JP7358543B2 - Medical robot system, data analysis device, and operation method - Google Patents

Description

The present invention relates to a robot used in surgical operations.

In recent years, cases in which surgeries are performed using surgical support robots have increased, and there is an increasing need to provide more precise support (hereinafter referred to as "support") to surgical support robots.

Regarding support for surgical support robots, there are prior art techniques 1 to 3.

Prior art 1 discloses a technique for transmitting setting information of equipment used in an operating room to a support room provided at a remote location of the operating room. The support room monitors whether the received setting information is within an appropriate range, and if it is not within an appropriate range, notifies the operating room of warning information (see Patent Document 1).

Prior art 2 discloses a remote surgery support system that performs an operation check before surgery regarding a device used in an operating room. This system performs an operation check before surgery, performs remote repairs, and dispatches support personnel (see Patent Document 2).

Prior art 3 discloses a technique in which the torque value of a drive motor during robot arm operation is stored at regular intervals and abnormalities are detected from the torque fluctuation value (see Patent Document 3).

Japanese Patent Application Publication No. 2005-111080 Japanese Patent Application Publication No. 2007-7040 JP2006-281421A

It is thought that if image information of the manipulator arm of a medical robot is collected from a medical robot operating in an operating room, it will be possible to provide more precise support to the medical robot.

However, none of Prior Art 1 to 3 discloses a technique for collecting image information of a manipulator arm from a medical robot.

Therefore, an object of the present invention is to provide a technique for supporting a medical robot based on image information of a manipulator arm collected from the medical robot.

In order to achieve the above object, a system according to the present invention includes a surgical operation system and a data analysis device capable of communicating with the surgical operation system via an external network, wherein the surgical operation system a patient-side system comprising a first manipulator arm to which a patient is attached and a camera for photographing the first manipulator arm; an operating device for remotely controlling the first manipulator arm; a controller that transmits data including image data of the first manipulator arm and a position command value generated by operation of the operating device to the data analysis device via the external network, the data analysis device analyzes the image data of the first manipulator arm transmitted from the controller to obtain position information of the first manipulator arm, and also determines the positional deviation from the commanded position based on the position command value. It has a data analysis unit that obtains a certain origin deviation.

Further, the data analysis section may acquire a positional deviation correction value from the position information of the first manipulator arm and the command position.

Furthermore, the data analysis section may transmit the correction value to a terminal.

Further, the controller may transmit the image data taken by the camera during surgery to the data analysis device.

Further, the data analysis unit may transmit an image taken by the camera to the terminal.

The patient-side system may further include a platform to which the first manipulator arm is attached, and a positioner to which the platform is attached, and the camera may be capable of photographing the positioner.

Further, the data analysis unit may analyze the image data taken by the camera to obtain position information of the positioner.

Further, the patient-side system includes a second manipulator arm to which an endoscope assembly is attached, and the controller controls image data taken by the endoscope assembly and image data taken by the camera. The information may be transmitted to the data analysis section .

Further, the controller may transmit information indicating the status of the operating room to the data analysis device via the external network.

Further, the controller may transmit the image data to the data analysis device in association with a time stamp.

Further, the data analysis device according to the present invention is a data analysis device capable of communicating with a surgical operation system via an external network, and the surgical operation system includes a first manipulator arm to which an instrument is attached and the first manipulator arm. a patient-side system including a camera for photographing the first manipulator arm; and an operating device for remotely controlling the first manipulator arm; Data including image data and a position command value generated by operating the operating device is received from the surgical operation system, and the received image data of the first manipulator arm is analyzed to generate the first manipulator arm. and a data analysis unit that obtains position information of the position and also obtains an origin deviation that is a position deviation from the command position based on the position command value.

Further, the data analysis section may acquire a positional deviation correction value from the position information of the first manipulator arm and the command position.

Further, an operating method according to the present invention is a method for operating a data analysis device capable of communicating with the surgical operating system via an external network for monitoring the operating status of the surgical operating system, the operating method comprising: , a patient-side system comprising a first manipulator arm to which an instrument is attached, a camera for photographing the first manipulator arm, and an operating device for remotely operating the first manipulator arm. The data analysis device receives, from the surgical operation system, data including image data of the first manipulator arm photographed by the camera and a position command value generated by operation of the operating device; The image data of the first manipulator arm is analyzed to obtain position information of the first manipulator arm, and also to obtain an origin deviation that is a positional deviation from a commanded position based on the position command value.

