, the control unit 31 operates as the tip side portion (TCP) of the medical device 4 approaches the pivot position PP, which is a fulcrum position when moving the medical device 4. The scaling factor is reduced so that the amount of TCP movement with respect to is small. As a result, when the distance L between the TCP of the medical device 4 and the pivot position PP is small, the movement amount of the TCP of the medical device 4 with respect to the operation amount becomes small. That is, since the amount of movement of the arm 60 for moving the medical device 4 is also small, the vibration of the arm 60 and the medical device 4 can be suppressed by that amount.

Further, in the present embodiment, as described above, the control unit 31 dynamically changes the scaling factor so that the scaling factor becomes smaller as the TCP of the medical device 4 approaches the pivot position PP. As a result, even if the TCP of the medical device 4 moves relative to the pivot position PP, the scaling factor is changed according to the TCP of the medical device 4 after the movement, so that the medical treatment for the pivot position PP is performed. It is possible to suppress the arm 60 and the medical device 4 from vibrating at any relative position of the TCP of the device 4.

Further, in the present embodiment, as described above, the control unit 31 scales when the distance L1 (L2) between the TCP of the medical device 4 and the pivot position PP is equal to or less than the first distance L14 (L22). Reduce the magnification. As a result, in the region where the vibration of the arm 60 and the medical device 4 is relatively small and the distance L1 (L2) between the TCP of the medical device 4 and the pivot position PP is large, the scaling factor is not changed, so that the control unit 31 The burden (control burden) can be reduced.

Further, in the present embodiment, as described above, in the control unit 31, the control unit 31 has a second distance L11 in which the distance L1 (L2) between the TCP of the medical device 4 and the pivot position PP is smaller than the first distance L14 (L22). When it is less than (L21), the scaling factor is made constant. As a result, it is possible to prevent the movement amount of the TCP of the medical device 4 with respect to the operation amount from becoming excessively small (the medical device 4 hardly moves even if the operation manipulator arm 21 is operated).

Further, in the present embodiment, as described above, a plurality of scaling magnifications are provided in advance so that the operator can select them, and the control unit 31 is a distance L1 between the TCP of the medical device 4 and the pivot position PP. Based on (L2), the scaling magnification corresponding to the distance is acquired by linearly interpolating between the magnifications of the plurality of scalings. As a result, even if the scaling magnifications that can be selected by the operator in advance are discrete values, linear interpolation is performed between the multiple scaling magnifications, so that the TCP of the medical device 4 and the pivot position PP can be interpolated. The scaling factor according to the distance L1 (L2) can be set accurately.

Further, in the present embodiment, as described above, the control unit 31 dynamically changes the scaling factor within a range not exceeding the movement amount corresponding to the scaling factor selected in advance by the operator. As a result, even when the distance L between the TCP of the medical device 4 and the pivot position PP becomes large, it is possible to suppress the movement amount of the TCP of the medical device 4 from becoming large against the intention of the operator. ..

Further, in the present embodiment, as described above, the arm 60 includes the arms 60a, 60c and 60d to which the forceps 4b as the medical instrument 4 are attached, and the arms 60b to which the endoscope 6 as the medical instrument 4 is attached. The pivot position PP includes a pivot position PP1 for the forceps 4b with respect to the arms 60a, 60c and 60d and a pivot position PP2 for the endoscope 6 with respect to the arm 60b. The scaling factor for the forceps 4b, which is changed according to the distance L1 between TCP1 of the forceps 4b and the pivot position PP1 for the forceps 4b, and the pivot position PP2 of the endoscope 6 and the endoscope 6. It is set independently of the scaling magnification of the endoscope 6 which is changed according to the distance L2 between them. As a result, unlike the case where the scaling magnification for the forceps 4b and the scaling magnification for the endoscope 6 are set to be the same, the scaling magnification is appropriately set for the forceps 4b and the endoscope 6. can do.

Further, in the present embodiment, as described above, the arm 60 includes a plurality of arms 60a, 60c and 60d to which the forceps 4b as the medical instrument 4 are attached. The control unit 31 sets the smallest scaling factor among the scaling multipliers of each arm 60 (two of the arms 60a, 60c and 60d in the above embodiment) as the scaling multiplier common to each arm 60. And. As a result, the scaling magnification of each arm 60 is made equal, so that the operator feels the operation of the plurality of medical devices 4 attached to each arm 60 (the amount of movement of the medical device 4 with respect to the operation of the operation manipulator arm 21). Can be made uniform. Further, unlike the case where the scaling magnification on the larger side of the scaling magnifications of each arm 60 is set as the common scaling magnification, the movement amount of TCP1 of the medical device 4 becomes large against the intention of the operator. It can be suppressed.

