JP7295831B2 - Surgery support system, patient-side device and calculation method - Google Patents

Description

TECHNICAL FIELD The present invention relates to a surgery support system, a patient-side device, and a method of operating a medical device, and more particularly to a surgery support system, a patient-side device, and a method of operating a medical device for scaling the amount of operation of a medical device received by an operating unit.

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

The above Patent Document 1 includes an input handle (operation unit) that can move in a plurality of directions, and a processing device that communicates with the input handle and scales the amount of operation received by the input handle to move the surgical tool. A robotic surgical system is disclosed. In Patent Document 1, a three-dimensional work space in which the input handle is operated is defined in advance, and the movement of the surgical tool when the surgeon moves the input handle away from the center of the three-dimensional work space. The scaling is set so that the amount is greater than the amount of surgical tool movement when moving the input handle toward the center of the three-dimensional workspace. As a result, when the input handle is moved away from the center of the three-dimensional work space, the amount of movement of the surgical tool increases, so the input handle is moved to the maximum possible range of movement. It is possible to move the surgical tool to a desired position without having to move the surgical tool.

Japanese Patent Publication No. 2018-505739

Here, although not specified in Patent Document 1, in a conventional robotic surgical system such as Patent Document 1, a pivot position that serves as a fulcrum for movement of a surgical tool (medical instrument) is set in advance. , and the surgical tool is moved (eg, rotationally, etc.) about the pivot location. A disadvantage of conventional robotic surgical systems, such as that of US Pat. No. 6,300,006, is that the robotic arm and surgical tool may vibrate when the surgical tool is moved about the pivot position. Specifically, because the surgical tool moves about the pivot location, if the distance between the pivot location and the surgical tool tip is large, a small movement of the arm will move the surgical tool tip to the desired distance. It is possible to move by minutes. On the other hand, if the distance between the pivot location and the tip of the surgical tool is small, a large amount of movement of the arm is required to move the tip of the surgical tool the desired distance. Therefore, especially when the distance between the pivot position and the tip of the surgical tool is small, there is a problem that the vibration of the arm and the tool becomes large due to the large movement of the arm. Japanese Patent Application Laid-Open No. 2002-200000 does not take into account the vibration caused by the distance between the pivot position and the tip of the surgical tool, so it has the same problem as above.

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

In order to achieve the above object, a surgical assistance robot according to a first aspect of the present invention includes a patient-side device including an arm to which a medical instrument is attached on the distal end side, and an operator including an operation unit that receives an operation amount for the medical instrument. a side device, and a control unit that scales the received operation amount and calculates an actual operation amount that is an operation amount when actually operating the medical instrument , and the medical instrument includes an end effector, and the end effector. a control unit including a first support rotatably supporting a first axis, a second support supporting the first support rotatably about a second axis, and a shaft connected to the second support; is the distal end side with respect to the operation amount as the distal end side portion including the first axis from the distal end of the medical device approaches the pivot position set as one point so as to serve as a fulcrum when the medical device is rotated by the arm. Decrease the scaling factor so that the amount of movement of the part becomes small (however, the scaling factor is a value that does not include 0) .

In the surgical assistance robot according to the first aspect of the present invention, as described above, the control unit controls the pivot position, which is the position where the distal end portion of the medical instrument becomes a fulcrum when moving the medical instrument. , the scaling factor is decreased so that the amount of movement of the distal end portion with respect to the operation amount becomes smaller. Accordingly, when the distance between the distal end portion of the medical device and the pivot position is small, the amount of movement of the distal end portion of the medical device relative to the amount of operation is small. That is, since the amount of movement of the arm that moves the medical instrument is also reduced, the vibration of the arm and the medical instrument can be suppressed accordingly.

A patient-side device according to a second aspect of the present invention is a patient-side device including an arm to which a medical instrument is attached on the distal end side, wherein the operation amount received by an operation unit for receiving the operation amount for the medical instrument is scaled. The medical device includes an end effector, a first support that supports the end effector rotatably about a first axis, a second support that supports the first support rotatably about a second axis; and a shaft connected to the second support . is closer to the pivot position set as a fulcrum when rotating the medical instrument by the arm , the scaling factor is decreased so that the amount of movement of the tip side portion relative to the amount of operation is smaller ( However, the scaling factor is a value that does not include 0) .

