JP2023081078A - Surgery support system - Google Patents

Abstract

To provide a surgery support system capable of moving a surgical instrument as an operator intends.SOLUTION: In a surgery support system 100, a control unit 130 sets an operation unit reference point MP with respect to an operation unit 120, sets a surgical instrument reference point CP with respect to a surgical instrument 4, and performs control so as to move the surgical instrument 4 so that the surgical instrument reference point CP moves as the operation unit reference point MP moves when the operation unit 120 is operated. The operation unit reference point MP is set to a position opposite a distal end G2 of a link part 21d with respect to a proximal end G1 of the link part 21d.SELECTED DRAWING: Figure 8

Description

The present disclosure relates to surgical assistance systems.

Conventionally, a surgery support system has been disclosed. Patent Literature 1 discloses a technique for controlling movement of a surgical instrument attached to an articulated robot arm as a slave based on an operation amount received by an operation unit arranged in a master control device. In Patent Literature 1, a grip member to be gripped by an operator's fingers is arranged in the operation portion. The surgical instrument is moved by the operator operating the operating section while gripping the grip member.

U.S. Patent Application Publication No. 2004/0243110

Generally, in a surgery support system, when an operation unit is operated, the surgical instrument is moved such that a reference point set on the surgical instrument moves corresponding to the movement of the reference point set on the operation unit. be. Here, when the reference point set on the operation unit is set to the gimbal point, which is the intersection point of a plurality of rotation axes of the operation unit, even if the surgical instrument is rotated around the reference point set on the surgical instrument, , the controls do not rotate about the gimbal point. In other words, it was found that the gimbal point moved over a relatively wide range when the surgical instrument was rotated around a reference point set on the surgical instrument. Therefore, there is a problem that the operator may not be able to operate the surgical instrument as intended due to the deviation between the movement of the operator's hand and the movement of the surgical instrument.

The present disclosure has been made to solve the above-described problems, and aims to provide a surgical assistance system capable of moving a surgical instrument as intended by an operator.

A surgical assistance system according to a first aspect of the present disclosure includes a surgical apparatus including a robot arm having a surgical instrument attached to its distal end, an operation device including an operation unit that receives an operation for the surgical instrument, and a surgical operation based on the accepted operation. a control device for controlling movement of the instrument, wherein the operation section includes a first link section, and the control device sets an operation section reference point for the operation section and a surgical instrument reference point for the surgical instrument. is set, and when the operation part is operated, the surgical instrument is controlled to move so that the surgical instrument reference point moves corresponding to the movement of the operation part reference point, and the operation part reference point is the second It is set at a position opposite to the distal end of the first link portion with respect to the proximal end of the first link portion.

As a result of intensive studies by the inventors of the present application, as described above, by setting the operating portion reference point at a position opposite to the distal end of the first link portion with respect to the proximal end of the first link portion, , has been found to move the surgical instrument as intended by the operator. That is, since the operating part reference point is set at a position closer to the operator than the proximal end of the first link part, the operating part reference point and the operator turn the grip member arranged on the first link part. The distance between the considered center of rotation and the wrist becomes smaller. Therefore, since the difference between the operation of moving the operator's hand and the operation of moving the surgical instrument is reduced, an increase in the movement range of the operation unit reference point is suppressed. As a result, the surgical instrument can be moved as intended by the operator. By setting the operating portion reference point at a position opposite to the distal end of the grip member with respect to the proximal end of the first link portion, an increase in the movement range of the operating portion reference point is suppressed. This has already been confirmed by the inventor's experiments, which will be described later.

A surgery support system according to a second aspect of the present disclosure includes a surgical apparatus including a robot arm having a surgical instrument attached to its distal end, an operating device including an operating unit that receives an operation for the surgical instrument, and a surgical operation based on the accepted operation. a control device for controlling movement of the instrument, wherein the operation section includes a first link section, and the control device sets an operation section reference point for the operation section and a surgical instrument reference point for the surgical instrument. is set, and when the operation part is operated, the surgical instrument is controlled to move so that the surgical instrument reference point moves corresponding to the movement of the operation part reference point, and in the reference posture of the operation part, The operation part reference point is set at a position closer to the operator than the proximal end of the first link part.

In the surgical assistance system according to the second aspect of the present disclosure, as a result of extensive studies by the inventors of the present application, as described above, the operation unit reference point is positioned closer to the operator than the proximal end of the first link unit. is set. As a result, since the operating part reference point is set at a position closer to the operator than the proximal end of the first link part, the operating part reference point and the operator can rotate the grip member arranged on the first link part. The distance between the considered center of rotation and the wrist becomes smaller. Therefore, since the difference between the operation of moving the operator's hand and the operation of moving the surgical instrument is reduced, an increase in the movement range of the operation unit reference point is suppressed. As a result, it is possible to provide a surgery support system that can move the surgical instrument as intended by the operator.

A surgical assistance system according to a third aspect of the present disclosure includes a surgical apparatus including a robot arm having a surgical instrument attached to its distal end, an operating device including an operating unit that receives an operation for the surgical instrument, and a surgical operation based on the accepted operation. a control device for controlling movement of the instrument, wherein the operation section includes a first link section, and the control device sets an operation section reference point for the operation section and a surgical instrument reference point for the surgical instrument. is set, and when the operation part is operated, the surgical instrument is controlled to move so that the surgical instrument reference point moves corresponding to the movement of the operation part reference point, and the operation part reference point is the second It is set at a position opposite to the gimbal point, which is the intersection of a plurality of rotation axes of the operating section, with respect to the proximal end of the 1-link section.

In the surgery support system according to the third aspect of the present disclosure, as a result of intensive studies by the inventors of the present application, as described above, the operation unit reference point is more than the proximal end of the first link unit. It is set at a position opposite to the gimbal point, which is the intersection of the axes. As a result, since the operating part reference point is set at a position closer to the operator than the proximal end of the first link part, the operating part reference point and the operator can rotate the grip member arranged on the first link part. The distance between the considered center of rotation and the wrist becomes smaller. Therefore, since the difference between the operation of moving the operator's hand and the operation of moving the surgical instrument is reduced, an increase in the movement range of the operation unit reference point is suppressed. As a result, it is possible to provide a surgery support system that can move the surgical instrument as intended by the operator.