Further, the data analysis device may acquire a positional deviation correction value from the position information of the first manipulator arm and the command position.

According to the present invention, more precise support can be provided to a medical robot based on image information of manipulator arms collected from a plurality of medical robots.

1 is a configuration diagram of a system showing an embodiment of the present invention. 1 is a configuration diagram of a system showing an embodiment of the present invention. 1 is a schematic diagram showing the configuration of a surgical operation system according to an embodiment of the present invention. FIG. 2 is a side view showing the overall configuration of the positioner. FIG. 2 is a block diagram showing a schematic configuration of a control system of a positioner. FIG. 3 is a side view showing the overall configuration of the positioner with the swing arm tilted from the vertical. FIG. 3 is a side view showing the overall configuration of the positioner with the platform tilted from the horizontal. FIG. 3 is a schematic diagram showing the overall configuration of an arm. FIG. 3 is a block diagram showing a schematic configuration of a control system of the arm body. FIG. 3 is a partial cross-sectional view of the arm body showing the layout of the drive system of the arm body. FIG. 3 is a plan view showing a connection structure between a platform and a patient-side manipulator arm. 12 is a sectional view taken along the line XII-XII in FIG. 11. FIG. FIG. 3 is a block diagram illustrating an arrangement for managing a patient-side manipulator arm attached to a platform. 1 is a configuration diagram of a data center showing an embodiment of the present invention. 1 is a diagram showing a data structure of a database showing an embodiment of the present invention. FIG. 1 is a diagram showing a data structure of a database showing an embodiment of the present invention. FIG. 1 is a diagram showing a data structure of a database showing an embodiment of the present invention. FIG. 1 is a diagram showing a data structure of a database showing an embodiment of the present invention. FIG. 1 is a diagram showing a data structure of a database showing an embodiment of the present invention. FIG.

Embodiments of the present invention will be described below based on the drawings. In this embodiment, a surgical operation system 100 including a surgical robot will be described as an example.

[System configuration]
FIG. 1 shows another example of the system configuration of this embodiment. In the system 200 in FIG. 1, a plurality of surgical systems 100 and a data center 201 (including a data analysis device in this embodiment) connect an external network 203 provided outside a facility 204 such as a research institution or a medical institution. are connected to each other (can communicate) through Data center 201 centrally manages multiple surgical operation systems 100. External network 203 is, for example, the Internet. Each surgical system 100 transmits and receives data regarding the operating status of the surgical system 100 to and from the data center 201 via the external network 203 . Data center 201 can communicate with support center 205 via external network 203 .

FIG. 2 shows the system configuration of this embodiment. In the system 200, a plurality of surgical systems 100 and a data center 201 (including a data analysis device in this embodiment) are connected to each other (communicatable) via a network. FIG. 2 shows a system in which a plurality of surgical systems 100 and data centers 201 are connected to each other via an in-facility network 202 provided within a facility such as a research institution or a medical institution. The data center 201 centrally manages multiple surgical systems 100 within the facility. Each surgical system 100 transmits and receives data regarding the operating status of the surgical system 100 to and from the data center 201 via the intra-facility network 202 . Details of the surgical system 100 will be described later.

In the examples of FIGS. 1 and 2, each surgical system 100 and data center 201 has unique identification information. During communication between each surgical operation system 100 and the data center 201, each piece of identification information is used as information indicating the destination or source of data.

In the examples of FIGS. 1 and 2, each surgical system 100 is installed in a different operating room.

[Summary of surgical system]
FIG. 3 is a schematic diagram showing the overall configuration of a surgical system 100 according to an embodiment of the present invention. As shown in FIG. 3, the surgical operation system 100 is a system in which an operator O such as a doctor performs endoscopic surgery on a patient P using a patient-side system 1, such as robot-assisted surgery or robot remote surgery. It is.

The surgical operation system 100 includes a patient-side system 1 and an operating device 2 for operating the patient-side system 1. The operating device 2 is placed apart from the patient-side system 1 , and the patient-side system 1 is remotely controlled by the operating device 2 . The operator O inputs an operation to be performed by the patient-side system 1 into the operating device 2, and the operating device 2 transmits the operation command to the patient-side system 1. Then, the patient-side system 1 receives the operation command transmitted from the operating device 2, and operates the endoscope assembly 41, instrument 42, etc. that the patient-side system 1 has based on this operation command. Each component of surgical system 100 will be described in detail below. In the following description, the patient-side system 1 and the operating device 2 in the surgical operation system 100 are collectively referred to as a "surgical operation robot."