In the patient-side device according to the second aspect of the present invention, as described above, the controller controls the pivot position, which is the position where the distal end portion of the medical instrument is a fulcrum when the medical instrument is moved. , the scaling factor is decreased so that the amount of movement of the distal end portion with respect to the operation amount becomes smaller. Accordingly, when the distance between the distal end portion of the medical device and the pivot position is small, the amount of movement of the distal end portion of the medical device relative to the amount of operation is small. That is, since the amount of movement of the arm that moves the medical instrument is also reduced, it is possible to provide a patient-side device capable of suppressing the vibration of the arm and the medical instrument accordingly.

A computing method according to a third aspect of the present invention includes a patient-side device including an arm to which a medical instrument is attached on the distal end side, an operator-side device including an operation section for receiving an operation amount for the medical instrument, and a control section. A computing method executed by a control unit of a surgical assistance system comprising a medical instrument comprising: an end effector; a first support that supports the end effector rotatably about a first axis; An operation received by the control unit when the operation unit receives an operation amount for the medical instrument, including a second support that is rotatably supported about an axis and a shaft connected to the second support. The amount is scaled to calculate the actual operation amount, which is the operation amount when actually operating the medical device. As the instrument approaches a pivot position set as a single point that serves as a fulcrum for rotating the instrument, the actual amount of operation is reduced by reducing the scaling factor so that the amount of movement of the tip side portion relative to the amount of operation becomes smaller. It is executed by calculating ( however, the scale factor is a value that does not include 0).

In the method for operating a medical instrument according to the third aspect of the present invention, as described above, in the step of calculating the actual amount of operation, the distal end portion of the medical instrument is the fulcrum when the medical instrument is moved. and calculating the actual manipulated variable by decreasing the scaling factor so that the amount of movement of the tip side portion relative to the manipulated variable becomes smaller as the pivot position becomes closer to . Accordingly, when the distance between the distal end portion of the medical device and the pivot position is small, the amount of movement of the distal end portion of the medical device relative to the amount of operation is small. That is, since the amount of movement of the arm that moves the medical device is also reduced, it is possible to provide a method of operating the medical device that can suppress vibrations of the arm and the medical device accordingly.

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

1 illustrates a configuration of a surgical system according to one embodiment of the present invention; FIG. It is a figure which shows the structure of the medical manipulator by one Embodiment of this invention. FIG. 4 is a diagram showing the configuration of the arm of the medical manipulator according to one embodiment of the present invention; FIG. 10 shows a forceps; 1 is a perspective view showing the configuration of an operating section of a medical manipulator according to one embodiment of the present invention; FIG. It is a figure which shows an endoscope. FIG. 10 illustrates a pivot position teaching instrument; FIG. 4 is a diagram for explaining translational movement of an arm; It is a figure for demonstrating the rotational movement of an arm. It is a block diagram which shows the structure of the control part of the manipulator for medical science by one Embodiment of this invention. FIG. 10 is a diagram for explaining the magnification of scaling with respect to forceps; FIG. 4 is a diagram for explaining the magnification of scaling with respect to the endoscope; FIG. 4 is a flow chart for explaining a forceps operation method; FIG. 10 is a flowchart for explaining a method of setting a scaling factor for forceps; It is a flow chart for explaining the operation method of the endoscope. FIG. 4 is a flowchart for explaining a method of setting a scaling factor for an endoscope; FIG. 11 is a diagram (1) showing the relationship between the TCP1 of the forceps and the pivot position PP1. FIG. 2 is a diagram (2) showing the relationship between the TCP1 of the forceps and the pivot position PP1. FIG. 4 is a diagram showing the relationship between TCP2 of the endoscope and pivot position PP2;

An embodiment of the present invention, which embodies the present invention, will be described below with reference to the drawings.

