JP2023078478A - Remote operation device and surgery support system - Google Patents

Abstract

To provide a remote operation device which can easily change a position of a display unit and allows an operator to take a free posture while looking at the display unit.SOLUTION: A remote operation device 100 comprises: a scope type display unit 3a which is configured such that an operator O looks into a displayed image and has a gripping part 32 to be gripped by a hand of the operator O; a display unit support arm 4 which includes a joint 43 and a lock mechanism that turns the joint 43 into the lock state and is configured to support the scope type display unit 3a; and a release mechanism which is provided in the gripping part 32 in order to release the lock state of the joint 43 by the lock mechanism. When the release mechanism is operated by the operator O, the lock mechanism is configured to release the lock state of the joint 43. When the release mechanism is not operated by the operator O, the lock mechanism is configured to maintain the lock state of the joint 43.SELECTED DRAWING: Figure 2

Description

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

In recent years, surgical robots have come to be used in various surgeries such as laparoscopy, and improvements in the operability of remote control devices for surgical robots are expected. Conventionally, in order to enhance the operator's sense of immersion in surgery, it has been common practice to use a remote control device provided with a viewer for viewing from the operator's face, as disclosed in Patent Document 1.

WO2016/077552

However, in the remote control device of Patent Document 1, although the position of the display unit can be adjusted, only simple adjustments such as adjusting the height, depth, and angle can be performed. In addition, it was not possible to easily change the operating posture even during surgery.

SUMMARY OF THE INVENTION The present invention provides a remote control device and a surgery support system that can easily change the position of a display unit and change the operating posture even during long-term surgery.

A remote control device according to a first aspect of the present invention is a remote control device for operating a surgical instrument held by a manipulator, and is configured so that an operator can look into and see a displayed image. a scope-type display unit provided with a grip for a person to hold with one hand; and a display unit support arm configured to support the scope-type display unit, including joints and a lock mechanism for locking the joints. and a release mechanism provided in the grip for releasing the locked state of the joint by the lock mechanism, and when the release mechanism is operated by the operator, the lock mechanism releases the locked state of the joint. , and the lock mechanism is configured to maintain the locked state of the joint when the operator does not operate the release mechanism.

A remote control device according to a second aspect of the present invention is a remote control device for operating a surgical instrument held by a manipulator, and is configured so that an operator can look into and see a displayed image. a scope-type display unit having a grip for a person to hold with one hand; a display-unit support arm configured to support the scope-type display unit including joints and a lock mechanism for locking the joints; and a lock a release mechanism provided in the grip for releasing the locked state of the joints by the mechanism, and when the release mechanism is operated by the operator, the display unit support arm is configured such that the lock mechanism releases the locked state of the joints. When the release mechanism is not operated by the operator, the lock mechanism maintains the locked state of the joints of the display support arm. , is configured so that the scope type display unit cannot be moved manually.

A surgery support system according to a third aspect of the present invention is a surgery support system comprising a patient-side device having a manipulator for holding a surgical instrument, and a remote control device for operating the surgical instrument, wherein the remote The operation device is configured so that the operator can look into the displayed image, and includes a scope-type display section provided with a grip section for the operator to grasp with one hand, joints, and joints in a locked state. a display support arm that includes a lock mechanism and is configured to support a scope-type display; The lock mechanism is configured to release the locked state of the joint when the release mechanism is operated by the operator, and the lock mechanism maintains the locked state of the joint when the release mechanism is not operated by the operator. is configured to

According to the present invention, it is possible for the operator of the remote control device to freely change the position of the display unit even during a surgical operation.

BRIEF DESCRIPTION OF THE DRAWINGS It is the figure which showed the outline of the remote control by 1st Embodiment. 1 is a perspective view showing a remote control device according to a first embodiment; FIG. FIG. 4 is a diagram showing a display support arm of the remote control device according to the first embodiment; Fig. 2 is a block diagram showing the control configuration of the remote control device according to the first embodiment; 1 is a side view showing a state of a first form of a remote control device according to a first embodiment; FIG. FIG. 11 is a side view showing a state of a second form of the remote control device according to the first embodiment; FIG. 4 is a diagram showing a model of an operator of the remote control device according to the first embodiment; FIG. 4 is a schematic diagram for explaining a first example of a display section fixing mechanism and a fixing releasing mechanism of the remote control device according to the first embodiment; FIG. 4 is a schematic diagram for explaining a second example of a display unit fixing mechanism and a fixing release mechanism of the remote control device according to the first embodiment; FIG. 11 is a schematic diagram for explaining a third example of a display unit fixing mechanism and a fixing releasing mechanism of the remote control device according to the first embodiment; It is a perspective view which illustrates one plane in XYZ space. FIG. 11 is a perspective view showing a remote control device according to a second embodiment;

Hereinafter, embodiments will be described based on the drawings.

[First embodiment]
(Configuration of remote control device)
The configuration of a remote control device 100 according to the first embodiment will be described with reference to FIGS. 1 to 11. FIG.

As shown in FIG. 1, a remote control device 100 is provided to remotely control medical equipment provided in a system 200 on the patient side. When an operation mode command to be executed by the patient-side system 200 is input to the remote control device 100 by an operator O who is a surgeon, the remote control device 100 transmits the motion mode command to the patient via the controller 206 . to the side system 200. Then, the patient-side system 200 operates a medical instrument such as a surgical instrument and an endoscope held by the surgical manipulator 201 in response to the operation mode command transmitted from the remote control device 100 . This allows minimally invasive surgery. The surgery support system includes a remote control device 100 and a patient-side system 200 having a surgical manipulator 201 . Note that the remote control device 100 is an example of a “remote control device for medical equipment” in the scope of claims.

The patient-side system 200 configures an interface for performing surgery on the patient P. FIG. The patient-side system 200 is placed beside an operating table 300 on which the patient P lies. The patient-side system 200 has a plurality of surgical manipulators 201, of which one surgical manipulator 201 grips an endoscope 201b and the other surgical manipulators 201 grip surgical instruments (instruments 201a). A surgical manipulator 201 that holds a surgical instrument (instrument 201a) functions as an instrument arm 201A, and a surgical manipulator 201 that holds an endoscope 201b functions as a camera arm 201B. Each instrument arm 201A and camera arm 201B are commonly supported by platform 203 . A plurality of surgical manipulators 201 have a plurality of joints, and each joint is provided with a driving unit including a servomotor and a position detector such as an encoder. The surgical manipulator 201 is configured such that medical instruments attached to the surgical manipulator 201 are controlled to perform desired operations by driving signals given via the controller 206 .

Platform 203 is supported by positioner 202 which rests on the floor of the operating room. In the positioner 202, a column 204 having a vertically adjustable lifting shaft is connected to a base 205 having wheels and capable of moving on the floor.

The instrument arm 201A detachably holds an instrument 201a as a medical instrument at its distal end. The instrument 201a includes a housing attached to the instrument arm 201A and an end effector provided at the tip of an elongated shaft. End effectors include, for example, grasping forceps, scissors, hooks, high-frequency knives, snare wires, clamps, and staplers, but are not limited to these, and various treatment tools can be applied. In surgery using the patient-side system 200, the instrument arm 201A is introduced into the body of the patient P via a cannula (trocar) indwelled on the body surface of the patient P, and the end effector of the instrument 201a reaches the surgical site. are placed in the vicinity of

An endoscope 201b (see FIG. 4) as a medical instrument is detachably attached to the distal end of the camera arm 201B. The endoscope 201 b captures an image of the inside of the body cavity of the patient P, and the captured image is output to the remote control device 100 . As the endoscope 201b, a 3D endoscope or a 2D endoscope capable of taking three-dimensional images is used. In surgery using the patient-side system 200, the camera arm 201B is introduced into the body of the patient P via a trocar indwelled on the body surface of the patient P, and the endoscope 201b is placed near the surgical site. In addition, the endoscope 201b is an example of the "imaging unit" in the claims.

The remote control device 100 constitutes an interface with the operator O. FIG. The remote control device 100 is a device for the operator O to operate a medical instrument grasped by the surgical manipulator 201 . That is, the remote control device 100 is configured to be able to transmit to the patient-side system 200 via the controller 206 an operation mode command to be executed by the instrument 201a and the endoscope 201b input by the operator O. . The remote control device 100 is installed, for example, beside the operating table 300 so that the state of the patient P can be clearly seen while operating the master. Note that the remote control device 100 can be configured to transmit, for example, an operation mode command by radio, and can be installed in a separate room from the operating room where the operating table 300 is installed.