[Example of configuration of operating device]
The operating device 2 constitutes an interface between the surgical operation system 100 and the operator O, and is a device for operating the patient-side system 1. The operating device 2 is installed next to the operating table 111 in the operating room, apart from the operating table 111, or outside the operating room. The operating device 2 includes an operating input unit 50 such as an operating manipulator arm 51 and an operating pedal 52 for the operator O to input operation commands, and a monitor 53 that displays images taken by the endoscope assembly 41. include. The surgeon O inputs an operation command to the operating device 2 by operating the operation input unit 50 while visually checking the affected area on the monitor 53 . The operation command input to the operating device 2 is transmitted to a controller 6 of the patient-side system 1, which will be described later, by wire or wirelessly.

[Example of patient system configuration]
The patient-side system 1 constitutes an interface between the surgical operation system 100 and the patient P. The patient-side system 1 is placed beside the operating table 111 on which the patient P lies in the operating room. The operating room is a sterile field.

The patient-side system 1 includes a positioner 7, a platform 5 attached to the distal end of the positioner 7, and a plurality of patient-side manipulator arms (hereinafter simply referred to as "arms 3") detachably attached to the platform 5. A movable part)), an endoscope assembly 41 attached to the distal end of one arm 3A among the plurality of arms 3, and an endoscope assembly 41 detachably attached to the distal end of the remaining arm 3B among the plurality of arms 3. A sterile drape 9 shields the positioner 7 and platform 5 from the sterile field, and a controller 6 that controls the operation of the patient-side system 1. Hereinafter, the arm 3 to which the endoscope assembly 41 is attached may be referred to as a "camera arm 3A", and the arm 3 to which the instrument 42 is attached may be referred to as an "instrument arm 3B". The patient-side system 1 according to this embodiment includes a total of four arms 3, including one camera arm 3A and three instrument arms 3B.

In the patient-side system 1 described above, elements from the positioner 7 to the endoscope assembly 41 or each instrument 42 are connected in series. In this specification, in the above series of elements, the end on the side facing the positioner 7 (more specifically, the contact part of the positioner 7 with the floor of the operating room) is referred to as the "proximal end", and the end on the opposite side is referred to as the "proximal end". The end portion will be referred to as the “tip portion”. Further, the base end may be referred to as a "proximal end", and the distal end may be referred to as a "distal end".

The instrument 42 is composed of a drive unit 45 provided at its base end, an end effector 44 provided at its distal end, and an elongated shaft 43 that connects the drive unit 45 and the end effector 44. (See Figure 8 for both). A reference direction D is defined in the instrument 42, and the drive unit 45, shaft 43, and end effector 44 are arranged parallel to the reference direction D. The end effector 44 of the instrument 42 includes an instrument having movable joints, such as forceps, scissors, graspers, needle holders, micro dissectors, staple appliers, tackers, suction cleaning tools, snare wires, clip appliers, etc. ) and non-articulated instruments such as cutting blades, ablation probes, irrigators, catheters, and suction orifices.

In the patient-side system 1 having the above configuration, the controller 6 receives an operation command from the operating device 2, and first operates the positioner 7 so that the platform 5 and the operating table 111 or the patient P are in a predetermined positional relationship. The platform 5 is positioned. Next, the controller 6 operates each arm 3 so that the sleeve (cannula sleeve) 110 placed on the body surface of the patient P, the endoscope assembly 41, and each instrument 42 have a predetermined initial positional relationship. Then, the endoscope assembly 41 and each instrument 42 are positioned. Note that the above positioning operations of the positioner 7 and each arm 3 may be performed simultaneously. Then, the controller 6 operates each arm 3 to appropriately displace and displace the endoscope assembly 41 and each instrument 42 in accordance with operation commands from the operating device 2 while the positioner 7 is kept stationary in principle. The treatment is performed by operating each instrument 42 while changing the posture.

[Positioner configuration example]
Here, the configuration of the positioner 7 will be explained in detail. FIG. 4 is a side view showing the overall configuration of the positioner 7.

As shown in FIG. 4, the positioner 7 is based on a horizontal articulated robot, and includes a base 70 placed on the floor of the operating room, an elevating shaft 72, and the proximal ends of the base 70 and the elevating shaft 72. and a horizontal arm 73 connected to the tip of an elevating shaft 72. The platform 5 is connected to the tip of the horizontal arm 73.