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

The remote control device 2 is arranged, for example, inside the operating room or outside the operating room. The remote control device 2 includes an operating manipulator arm 21 , an operating pedal 22 , a touch panel 23 , a monitor 24 , a support arm 25 and a support bar 26 . The operating manipulator arm 21 constitutes an operating handle for the operator to input commands. The operating manipulator arm 21 receives an amount of operation for the medical instrument 4 . The monitor 24 is a scope-type display device that displays images captured by the endoscope. The support arm 25 supports the monitor 24 so that the height of the monitor 24 matches the height of the operator's face. The touch panel 23 is arranged on the support bar 26 . A sensor (not shown) provided near the monitor 24 detects the operator's head, thereby enabling the medical manipulator 1 to be operated by the remote control device 2 . The operator operates the operating manipulator arm 21 and the operating 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 medical manipulator 1 . In addition, the manipulator arm 21 for operation is an example of the "operation part" of a claim.

The medical trolley 3 is provided with a control section 31 that controls the operation of the medical manipulator 1 and a storage section 32 that stores a program for controlling the operation of the medical manipulator 1 and the like. The controller 31 of the medical trolley 3 controls the operation of the medical manipulator 1 based on the command input to the remote control device 2 .

An input device 33 is also provided on the medical cart 3 . The input device 33 is configured to receive operations for moving and changing postures of the positioner 40, the arm base 50, and the plurality of arms 60, mainly for preparing for surgery before surgery.

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

The positioner 40 is configured by, for example, a 7-axis articulated robot. Also, the positioner 40 is arranged on the medical cart 3 . Positioner 40 moves arm base 50 . Specifically, the positioner 40 is configured to move the position of the arm base 50 three-dimensionally.

The positioner 40 also 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 .

As shown in FIG. 1, the medical device 4 is attached to the tip of each of the arms 60 . Medical instruments 4 include, for example, replaceable instruments, endoscopes 6 (see FIG. 6), and the like.

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

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

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

Further, as shown in FIG. 6 , the TCP 2 of the endoscope 6 is set at the distal end of the endoscope 6 .

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

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

The translational movement mechanism section 70 is provided on the distal end side of the arm section 61 and has the medical instrument 4 attached thereto. Further, the translational movement mechanism section 70 translates the medical device 4 in the direction of insertion into the patient P. As shown in FIG. Further, the translational movement mechanism section 70 is configured to relatively translate the medical device 4 with respect to the arm section 61 . Specifically, the translational movement mechanism section 70 is provided with a holder 71 that holds the medical instrument 4 . The holder 71 accommodates a servo motor M2 (see FIG. 10). The servo motor M2 is configured to rotate a rotating body provided in the driven unit 4a of the medical instrument 4. As shown in FIG. The forceps 4b are operated by rotating the rotating body of the driven unit 4a.

The arm section 61 is composed of a 7-axis articulated robot arm. Arm portion 61 also includes a base portion 62 for attaching arm portion 61 to arm base 50 and a plurality of link portions 63 connected to base portion 62 . The plurality of link portions 63 are connected by joint portions 64 .

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

The connecting link portion 74 of the translational movement mechanism portion 70 is configured as a double-speed mechanism that relatively moves the distal side link portion 73 along the Z direction with respect to the proximal side link portion 72 . In addition, the medical device 4 provided on the holder 71 translates along the Z direction by moving the distal link portion 73 relative to the proximal link portion 72 along the Z direction. is configured as Further, the distal end of the arm portion 61 is connected to the proximal side link portion 72 so as to rotate the proximal side link portion 72 about the X direction orthogonal to the Z direction.

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

The switch unit 83 includes a switch unit 83a for moving the medical device 4 in the direction in which the medical device 4 is inserted into the patient P along the longitudinal direction of the medical device 4, and a direction in which the medical device 4 is inserted into the patient P. and a switch portion 83b for moving the medical instrument 4 on the opposite side. Both the switch section 83a and the switch section 83b are configured by push button switches.