Further, in the present embodiment, as described above, the control unit 31 reduces the scaling factor as the TCP (tool center point) of the medical device 4 approaches the pivot position PP. Here, since the position (coordinates) of the tip of the medical device 4 may differ depending on the shape (length, etc.) of the medical device 4, it depends on the distance L between the tip of the medical device 4 and the pivot position PP. When changing the scaling factor, it is necessary to make the control different for each shape of the medical device 4. Therefore, by using the tool center point as described above, TCP may be common even if the shape of the medical device 4 is changed. In that case, the scaling factor is changed by common control. be able to.

(Effect of operation method of medical device 4)
Further, in the present embodiment, as described above, the step of calculating the actual operation amount is the medical device with respect to the operation amount as the TCP of the medical device 4 approaches the pivot position PP which is the fulcrum when moving the medical device 4. The step of calculating the actual operation amount by reducing the scaling factor so that the movement amount of TCP in 4 becomes small is included. As a result, when the distance L between the TCP of the medical device 4 and the pivot position PP is small, the movement amount of the TCP of the medical device 4 with respect to the operation amount becomes small. That is, since the amount of movement of the arm 60 for moving the medical device 4 is also small, it is possible to provide an operation method of the medical device 4 capable of suppressing the vibration of the arm 60 and the medical device 4 by that amount.

[Modification example]
It should be noted that the embodiments disclosed this time are exemplary in all respects and are not considered to be restrictive. The scope of the present invention is shown by the scope of claims rather than the description of the above-described embodiment, and further includes all modifications (modifications) within the meaning and scope equivalent to the scope of claims.

For example, in the above embodiment, the control unit 31 is provided in the medical manipulator 1, but the present invention is not limited to this. For example, the control unit 31 may be provided in the remote control device 2. For example, the control unit 31 may be provided separately from the medical manipulator 1 and the remote control device 2.

Further, in the above embodiment, an example is shown in which the scaling factor continuously changes so that the scaling factor becomes smaller as the TCP of the medical device 4 approaches the pivot position PP, but the present invention is not limited to this. .. For example, the control unit 31 may change the scaling factor stepwise so that the scaling factor becomes smaller as the TCP of the medical device 4 approaches the pivot position PP. As a result, the number of scaling magnifications that can be set is reduced, so that the burden on the control unit 31 can be reduced.

Further, in the above embodiment, the control unit 31 reduces the scaling factor when the distance L1 between TCP1 of the forceps 4b and the pivot position PP1 is the first distance L14 or less, and is smaller than the first distance L14. An example is shown in which the scaling factor is constant when the second distance is less than L11, but the present invention is not limited to this. For example, the scaling factor may be changed in the region beyond the first distance L14 and the second distance L11. Similarly, the scaling factor may be changed in the region beyond the first distance L22 and the second distance L21 with respect to the endoscope 6.

Further, in the above embodiment, an example in which four arms 60 are provided is shown, but the present invention is not limited to this. In the present invention, the number of arms 60 may be at least one.

Further, in the above embodiment, an example in which three scaling magnifications are provided with respect to the forceps 4b is shown, but the present invention is not limited to this. In the present invention, a number other than three scaling magnifications with respect to the forceps 4b may be provided.

Further, in the above embodiment, an example in which one scaling magnification with respect to the endoscope 6 is provided is shown, but the present invention is not limited to this. In the present invention, a plurality of scaling magnifications with respect to the endoscope 6 may be provided.

Further, in the above embodiment, the control unit 31 determines the amount of movement corresponding to the scaling factor selected in advance by the operator even when the distance L between the TCP of the medical device 4 and the pivot position PP becomes large. An example of dynamically changing the scaling factor within a range not exceeding the scaling factor has been shown, but the present invention is not limited to this. For example, when the distance L between the TCP of the medical device 4 and the pivot position PP becomes large, the scaling factor is dynamically changed beyond the movement amount corresponding to the scaling factor selected in advance by the operator. You may let me.

Further, in the above embodiment, an example in which the arm portion 61 and the positioner 40 are composed of a 7-axis articulated robot is shown, but the present invention is not limited to this. For example, the arm 60 and the positioner 40 may be configured by an articulated robot having an axis configuration (for example, 6 axes or 8 axes) other than the 7-axis articulated robot.

Further, in the above embodiment, the medical manipulator 1 includes the medical trolley 3, the positioner 40, and the arm base 50, but the present invention is not limited to this. For example, the medical trolley 3, the positioner 40, and the arm base 50 are not always necessary, and the medical manipulator 1 may be composed of only the arm 60.

Further, in the above embodiment, an example is shown in which the tip end side portion of the medical device 4 is a tool center point, but the present invention is not limited to this. For example, the tip end side portion of the medical device 4 may be in the vicinity of the tool center point (position separated from TCP by 1 mm to 3 mm).