The base 70 is, for example, a truck with a brake, and can be moved to a desired position and stopped there. A base end portion of a swing arm 71 is connected to this base 70 via a rotary joint J71. Due to this operation of the rotary joint J71, the swing arm 71 rotates (swings) about a horizontal rotation axis (swing axis) defined on the base 70. Further, the distal end of the swing arm 71 is connected to the base end of the elevating shaft 72 via a rotary joint J72. Due to the operation of the rotary joint J72, the swing arm 71 rotates (swings) about a horizontal rotation axis defined at the base end of the elevating shaft 72.

The elevating shaft 72 extends vertically and is vertically expandable and retractable. The elevating shaft 72 of this embodiment includes a cylindrical member 72a, a hollow shaft member 72b inserted into the cylindrical member 72a so as to be movable in the vertical direction, and a translation joint J73 connecting the cylindrical member 72a and the shaft member 72b. include. Due to this movement of the translational joint J73, the shaft member 72b moves forward and backward in a direction perpendicular to the cylinder member 72a.

The horizontal arm 73 includes a first link 74 and a second link 75 that extend horizontally, and a wrist link 76 connected to the tip of the second link 75. The platform 5 is connected to the tip of the wrist link 76.

The base end of the first link 74 is connected to the distal end of the elevating shaft 72 via a rotary joint J74. The first link 74 and the lifting shaft 72 form a right angle. Due to the operation of the rotary joint J74, the first link 74 rotates about a vertical rotation axis defined at the tip of the elevating shaft 72. The distal end of the first link 74 is connected to the proximal end of the second link 75 via a rotary joint J75. Due to this movement of the rotary joint J75, the second link 75 rotates about a vertical axis of rotation defined at the tip of the first link 74.

The distal end of the second link 75 is connected to the proximal end of the wrist link 76 via a rotary joint J76. This movement of the rotary joint J76 causes the wrist link 76 to rotate about a horizontal axis of rotation defined at the tip of the second link 75. In a normal state, the wrist link 76 extends vertically, and the platform 5 connected to the tip of the wrist link 76 is in a horizontal position.

Here, the configuration of the control system of the positioner 7 will be explained. FIG. 5 is a block diagram showing a schematic configuration of the control system of the positioner 7. As shown in FIG. As shown in FIG. 5, the positioner 7 includes drive servo motors M71 to M76 and encoders E71 to E76 that detect rotation angles of the servo motors M71 to M76, corresponding to each joint J71 to J76. There is. Servo motors M71 to M76 are each provided with a temperature sensor. Note that, in this figure, among the joints J71 to J76, the drive systems for the rotary joint J71 and J76 are representatively shown, and the drive systems for the remaining joints J73 to J75 are omitted.

The controller 6 includes a positioner control section 601 that controls the operation of the positioner 7. Servo control units C71 to C76 are electrically connected to the positioner control unit 601, and servo motors M71 to M76 are electrically connected to the servo control units C71 to C76 via an amplifier circuit (not shown) or the like. The controller 6 can communicate with the data center 201 via an in-facility network 202 or an external network 203.

In the above configuration, a position and orientation command for the platform 5 is input to the positioner control unit 601 based on an operation command input to the operating device 2 . The positioner control unit 601 generates and outputs a position command value based on the position and orientation command and the rotation angles detected by the encoders E71 to E76. The servo control units C71 to C76 that have acquired this position command value generate and output a drive command value (torque command value) based on the rotation angle and position command value detected by the encoders E71 to E76. The amplifier circuit that has acquired this drive command value supplies a drive current corresponding to the drive command value to the servo motors M71 to M76. In this way, each of the servo motors M71 to M76 is servo-controlled so that the platform 5 reaches the position and orientation corresponding to the position and orientation command.

The controller 6 transmits data regarding each component (for example, each joint J71 to J76) that becomes a movable part of the positioner 7 to the data center 201. The controller 6 transmits, for example, the following data to the data center 201 via the in-facility network 202 or the external network 203.