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

Also, as shown in FIG. 1, the endoscope 6 is attached to one arm 60 (for example, arm 60b) of the plurality of arms 60, and the remaining arms 60 (for example, arms 60a, 60c and 60d) are attached. is attached with a medical instrument 4 other than the endoscope 6 . Specifically, in surgery, the endoscope 6 is attached to one arm 60 of the four arms 60, and the medical instruments 4 (such as the forceps 4b) other than the endoscope 6 are attached to the three arms 60. . Then, the pivot position PP2 (see FIG. 19) is taught with the endoscope 6 attached to the arm 60 to which the endoscope 6 is attached. Also, the pivot position PP1 (see FIG. 17) is taught with the pivot position teaching instrument 7 attached to the arm 60 to which the medical instrument 4 other than the endoscope 6 is attached. Note that the endoscope 6 is attached to one of the two centrally arranged arms 60 (arms 60b and 60c) of the four arms 60 arranged adjacent to each other. That is, the pivot position PP is set individually for each of the multiple arms 60 . The arms 60a, 60c and 60d are examples of the "first arm" in the claims. Also, the arm 60b is an example of a "second arm" in the scope of claims.

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

Further, as shown in FIG. 5, the operation unit 80 has a mode switching button for switching between a mode of translational movement (see FIG. 8) and a mode of rotational movement (see FIG. 9) of the medical instrument 4 attached to the arm 60. Including 84. A mode indicator 84 a is provided near the mode switching button 84 . A mode indicator 84a displays the switched mode. Specifically, the current mode (translational movement mode or rotational movement mode) is displayed by turning on (rotational movement mode) or turning off (translational movement mode) the mode indicator 84a.

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

As shown in FIG. 8, in the mode of translational movement of the arm 60, the arm 60 is moved such that the tip 4d of the medical instrument 4 moves on the XY plane. Further, as shown in FIG. 9, in the mode of rotating the arm 60, when the pivot position PP is not taught, the arm 60 rotates about the forceps 4b, and when the pivot position PP is taught, the pivot The arm 60 is moved so that the medical device 4 rotates about the position PP. The medical instrument 4 is rotated while the shaft 4c of the medical instrument 4 is inserted into the trocar T. As shown in FIG.

Further, as shown in FIG. 10, the arm 60 is provided with a plurality of servo motors M1, an encoder E1, and a speed reducer (not shown) so as to correspond to the plurality of joints 64 of the arm portion 61. It is The encoder E1 is configured to detect the rotation angle of the servomotor M1. The speed reducer is configured to slow down the rotation of the servomotor M1 and increase the torque.

Further, as shown in FIG. 10, the translational movement mechanism section 70 includes a servo motor M2 for rotating a rotating body provided in the driven unit 4a of the medical instrument 4, and a motor for translating the medical instrument 4. A servomotor M3, encoders E2 and E3, and a speed reducer (not shown) are provided. Encoder E2 and encoder E3 are configured to detect the rotation angles of servo motor M2 and servo motor M3, respectively. The speed reducer is configured to slow down the rotation of the servomotors M2 and M3 to increase the torque.

Further, the positioner 40 is provided with a plurality of servomotors M4, an encoder E4, and a speed reducer (not shown) so as to correspond to the plurality of joints 43 of the positioner 40. As shown in FIG. The encoder E4 is configured to detect the rotation angle of the servomotor M4. The speed reducer is configured to slow down the rotation of the servo motor M4 and increase the torque.

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

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

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

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

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

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

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

Specifically, in the present embodiment, as shown in FIG. 11, a plurality of scaling magnifications for the forceps 4b are provided in advance so that the user (operator) can select them. For example, there are three types of scaling factors for the forceps 4b: 1:1.5 (=0.667), 1:2 (=0.5), and 1:3 (=0.333). , and the operator selects one of three scaling factors. Also, the selection of the scaling factor is performed in the remote control device 2 .

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

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

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

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

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

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

In this embodiment, the control unit 31 sets the smallest scaling factor among the scaling factors of the arms 60 (any two of the arms 60a, 60c and 60d) to which the forceps 4b are attached. Let the scaling factors be common to arms 60 (any two of arms 60a, 60c and 60c). For example, if the arms 60a and 60c are selected as the arm 60 to be manipulated by the manipulator arm 21, the scaling factor for the arm 60a and the scaling factor for the arm 60c, whichever is smaller (manipulator arm 21) is the scaling factor common to the arms 60a and 60c.