The action mode to be executed by the instrument 201a is the action of the instrument 201a (series of positions and postures) and the action mode realized by the individual functions of the instrument 201a. For example, when the instrument 201a is a grasping forceps, the motion mode to be executed by the instrument 201a is the roll rotation position and pitch rotation position of the wrist of the end effector, and the motion of opening and closing the jaws. be. Also, when the instrument 201a is a high-frequency knife, the operational aspect to be performed by the instrument 201a can be an oscillating operation of the high-frequency knife, specifically supplying current to the high-frequency knife. Further, when the instrument 201a is a snare wire, the action mode to be performed by the instrument 201a can be a binding action and a binding release action. Also, it may be an operation of burning off a surgical target site by supplying a bipolar or monopolar current.

The operation mode to be executed by the endoscope 201b is, for example, the setting of the position and orientation of the endoscope 201b tip or the setting of the zoom magnification.

The remote control device 100 is provided with a cover 101 as shown in FIG. The cover 101 is provided so as to cover the left-right direction (X direction) side surface, the back side (Y2 direction) side surface, and the top surface (Z1 direction side surface) of the remote control device 100 . 2 and subsequent drawings show the remote control device 100 with the cover 101 removed for the sake of convenience.

2 and 4, the remote control device 100 includes an operation handle 1, an operation pedal portion 2, a display portion support arm 4 that supports a display portion 3, and an armrest 5 that supports an operator's arm. , a control device 6 and a base 7 . The remote control device 100 also includes a posture control section 8 a , a control section 8 b , and a support mechanism 9 that supports the operating handle 1 and the armrest 5 .

The operating handle 1 is provided for remotely operating a medical instrument gripped by the surgical manipulator 201 . Specifically, the operation handle 1 receives an operation by an operator O for operating medical instruments (instrument 201a, endoscope 201b). A pair of operation handles 1 are provided along the X direction. That is, the operating handle 1 on the X2 direction side (right side) of the pair of operating handles 1 is operated by the right hand of the operator O, and the operating handle 1 on the X1 direction side (left side) of the pair of operating handles 1 is operated. It is operated by Person O's left hand.

Also, the operating handle 1 is attached to the support portion 91 of the support mechanism 9 . Further, the operating handle 1 is arranged to extend from the rear (Y2 direction) side of the remote control device 100 toward the front (Y1 direction) side. A plurality of joints are provided between the support portion 91 and the operating handle 1, and the operating handle 1 can be moved with respect to the support portion 91 within a predetermined three-dimensional operation area A (see FIGS. 5 and 6). configured to allow That is, the operating handle 1 is configured to be movable in the vertical direction (Z direction), the horizontal direction (X direction), and the front-rear direction (Y direction) with respect to the support portion 91 . Each joint between the support portion 91 and the operating handle 1 is provided with a position detection portion (not shown) for detecting the positional relationship of each joint. This position detector is, for example, an encoder, resolver, or potentiometer, and detects the position of the operating handle 1 with respect to the support 91 .

The remote control device 100 and the patient-side system 200 constitute a master-slave system in controlling the operations of the instrument arm 201A and the camera arm 201B. That is, the operating handle 1 constitutes a master-side operation section in a master-slave type system, and an instrument arm 201A and a camera arm 201B for gripping medical instruments constitute a slave-side operation section. When the operator O operates the operating handle 1, the movement of the operating handle 1 is controlled by the tip of the instrument arm 201A (end effector of the instrument 201a) or the tip of the camera arm 201B (endoscope 201b). The movement of the instrument arm 201A or camera arm 201B is controlled to trace and move.

Also, the patient-side system 200 is configured to control the movement of the instrument arm 201A according to the set movement magnification. For example, when the operation magnification is set to 1/2, the end effector of the instrument 201a is controlled to move a distance of 1/2 of the movement distance of the operating handle 1. FIG. This allows precise surgery to be performed. The operating handle 1 is attached to the base 7 and formed to extend toward the operator O in the Y direction.

The operating pedal section 2 includes a pedal that can be operated by the operator O's foot. A specific function is assigned to each pedal, and a switching command can be input to switch the target controlled by the operating handle 1 between a plurality of instrument arms 201A and camera arms 201B. Therefore, when it is desired to change the field of view during surgery, the operation pedal section 2 is operated to switch the object controlled by the operation handle 1 from the instrument arm 201A to the camera arm 201B, and the operation handle 1 is operated. The endoscope 201b can be moved. After moving the endoscope 201b, the operation pedal unit 2 is operated again to return the object controlled by the operation handle 1 from the camera arm 201B to the instrument arm 201A, thereby continuing the surgery. . The operation pedal section 2 is provided below so as to be operable with the foot. Further, the operation pedal section 2 is configured to be movable in the Y direction.

Another function of the operation pedal section 2 is to input an operation instruction from the instrument 201a attached to the tip of the instrument arm 201A. For example, the operation pedal section 2 can input an operation for cutting or coagulating a surgical site with the instrument 201a. For example, by operating the operation pedal section 2, a voltage for cutting or a voltage for coagulation is applied to the instrument 201a.

The display unit 3 can display an image captured by the endoscope 201b. The display section 3 is composed of a scope type display section 3a or a non-scope type display section 3b (see FIG. 12). The scope type display unit 3a is, for example, a peek type display unit. Further, the non-scope type display section 3b is a concept including an open type display section having a flat screen, which is not a peek type like a display of an ordinary personal computer. The scope type display section 3 a and the non-scope type display section 3 b are configured to be selectively attachable to the remote control device 100 . In the example shown in FIG. 2, the scope type display unit 3a is attached to the remote control device 100. In the example shown in FIG. The scope-type display section 3a includes a display 31a, a grip section 32, a mounting section 33, a terminal 34 (see FIG. 4), and an angle adjustment joint 35, as shown in FIG. 12, the non-scope type display section 3b includes a display 31b, a grip section 32, a mounting section 33, a terminal 34 (see FIG. 4), and an angle adjusting joint 35. As shown in FIG. The mounting portion 33 of the scope type display portion 3a or the non-scope type display portion 3b is configured to be mounted to the mounting portion 41 of the display portion support arm 4 of the remote control device 100. As shown in FIG. That is, the scope type display section 3 a or the non-scope type display section 3 b attached to the remote control device 100 is configured to be supported by the display section support arm 4 . As a result, it is possible to select either an immersive type remote control device or an open type remote control device, so that the remote control device 100 with versatility regarding the display unit 3 can be provided.

In addition, since surgery usually takes several hours, the operator may feel lonely when working with an immersive remote control device for a long time. However, by switching the remote control device to the open type before or during the operation, it is possible to change the mode so that it is easy to feel that the operation is being performed as a team.

Furthermore, a remote control device having a versatile and expandable display unit has the advantage that even if the display unit is broken or damaged, only the display unit can be repaired, and the entire device need not be replaced. It also has the advantage that the display can be upgraded without replacing the entire device each time a high-definition, high-quality display is developed. The operator also has the advantage of being able to select the display unit of the manufacturer and specifications (size, shape, operation panel, etc.) of his/her preference.

The terminal 34 is, for example, an SDI (serial digital interface) terminal, an analog component terminal, an HDMI (registered trademark) (high-definition multimedia interface) terminal, a USB (universal serial bus) terminal, or any other terminal capable of transmitting video. including. Terminal 34 is connected to control device 6 . In other words, image information is transmitted from the control device 6 to the display unit 3 by connecting the connection line to the terminal 34 . Further, by disconnecting the connection line from the terminal 34, the display section 3 can be detached from the remote control device 100. FIG.

When the scope-type display unit 3a is attached, a 3D image captured by the endoscope 201b held by the camera arm 201B of the patient-side system 200 is displayed. Even when the non-scope type display unit 3b is attached, a 3D image captured by the endoscope 201b provided in the patient-side system 200 is displayed. Note that when the non-scope type display unit 3b is attached, a 2D image captured by the endoscope 201b provided in the patient-side system 200 may be displayed.

The scope type display unit 3a is a type of viewer that the operator O looks into. The scope-type display unit 3a also displays an image for the right eye and an image for the left eye of the operator O, respectively. Scope type display unit 3a is, for example, a stereoscope. That is, the display 31a includes a display for the left eye and a display for the right eye. Also, by looking into the display 31a, the left eye cannot see the right eye display and the right eye cannot see the left eye display. The display 31a is configured by a liquid crystal display, an organic EL display, or the like. A projection type display may be used as the display 31a.

The non-scope type display section 3b is an open type display section that can be viewed without looking into it. The non-scope type display section 3b is a direct-view type display section. That is, the display 31b of the non-scope type display section 3b has a screen having a flat surface or a curved surface. For example, the display 31b can be a display with a diagonal of 10 to 90 inches. is appropriate. The display 31b is composed of a liquid crystal display, an organic EL display, or the like. A projection type display may be used as the display 31b. In order for the operator O to stereoscopically view the image captured by the endoscope 201b, a known stereoscopic viewing method such as a method using polarized glasses or a method using active shutter glasses may be applied.