・Position command value output to each servo control unit C71 to C76 ・Drive command value (torque command value) output from each servo control unit C71 to C76
・Current value of the drive current supplied from the amplifier circuit ・Temperature collected by the temperature sensor placed on each servo motor M71 to M76 ・Encoder value of encoder E71 to E76 corresponding to the drive current ・For each encoder E71 to E76 The voltage value of the backup battery of ・The electrical resistance value of the harness provided in each joint J71 to J76 Image data can be sent to data center 201. The controller 6 acquires image data from the camera and transmits the acquired data to the data center 201 . The camera can take a still image of the positioner 7, and the controller 6 can send the taken still image data to the data center 201. Further, the camera can photograph the operation of the positioner 7 as a moving image, and the controller 6 can transmit the photographed video data to the data center 201.

The controller 6 may transmit information indicating the status of the operating room to the data center 201.

The controller 6 associates each of the above information with identification information (component ID) of each component (for example, each joint J71 to J76) that is a movable part of the positioner 7, and transmits the associated information to the data center 201.

The data that the controller 6 transmits to the data center 201 is not limited to the above example. The controller 6 can transmit the above data to the data center 201 every time an operation command is input from the operating device 2.

As described above, the positioner 7 can change its mode depending on the position and orientation command of the platform 5. Here, as shown in FIG. 2, the basic posture of the positioner 7 is such that the swing arm 71 and the lifting shaft 72 extend vertically, the horizontal arm 73 extends horizontally, and is connected to the wrist link 76. The platform 5 is placed in a horizontal state.

As shown in FIG. 6, when tilting the swing arm 71 from the vertical position from the basic posture, the positioner control unit 601 operates the rotary joint J71 to tilt the swing arm 71 from the vertical position, and operates the rotary joint J72. to maintain the vertical posture of the elevating shaft 72. In this way, regardless of the tilt of the swinging arm 71 from the vertical, the verticality of the elevating shaft 72 and the horizontality of the horizontal arm 73 are maintained.

When the swing arm 71 is tilted from the vertical as described above, the positioner 7 takes on a C-shape as a whole. As a result, the positioner 7 assumes a mode in which the base 70 is located below the operating table 111, the elevating shaft 72 is located to the side of the operating table 111, and the horizontal arm 73 is located above the operating table 111. be able to. In this way, by housing the base 70 below the operating table 111, it is possible to secure a flow line for an assistant who assists the operation around the operating table 111 during the operation.

Furthermore, as shown in FIG. 7, when the rotary joint J76 is driven to tilt the wrist link 76 from the vertical, the platform 5 tilts from the horizontal. When the platform 5 is tilted from the horizontal, the basic axes (swivel axes) Lp of the arms 3 attached to the platform 5 are all tilted from the vertical. As a result, the angular range of the reference direction D defined for the instrument 42 is expanded, and the instrument 42 can be inserted into the patient P at a greater angle from the vertical. In this way, the insertion direction of the instrument 42 into the patient P can be appropriately adjusted depending on the patient P's recumbent position or surgical position.

[Arm configuration example]
Here, the configuration of arm 3 will be explained in detail. In FIG. 8, a schematic configuration of one of the plurality of arms 3 included in the patient-side system 1 is shown. As shown in FIG. 8, the arm 3 includes an arm main body 30 and a translation arm 35 connected to the distal end of the arm main body 30, and is capable of moving the distal end in three-dimensional space with respect to the base end. It is configured so that it can be done. In this embodiment, the plurality of arms 3 included in the patient-side system 1 all have the same or similar configuration, but at least one of the plurality of arms 3 may have a different configuration from the rest. .

When the arm 3 is an instrument arm 3B, a holder (instrument holding part) 36 for holding an instrument 42 is provided at the tip of the translation arm 35. An instrument 42 is removably held in the holder 36. The shaft 43 of the instrument 42 held by the holder 36 extends parallel to the reference direction D.

Further, when the arm 3 is a camera arm 3A, a holder 36 is provided at the tip of the translation arm 35, similar to the above-mentioned instrument arm 3B, and the endoscope assembly 41 is removably held in the holder 36. be done. Here, the holder 36 provided on the camera arm 3A may be different from the holder 36 provided on the instrument arm 3B. Alternatively, since the endoscope assembly 41 is rarely replaced during surgery, the endoscope assembly 41 may be fixed to the camera arm 3A.