The control section 31 (arm control section 31 a ) is configured to operate the arm 60 based on an input signal from the joystick 82 of the operation section 80 . Specifically, the arm control unit 31a generates a position command based on the input signal (operation command) input from the joystick 82 and the rotation angle detected by the encoder E1, and sends the position command to the servo control unit. Output to C1. Servo control unit C1 generates a torque command based on the position command input from arm control unit 31a and the rotation angle detected by encoder E1, and outputs the torque command to servo motor M1. As a result, the arm 60 is moved according to the motion command input to the joystick 82 .

The control section 31 (arm control section 31 a ) is configured to operate the arm 60 based on an input signal from the switch section 83 of the operation section 80 . Specifically, the arm control unit 31a generates a position command based on the input signal (operation command) input from the switch unit 83 and the rotation angle detected by the encoder E1 or E3, and outputs the position command. Output to servo control section C1 or C3. Servo control unit C1 or C3 generates a torque command based on the position command input from arm control unit 31a and the rotation angle detected by encoder E1 or E3, and transmits the torque command to servo motor M1 or M3. output to As a result, the arm 60 is moved along the operation command input to the switch section 83 .

Further, as shown in FIG. 10, the positioner control section 31b is electrically connected to a servo control section C4 for controlling a servomotor M4 that moves the positioner 40. As shown in FIG. An encoder E4 for detecting the rotation angle of the servomotor M4 is electrically connected to the servo control unit C4. A servo control unit C5 for controlling a servo motor M5 that drives the front wheels (not shown) of the medical cart 3 is electrically connected to the positioner control unit 31b. An encoder E5 for detecting the rotation angle of the servo motor M5 is electrically connected to the servo control unit C5.

Further, an operation command related to the setting of the preparation position is input from the input device 33 to the positioner control section 31b. The positioner control unit 31b generates a position command based on the motion command input from the input device 33 and the rotation angle detected by the encoder E4, and outputs the position command to the servo control unit C4. The servo control unit C4 generates a torque command based on the position command input from the positioner control unit 31b and the rotation angle detected by the encoder E4, and outputs the torque command to the servo motor M4. As a result, the positioner 40 is moved along with the motion command input to the input device 33 . Similarly, the positioner control unit 31 b moves the medical cart 3 based on the operation command from the input device 33 .

(How to operate forceps)
Next, a method of operating the medical instrument 4 (forceps 4b) will be described with reference to FIGS. 13 and 14. FIG. In the following description, the two arms 60 to which the forceps 4b are attached are selected as the arms 60 operated by the operating manipulator arms 21 by the operator operating (stepping on) the operating pedals 22 of the remote control device 2. Suppose that It is also assumed that the operator has previously selected one of the three scaling factors.

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

Next, in step S2, the control unit 31 scales the operation amount of the forceps 4b received by the operation manipulator arm 21, and calculates the actual operation amount, which is the operation amount when actually operating the forceps 4b. Specifically, the control unit 31 controls the scaling factor so that the amount of movement of the TCP1 relative to the operation amount becomes smaller as the TCP1 of the forceps 4b approaches the pivot position PP1, which is the fulcrum position when the forceps 4b is moved. is decreased to calculate the actual manipulated variable.

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

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

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

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

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

If no in step S2a, it is determined in step S2k whether or not the scaling factor pre-selected by the operator is 1:2. If yes in step S2k, it is determined in step S2l whether or not the distance L1 is less than L13. If yes in step S2l, the process proceeds to step S2f. If no in step S2l, the scaling ratio is set to 1:2 in step S2m.

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

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

If yes in step S3, in step S4, the controller 31 compares the scaling magnifications for each of the two arms 60 to which the forceps 4b are attached, and selects the smallest scaling magnification as A common scaling factor is used for the two arms 60 to which the forceps 4b are attached.