According to the present disclosure, the surgical instrument can be moved as intended by the operator.

It is a figure which shows the structure of the surgery assistance system by one Embodiment. FIG. 2 is a diagram showing a configuration of a robot arm according to one embodiment; FIG. 10 shows a forceps; FIG. 4 is a perspective view showing the configuration of an arm operation section according to one embodiment; FIG. 4 is a diagram for explaining translational movement of a robot arm; FIG. 4 is a diagram for explaining the rotational movement of the robot arm; FIG. 4 illustrates an operating unit according to one embodiment; FIG. 4 is a diagram showing the configuration of a right-hand operation section according to one embodiment; FIG. 4 is a diagram showing the configuration of a left-hand operation section according to one embodiment; FIG. 3 illustrates a configuration of a foot pedal according to one embodiment; 1 is a control block diagram of a surgery support system according to one embodiment; FIG. FIG. 4 is a control block diagram of a robotic arm according to one embodiment; It is a control block diagram of the remote control by one embodiment. FIG. 10 is a diagram for explaining an operation when an operation unit receives an operation; FIG. 10 is a diagram for explaining forward kinematics calculation in which offset transformation is performed last; FIG. 4 is a diagram for explaining forward kinematics calculations in which offset transformation is performed before A7 axis transformation; FIG. 10 is a diagram showing a touch panel that receives an operation unit reference point; FIG. 10 is a diagram showing experimental results regarding the movement range of the operating section reference point when the surgical instrument is rotated;

(Configuration of surgery support system)
The configuration of the surgery support system 100 according to this embodiment will be described. A surgical assistance system 100 includes a surgical assistance robot 1 and a remote control device 2 . The surgery support robot 1 and the remote control device 2 are examples of a surgical device and an operating device, respectively.

In the specification of the present application, the longitudinal direction of the shaft 4c of the surgical instrument 4 is defined as the Z direction. The distal end side of the surgical instrument 4 is the Z1 side, and the proximal end side of the surgical instrument 4 is the Z2 side. The direction orthogonal to the Z direction is defined as the X direction. One side in the X direction is the X1 side, and the other side is the X2 side. A direction perpendicular to the Z direction and the X direction is defined as the Y direction. One side in the Y direction is the Y1 side, and the other side is the Y2 side.

Also, in the specification of the present application, the direction along the vertical direction is defined as the Za direction. One side in the Za direction is the Za1 side, and the other side is the Za2 side. The direction perpendicular to the Z direction is defined as the Xa direction. One side in the Xa direction is the Xa1 side, and the other side is the Xa2 side. A direction perpendicular to the Za direction and the Xa direction is defined as the Ya direction. One side in the Ya direction is the Ya1 side, and the other side is the Ya2 side. The Xa direction and the Ya direction are directions along the horizontal plane.

As shown in FIG. 1, a surgical assistance robot 1 is placed in an operating room. The remote control device 2 is arranged at a position spaced apart from the surgical assistance robot 1 . An operator such as a doctor inputs a command to the remote control device 2 to cause the surgical assistance robot 1 to perform a desired action. The remote control device 2 transmits the inputted command to the surgical assistance robot 1 . The surgical assistance robot 1 operates based on the received instructions. The surgical assistance robot 1 is placed in the operating room, which is a sterile sterile field.

(Surgery support robot configuration)
As shown in FIG. 1 , the surgical assistance robot 1 includes a medical cart 3 , a positioner 40 , an arm base 50 , a plurality of robot arms 60 and an arm manipulator 80 .

The medical cart 3 moves the positioner 40 . The medical cart 3 includes an input device 33 . The input device 33 receives operations for moving and changing postures of the positioner 40, the arm base 50, and the plurality of robot arms 60, mainly for preparing for surgery before surgery. The medical cart 3 includes an operation handle 34 that receives steering by an operator.

The positioner 40 is, for example, a 7-axis articulated robot. The positioner 40 is arranged on the medical cart 3 . A positioner 40 adjusts the position of the arm base 50 . The positioner 40 three-dimensionally moves the position of the arm base 50 .

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 by joint portions 43 .

Arm base 50 is attached to the tip of positioner 40 . A base end of each of the plurality of robot arms 60 is attached to the arm base 50 . The plurality of robot arms 60 can take a folded storage posture. The arm base 50 and the plurality of robot arms 60 are covered with a sterile drape for use. The robot arm 60 also supports the surgical instrument 4 .

A plurality of robot arms 60 are arranged. Specifically, four robot arms 60a, 60b, 60c and 60d are arranged. Robot arms 60a, 60b, 60c and 60d have similar configurations to each other.

As shown in FIG. 2 , the robot arm 60 includes an arm portion 61 , a first link portion 72 , a second link portion 73 and a translation mechanism portion 70 . The robot arm 60 has JT1, JT2, JT3, JT4, JT5, JT6 and JT7 axes as rotation axes and J8 axis as a translational axis. The JT1, JT2, JT3, JT4, JT5, JT6 and JT7 axes are the rotation axes of the joint 64 of the arm 61 . Also, the JT7 axis is the rotation axis of the first link portion 72 . The JT8 axis is a linear movement axis along which the translation mechanism 70 moves the second link 73 relative to the first link 72 along the Z direction.

The arm section 61 is composed of a 7-axis articulated robot arm. The first link portion 72 is arranged at the tip of the arm portion 61 . An arm operating portion 80 is attached to the second link portion 73 . The translation mechanism section 70 is arranged between the first link section 72 and the second link section 73 . A holder 71 that holds the surgical instrument 4 is arranged on the second link portion 73 .