The arm 3 is detachable from the platform 5 (ie, easy to attach and detach). Arm 3 is water resistant, heat resistant, and chemical resistant for cleaning and sterilization. There are various methods for sterilizing the arm 3, and for example, high-pressure steam sterilization, EOG sterilization, chemical sterilization using a disinfectant, etc. may be selectively used. In the high-pressure steam sterilization method, the arm 3 is enclosed in a high-pressure container such as an autoclave, and exposed to saturated steam at a predetermined pressure for a predetermined period of time (e.g., 115°C for 30 minutes, 121°C for 20 minutes, or 126°C for 15 minutes). . In the EOG sterilization method, the arm 3 is enclosed in a container, and 450 to 1000 mg/L of ethylene oxide gas is passed through the container. In the chemical sterilization method, the arm 3 is immersed in a disinfectant such as glutaral.

[Example of arm body configuration]
The arm body 30 includes a base 80 that is detachably attached to the platform 5, and first to sixth links 81 to 86 that are sequentially connected from the base 80 toward the tip. More specifically, the proximal end of the first link 81 is connected to the distal end of the base 80 via a torsion joint J31. The proximal end of the second link 82 is connected to the distal end of the first link 81 via a torsion joint J32. A proximal end of a third link 83 is connected to a distal end of the second link 82 via a bending joint J33. A proximal end portion of a fourth link 84 is connected to a distal end portion of the third link 83 via a torsion joint J34. The proximal end of the fifth link 85 is connected to the distal end of the fourth link 84 via a bending joint J35. A proximal end portion of a sixth link 86 is connected to a distal end portion of the fifth link 85 via a torsion joint J36. The base end of the translation arm 35 is connected to the distal end of the sixth link 86 .

The outer shell of the arm body 30 is mainly made of a heat-resistant and chemical-resistant member such as stainless steel. Furthermore, a seal (not shown) for providing water resistance is provided at the connecting portion between the links. This seal has heat resistance compatible with high-pressure steam sterilization and chemical resistance against disinfectants. In addition, in the connection between links, the end of one link is inserted inside the end of the other link, and a seal is placed to fill the space between the ends of these links. By doing so, the seal is hidden from view. This prevents water, chemicals, and steam from entering between the seal and the link.

Here, the configuration of the drive system and control system of the arm body 30 will be explained using FIGS. 9 and 10. FIG. 9 is a block diagram showing a schematic configuration of the control system of the arm body 30, and FIG. 10 is a schematic cross-sectional view of the arm body 30 showing the layout of the drive system of the arm body 30.

The arm body 30 having the above configuration includes drive servo motors M31 to M36, encoders E31 to E36 for detecting the rotation angles of the servo motors M31 to M36, and servo motors M31 to M36, corresponding to the respective joints J31 to J36. Reducers R31 to R36 are provided to reduce the output of M36 and increase the torque. Note that, in FIG. 9, among the joints J31 to J36, the control systems for torsion joint J31 and torsion joint J36 are representatively shown, and the control systems for the remaining joints J33 to J35 are omitted. The encoders E31 to E36 are provided as an example of rotational position detection means for detecting the rotational positions (rotational angles) of the servo motors M31 to M3, and instead of the encoders E31 to E36, rotational position detection means such as a resolver may be used. may be used. Further, each of the above-mentioned elements of the drive system of the arm body 30, the wiring therefor, and the control section are made of high-temperature resistant material, and are provided with heat resistance for sterilization.

In the torsion joint J31 connecting the base 80 and the first link 81, a servo motor M31 is provided at the base end of the first link 81, and a speed reducer R31 is provided at the distal end of the base 80. The speed reducer R31 according to the present embodiment is of a unit type including a gear that reduces the rotational speed of input power and an output gear that receives the output thereof. The servo motor M31 is arranged so that its output shaft is parallel to the rotation axis of the torsion joint J31. Encoder E31 is attached to servo motor M31. The output of the servo motor M31 is input to the reduction gear R31. Since the output gear of the reducer R31 is fixed to the first link 81, the first link 81 rotates with respect to the base 80 by the output from the reducer R31.

In the torsion joint J32 that connects the first link 81 and the second link 82, a servo motor M32 is provided at the tip of the first link 81, and a speed reducer R32 is provided at the base end of the second link 82. . The servo motor M32 is arranged so that its output shaft is parallel to the rotation axis of the torsion joint J32. Encoder E32 is attached to servo motor M32.

In the bending joint J33 connecting the second link 82 and the third link 83, a reducer R33 is provided at the tip of the second link 82, and a servo motor M33 is provided at the base end of the third link 83. . The servo motor M33 is arranged so that its output shaft is parallel to the rotation axis of the bending joint J33. Encoder E33 is attached to servo motor M33.