Then, in step S5, the control unit 31 operates the two arms 60 to which the forceps 4b are attached based on the common scaling factor. Specifically, the control unit 31 inversely transforms a value obtained by multiplying the operation amount received by the operating manipulator arm 21 by a common scaling factor, and drives the arm 60 . It should be noted that "inverse transformation" is to obtain the displacement of the joints of the arm 60 (the rotation angles of the servomotors M1 to M3) from the operation amount (the target position/orientation of the arm 60). The above operation is repeated while the arm 60 is operating. Further, when the arm 60 operated by the operating manipulator arm 21 is changed, the above operation is performed on the changed arm 60 .

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

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

Next, in step S12, the operation amount for the endoscope 6 received by the operation manipulator arm 21 is scaled to calculate the actual operation amount, which is the operation amount when the endoscope 6 is actually operated.

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

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

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

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

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

As shown in FIG. 17, when the distance L1 between the TCP1 of the forceps 4b and the pivot position PP1 is relatively large, when trying to move the TCP1 of the forceps 4b by the desired distance L3, a small movement of the arm 60 It becomes possible to move the TCP1 of the forceps 4b. On the other hand, when the distance L1 between the TCP1 of the forceps 4b and the pivot position PP1 is relatively small as shown in FIG. need to move. At this time, the arm 60 and the forceps 4b vibrate. Therefore, as the TCP1 of the forceps 4b approaches the pivot position PP1, as described above, the scaling factor is decreased. can be suppressed. As shown in FIG. 19, similarly for the endoscope 6, the vibration of the arm 60 and the endoscope 6 is suppressed by decreasing the scaling factor as the TCP2 of the endoscope 6 approaches the pivot position PP2. becomes possible.

[Effect of this embodiment]
The following effects can be obtained in this embodiment.

(Effect of surgical assistance robot)
In the present embodiment, as described above, the control unit 31 increases the operation amount as the distal end portion (TCP) of the medical device 4 approaches the pivot position PP, which is the fulcrum position when the medical device 4 is moved. Decrease the scaling factor so that the amount of TCP movement relative to is small. Accordingly, when the distance L between the TCP of the medical device 4 and the pivot position PP is small, the amount of movement of the TCP of the medical device 4 with respect to the amount of operation is small. That is, the amount of movement of the arm 60 that moves the medical instrument 4 is also reduced, so that the vibration of the arm 60 and the medical instrument 4 can be suppressed accordingly.

Further, in the present embodiment, as described above, the control unit 31 dynamically changes the scaling factor so that the scaling factor becomes smaller as the TCP of the medical device 4 approaches the pivot position PP. As a result, even if the TCP of the medical instrument 4 moves relative to the pivot position PP, the scaling factor is changed in accordance with the TCP of the medical instrument 4 after movement. Vibration of the arm 60 and the medical device 4 can be suppressed at any relative position of the TCP of the device 4 .

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

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

Further, in the present embodiment, as described above, a plurality of scaling magnifications are provided in advance so that the operator can select them. Based on (L2), a scaling factor corresponding to the distance is obtained by linearly interpolating between a plurality of scaling factors. As a result, even if the scaling factors that can be selected in advance by the operator are discrete values, linear interpolation between a plurality of scaling factors allows the relationship between the TCP of the medical instrument 4 and the pivot position PP to be calculated. It is possible to accurately set the scaling factor according to the distance L1 (L2).

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

In this embodiment, as described above, the arm 60 includes arms 60a, 60c, and 60d to which the forceps 4b as the medical instrument 4 are attached, and an arm 60b to which the endoscope 6 as the medical instrument 4 is attached. Inclusive, pivot positions PP include pivot position PP1 for forceps 4b relative to arms 60a, 60c and 60d, and pivot position PP2 for endoscope 6 relative to arm 60b. The scaling factor for the forceps 4b that is changed according to the distance L1 between the TCP1 of the forceps 4b and the pivot position PP1 for the forceps 4b, and the ratio between the TCP2 of the endoscope 6 and the pivot position PP2 of the endoscope 6. It is set independently of the scaling factor of the endoscope 6 which is changed according to the distance L2 between them. Accordingly, unlike the case where the scaling magnification for the forceps 4b and the scaling magnification for the endoscope 6 are set to be the same, the scaling magnification is appropriately set for the forceps 4b and the endoscope 6. can do.