The grip portion 32 is gripped when the display portion 3 is attached, detached, or moved. The grip portion 32 can be gripped with one hand. For example, the grip portion 32 has a shape such as a handle shape, concave shape, or convex shape. The grip part 32 is provided on the side surface or the back surface of the display part 3 so as not to interfere with viewing of the display 31a (31b). In addition, although the grip part 32 can be gripped with one hand, a plurality of grip parts may be provided. For example, as shown in FIG. 2, grips 32 may be provided on both sides of the display unit 3 so that the operator sitting in front can grip it with either the right hand or the left hand. A trigger lever 321 is provided on the grip portion 32 . Note that the trigger lever 321 is an example of the "release mechanism" in the claims.

The mounting portion 33 is attached to the mounting portion 41 of the display portion support arm 4 . That is, the scope type display section 3a and the non-scope type display section 3b are selectively detachably attached to the mounting section 41. As shown in FIG. For example, the mounting portion 33 includes an engaging portion 331 as in the first example shown in FIG. In addition, the mounted portion 41 includes a fixation release button 411 and an engaging portion 412 . As shown in FIG. 8A, in the fixed state, the engaging portion 331 of the mounting portion 33 and the engaging portion 412 of the mounted portion 41 are engaged with each other, and the mounted portion 41 of the display portion support arm 4 is engaged. The mounting portion 33 is fixed against it. As a result, the display section 3 is fixed to and supported by the display section support arm 4 . That is, the engaging portion 331 and the engaging portion 412 constitute a display portion fixing mechanism for fixing the display portion 3 (the scope type display portion 3a or the non-scope type display portion 3b).

As shown in FIG. 8B, when the fixation release button 411 is pushed downward, the engaging portion 412 moves and the engagement between the engaging portion 331 and the engaging portion 412 is released. As a result, the fixed state (locked state) of the mounting portion 33 with respect to the mounting portion 41 is released. In other words, the fixation release button 411 functions as a fixation release mechanism that releases the fixed state of the display section fixation mechanism configured by the engaging section 331 and the engaging section 412 . Further, the fixation release mechanism is configured to release the fixed state by the display unit fixation mechanism by the action of force downward in the vertical direction. Thereby, the fixed state by the display section fixing mechanism can be easily released by the fixing release mechanism.

As shown in FIG. 8C, the display unit 3 is removed from the remote control device 100 by moving the grip part 32 of the display unit 3 upward in the vertical direction while the fixing release mechanism is being operated downward in the vertical direction. be As a result, the display unit 3 can be removed stably and safely because the display unit 3 is removed while applying forces in opposite directions, that is, the release operation downward in the vertical direction and the force in the opposite directions of lifting the operation unit upward in the vertical direction. can. Since the display section 3 can be separated upward and removed from the display section support arm 4, the display section 3 can be removed without interfering with the operation handle 1 positioned below.

The display fixing mechanism and the fixing release mechanism may have other configurations. For example, a second example shown in FIG. 9 may be used. The mounting portion 33 includes an engaging portion 332 as in the second example shown in FIG. The attached portion 41 also includes an engaging portion 413 . As shown in FIG. 9A, in the fixed state, the engaging portion 332 of the mounting portion 33 and the engaging portion 413 of the mounted portion 41 are engaged with each other, and the mounted portion 41 of the display portion support arm 4 is engaged. The mounting portion 33 is fixed against it. Specifically, the engaging portion 332 sandwiches and grips the engaging portion 413 for engagement. As a result, the display section 3 is fixed to and supported by the display section support arm 4 . That is, the engaging portion 332 and the engaging portion 413 constitute a display portion fixing mechanism for fixing the display portion 3 (the scope type display portion 3a or the non-scope type display portion 3b).

As shown in FIG. 9B, when the engaging portion 332 is pressed from both sides, the clamping by the engaging portion 332 is released, and the engagement between the engaging portion 332 and the engaging portion 413 is released. , the fixed state (locked state) of the mounting portion 33 with respect to the mounting portion 41 is released. As shown in FIG. 9(C), the display unit 3 is removed from the remote control device 100 by moving the grip portion 32 of the display unit 3 upward in the vertical direction when the fixed state is released.

The display fixing mechanism and the fixing release mechanism may have other configurations. For example, a third example shown in FIG. 10 may be used. The mounting portion 33 includes a notch 333 as in the third example shown in FIG. In addition, the mounted portion 41 includes a fixation release button 414 , a fitting portion 415 and an engaging portion 416 . As shown in FIG. 10A, the release button 414 is urged vertically upward by a spring or the like, the engaging portion 416 is urged horizontally away from the fitting portion 415, and the release button 414 is urged horizontally. , and the horizontal movement of the engaging portion 416 are interlocked by a gear or the like.

In the fixed state, the notch 333 of the mounting portion 33 and the engaging portion 416 of the mounted portion 41 engage with each other, and the mounting portion 33 is fixed to the mounted portion 41 of the display portion support arm 4 . As a result, the display section 3 is fixed to and supported by the display section support arm 4 . That is, the notch 333 and the engaging portion 416 constitute a display portion fixing mechanism for fixing the display portion 3 (the scope type display portion 3a or the non-scope type display portion 3b).

As shown in FIG. 10B, when the fixation release button 414 is pressed downward, the fitting portion 415 moves downward. In conjunction with this, the engaging portion 416 moves toward the fitting portion 415 , and the engaging portion 416 is fitted into the fitting portion 415 . Thereby, the engagement between the notch 333 and the engaging portion 416 is released. As a result, the fixed state (locked state) of the mounting portion 33 with respect to the mounting portion 41 is released. In other words, the fixation release button 414 functions as a fixation release mechanism that releases the fixation state of the display unit fixation mechanism configured by the notch 333 and the engaging portion 416 . Further, the fixation release mechanism is configured to release the fixed state by the display unit fixation mechanism by the action of force downward in the vertical direction.

As shown in FIG. 10C, the display unit 3 is removed from the remote control device 100 by moving the grip portion 32 of the display unit 3 upward in the vertical direction when the fixed state is released.

Since the engaging portion 416 has an inclined surface whose lower side dimension is larger than its upper side dimension, when the mounting portion 33 is pushed downward in the vertical direction with respect to the mounted portion 41, the mounting portion 33 is engaged. When the engaging portion 416 is pushed into the fitting portion 415 side in the horizontal direction in contact with the inclined surface of the portion 416 and moved to a predetermined position, the engaging portion 416 is fitted into the notch 333 and locked into a fixed state. .

The display section support arm 4 is configured to support the display section 3 as shown in FIG. The display section support arm 4 includes a mounting section 41 , an arm section 42 , a plurality of joints 43 and a parallel link mechanism 44 . The display section support arm 4 is provided with a mounting section 41 at one end and supported by a column 45 at the other end. The pillar 45 is fixed to the support portion 91 of the support mechanism 9 . That is, the display section 3 is supported by the support section 91 . The display unit support arm 4 is configured to be rotatable about vertical rotation axes A1, A2 and A3. In addition, the display section support arm 4 is configured such that the mounting section 41 can be vertically moved by the parallel link mechanism 44 . That is, the mounting part 41 is supported by the display part support arm 4 with four degrees of freedom.

The display unit support arm 4 includes, as joints 43, a joint 43a, a joint 43b, and a joint 43c. The joints 43a, 43b and 43c are provided with electromagnetic brakes 431a, 431b and 431c, respectively, as the electromagnetic brake 431, respectively. The parallel link mechanism 44 is provided with an electromagnetic brake 441 a as the electromagnetic brake 441 . The joints 43a, 43b, 43c and the parallel link mechanism 44 are examples of the "joint" in the claims, and the electromagnetic brakes 431a, 431b, 431c and 441a are examples of the "lock mechanism" in the claims. is.

As shown in FIG. 2, a scope type display section 3a is attached to the display section support arm 4. As shown in FIG. That is, the display unit support arm 4 supports the scope type display unit 3a.

The joint 43a connects the attached portion 41 and the third link 48 so as to be rotatable about the rotation axis A3. The joint 43b connects the second link 47 and the first link 46 so as to be rotatable about the rotation axis A2. The joint 43c connects the first link 46 and the column 45 so as to be rotatable about the rotation axis A1. As shown in FIG. 3, the parallel link mechanism 44 rotates the third link 48 and the second link 47 in a direction B1 around a horizontal rotation axis perpendicular to the rotation axes A1 to A3. Connected.