A surgical instrument 4 is attached to the tip of each of the plurality of robot arms 60 . Surgical instruments 4 include, for example, replaceable instruments, an endoscope 6 for capturing images of the surgical site, and the like. A surgical instrument 4 as an instrument includes a driven unit 4a, forceps 4b, and a shaft 4c connecting the driven unit 4a and the forceps 4b. The driven unit 4a, the shaft 4c, and the forceps 4b are arranged along the Z direction.

As shown in FIG. 1, the endoscope 6 is attached to the tip of one of the robot arms 60, for example, the robot arm 60c, and the tips of the remaining robot arms 60a, 60b, and 60d, for example. , a surgical instrument 4 other than the endoscope 6 is attached. The endoscope 6 is attached to one of the two centrally arranged robot arms 60b and 60c of the four robot arms 60 arranged adjacent to each other.

(instrument configuration)
As shown in FIG. 3, for example, forceps 4b are provided at the tip of the instrument. At the tip of the instrument, in addition to the forceps 4b, instruments having joints such as scissors, graspers, needle holders, microdisectors, stable appliers, tuckers, suction cleaning tools, snare wires, clip appliers, etc. placed. Arranged at the tip of the instrument are non-articulated instruments such as cutting blades, cautery probes, irrigators, catheters, and aspiration orifices.

The forceps 4b includes a first support 4e that supports the proximal sides of the jaw members 104a and 104b rotatably about the JT11 axis on the distal side, and a first support 4e that supports the proximal sides of the first support 4e on the distal side about the JT10 axis. and a second support 4f that rotatably supports. The shaft 4c rotates around the JT9 axis. Jaw members 104a and 104b open and close about the JT12 axis. A portion on the Z1 direction side, which is the tip side of the first support 4e, has a U shape.

As shown in FIG. 2, the arm operating section 80 is attached to the robot arm 60. As shown in FIG. Specifically, the arm operating section 80 is attached to the second link section 73 .

As shown in FIG. 4, the arm operating section 80 includes an enable switch 81, a joystick 82, a linear switch 83, a mode switching button 84, a mode indicator 84a, a pivot button 85, and an adjustment button 86. include.

The enable switch 81 is a switch for permitting or not permitting movement of the robot arm 60 by the joystick 82 and the linear switch 83 . The joystick 82 is an operating tool for operating the movement of the surgical instrument 4 by the robot arm 60 . The linear switch 83 is a switch for moving the surgical instrument 4 along the longitudinal direction of the surgical instrument 4 . The mode switching button 84 is a button for switching between the translational movement mode shown in FIG. 5 and the rotational movement mode shown in FIG. A mode indicator 84a displays the switched mode. The pivot button 85 is a button for teaching the pivot position PP, which is the fulcrum of movement of the surgical instrument 4 attached to the robot arm 60 . Adjustment button 86 is a button for optimizing the position of robot arm 60 .

(remote control device)
As shown in FIG. 1, the remote control device 2 is arranged inside or outside the operating room, for example. The remote control device 2 includes a body portion 2a, an operation portion 120, a foot pedal 22, a touch panel 23, a monitor 24, a support arm 25, a support bar 26, and a foot detection portion 27.

As shown in FIG. 1, the operation section 120 is supported by the body section 2a. As shown in FIG. 7 , the operation section 120 receives an operation amount for the surgical instrument 4 . The operation unit 120 includes a left-hand operation unit 120L arranged on the left side and operated by the operator's left hand, and a right-hand operation unit 120L arranged on the right side and operated by the operator's right hand. and a portion 120R. The configuration of the left-hand operation section 120L and the configuration of the right-hand operation section 120R are the same.

Operation unit 120 includes a substantially L-shaped arm 121 and an operation handle 21 . The arm 121 has a link portion 121a, a link portion 121b, and a link portion 121c. The upper end side of the link portion 121a is attached to the main body portion 2a so as to be rotatable around the A1 axis along the vertical direction. The upper end side of the link portion 121b is attached to the lower end side of the link portion 121a so as to be rotatable around the A2 axis along the horizontal direction. One end side of the link portion 121c is attached to the lower end side of the link portion 121b so as to be rotatable around the A3 axis along the horizontal direction. An operating handle 21 is attached to the other end of the link portion 121c so as to be rotatable about the A4 axis. Each link portion is connected by a joint portion 122 .

Arm 121 supports operation handle 21 . Arm 121 supports operation handle 21 so as to be movable within a predetermined three-dimensional operation range. Specifically, the arm 121 supports the operating handle 21 so as to be movable in the vertical direction, the horizontal direction, and the front-rear direction. The robot arm 60 is moved three-dimensionally so as to correspond to the three-dimensional manipulation of the arm 121 .

The operating handle 21 includes an operating handle 21R operated by the operator's right hand shown in FIG. 8 and an operating handle 21L operated by the operator's left hand shown in FIG. 8 shows the reference posture of the right-hand operation section 120R, and FIG. 9 shows the reference posture of the left-hand operation section 120L. The configuration of the operating handle 21R and the configuration of the operating handle 21L are the same. The operating handle 21 includes a link portion 21a, a link portion 21b, a link portion 21c, and a link portion 21d operated by an operator such as a doctor. The link portion 21a rotates around the A4 axis. The link portion 21b is attached to the link portion 21a so as to be rotatable about the A5 axis. The link portion 21c is attached to the link portion 21b so as to be rotatable about the A6 axis. The link portion 21d is attached to the link portion 21c so as to be rotatable about the A7 axis. Each link portion is connected by a joint portion 122 . Link portion 21a, link portion 21b and link portion 21c each have an L shape. The link portion 21a, the link portion 21b, the link portion 21c, and the link portion 21d are examples of the fourth link portion, the third link portion, the second link portion, and the first link portion, respectively. The A4 axis, A5 axis, A6 axis and A7 axis are examples of the fourth axis, the third axis, the second axis and the first axis, respectively.