Moreover, in this embodiment, as described above, the arm 60 includes a plurality of arms 60a, 60c and 60d to which the forceps 4b as the medical instrument 4 are attached. The control unit 31 sets the smallest scaling factor among the scaling factors of each arm 60 (two of the arms 60 a , 60 c and 60 d in the above embodiment) to the common scaling factor of each arm 60 . and As a result, since the scaling magnification of each arm 60 is made equal, the operator's operational feeling with respect to the plurality of medical instruments 4 attached to each arm 60 (the amount of movement of the medical instrument 4 with respect to the operation of the operating manipulator arm 21). can be made uniform. In addition, unlike the case where the scaling magnification on the larger side of the scaling magnifications of the arms 60 is used as a common scaling magnification, it is possible to prevent the amount of movement of the TCP 1 of the medical instrument 4 from increasing against the operator's intention. can be suppressed.

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

(Effect of operation method of medical device 4)
Further, in the present embodiment, as described above, the step of calculating the actual amount of operation is performed as the TCP of the medical device 4 approaches the pivot position PP, which is the fulcrum when the medical device 4 is moved. 4, calculating the actual manipulated variable by reducing the scaling factor so that the amount of movement of the TCP becomes smaller. Accordingly, when the distance L between the TCP of the medical device 4 and the pivot position PP is small, the amount of movement of the TCP of the medical device 4 with respect to the amount of operation is small. That is, since the amount of movement of the arm 60 that moves the medical instrument 4 is also reduced, a method of operating the medical instrument 4 capable of suppressing vibrations of the arm 60 and the medical instrument 4 can be provided.

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

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

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

Moreover, although the example in which the four arms 60 are provided has been shown in the above-described embodiment, the present invention is not limited to this. In the present invention, at least one or more arms 60 may be provided.

Further, in the above-described embodiment, an example in which three scaling magnifications are provided for the forceps 4b was shown, but the present invention is not limited to this. In the present invention, the number of scaling factors other than three may be provided for the forceps 4b.

Further, in the above-described embodiment, an example in which one scaling factor is provided for the endoscope 6 has been shown, but the present invention is not limited to this. In the present invention, a plurality of magnifications for scaling the endoscope 6 may be provided.

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

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

Moreover, although the medical manipulator 1 has shown the example provided with the medical cart 3, the positioner 40, and the arm base 50 in the said embodiment, this invention is not limited to this. For example, the medical carriage 3, the positioner 40, and the arm base 50 are not necessarily required, and the medical manipulator 1 may consist of the arm 60 only.

Further, in the above-described embodiment, an example was shown in which the tip side portion of the medical instrument 4 was the tool center point, but the present invention is not limited to this. For example, the tip side portion of the medical instrument 4 may be located near the tool center point (1 mm to 3 mm away from the TCP).

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 Medical manipulator (patient device)
2 Remote control device (operator side device)
4 medical instrument 4b forceps 6 endoscope 21 manipulator arm for operation (operation part)
31 control unit 60 arm 60a, 60c, 60d arm (first arm)
60b arm (second arm)
100 surgical operation system (surgical support system)
L1 Distance between TCP1 of forceps and pivot position PP1 (separation distance)
L2 Distance (separation distance) between TCP2 of the endoscope and pivot position PP2
L14, L22 First distance L11, L21 Second distance PP Pivot position PP1 Pivot position (pivot position for forceps)
PP2 pivot position (endoscope pivot position)
TCP tool center point (tip side part)