The electromagnetic brake 431 is configured to lock the joint 43 . Specifically, when the electromagnetic brake 431 is not energized, it presses at least one of the two links connected on the rotating shaft to prevent the joint 43 from moving and lock it. When the electromagnetic brake 431 is energized, a magnetic force is generated in the coil of the electromagnet, and the brake pressing the first link 46 is released to release the locked state of the joint 43 . The electromagnetic brake 431a locks the joint 43a by pressing the mounted portion 41 along the rotation axis A3. The electromagnetic brake 431b presses the second link 47 along the rotation axis A2 to lock the joint 43b. The electromagnetic brake 431c locks the joint 43c by pressing the first link 46 along the rotation axis A1.

The electromagnetic brake 441a is configured to bring the parallel link mechanism 44 into a locked state. Specifically, the electromagnetic brake 441a is locked by pressing the parallel link mechanism 44 when not energized. Also, the electromagnetic brake 441a releases the locked state of the parallel link mechanism 44 when energized.

The grip portion 32 of the display portion 3 is provided with a trigger lever 321 as a release mechanism for releasing the locked state of the electromagnetic brakes 431 and 441 . By depressing the trigger lever 321, the corresponding electromagnetic brakes 431 and 441 are energized to release the locked state. The trigger lever 321 is operated by the operator O to release the locked state of the corresponding joint (at least one of the joints 43a to 43c and the parallel link mechanism 44).

In this embodiment, as an example, a total of two trigger levers 321 are provided on the left and right sides of the display section 3 . As shown in FIG. 2, one trigger lever 321a is provided on each of the left and right sides of the scope type display section 3a. Also, as shown in FIG. 12, one trigger lever 321b is provided on each of the left and right sides of the non-scope type display section 3b. The trigger lever 321 is released by gripping (pressing operation) together with the grip portion 32 . When both the left and right trigger levers 321 are pressed, all the joints (joints 43a to 43c and the parallel link mechanism 44) are unlocked, and none of the left and right trigger levers 321 are pressed, or either. When only the joint is pressed, the locked state of none of the joints is released. With such a configuration, even if one trigger lever 321 is unintentionally touched and the release operation is performed, the locked state is not released. You can prevent it from being released.

As a result, when the left and right trigger levers 321 are not pressed, all the joints of the display support arm 4 can be locked, thereby preventing the display 3 from being displaced while the operation handle 1 is being operated. can do. On the other hand, when the operation of the operating handle 1 is interrupted and both the left and right trigger levers 321 are pressed, all the joints of the display unit support arm 4 are unlocked so that the operator O can move the display unit 3. Since the position can be arbitrarily changed, the display section 3 can be easily changed to any position. Since the display unit 3 is supported by the display unit support arm 4 configured by a plurality of joints and links as described above, it is possible to simply adjust the display unit angle, the height direction, and the depth direction as in Patent Document 1. Compared with an adjustable mechanism, the adjustment range of the display section 3 is wide, and the display section 3 can be linearly moved to any place. Further, even when the scope-type display section 3a of the type to look into the display section 3 is used, the scope-type display section 3a can be arbitrarily operated by pressing both the left and right trigger levers 321 while looking into the scope-type display section 3a. Therefore, compared to the case where the angle, height and depth of the display unit 3 are individually set and the operation posture is confirmed by burying the face, the operation posture can be changed intuitively and quickly. can do.

As described above, it is possible to easily change the operating posture within a wide adjustment range even during long-term surgery, thereby reducing the fatigue of the operator and the adverse effects on health caused by continuing to take the same posture. can.

The display unit support arm 4 is arranged on the side opposite to the operator O with respect to the display unit 3 . That is, the display section support arm 4 is arranged on the rear side (Y2 direction side) with respect to the display section 3 . As a result, interference between the display unit support arm 4 and the operator O can be suppressed, so that the degree of freedom of movement of the display unit support arm 4 can be effectively increased.

The parallel link mechanism 44 includes an electromagnetic brake 441, links 442a and 442b, pivots 443a, 443b, 443c and 443d, a spring 444, and a proximal end 445, as shown in FIG. The parallel link mechanism 44 is configured to vertically translate the display unit 3 attached to the attached portion 41 . That is, the parallel link mechanism 44 is configured to move the display section 3 vertically without changing the angle of the display surface of the display section 3 .

Specifically, in the parallel link mechanism 44, the link 442a is rotatably connected to pivots 443a and 443d. Link 442b is also rotatably connected to pivots 443b and 443c. Also, the links 442a and 442b are arranged parallel to each other. The pivots 443a and 443b are vertically arranged on a straight line parallel to the vertical direction with a predetermined space therebetween. The pivots 443c and 443d are vertically arranged on a straight line parallel to the vertical direction with a predetermined space therebetween. In other words, the pivots 443a-443d are arranged at the vertices of the parallelogram, respectively. In other words, the line connecting pivots 443a and 443b and the line connecting pivots 443d and 443c are parallel. As a result, the line connecting the pivots 443d and 443c is always parallel to the vertical direction. As a result, when the mounted portion 41 is moved in the vertical direction, the angle in the vertical direction is kept the same. However, when the mounted portion 41 is vertically moved by the parallel link mechanism 44, the horizontal position of the mounted portion 41 is slightly displaced.

The electromagnetic brake 441 is attached to the pivot 443a. That is, the electromagnetic brake 441 is configured to press the second link 47 and the parallel link mechanism 44 to lock the rotation of the pivot 443a. When the rotation of the pivot 443a is locked, the rotation of the pivots 443b to 443d is also locked because they are connected by the links 442a and 442b.

The spring 444 is provided so as to press the proximal end portion 445 of the second link 47 that protrudes in an arcuate shape. The end of the spring 444 on the side of the second link 47 presses the bow-shaped proximal end 445, and the end of the spring 444 attempts to move upward along the bow-shaped proximal end 445. A force acts to rotate the end of the parallel link mechanism 44 opposite to the second link 47 upward. This allows the operator O to easily move the display unit 3 upward even when the display unit 3 must be moved against gravity.

An angle adjustment joint 35 for adjusting the angle of the display surface of the display unit 3 is provided between the display unit support arm 4 and the display unit 3 separately from the joint 43 of the display unit support arm 4 and the parallel link mechanism 44 . ing. The angle adjusting joint 35a supports the scope type display section 3a so as to be rotatable in the C1 direction (see FIG. 2). Also, the angle adjusting joint 35b supports the non-scope type display section 3b so as to be rotatable in the C2 direction (see FIG. 12). Also, the angle adjustment joint 35 is arranged on the display section 3 side when the display section 3 is detached from the display section support arm 4 . As a result, the angle of the display surface of the display unit 3 can be changed independently, so that the angle of the display surface of the display unit 3 can be easily adjusted.

The posture of the display unit support arm 4 may be manually changed by the operator O or another person, or the operation may be controlled by providing a drive unit including a position detector such as a motor and an encoder, and a brake. You can change your stance. Even in this case, the display unit support arm 4 can be moved manually, and can also be moved electrically. In the case of manually moving the display unit 3, if it is moved with the brake released, the motor also moves according to the manual movement, and the position can be stored by the position detector. Further, when the display unit is electrically operated, the operation instruction may be given by a hand-held device. A release button for releasing the brake may be provided on the handheld, or the brake may be automatically released by operating the movement direction instruction button. A handheld may, for example, consist of a remote control having multiple buttons. The handheld may also consist of a teaching pendant. Further, the position of the display unit 3 (posture of the display unit support arm 4) may be stored for each operator. Further, when the standing position/sitting position is changed, the position of the display unit 3 (posture of the display unit support arm 4) may also be changed in conjunction with it.

The armrest 5 is configured to support the operator O's arm. The armrest 5 includes an arm support portion 51 , a pair of connection portions 52 and an operation portion 53 . The arm support part 51 is arranged on the front side (Y1 direction side) of the operation handle 1 and is configured to support the operator's O arm. As a result, the arm of the operator O can be stabilized, so that the operator O can operate the operating handle 1 stably. That is, even when the end effector is finely moved, the operator O can operate the armrest 5 while stabilizing it by leaning his elbow or the like on the armrest 5 . In addition, the burden on the operator O can be reduced even when the surgery takes a long time. Arm support portion 51 is formed to extend in the X direction. A pair of connecting portions 52 are provided. A pair of connection portions 52 are provided at both ends of the arm support portion 51 so as to sandwich the arm support portion 51 in the X direction. The connection portion 52 is configured to support the arm support portion 51 . Also, the connecting portion 52 is formed to extend in the Y direction. That is, the connection portion 52 is connected to the arm support portion 51 at the Y1 direction end. In addition, the connection portion 52 is connected to the support portion 91 of the support mechanism 9 at the end in the Y2 direction. That is, the armrest 5 is supported by the support mechanism 9 . Moreover, as shown in FIG. 2, the connecting portion 52 may be formed so as to extend downward along the front side (Y1 direction side) from the back side (Y2 direction side). 5 and 6, the connecting portion 52 may be formed so as to extend upward along the front side (Y1 direction side) from the back side (Y2 direction side). Moreover, the connection part 52 may be formed so as to extend along the horizontal direction. The operation unit 53 can operate the settings of the remote control device 100 . For example, it is possible to operate the attitude of the remote control device 100 using the operation unit 53 . In this case, the operating section 53 functions as the posture operating section 8a. Also, the operation unit 53 may function as the operation unit 8b. Operation unit 53 includes, for example, a touch panel.