The operating handle 21 includes a pair of grip members 21f that are opened and closed by the operator. The grip member 21f consists of an elongated plate-shaped lever member, and the pair of grip members 21f has their respective proximal ends rotatably connected to the proximal end G1 of the link portion 21d. A cylindrical finger insertion portion 21e is arranged on the grip member 21f. The operator operates the operation handle 21R by inserting the fingers of the right hand into the pair of finger insertion portions 21e. The operator operates the operation handle 21L by inserting the fingers of the left hand into the pair of finger insertion portions 21e. The base ends of the pair of grip members 21f are connected to the link portion 21d. By increasing or decreasing the angle between the pair of grip members 21f, the opening between the jaw members 104a and 104b can be increased. angle is changed. A magnet is arranged on one side of the grip member 21f, and a hall sensor is arranged on the link portion 21d. When the operator opens and closes the grip member 21f, as shown in FIG. 11, the magnet and Hall sensor function as an angle detection sensor 21g, and the Hall sensor outputs the opening angle. As the angle detection sensor 21g, a Hall sensor may be arranged on the grip member 21f and a magnet may be arranged on the link portion 21d. Also, a magnet or a Hall sensor may be arranged as the angle detection sensor 21g on both grip members 21f.

A point of intersection of a plurality of rotation axes of the operation unit 120 is called a gimbal point GP. Specifically, the gimbal point GP is the point where the A4 axis, the A5 axis, the A6 axis, and the A7 axis intersect. The gimbal point GP is positioned at the link portion 21d to which the pair of grip members 21f are attached. The gimbal point GP exists separately for each of the left-hand operation section 120L and the right-hand operation section 120R.

In the reference posture, the A4 axis and the A6 axis of the operation unit 120 are along the Za direction. The A5 axis runs along the Ya direction. The A7 axis runs along the Xa direction. As shown in FIG. 8, in the reference posture, the link portions 21a and 21b of the operating handle 21R are arranged along the Ya-Za plane and on the Ya1 side with respect to the A7 axis. In the reference posture, the link portion 21c is arranged along the Xa-Za plane. In the reference posture, the link portion 21d is arranged along the A7 axis.

As shown in FIG. 9, in the reference posture, the link portion 21a and the link portion 21b of the operating handle 21L are arranged along the Ya-Za plane and on the Ya2 side with respect to the A7 axis. In the reference posture, the link portion 21c is arranged along the Xa-Za plane. In the reference posture, the link portion 21d is arranged along the A7 axis.

As shown in FIG. 10, a plurality of foot pedals 22 are provided to perform functions related to the surgical instrument 4 . Also, the plurality of foot pedals 22 are arranged on the base portion 28 . The foot pedal 22 includes a switching pedal 22a, a clutch pedal 22b, a camera pedal 22c, an incision pedal 22d, and a coagulation pedal 22e. The switching pedal 22a, the clutch pedal 22b, the camera pedal 22c, the incision pedal 22d, and the coagulation pedal 22e are operated by the operator's foot. The incision pedals 22 d also include an incision pedal 22 dR for the right robot arm 60 and an incision pedal 22 dL for the left robot arm 60 . The coagulation pedals 22 e also include a coagulation pedal 22 e R for the right robot arm 60 and a coagulation pedal 22 e L for the left robot arm 60 .

The switching pedal 22a switches the robot arm 60 operated by the operation handle 21. FIG. The clutch pedal 22b performs a clutch operation for temporarily disconnecting the operational connection between the robot arm 60 and the operating handle 21 . While the operator is stepping on the clutch pedal 22b, the operation of the operating handle 21 is not transmitted to the robot arm 60.例文帳に追加Also, while the operator is stepping on the camera pedal 22c, the operating handle 21 allows the robot arm 60 to which the endoscope 6 is attached to be operated. While the dissection pedal 22d or coagulation pedal 22e is depressed by the operator, the electrosurgical device is activated.

The foot detection unit 27 detects the foot of the operator operating the foot pedal 22 . The foot detection unit 27 detects a hovering foot positioned above the foot pedal 22 . The foot detection section 27 is arranged on the base section 28 .

As shown in FIG. 1, monitor 24 is a scope-type display for displaying images captured by endoscope 6 . The support arm 25 supports the monitor 24 so that the height of the monitor 24 matches the height of the face of an operator such as a doctor. The touch panel 23 is arranged on the support bar 26 . By detecting the operator's head with a sensor provided in the vicinity of the monitor 24, the operation of the surgery support robot 1 by the remote control device 2 becomes possible. The operator operates the operation unit 120 and the foot pedal 22 while viewing the affected area on the monitor 24 . Accordingly, a command is input to the remote control device 2 . A command input to the remote control device 2 is transmitted to the surgical assistance robot 1 . The touch panel 23 is an example of a reception unit.

(Control system configuration)
As shown in FIG. 11, the surgery support system 100 includes a control device 130, an arm control section 31a, a positioner control section 31b, and an operation control section 110. As shown in FIG.

The control device 130 communicates with each of the arm control section 31 a , the positioner control section 31 b , and the operation control section 110 inside the medical cart 3 . The control device 130 controls each of the arm control section 31 a, the positioner control section 31 b, and the operation control section 110 . The control device 130, the arm control section 31a, the positioner control section 31b, and the operation control section 110 are connected by a LAN or the like. In FIG. 11, the control device 130 is shown separately from the medical carriage 3, but FIG. 11 is a diagram for explaining the control blocks. The device 130 is arranged inside the medical cart 3 .

The arm controller 31 a is arranged for each of the plurality of robot arms 60 . 11 shows that the arm control unit 31a is arranged inside the robot arm 60, FIG. 11 is a diagram for explaining the control block, and is actually shown in FIG. Thus, the arm controller 31a is arranged inside the medical cart 3 . In other words, the arm control units 31a are arranged in the medical carriage 3 for the number of the plurality of robot arms 60 .