The functions of the elements disclosed herein include general purpose processors, dedicated processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and / or them, configured or programmed to perform the disclosed functions. Can be performed using a circuit or processing circuit that includes a combination of. A processor is considered a processing circuit or circuit because it contains transistors and other circuits. In the present disclosure, a circuit, unit, or means is hardware that performs the listed functions or is programmed to perform the listed functions. The hardware may be the hardware disclosed herein, or it may be other known hardware that is programmed or configured to perform the listed functions. If the hardware is a processor considered to be a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or processor.

1 Medical manipulator (patient side device)
2 Remote control device (operator side device)
4 Medical equipment 4b Forceps 6 Endoscope 21 Manipulator arm for operation (operation unit)
31 Control unit 60 arm 60a, 60c, 60d arm (first arm)
60b arm (second arm)
100 Surgical operation system (surgery support system)
Distance between TCP1 of L1 forceps and pivot position PP1 (separation distance)
Distance between TCP2 of L2 endoscope and pivot position PP2 (separation distance)
L14, L22 1st distance L11, L21 2nd distance PP pivot position PP1 pivot position (pivot position for forceps)
PP2 pivot position (pivot position for endoscope)
TCP tool center point (tip side part)

Claims (12)

A patient-side device that includes an arm to which a medical device can be attached to the tip side,
An operator-side device including an operation unit that receives an operation amount for the medical device,
It is provided with a control unit that scales the received operation amount and calculates an actual operation amount that is an operation amount when actually operating the medical device.
The control unit moves the tip side portion with respect to the operation amount as the tip end side portion, which is the tip end side portion of the medical device, approaches the pivot position, which is a position serving as a fulcrum when moving the medical device. A surgical support system that reduces the scaling factor so that The surgical support system according to claim 1, wherein the control unit dynamically changes the scaling factor so that the scaling factor becomes smaller as the tip end side portion approaches the pivot position. The operation according to claim 1 or 2, wherein the control unit reduces the scaling factor when the separation distance, which is the distance between the tip end side portion and the pivot position, is the first distance or less. Support system. The surgical support system according to claim 3, wherein the control unit makes the scaling factor constant when the separation distance is less than the second distance, which is smaller than the first distance. A plurality of scaling factors are provided in advance so that the user can select them.
The control unit linearly complements between the magnifications of the scaling based on the separation distance, which is the distance between the tip side portion and the pivot position, to obtain the scaling magnification corresponding to the separation distance. The surgical support system according to any one of claims 1 to 4, which is to be acquired. The surgical support system according to claim 5, wherein the control unit dynamically changes the scaling factor within a range not exceeding the movement amount corresponding to the scaling factor selected by the user. The arm includes a first arm to which forceps as the medical device are attached and a second arm to which an endoscope as the medical device is attached.
The pivot position includes a pivot position for forceps with respect to the first arm and a pivot position for an endoscope with respect to the second arm.
The scaling factor for the forceps, which varies depending on the distance between the distal end portion of the forceps and the pivot position for the forceps, and the distal end side portion of the endoscope and the pivot for the endoscope. The surgical support system according to any one of claims 1 to 6, which is set independently of the scaling factor for the endoscope, which is changed according to the distance from the position. The arm includes a plurality of first arms to which forceps as the medical instrument are attached.
13. The surgical support system according to any one of the items. The surgical support system according to claim 1, wherein the control unit gradually changes the scaling factor so that the scaling factor becomes smaller as the tip end side portion approaches the pivot position. The surgical support system according to any one of claims 1 to 9, wherein the tip side portion is a tool center point. A patient-side device that includes an arm to which a medical device can be attached to the tip side.
It is provided with a control unit that scales the operation amount received by the operation unit that receives the operation amount for the medical device and calculates the actual operation amount that is the operation amount when actually operating the medical device.
The control unit moves the tip side portion with respect to the operation amount as the tip end side portion, which is the tip end side portion of the medical device, approaches the pivot position, which is a position serving as a fulcrum when moving the medical device. A patient-side device that reduces the scaling factor so that A method of operating the medical device of a surgical support system including a patient-side device including an arm to which a medical device is attached to the tip side and an operator-side device including an operation unit for receiving an operation amount for the medical device.
The step of accepting the operation amount for the medical device and
It is provided with a step of scaling the received operation amount and calculating an actual operation amount which is an operation amount when actually operating the medical device.
In the step of calculating the actual operation amount, as the tip side portion, which is the tip end side portion of the medical device, approaches the pivot position which is the fulcrum when moving the medical device, the tip end side portion with respect to the operation amount A method for operating a medical device, comprising a step of calculating the actual operation amount by reducing the scaling factor so that the movement amount is small.

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