As shown in FIG. 4, the control device 6 includes, for example, a control section 61 having a computing unit such as a CPU, a storage section 62 having memories such as ROM and RAM, and an image control section 63 . The control device 6 may be composed of a single control device that performs centralized control, or may be composed of a plurality of control devices that cooperate with each other and perform distributed control. The control unit 61 converts the operation mode command input by the operation handle 1 into an operation mode command to be executed by the instrument arm 201A or an operation mode command to be executed by the instrument arm 201A according to the switching state of the operation pedal unit 2. 201b determines whether it is an operation mode command to be executed. Then, when the control unit 61 determines that the action mode command input to the operating handle 1 is the action mode command to be executed by the instrument 201a, it transmits the action mode command to the instrument arm 201A. . This drives the instrument arm 201A, and this drive controls the operation of the instrument 201a attached to the instrument arm 201A.

Further, when determining that the operation mode command input to the operation handle 1 is the operation mode command to be executed by the endoscope 201b, the control unit 61 transmits the operation mode command to the camera arm 201B. This drives the camera arm 201B, and this drive controls the operation of the endoscope 201b attached to the camera arm 201B.

The storage unit 62 stores, for example, control programs corresponding to the type of the instrument 201a. By reading these control programs according to the type of the attached instrument 201a, the control unit 61 can perform remote operation. The operation command of the operating handle 1 and/or the operating pedal section 2 of the device 100 can cause the individual instrument 201a to operate appropriately.

The image control unit 63 transmits the image acquired by the endoscope 201 b to the terminal 34 of the display unit 3 . The image control unit 63 performs image modification processing as necessary.

The posture operation unit 8a is configured to receive an operation for moving the operation handle 1, the display unit 3 supported by the display unit support arm 4, and the armrest 5 up and down. In addition, the posture operation unit 8a is configured to receive an operation to transform the remote control device 100 between the first posture and the second posture.

In other words, the posture operation unit 8a is an operation unit capable of inputting a posture change command for changing the posture of the remote control device 100 between the standing position (first posture) and the sitting position (second posture). The posture operation unit 8a has a plurality of operation buttons.

The support mechanism 9 includes a support portion 91 and a drive portion 92 . The support portion 91 supports the operating handle 1 and the armrest 5 . Further, the support portion 91 supports the display portion 3 via the display portion support arm 4 . The drive portion 92 is configured to move the support portion 91 vertically. Specifically, drive unit 92 includes, for example, a motor and an encoder, and moves support unit 91 vertically under the control of control unit 61 . The posture of the support mechanism 9 may be changed manually by the operator O or another person. Further, the driving portion 92 of the support mechanism 9 may be driven by air pressure or hydraulic pressure. Further, the position of the armrest 5 may be adjusted by rotating with respect to the support mechanism 9 . For example, the armrest 5 may rotate around a rotation axis along the X direction.

The support mechanism 9 holds the operating handle 1 by positioning the operating handle 1 located at the neutral position A0 of the operating area A, for example, at a height H1 of 85 cm or more from the floor surface where the remote control device 100 is installed. In the first mode (see FIG. 5), the operating handle 1 located at the neutral position A0 of the operating area A is positioned at a height position H2 that is 48 cm or more below the height position H1, and the operating handle 1 is held. It is configured to be able to transition between the second mode (see FIG. 6). As a result, by positioning the operating handle 1 positioned at the neutral position A0 of the operating area A at a height position H1 of 85 cm or more from the floor surface, the operator O can operate the operating handle 1 in a standing state. can. Further, by positioning the operating handle 1 positioned at the neutral position A0 in the operating area A at a height position H2 that is 48 cm or more below the height position H1, the operating handle 1 can be operated in a state where the operator O is seated. be able to. This allows the operator O to operate the remote control device 100 in a desired posture. Further, since the operating handle 1 is supported by the support mechanism 9, the operator O does not need to support the operating handle 1. FIG. As a result, it is possible to suppress the burden on the operator O from increasing. Further, the arm rest 5 supporting the arm of the operator O can further reduce the burden on the operator O and stabilize the arm of the operator O, so that the operation of the operating handle 1 by the operator O can be prevented. can be done stably.

In addition, the support mechanism 9 holds the operating handle 1 so that the operating area A of the operating handle 1 can be accommodated in a clean area set at a predetermined height or higher from the floor on which the remote control device 100 is installed. (see FIG. 5) and a second configuration (see FIG. 6) in which the operating handle 1 is held such that at least part of the operating area A of the operating handle 1 lies in an area below the clean area. configured as possible.

Here, in the operating room, cleaning operations are performed in order to prevent the surgically incised portion and the medical equipment from being contaminated with pathogenic bacteria, foreign substances, and the like. In this cleaning operation, a clean area and a contaminated area, which is an area other than the clean area, are set. Areas up to a certain height H from the floor where there is a high possibility that foreign substances such as dust and dirt have fallen are, in principle, treated as contaminated areas and excluded from clean areas. This zone is, for example, the zone from the floor to a height of about 70 cm. In other words, as the clean area, for example, an area with a height of about 70 cm or more from the floor surface on which the remote control device 100 is installed is set. Members of the surgical team, including operator O, should ensure that only objects that have been sterilized are placed in the clean area during surgery, and when moving objects from contaminated areas to the clean area, follow this procedure. Subject the object to sterilization. Similarly, when members of the surgical team, including operator O, place their hands in the contaminated area, they perform hand sterilization prior to direct contact with objects located in the clean area. The operating handle 1 is treated as not clean, and even if it is in a clean area, the operator O will not access the patient P while operating the operating handle 1 unless it is sterilized or draped. .

By positioning the operating handle 1 so that the operating area A of the operating handle 1 is within the clean area set at a predetermined height or higher from the floor, the operator O is prevented from leaving the clean area. The operating handle 1 can be operated without As a result, for example, by cleaning the operating handle 1, the hands of the operator O can be kept clean. In addition, by holding the operating handle 1 so that at least a part of the operating area A of the operating handle 1 is located in an area below the clean area, the operating handle 1 can be held at a low position where the operator O is sitting. can be manipulated. This allows the operator O to operate the remote control device 100 in a desired posture. Further, since the operating handle 1 is supported by the support mechanism 9, the operator O does not need to support the operating handle 1. FIG. As a result, it is possible to suppress the burden on the operator O from increasing.

Further, the support mechanism 9 has a first configuration (see FIG. 5) in which the operating handle 1 is held in a position suitable for the operator O to operate the operating handle 1 in a standing position, and a first configuration in which the operating handle 1 is held in a position suitable for the operator O to operate the operating handle 1 in a standing position. It is configured to be transitionable between a second mode (see FIG. 6) in which the operating handle 1 is held in a position suitable for operation in a sitting position. Thus, by setting the remote control device 100 to the first mode, the operator O can operate the operating handle 1 in a standing state. Further, by setting the remote control device 100 to the second mode, the operating handle 1 can be operated while the operator O is seated. This allows the operator O to operate the remote control device 100 in a desired posture. Further, since the operating handle 1 is supported by the support mechanism 9, the operator O does not need to support the operating handle 1. FIG. As a result, it is possible to suppress the burden on the operator O from increasing.

Further, the support mechanism 9 is configured such that both the operating handle 1 and the armrest 5 can be vertically moved between the first configuration and the second configuration. Specifically, the support mechanism 9 is configured such that both the operating handle 1 and the armrest 5 can be vertically moved integrally between the first configuration and the second configuration. As a result, the number of parts can be reduced compared to the case where members for vertically moving the operating handle 1 and the armrest 5 are provided separately, so that the configuration of the device can be simplified. It is possible to suppress an increase in the size of the device. Further, the support mechanism 9 is configured such that the display unit 3 supported by the display unit support arm 4 can also move vertically between the first and second configurations. In other words, the support mechanism 9 is configured to vertically move the operating handle 1, the armrest 5, and the display unit 3 integrally between the first configuration and the second configuration.