As shown in FIG. 12, the arm portion 61 is provided with a plurality of servomotors M1, an encoder E1, and a reduction gear so as to correspond to the plurality of joint portions 64. As shown in FIG. The encoder E1 detects the rotation angle of the servomotor M1. The speed reducer slows down the rotation of the servomotor M1 to increase the torque.

The robot arm 60 is provided with a servo controller C1 for controlling the servo motor M1. An encoder E1 for detecting the rotation angle of the servomotor M1 is electrically connected to the servo control unit C1.

As shown in FIG. 12, the second link portion 73 is provided with a servomotor M2 for rotating a driven member arranged in the driven unit 4a of the surgical instrument 4, an encoder E2, and a speed reducer. ing. The encoder E2 detects the rotation angle of the servomotor M2. The speed reducer slows down the rotation of the servomotor M2 to increase the torque. Also, the robot arm 60 is provided with a servo control section C2 for controlling the servo motor M2 that drives the surgical instrument 4 . An encoder E2 for detecting the rotation angle of the servo motor M2 is electrically connected to the servo control unit C2. A plurality of servo motors M2, encoders E2, and servo controllers C2 are arranged.

As shown in FIG. 12, the translational movement mechanism section 70 is provided with a servomotor M3 for translationally moving the surgical instrument 4, an encoder E3, and a speed reducer. The encoder E3 detects the rotation angle of the servomotor M3. The speed reducer slows down the rotation of the servomotor M3 to increase the torque. Further, the robot arm 60 is provided with a servo control section C3 for controlling a servo motor M3 that translates the surgical instrument 4 . An encoder E3 for detecting the rotation angle of the servo motor M3 is electrically connected to the servo control unit C3.

As shown in FIG. 13 , the positioner control section 31b is arranged on the medical cart 3 . The positioner controller 31 b controls the positioner 40 and the medical cart 3 . A servo motor SM, an encoder EN, a speed reducer, and a servo controller SC are arranged in the positioner 40 so as to correspond to the plurality of joints 43 of the positioner 40 . The medical cart 3 is provided with a servo motor SM for driving each of the plurality of front wheels of the medical cart 3, an encoder EN, a speed reducer, a servo controller SC, and a brake.

As shown in FIG. 13, the operation unit 120 includes servo motors M6a, M6b, M6c, M6d, and M6e corresponding to the rotation axes A1, A2, A3, A4, A5, A6, and A7, respectively. , M6f and M6g are arranged. Servo controllers C6a, C6b, C6c, C6d, C6e, C6f and C6g are arranged to control the respective servomotors. Encoders E6a, E6b, E6c, E6d, E6e, E6f, and E6g for detecting the rotation angle of each servomotor are electrically connected to each servo control unit. Each servo motor, each servo control section, and each encoder are provided in the left-hand operation section 120L and the right-hand operation section 120R, respectively. 11 shows that the operation control unit 110 is arranged inside the operation unit 120, FIG. 11 is a diagram for explaining the control blocks, and actually, the operation control unit 110 is shown in FIG. Thus, the operation control section 110 is arranged inside the body section 2 a of the remote control device 2 .

The control device 130 controls each servomotor via the operation control unit 110 according to the attitude of the operation unit 120 so as to generate torque that cancels out the gravitational torque generated on the rotation axis of each servomotor. . This allows the operator to operate the operating section 120 with a relatively small force.

The control device 130 controls each servomotor so as to generate torque on each rotation axis of each servomotor according to the operation of the operation portion 120 via the operation control portion 110 and assist the operator's operation. . This allows the operator to operate the operating section 120 with a relatively small force.

Here, in this embodiment, the control device 130 sets the operation unit reference point MP for the operation unit 120 . The operation part reference point MP is also called a mapping point. The controller 130 sets a surgical instrument reference point CP for the surgical instrument 4 . The control device 130 controls to move the surgical instrument 4 so that the surgical instrument reference point CP moves corresponding to the movement of the operation part reference point MP when the operation part 120 is operated. The operation of moving the surgical instrument 4 so that the surgical instrument reference point CP moves in accordance with the movement of the operation part reference point MP is called following. As shown in FIG. 3, the surgical instrument reference point CP is set at the center in the JT12 axial direction of the Z1 direction side portion of the first support 4e. The surgical instrument reference point CP is called the tool center point or clevis point.

In this embodiment, as shown in FIG. 8, the operating portion reference point MP is set at a position opposite to the distal end G2 of the link portion 21d with respect to the proximal end G1 of the link portion 21d. The proximal end G1 of the link portion 21d is the end portion of the link portion 21d on the Xa1 side. The distal end G2 of the link portion 21d is the end portion of the link portion 21d on the Xa2 side. The position opposite to the distal end G2 from the proximal end G1 includes not only the position on the A7 axis, but also the range on the Y1a direction side of the A7 axis and the range on the Y2a direction side of the A7 axis. . For the robot arm 60 to which the surgical instrument 4 other than the endoscope 6 is attached, the operation unit reference point MP as described above is set.

Specifically, in the control device 130, the operation unit reference point MP is set as an offset value from the coordinates of the gimbal point GP in the operation unit coordinate system. The offset value to be added is defined as a displacement amount in a coordinate system defined on the link portion 21 d or the link portion 21 c of the operation portion 120 .

In this embodiment, the operation part reference point MP is set at a position closer to the operator than the proximal end G1 of the link part 21d. Specifically, when the operator holds the grip member 21f, the operating part reference point MP is positioned near the operator's wrist. The vicinity of the wrist is a concept including the position of the wrist itself and positions near the wrist.

In this embodiment, the operation unit reference point MP is set at a position opposite to the gimbal point GP, which is the intersection of the plurality of rotation axes of the operation unit 120, with respect to the proximal end G1 of the link portion 21d. The gimbal point GP is positioned on the Xa2 direction side with respect to the proximal end G1 of the link portion 21d. The gimbal point GP is positioned between the proximal end G1 and the distal end G2 of the link portion 21d.