Claims (12)

a patient side device including an arm to which a medical device is attached on the distal side;
an operator-side device including an operation unit that receives an operation amount for the medical instrument;
a control unit that scales the received operation amount and calculates an actual operation amount that is an operation amount when actually operating the medical device;
The medical device includes an end effector, a first support that supports the end effector rotatably about a first axis, a second support that supports the first support rotatably about a second axis, and a shaft connected to the second support;
The control unit approaches a pivot position set as one point so that a distal end side portion including the first axis from the distal end of the medical instrument becomes a fulcrum when the medical instrument is rotationally moved by the arm. As the operation amount increases, the scaling factor is decreased so that the amount of movement of the distal end portion with respect to the operation amount decreases (however, the scaling factor is a value that does not include 0). The control unit adjusts the scaling factor according to the distance between the tip-side part and the pivot position so that the scaling factor decreases as the tip-side part approaches the pivot position. The surgery support system according to claim 1, which changes. 3. The surgery support system according to claim 2, wherein said control unit reduces said scaling factor when said separation distance is equal to or less than a first distance. 4. The surgery support system according to claim 3, wherein said control unit keeps said scaling factor constant when said separation distance is less than a second distance which is smaller than said first distance. A plurality of magnifications for the scaling are provided in advance so that they can be selected by the user,
Based on the separation distance, which is the distance between the distal end portion and the pivot position, the control unit obtains the scaling magnification corresponding to the separation distance by linearly interpolating between the respective scaling magnifications. 5. The surgical support system according to any one of claims 1 to 4, obtained. 6. The surgery support system according to claim 5, wherein said control unit changes said scaling factor within a range not exceeding a movement amount corresponding to said scaling factor selected by said user. The arm includes a first arm to which forceps as the medical instrument is attached and a second arm to which the endoscope as the medical instrument is attached,
the pivot positions include a forceps pivot position relative to the first arm and an endoscope pivot position relative to the second arm;
a scaling factor for a forceps that changes according to the distance between the distal portion of the forceps and a pivot position for the forceps; 7. The surgery support system according to any one of claims 1 to 6, which is set independently of the endoscope scaling magnification that is changed according to the distance between the two. The arm includes a plurality of first arms to which forceps as the medical instrument are attached,
8. The method according to any one of claims 1 to 7, wherein the control unit sets the smallest scaling factor among the scaling factors of the first arms as the scaling factor common to the first arms. The surgery support system according to any one of items 1 and 2. 2. The surgery support system according to claim 1, wherein said control unit changes said scaling factor step by step so that said scaling factor becomes smaller as said distal end portion approaches said pivot position. The surgery support system according to any one of claims 1 to 9, wherein the distal portion is a tool center point corresponding to the first axis. A patient-side device comprising an arm with a medical device attached to the distal end thereof,
a control unit that scales the operation amount received by the operation unit that receives the operation amount for the medical device and calculates an actual operation amount that is the operation amount when actually operating the medical device;
The medical device includes an end effector, a first support that supports the end effector rotatably about a first axis, a second support that supports the first support rotatably about a second axis, and a shaft connected to the second support;
As the control unit approaches a pivot position set as one point so that a distal end portion including the first axis from the distal end of the medical instrument approaches a fulcrum when the medical instrument is rotationally moved by the arm. , the patient-side device, wherein the scaling factor is reduced so that the amount of movement of the distal end portion with respect to the operation amount is small (however, the scaling factor is a value that does not include 0). performed by the control unit of a surgery support system comprising a patient-side device including an arm to which a medical device is attached on the tip end side, an operator-side device including an operation unit that receives an operation amount for the medical device, and a control unit A calculation method that
The medical device includes an end effector, a first support that supports the end effector rotatably about a first axis, a second support that supports the first support rotatably about a second axis, and a shaft connected to the second support;
When the operation unit receives the operation amount for the medical device, the control unit scales the received operation amount to actually operate the medical device. calculate the amount of
The calculation of the actual operation amount is performed by setting a pivot point such that a distal end side portion including the first axis from the distal end of the medical device serves as a fulcrum when the medical device is rotationally moved by the arm. As the position is approached, the actual operation amount is calculated by reducing the scaling factor so that the amount of movement of the tip side portion with respect to the operation amount becomes smaller ( however, the scaling factor is a value that does not include 0). method of operation performed by

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