In other words, the support mechanism 9 supports the display unit 3 that displays the image captured by the endoscope 201b, and also changes the position of the display unit 3 relative to the operation handle 1 in each of the first and second configurations. to be changeable. Specifically, the position of the display section 3 is moved with respect to the operation handle 1 by the display section support arm 4 supported by the support mechanism 9 . Accordingly, the position of the display unit 3 with respect to the operation handle 1 can be changed according to the physique and posture of the operator O, so that the versatility of the display unit 3 can be enhanced.

Further, when changing the form between the first form and the second form, the operation of the patient side system 200 by the operation handle 1 is disabled. Specifically, when changing the form between the first form and the second form, the operation by the operating handle 1 is invalidated, or the transmission of the operation mode command is invalidated. It is In other words, the control unit 61 does not transmit an operation mode command to the patient-side system 200 even if a command is transmitted from the operating handle 1 while the form is being transformed between the first form and the second form. . Accordingly, it is possible to prevent the operation of the patient-side system 200 due to unintentional operation of the operating handle 1 while the patient is changing the form between the first form and the second form.

As shown in FIG. 5, when the posture of the remote control device 100 is the standing position (first posture), the operating handle 1 is positioned at the neutral position A0 with the operator O in a standing state bending his arm at a substantially right angle. is set so that the operating handle 1 is positioned at a height suitable for gripping the . Further, the display unit 3 is set to be positioned at a height suitable for the operator O in a standing state to visually recognize the display unit 3 . For example, when the scope-type display unit 3a is attached, the scope-type display unit 3a is set to be at the height of the operator O's eyes.

In the operating room, when the area from the floor to the height H of 70 cm is set as the contaminated area, if it is designed based on the human model in ergonomics, in the standing position adaptation form (first posture), the operation handle The operation area A of 1 can be configured so that the entire area is within a clean area of 70 cm or more from the floor surface.

When the posture of the remote control device 100 is the standing position (first posture), the operation pedal section 2 is moved to the position P1 on the front side (Y1 direction side) of the remote control device 100 . In other words, the operating pedal section 2 is moved to a position where the operating pedal section 2 can be reached by the operator O in a standing state touching the operating handle 1 with his or her hand.

As shown in FIG. 6, when the posture of the remote control device 100 is the sitting position (second posture), an operator O who is sitting on a chair bends his arms substantially at a right angle and is positioned at the neutral position A0. It is set so that the operating handle 1 is positioned at a height suitable for gripping the handle 1 . Further, the display unit 3 is set to be positioned at a height suitable for the operator O sitting on a chair to visually recognize the display unit 3 . For example, when the scope-type display unit 3a is attached, the scope-type display unit 3a is set to be at the height of the operator O's eyes. In a long-time operation, the operator O can relieve the accumulation of fatigue by performing the operation in a sitting position.

In the operating room, when the area from the floor surface to the height H of 70 cm is set as the contaminated area, if it is designed based on the human model in ergonomics, in the sitting position adaptation form (second posture), the operation handle 1 The operating area A of is located at least partially in the contaminated area.

When the posture of the remote control device 100 is the sitting position (second posture), the operation pedal section 2 is moved to the position P2 on the rear side (Y2 direction side) of the remote control device 100 . In other words, the operating pedal section 2 is moved to a position where the operator O sitting on the chair touches the operating handle 1 with his or her foot. For example, the operation pedal section 2 is configured to be able to move 300 mm or more in the front-rear direction (Y direction). Preferably, the operation pedal section 2 is configured to be able to move 350 mm or more in the front-rear direction (Y direction). As a result, the operation pedal section 2 can be easily moved to positions suitable for the first posture and the second posture.

In order to specifically design the dimensions and the like of the remote control device 100, measurement data described in "1988 ANTHROPOMETRIC SURVEY OF U.S. ARMY PERSONNEL: METHODS AND SUMMARY STATISTICS (1988)" was used.

JIS standards can be referred to for designing the remote control device 100, for example, "JIS Z8503-4:2006 (ISO 11064-4:2004) Ergonomics-Control Center Design-Part 4: Workstation Placement and Dimensions of Human Models" specifies the use of 5th and 95th percentile human models.

The operation area A is defined to be 15 cm above and below the neutral position A0, that is, the height dimension of the operation area A is 30 cm. This is defined based on the dimension in the height direction of the operating area of the surgical tool and the operating magnification of the operating handle 1, which are set in order to maintain good operability of the surgical tool during laparoscopic surgery. The dimension in the height direction of the operating region of the surgical tool thus set is 30 cm, and the operating magnification of the operating handle 1 is 1/2. Therefore, the height dimension of the operation area A derived based on the height dimension of the operation area of the surgical tool and the operation magnification of the operation handle 1 is 30 cm.

FIG. 7A is a diagram showing a model of an operator O, and a diagram showing a model of a large operator O1. FIG. 7B is a diagram showing a model of the operator O, and a diagram showing a model of the small operator O2.

As shown in FIG. 7A, body data of a German male was used as a model of a large operator O1. Among 100 randomly selected German male models, the fifth model from the top stands up (standing position), bends his arm at a right angle, and grasps the operation handle 1 located at the neutral position A0 of the operation area A. In this case, the height position of the operation handle 1 is about 1176 mm, the lower limit of the height position of the operation area A is about 1026 mm, and the upper limit is about 1326 mm. On the other hand, the height position of the operation handle 1 is about 703 mm when the operator holds the operation handle 1 positioned at the neutral position A0 of the operation area A while bending the arm at a right angle in a seated state. The lower limit is approximately 553 mm and the upper limit is approximately 853 mm.

As shown in FIG. 7B, body data of a Japanese woman was used as a model of a small operator O2. Operation when the fifth model from the bottom among 100 randomly selected Japanese female models stands up, bends her arm at a right angle, and grasps the operation handle 1 positioned at the neutral position A0 of the operation area A. The height position of the handle 1 is about 992 mm, the lower limit of the height position of the operation area A is about 842 mm, and the upper limit is about 1142 mm. On the other hand, the height position of the operation handle 1 is about 643 mm when the operator holds the operation handle 1 positioned at the neutral position A0 of the operation area A while bending the arm at a right angle while seated. The lower limit is approximately 493 mm and the upper limit is approximately 793 mm.

Based on the above data, the height positions of the operating handle 1 at which a plurality of operators O having different physiques can take standing and sitting postures without problems are as follows. First, the height position of the operation handle 1 positioned at the neutral position A0 of the operation area A in the standing position adaptive form (first form) is set to about 99 cm or more corresponding to the model of the small operator O2 in the standing position. is preferred. As a result, most operators O can comfortably operate the operating handle 1 in a standing position. In this case, in the operating handle 1 configured so that it can be moved downward by 15 cm from the neutral position A0, the lower limit of the height position of the operating region A of the operating handle 1 in the standing position adaptation mode is 84 cm or more as described above. is.

In addition, it is preferable to set the height position of the operating handle 1 located at the neutral position A0 in the standing posture adaptation mode (first state) to 85 cm or more. As a result, in the operating handle 1 configured to be able to move downward by 15 cm from the neutral position A0, the lower limit of the height position of the operating region A of the operating handle 1 in the standing position adaptation mode is 70 cm or more, One operating area A can be contained in the clean area. Further, as described above, since the lower limit of the height position of the operation area A corresponding to the model of the small operator O2 in the standing position is about 84 cm, the lower limit of the height position of the operation area A is set to 70 cm. A larger number of operators O having different physiques can comfortably operate the operating handle 1 in a standing position.

Next, the height position of the operation handle 1 positioned at the neutral position A0 of the operation area A in the sitting position adaptive form (second state) is set to about 64 cm or more corresponding to the model of the small operator O2 in the sitting position. is preferred. As a result, most operators O can comfortably operate the operating handle 1 in a sitting position.

Next, the displacement (adjustment range) of the height position of the operating handle 1 when the remote control device 100 is shifted between the standing position adaptation form and the sitting position adaptation form is the model of a small standing operator O2. The difference between the height position of the operating handle 1 located at the neutral position A0 corresponding to , and the height position of the operating handle 1 located at the neutral position A0 corresponding to the model of the small operator O2 in the sitting position, and the height position of the operating handle 1 located at the neutral position A0 corresponding to the model. It is preferable to secure a certain distance of about 35 cm or more.

Further, the displacement of the height position of the operation handle 1 when the remote control device 100 is transitioned between the standing position adaptation form and the sitting position adaptation form is the neutral position corresponding to the model of the large operator O1 in the standing position. The height of the operating handle 1 positioned at A0 is about 118 cm (in this model, the position where the height of the operating handle 1 positioned at the neutral position A0 in the standing position adaptation mode is the maximum) and the large operator O1 in the sitting position. It is preferable to ensure a difference of about 48 cm or more, which is the difference from the height position of about 70 cm of the operating handle 1 positioned at the neutral position A0 corresponding to the model of .