In the present embodiment, the operating portion reference point MP is set at a position opposite to the distal end G2 of the grip member 21f with respect to the proximal end G1 of the link portion 21d and at a position deviated from the A7 axis. there is The position deviated from the A7 axis means a range on the Y1a direction side of the A7 axis and a range on the Y2a direction side of the A7 axis.

In the present embodiment, in the reference posture of the operating portion 120, the operating portion reference point MP is positioned opposite to the distal end G2 of the grip member 21f with respect to the proximal end G1 of the link portion 21d, and is located on the A7 axis. is set at a position opposite to that of the link portion 21a. Here, the operation unit reference point MP is individually set for each of the right-hand operation unit 120R and the left-hand operation unit 120L. As shown in FIG. 8, in the reference posture of the right hand operation portion 120R, the operation portion reference point MP is positioned opposite the distal end G2 of the grip member 21f with respect to the proximal end G1 of the link portion 21d. Moreover, it is set at a position on the Ya2 side opposite to the link portion 21a with respect to the A7 axis. As shown in FIG. 9, in the reference posture of the left-hand operating section 120L, the operating section reference point MP is positioned opposite to the distal end G2 of the grip member 21f with respect to the proximal end G1 of the link section 21d. Moreover, it is set at a position on the Ya1 side opposite to the link portion 21a with respect to the A7 axis.

In the present embodiment, in the reference posture of the operation portion 120, the operation portion reference point MP is located on the A7 axis at a position opposite to the distal end G2 of the grip member 21f with respect to the proximal end G1 of the link portion 21d. On the other hand, it is set at a position opposite to the link portion 21a and on an axis perpendicular to the A7 axis in the horizontal direction. As shown in FIG. 8, in the reference posture of the right-hand operation section 120R, the operation section reference point MP is set on the BR axis that is perpendicular to the A7 axis in the horizontal direction. As shown in FIG. 9, in the reference posture of the left-hand operation unit 120L, the operation unit reference point MP is set on the BL axis that is perpendicular to the A7 axis in the horizontal direction. The BR and BL axes are axes parallel to the A5 axis.

The operation part reference point MP is set in the direction along the A7 axis from the proximal end G1 of the grip member 21f to the Xa1 side, for example, within a range of greater than 0 and 100 mm or less. . Further, as shown in FIG. 8, in the right-hand operation unit 120R, the operation unit reference point MP is located within a range of greater than 0 and 80 mm or less, for example, from the A7 axis to the Ya2 side in the direction along the BR axis. set. Further, as shown in FIG. 9, in the left-hand operation unit 120L, the operation unit reference point MP is located within a range greater than 0 and 80 mm or less, for example, from the A7 axis to the Ya1 side in the direction along the BL axis. set.

(Method for calculating manipulated variable)
A method of calculating an input value of the operation unit 120 when an operation by an operator is accepted will be described. As shown in FIG. 14, an operation by the operator is accepted by the operation unit 120 . As a result, the axis values of the A1 axis, A2 axis, A3 axis, A4 axis, A5 axis, A6 axis and A7 axis of the operation unit 120 are input to the operation control unit 110 . The control device 130 performs forward kinematics calculation based on each axis value input to the operation control section 110 . As a result, the homogeneous transformation matrix representing the displacement and rotation of the operation unit reference point MP from the reference posture is updated as the input value from the operation unit 120 . Forward kinematics calculation is means for calculating the displacement and rotation of a portion of interest on the mechanism from the axial values of the link mechanism. Details of specific forward kinematics calculations will be described later. The control device 130 transforms the homogeneous transformation matrix representing the input from the operation unit 120 according to the viewing direction of the endoscope 6 . The obtained homogeneous transformation matrix has a translational component for translational movement of the surgical instrument 4 and a translational component for rotation of the surgical instrument 4, which produces a movement corresponding to the input of the operation unit 120 within the field of view of the endoscope 6. and a rotational component. Controller 130 performs scaling on the translational and rotational components. Scaling is to multiply the translation component and the rotation component by a scaling value, which is the ratio between the amount of operation received by the operation unit 120 and the amount of actual movement of the surgical instrument 4 . Controller 130 calculates a target homogeneous transformation matrix based on the scaled translational and rotational components. The controller 130 performs inverse kinematics calculations on the target homogeneous transformation matrix. The control device 130 calculates target axis values of the robot arm 60 and the surgical instrument 4 by inverse kinematics calculation.

As shown in FIG. 15, in forward kinematics calculation, A1 axis, A2 axis, A3 axis, A4 axis, A5 Homogeneous transformation matrices representing the transformation determined from the axis values of the axis, the A6 axis, and the A7 axis and the transformation corresponding to the addition of the offset are sequentially multiplied. As a result, a final homogeneous transformation matrix representing the displacement and rotation from the reference orientation of the operation unit reference point MP is obtained. In the example shown in FIG. 15, the operating portion reference point MP is displaced as the grip member 21f rotates about the A7 axis.

In the example shown in FIG. 16, the forward kinematics calculation is performed on the unit matrix of 4 rows and 4 columns so as to correspond to the operation received by the operation unit 120. Homogeneous transformation matrices representing the transformation determined from the axis, the axis value of the A6 axis, the transformation corresponding to the addition of the offset, and the transformation determined from the rotation of the A7 axis are sequentially multiplied. As a result, a final homogeneous transformation matrix representing the displacement and rotation from the reference orientation of the operation unit reference point MP is obtained. In the example shown in FIG. 16, even if the grip member 21f rotates around the A7 axis, the operating portion reference point MP does not move.

In this embodiment, as shown in FIG. 17, the touch panel 23 of the remote control device 2 accepts a change of the operation unit reference point MP. The touch panel 23 includes a plurality of selection portions 23a for selecting one of a plurality of preset operation portion reference points MP.