In this way, the adjustment range of the height position of the operating handle 1 when transitioning between the standing position adaptation form and the sitting position adaptation form is ensured so as to match the physique of the operator O in the standing position adaptation form. Desirable adjustment range (for example, the height position of the operating handle 1 located at the neutral position A0 corresponding to the model of the operator O1 with a large build and the operation located at the neutral position A0 corresponding to the model of the operator O2 with a small build 19 cm, which is the difference between the height of the handle 1 and the height position of the operator O in the sitting position adaptation form. The height difference between the operating handle 1 positioned at the neutral position A0 and the height position of the operating handle 1 positioned at the neutral position A0 corresponding to the model of the small operator O2 is greater than about 6 cm).

If the position of the operating handle 1 is set higher than the approximately 118 cm height of the operating handle 1 positioned at the neutral position A0 corresponding to the model of the operator O1 having a large standing posture, the adjustment range will be further increased. will be expanded. It is preferable to secure 50 cm or more from the height position of the operating handle 1 in the standing position adaptation mode. Furthermore, the displacement of the height position of the operating handle 1 when the remote control device 100 is transitioned between the standing position adaptation form and the sitting position adaptation form is the neutral position corresponding to the model of the large operator O1 in the standing position. Approximately 54 cm or more, which is the difference between the height position of the operating handle 1 positioned at A0 of about 118 cm and the height position of the operating handle 1 positioned at the neutral position A0 corresponding to the model of a small operator O2 in a sitting position of about 64 cm. It is preferable to keep Regarding the definition of the operation area A, the vertical width is assumed to be 30 cm, but the design may be changed to 20 cm, 25 cm, or 35 cm in consideration of the size of the operation handle 1.

[Second embodiment]
A second embodiment of the present invention will now be described with reference to FIG. In the second embodiment, unlike the first embodiment in which the remote control device is provided with one display support arm, a configuration example in which a plurality of display support arms are attached to the remote control device will be described. do.

As shown in FIG. 12, a plurality of display support arms 4 are attached to the remote control device 400 of the second embodiment. In remote control device 400, display support arm 4 includes display support arms 4a and 4b. In the example shown in FIG. 12, a scope type display section 3a and a non-scope type display section 3b as the display section 3 are attached to the display section support arms 4a and 4b of the remote control device 400, respectively. The two display units 3 are arranged side by side in the horizontal direction (X direction). The display unit support arms 4a and 4b are examples of the "first display unit support arm" and the "second display unit support arm", respectively.

In other words, the remote control device 400 is provided with a plurality of (two) wearing parts 41 . Specifically, the remote control device 400 is provided with a plurality (two) of the display unit support arms 4 (4a, 4b). A mounting portion 41 is provided at each tip of the display portion supporting arms 4a and 4b. As a result, both the scope type display section 3a and the non-scope type display section 3b can be attached to the remote control device 400, so that the versatility of the display section 3 can be effectively enhanced.

In the second embodiment, the non-scope type display unit 3b used on one side displays at least one of an image of the surgical site obtained in advance, information indicating the surgical state, and operation information. For example, the one non-scope type display unit 3b displays an X-ray image captured in advance or a magnetic resonance image. A 3D image or a 2D image acquired from the endoscope 201b is displayed on the other (other) scope type or non-scope type display unit. As a result, while the operator O mainly looks at the endoscopic image on the other display unit, at least one auxiliary information out of the image of the surgical site obtained in advance, the information indicating the surgical condition, and the operation information can be displayed as necessary. It is possible to further expand versatility and extensibility such as performing surgery while referring to it.

Thus, the remote control device 400 according to the second embodiment is configured such that the scope type display section 3a or the non-scope type display section 3b can be selectively and detachably attached as the main display section 3. A non-scope type display section 3b is attached as a display section. As a result, it is possible to select either the immersive type remote control device or the open type remote control device, and also to refer to the auxiliary information. In addition, since a plurality of mounting parts are provided, it is possible to freely select which side the main display part is installed on, left or right.

The display unit support arm 4a includes, as the joints 43, a joint 43a, a joint 43b, and a joint 43c. Further, the display section support arm 4a includes a parallel link mechanism 44a as the parallel link mechanism 44. As shown in FIG. The joints 43a, 43b and 43c are provided with electromagnetic brakes 431a, 431b and 431c, respectively, as the electromagnetic brake 431, respectively. An electromagnetic brake 441a is provided as the electromagnetic brake 441 in the parallel link mechanism 44a. The joints 43a, 43b, 43c and the parallel link mechanism 44a are examples of the "joint" and the "first joint" in the claims, and the electromagnetic brakes 431a, 431b, 431c and 441a are the It is an example of a "lock mechanism" and a "first lock mechanism."

The display unit support arm 4b includes, as the joints 43, a joint 43d, a joint 43e, and a joint 43f. Further, the display unit support arm 4b includes a parallel link mechanism 44b as the parallel link mechanism 44. As shown in FIG. As shown in FIG. 3, the joints 43d, 43e and 43f are provided with electromagnetic brakes 431d, 431e and 431f, respectively, as the electromagnetic brake 431, respectively. An electromagnetic brake 441b is provided as the electromagnetic brake 441 in the parallel link mechanism 44b. The joints 43d, 43e, 43f and the parallel link mechanism 44b are examples of the "joint" and the "second joint" in the claims, and the electromagnetic brakes 431d, 431e, 431f and 441b are the It is an example of a "lock mechanism" and a "second lock mechanism."

One trigger lever 321a is provided on each of the left and right sides of the scope type display section 3a. In addition, one trigger lever 321b is provided on each of the left and right sides of the non-scope type display section 3b. The release operation is performed by gripping the trigger lever 321 together with the grip portion 32 . Specifically, the trigger lever 321a is configured to unlock the electromagnetic brakes 431a to 431c and 441a of the display support arm 4a. Further, the trigger lever 321b is configured to release the locked state of the electromagnetic brakes 431d to 431f and 441b of the display section support arm 4b. In other words, the locked state of the joints 43a to 43c of the display unit support arm 4a and the parallel link mechanism 44a and the locked state of the joints 43d to 43f of the display unit support arm 4b and the parallel link mechanism 44b can be released independently. is possible. Note that the trigger levers 321a and 321b are examples of the "first release mechanism" and the "second release mechanism" in the claims, respectively.

In the example of FIG. 12, the scope type display section 3a and the non-scope type display section 3b are attached to the two mounting sections 41, but the scope type display section 3a is mounted to both of the two mounting sections 41. Alternatively, the non-scope type display portion 3b may be attached to both of the two wearing portions 41. FIG.

Other configurations of the second embodiment are the same as those of the first embodiment.

(Modified example of release mechanism)
In the above-described embodiment, an example is shown in which all joints (joints 43a to 43c and parallel link mechanism 44) are released only when both the left and right trigger levers 321 of the display unit 3 are pressed. The mode of releasing the mechanism is not limited to this.

For example, of the two left and right trigger levers 321 of the display unit 3, only one trigger lever 321 may be used to release all the joints. In this case, since the operator O can move the position of the display unit 3 with one hand, the position of the display unit 3 can be changed more easily. In addition, the position of the display unit 3 can be changed with one hand regardless of whether the operator O is left-handed or right-handed.

Also, the display unit 3 may be provided with only one trigger lever 321 . With such a configuration, the number of physical mechanisms around the display section 3 is reduced, so contact with other parts can be reduced. Either the left-handed operator or the right-handed operator may be appropriately installed as the display unit 3 to be used. If the remote control device 100 has a mounting part on which the display part 3 can be attached and detached, the display part for left-handed operators and the display part for right-handed operators can be appropriately selected and used.

Furthermore, three or more trigger levers 321 may be provided. For example, if two trigger levers 321 are provided on the left and right sides of the display section 3 and one of the foot pedals is the trigger lever 321, the display section 3 will move only when the three trigger levers 321 are pressed. . In this case, the position of the display section 3 can be changed only when the operator O has a definite intention to move the position of the display section 3 .

When a plurality of trigger levers 321 are provided, the joints released by the respective trigger levers 321 may be separated. For example, when two trigger levers 321 are provided on the left and right sides of the display unit 3, one of the left and right trigger levers is used to move at least one of the joints (for example, only the joint 43a) that contributes to horizontal movement of the display unit 3. The locked state is released, and the other of the left and right trigger levers releases the locked state of at least one of the joints (the parallel link mechanism 44 in the example of FIG. 3) that contributes to the vertical movement of the display unit 3. You may do so. With such a configuration, in addition to the advantages of providing a plurality of trigger levers as described above, it is also possible to provide a restriction that the display unit 3 is mainly moved only in the desired direction. Further, with such a configuration, only the necessary joints are in the operative state, so the load on the display unit support arm 4 is reduced when the display unit 3 is moved.