In the present embodiment, the touch panel 23 accepts a change of the operation unit reference point MP before the surgical operation assisting system 100 starts the surgical operation. In other words, the touch panel 23 does not accept changes in the operation unit reference point MP during following. Note that the touch panel 23 may accept a change of the operation unit reference point MP during surgery by the surgery support system 100 .

(experiment)
With reference to FIG. 18, an experiment on how the operation unit reference point moves when the surgical instrument 4 is rotated will be described. In the experiment, as shown in FIG. 8, the gimbal point GP, the point MP1 on the Xa1 side with respect to the proximal end G1 of the link portion 21d and on the A7 axis, and the proximal point MP1 of the link portion 21d are used as operation portion reference points. A point MP which is located on the Xa1 side with respect to the end G1 and deviated from the A7 axis toward the Ya2 side is adopted. Note that the point MP is the operation unit reference point MP in the above embodiment. In the experiment, the operation portion 120 was operated with the pair of grip members 21f closed. As a result of the experiment, it was confirmed that when the gimbal point GP is used as the operation unit reference point, the gimbal point GP moves in a relatively large range. When the operation unit 120 is operated with the intention that the gimbal point GP does not move, the operation unit 120 should not move around the A1 axis, the A2 axis, and the A3 axis. It was confirmed that they were moving around the A1, A2 and A3 axes. It was confirmed that when the operation part reference point is the point MP1, the moving range of the point MP1 becomes smaller than when the operation part reference point is the gimbal point GP. It was confirmed that when the operation part reference point is the point MP, the moving range of the point MP becomes even smaller than when the operation part reference point is the point MP1. In other words, it was confirmed that the surgical instrument 4 can be moved as intended by the operator by setting the point MP as the operating part reference point.

[Effect of this embodiment]
The operating portion reference point MP is set at a position opposite to the distal end G2 of the link portion 21d with respect to the proximal end G1 of the link portion 21d. As a result, the operating portion reference point MP is set at a position closer to the operator than the proximal end G1 of the link portion 21d. The distance between the considered center of rotation and the wrist when the is turned becomes smaller. Therefore, since the difference between the motion of moving the operator's hand and the motion of moving the surgical instrument 4 is reduced, an increase in the moving range of the operating part reference point MP is suppressed. As a result, the surgical instrument 4 can be moved as intended by the operator.

The operating portion reference point MP is set at a position opposite to the distal end G2 of the grip member 21f and offset from the A7 axis with respect to the proximal end G1 of the link portion 21d. As a result, the distance between the operation part reference point MP and the wrist becomes smaller, so that the surgical instrument 4 can be moved more as intended.

In the reference posture of the operation unit 120, the operation unit reference point MP is located at a position opposite to the distal end G2 of the link portion 21d with respect to the proximal end G1 of the link portion 21d, and the link portion with respect to the A7 axis. 21a is set in the opposite position. As a result, in the reference posture of the operation unit 120, the operator's wrist is positioned opposite to the link portion 21a with respect to the A7 axis, so the distance between the operation unit reference point MP and the wrist can be easily determined. can be made smaller.

In the reference posture of the right-hand operating section 120R, the operating section reference point MP is positioned opposite to the distal end G2 of the link section 21d with respect to the proximal end G1 of the link section 21d, and is aligned with the A7 axis. It is set on the BR axis which is opposite to the portion 21a and which is perpendicular to the A7 axis in the horizontal direction. As a result, in the reference posture of the right-hand operation unit 120R, the operator's wrist is positioned near the BR axis that is perpendicular to the A7 axis in the horizontal direction. can reduce the distance between A similar effect can be obtained for the left-hand operation section 120L.

A touch panel 23 is arranged to receive a change of the operation unit reference point MP. This makes it possible to appropriately set the operation unit reference point MP according to the physique of the operator.

The touch panel 23 includes a plurality of selection portions 23a for selecting one of a plurality of preset operation portion reference points MP. Accordingly, unlike the case where the operator inputs the coordinates of the operation part reference point MP, the operation part reference point MP can be easily selected.

The touch panel 23 accepts a change of the operation unit reference point MP before the start of surgery by the surgery support system 100 . Accordingly, the operation unit 120 can be used in a state in which the operation unit reference point MP is set at an appropriate position during surgery.

The operation unit reference point MP is individually set for each of the right-hand operation unit 120R and the left-hand operation unit 120L. As a result, the surgical instrument 4 can be moved as intended by the operator regardless of whether the right-hand operation section 120R or the left-hand operation section 120L is used.

[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 disclosure is indicated by the scope of the claims rather than the above description of the embodiments, and further includes all modifications or variations within the meaning and scope equivalent to the scope of the claims.

In the above-described embodiment, an example in which the control device 130 is arranged on the medical cart 3 is shown, but the present disclosure is not limited to this. For example, the control device 130 may be arranged in a portion other than the medical cart 3 .

In the above embodiment, the operating portion reference point MP is set at a position opposite to the distal end G2 of the link portion 21d with respect to the proximal end G1 of the link portion 21d and at a position deviated from the A7 axis. Although an example is shown, the present disclosure is not limited to this. For example, the operating portion reference point MP may be set on the A7 axis with respect to the proximal end G1 of the link portion 21d at a position opposite to the distal end G2 of the link portion 21d.

In the above-described embodiment, in the reference posture of the operation unit 120, the operation unit reference point MP is set at a position opposite to the link unit 21a with respect to the A7 axis, but the present disclosure is limited to this. can't For example, the operating part reference point MP is set at a position opposite to the distal end G2 of the grip member 21f with respect to the proximal end G1 of the link part 21d and at a position close to the link part 21a with respect to the A7 axis. You may

In the above embodiment, in the reference posture of the operation unit 120, the operation unit reference point MP is set on the BR axis or the BL axis that is perpendicular to the A7 axis in the horizontal direction. Not limited. For example, in the reference posture of the operation unit 120, the operation unit reference point MP may be set at a position deviated from the BR axis or the BL axis that is horizontally perpendicular to the A7 axis.