Moreover, if each joint of the display unit support arm 4 has a motor and a position detector (for example, an encoder), it is possible to limit the movement range of the display unit 3 by control. For example, the display 3 can be restricted to translational movement along a plane. For example, as shown in FIG. 11, the display surface of the display unit 3 is supported by the display unit support arm 4 in parallel with the plane PL tilted 10 degrees from the XZ plane about the X axis in the XYZ coordinates. Then, the control unit 61 can control the display unit 3 so that it can be translated only along the plane PL. For example, the plane PL may be determined according to the state of the angle adjusting joint 35 . Also, the plane PL may be settable by the operation unit 8b. In other words, the angle of the plane PL to be translated may be input from the operation unit 8b.

Further, in order to change the position and posture of the display unit 3 more safely, the control unit 61 locks each joint even if the pressing operation of the trigger lever 321 is detected when the operation handle 1 is being operated. You may make it control so that a state may not be canceled. Whether or not the operating handle 1 is being operated can be detected by, for example, a motion sensor. As a result, it is possible to prohibit operating the trigger lever 321 with one hand while operating the operating handle 1 with the other hand, thereby enhancing safety as a medical device.

Then, which of the variations of the release mechanism described above is to be adopted, that is, the conditions for operating the joint lock mechanism by the trigger lever 321, which is the release mechanism, can be set by the operating portion 8b (see FIG. 4). It is preferable to keep For example, the following settings can be considered.

(1) All joints (joints 43 and parallel link mechanisms 44) are unlocked when all of the plurality of trigger levers 321 are released, or at least one of the plurality of trigger levers 321 (2) When the trigger levers 321 are provided at separated positions on the left and right sides of the display unit 3, which trigger lever unlocks all the joints? to unlock (e.g. for left-handed or right-handed operators)
(3) When a plurality of trigger levers 321 are provided, which joint is unlocked by each trigger lever can only move along flat planes)
(5) Selection of movable display unit 3 when multiple display unit support arms 4 are provided (another modification)
It should be noted that the embodiments disclosed this time should be considered as examples and not restrictive in all respects. The scope of the present invention is indicated by the scope of claims rather than the description of the above-described embodiments, and includes all modifications (modifications) within the scope and meaning equivalent to the scope of claims.

For example, in the above-described first embodiment, an example of a configuration in which one display unit support arm that supports the display unit is provided, and in the above-described second embodiment, two display unit support arms that support the display unit are provided. Although an example of the configuration provided has been shown, the invention is not limited to this. In the present invention, three or more display unit support arms that support the display unit may be provided. That is, the remote control device may be provided with three or more display units.

Further, in the above-described first and second embodiments, an example of a configuration in which a plurality of joints are provided in the display support arm has been described, but the present invention is not limited to this. In the present invention, the display unit support arm may be provided with one joint.

Further, in the above-described first and second embodiments, an example of a configuration in which the display section is detachable from the display section support arm has been described, but the present invention is not limited to this. In the present invention, the display section may be fixedly provided with respect to the display section support arm.

Further, in the above-described second embodiment, an example of a configuration in which the remote control device is provided with the scope type display section and the non-scope type display section has been described, but the present invention is not limited to this. In the present invention, the remote control device may be provided with only the scope type display unit, or may be provided with only the non-scope type display unit.

In addition, in the first and second embodiments, an example of a configuration in which the attached display unit is connected to the remote control device by a wired cable so that information can be communicated has been shown, but the present invention is not limited to this. do not have. In the present invention, the attached display unit may be connected to the remote control device so as to be able to communicate information by wireless communication.

Further, in the above-described first and second embodiments, an example of a configuration in which the support mechanism vertically moves the operating handle and the armrest has been described, but the present invention is not limited to this. In the present invention, the support mechanism may move the operating handle and the armrest horizontally as well as vertically.

1: operation handle, 3: display unit, 3a: scope type display unit, 3b: non-scope type display unit, 4: display unit support arm, 4a: display unit support arm (first display unit support arm), 4b: display Part support arm (second display part support arm), 8b: operation part, 9: support mechanism, 32: grip part, 35: angle adjustment joint, 41: mounted part, 43: joint, 43a, 43b, 43c: joint (first joint), 43d, 43e, 43f: joint (second joint), 44: parallel link mechanism (joint), 44a: parallel link mechanism (first joint), 44b: parallel link mechanism (second joint), 100, 400: remote control device, 201b: endoscope (imaging unit), 321: trigger lever (release mechanism), 321a: trigger lever (first release mechanism), 321b: trigger lever (second release mechanism), 431 : Electromagnetic brake (lock mechanism) 431a, 431b, 431c: Electromagnetic brake (first lock mechanism) 431d, 431e, 431f: Electromagnetic brake (second lock mechanism) 441: Electromagnetic brake (lock mechanism) 441a: Electromagnetic Brake (first lock mechanism), 441b: electromagnetic brake (second lock mechanism)

Claims (13)

A remote control device for operating a surgical instrument held by a manipulator,
a scope-type display unit configured to be viewed by an operator looking into the displayed image, and provided with a grip portion for the operator to grip with one hand;
a display support arm configured to support the scope-type display, including a joint and a lock mechanism for locking the joint;
a release mechanism provided in the grip for releasing the locked state of the joint by the lock mechanism;
The locking mechanism is configured to release the locked state of the joint when the unlocking mechanism is operated by the operator,
The remote control device, wherein the lock mechanism is configured to maintain the locked state of the joint when the release mechanism is not operated by the operator. The display unit support arm includes a plurality of joints and a plurality of lock mechanisms, and when the release mechanism is operated, all of the display unit support arms are unlocked by the lock mechanism. 2. The remote control of claim 1, wherein the remote operator is configured. The locking mechanism includes an electromagnetic brake that locks the joint when not energized,
3. The remote control device according to claim 1, wherein, when operated by the operator, the release mechanism releases the locked state of the joint by the electromagnetic brake by energizing the electromagnetic brake. The remote control according to any one of claims 1 to 3, wherein the release mechanism is configured to release the locked state of the joint by the lock mechanism while being pressed by the operator. Device. 5. The remote control device according to claim 1, wherein said display unit support arm is arranged on the side opposite to said operator with respect to the display surface of said scope type display unit. When the release mechanism is operated by the operator, the display support arm is configured to allow the operator to hold the grip and move the scope display. A remote control device according to any one of claims 1 to 5. an operating handle for operating the surgical instrument;
a support portion that supports the operation handle and the display portion support arm and is vertically movable;
The remote control device according to any one of claims 1 to 6, further comprising a driving section that includes a motor and an encoder and vertically moves the support section. An armrest that supports the operator's arm,
8. The remote control device according to claim 7, wherein the support section supports the operating handle, the armrest, and the display section support arm so as to be vertically movable. 9. The remote control device according to claim 7, further comprising an operation pedal for instructing the operation of said surgical instrument operated by said operation handle. A remote control device for operating a surgical instrument held by a manipulator,
a scope-type display unit configured to be viewed by an operator looking into the displayed image, the scope-type display unit including a grip portion for the operator to grip with one hand;
a display support arm configured to support the scope-type display, including a joint and a lock mechanism for locking the joint;
a release mechanism provided in the grip for releasing the locked state of the joint by the lock mechanism;
When the operator operates the release mechanism, the display unit support arm is configured such that the lock mechanism releases the locked state of the joint and the scope type display unit can be manually moved. has been
When the operator does not operate the release mechanism, the display unit support arm is configured so that the lock mechanism maintains the locked state of the joint, and the scope type display unit cannot be manually moved. A remote control device. 11. The remote control device according to claim 10, wherein said display support arm does not have a motor for driving said joint. A surgery support system comprising a patient-side device having a manipulator holding a surgical instrument and a remote control device for operating the surgical instrument,
The remote control device
a scope-type display unit configured to be viewed by an operator looking into the displayed image, and provided with a grip portion for the operator to grip with one hand;
a display support arm configured to support the scope-type display, including a joint and a lock mechanism for locking the joint;
a release mechanism provided in the grip for releasing the locked state of the joint by the lock mechanism;
The locking mechanism is configured to release the locked state of the joint when the unlocking mechanism is operated by the operator,
The surgery support system, wherein the lock mechanism maintains the locked state of the joint when the operator does not operate the release mechanism. The patient-side device further comprises a manipulator holding an endoscope,
13. The surgery support system according to claim 12, wherein said scope type display unit displays an image taken by said endoscope.

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