In the above-described embodiment, an example in which the touch panel 23 includes a plurality of selection units 23a for selecting one of a plurality of preset operation unit reference points MP is shown, but the present disclosure is limited to this. do not have. For example, the operator may input the coordinates of the operation unit reference point MP to the touch panel 23 .

Moreover, although the example in which the four robot arms 60 are provided has been shown in the above-described embodiment, the present disclosure is not limited to this. In the present disclosure, the number of robotic arms 60 may be any other number as long as at least one is provided.

Further, in the above-described embodiment, an example in which the arm part 61 and the positioner 40 are configured by the seven-axis articulated robot is shown, but the present disclosure is not limited to this. For example, the arm unit 61 and the positioner 40 may be configured by an articulated robot having an axis configuration other than the seven-axis articulated robot. The axis configuration other than the 7-axis articulated robot is, for example, 6-axis or 8-axis.

Further, in the above-described embodiment, an example in which the surgical assistance robot 1 includes the medical cart 3, the positioner 40, and the arm base 50 is shown, but the present disclosure is not limited to this. For example, the medical cart 3, the positioner 40, and the arm base 50 are not necessarily required, and the surgery support robot 1 may be configured with only the robot arm 60.

The functionality of the elements disclosed herein may be accomplished using general purpose processors, special purpose processors, integrated circuits, Application Specific Integrated Circuits (ASICs), conventional circuits, and/or those configured or programmed to perform the disclosed functions. can be implemented using a circuit or processing circuit that includes a combination of A processor is considered a processing circuit or circuit because it includes transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs or is programmed to perform the recited functions. The hardware may be the hardware disclosed herein, or other known hardware programmed or configured to perform the recited functions. A circuit, means or unit is a combination of hardware and software where the hardware is a processor which is considered a type of circuit, the software being used to configure the hardware and/or the processor.

1 Surgery support robot (surgical device)
2 Remote control device (control device)
4 surgical instrument 21a link portion (fourth link portion)
21b link portion (third link portion)
21c link portion (second link portion)
21d link part (first link part)
21f grip member 23 touch panel (reception part)
23a Selection unit 60 Robot arm 100 Surgery support system 120 Operation unit 120R Operation unit for right hand 120L Operation unit for left hand 130 Controller CP Surgical instrument reference point G1 Proximal end G2 Distal end GP Gimbal point MP Operation unit reference point

Claims (11)

a surgical device including a robot arm having a surgical instrument attached to its tip;
an operation device including an operation unit that receives an operation for the surgical instrument;
a control device that controls movement of the surgical instrument based on the accepted operation;
The operation section includes a first link section,
The control device is
setting an operation unit reference point for the operation unit;
setting a surgical instrument reference point for the surgical instrument;
controlling to move the surgical instrument so that the surgical instrument reference point moves corresponding to the movement of the operation section reference point when the operation section is operated;
The operation support system, wherein the operation section reference point is set at a position opposite to the distal end of the first link section with respect to the proximal end of the first link section. The operation unit is
including a second link portion to which the first link portion is attached so as to be rotatable around a first axis;
The operating portion reference point is set at a position opposite to the distal end of the first link portion with respect to the proximal end of the first link portion and at a position deviated from the first axis. The surgery support system according to claim 1, wherein The second link portion rotates around a second axis along the vertical direction,
The operation unit is
a third link portion that is connected to the second link portion and rotates along a horizontal direction around a third axis perpendicular to the first axis;
a fourth link portion connected to the third link portion and rotating around a fourth axis along the vertical direction;
In the reference posture of the operating section, the operating section reference point is located at a position opposite to the distal end of the first link section with respect to the proximal end of the first link section and at the first position. The surgery support system according to claim 2, which is set at a position opposite to the fourth link portion with respect to the axis. In the reference posture of the operating section, the operating section reference point is located at a position opposite to the distal end of the first link section with respect to the proximal end of the first link section and along the first axis. 4. The surgery support system according to claim 3, which is set on an axis perpendicular to said first axis and in a position opposite to said fourth link. The operation support system according to any one of claims 1 to 4, wherein the operation device further includes a grip member having a proximal end rotatably connected to the proximal end of the first link portion. . The surgery support system according to any one of claims 1 to 5, further comprising a reception unit that receives a change of the operation unit reference point. 7. The surgery support system according to claim 6, wherein said reception unit includes a plurality of selection units for selecting one of a plurality of preset operation unit reference points. 8. The surgery support system according to claim 6, wherein said reception unit receives a change of said operation unit reference point before starting surgery by said surgery support system. The operation section includes a right-hand operation section and a left-hand operation section,
The surgery support system according to any one of claims 1 to 8, wherein the operation unit reference point is individually set for each of the right-hand operation unit and the left-hand operation unit. a surgical device including a robot arm having a surgical instrument attached to its tip;
an operation device including an operation unit that receives an operation for the surgical instrument;
a control device that controls movement of the surgical instrument based on the accepted operation;
The operation section includes a first link section,
The control device is
setting an operation unit reference point for the operation unit;
setting a surgical instrument reference point for the surgical instrument;
controlling to move the surgical instrument so that the surgical instrument reference point moves corresponding to the movement of the operation section reference point when the operation section is operated;
The operation assisting system, wherein in the reference posture of the operation section, the operation section reference point is set at a position closer to the operator than the proximal end of the first link section. a surgical device including a robot arm having a surgical instrument attached to its tip;
an operation device including an operation unit that receives an operation for the surgical instrument;
a control device that controls movement of the surgical instrument based on the accepted operation;
The operation section includes a first link section,
The control device is
setting an operation unit reference point for the operation unit;
setting a surgical instrument reference point for the surgical instrument;
controlling to move the surgical instrument so that the surgical instrument reference point moves corresponding to the movement of the operation section reference point when the operation section is operated;
The operation support system, wherein the operation unit reference point is set at a position opposite to a gimbal point, which is an intersection point of a plurality of rotation axes of the operation unit, with respect to the proximal end of the first link unit.

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