Following the above, servo motors M34 to M36, encoders E34 to E36, and reduction gears R34 to R36 are also arranged in the remaining joints J34 to J36.

The servo motors M31 to M36 have a small output (for example, about 80 W), are lightweight, and are small. Further, the reducers R31 to R36 have a flat shape with a small dimension in the axial direction, and are capable of obtaining high torque at a high reduction ratio (for example, 100 or more). Since the arm 3 of the patient-side system 1 is not required to operate at high speeds like a general industrial manipulator, a servo motor with a large output is not required. Therefore, by using a combination of servo motors M31 to M36, which have relatively low output, and reducers R31 to R36, which have relatively high reduction ratios, the arm 3 can be made lighter and smaller while securing the necessary torque. ing.

In addition, in a typical industrial manipulator, the output of the servo motor is transmitted in the order of the output gear, the reducer, and the load, but in the arm 3 according to this embodiment, the output of the servo motor is transmitted in the order of the reducer, the output gear, and the load. transmitted in order. In this way, the weight and size of the arm 3 can also be reduced by arranging the reducer on the input side with respect to the output gear.

The controller 6 includes an arm body control section 602 that controls the operation of the arm body 30. Servo control units C31 to C36 are electrically connected to the arm main body control unit 602, and servo motors M31 to M36 are electrically connected to the servo control unit 79 via an amplifier circuit (not shown) or the like. The controller 6 can communicate with the data center 201 via an in-facility network 202 or an external network 203.

In the above configuration, a position and orientation command for the tip of the arm body 30 is input to the arm body control unit 602 based on an operation command input to the operating device 2 . Arm main body control section 602 generates and outputs a position command value based on the position and orientation command and the rotation angle detected by encoders E31 to E36. The servo control units C31 to C36 that have acquired this position command value generate and output a drive command value (torque command value) based on the rotation angle and position command value detected by the encoders E31 to E36. The amplifier circuit that has acquired this drive command value supplies a drive current corresponding to the drive command value to the servo motors M31 to M36. In this way, each of the servo motors M31 to M36 is servo-controlled so that the tip of the arm body 30 reaches the position and orientation corresponding to the position and orientation command.

The controller 6 transmits data regarding each component (for example, each torsion joint J31 to J36) that becomes a movable part of the arm 3 to the data center 201. The controller 6 transmits, for example, the following data to the data center 201 via the in-facility network 202 or the external network 203.

・Position command value outputted to each servo control unit C31 to C36 ・Drive command value (torque command value) outputted from each servo control unit C31 to C36
・Current value of the drive current supplied from the amplifier circuit ・Temperature collected by the temperature sensor placed on each servo motor M71 to M76 ・Encoder value of encoder E71 to E76 corresponding to the drive current ・For each encoder E71 to E76 The voltage value of the backup battery of - The electrical resistance value of the harness provided in each joint J71 to J76 The controller 6 can transmit image data photographed by the endoscope assembly 41 to the data center 201. The controller 6 may transmit still image data taken by the endoscope assembly 41 to the data center 201. The controller 6 may transmit video data captured by the endoscope assembly 41 to the data center 201 as streaming data.

The controller 6 can transmit image data of the arm 3 captured by at least one camera (not shown) provided in the surgical operation system 100 to the data center 201 . The controller 6 acquires image data from the camera and transmits the acquired data to the data center 201 . The camera can take a still image of the arm 3, and the controller 6 can send the taken still image data to the data center 201. Further, the camera can photograph the motion of the arm 3 as a moving image, and the controller 6 can transmit the photographed video data to the data center 201.

The controller 6 associates each piece of information described above with identification information (component ID) of each component (for example, each torsion joint J31 to J36) serving as a movable part of the arm 3, and transmits the associated information to the data center 201.

The data that the controller 6 transmits to the data center 201 is not limited to the above example. The data that the controller 6 transmits to the data center 201 is not limited to the above example. The controller 6 can transmit the above data to the data center 201 every time an operation command is input from the operating device 2.

[Connection structure between arm and platform]
The connection structure between the platform 5 and the arm 3 will be explained.

The base 80 of the arm 3 is detachable from the platform 5. In other words, it is easy to remove or attach the entire arm 3 from the patient-side system 1. In this embodiment, the four arms 3 are removable from the platform 5, but it is only necessary that at least one of the arms 3 included in the patient-side system 1 is removable from the platform 5.

The arm 3 removed from the patient-side system 1 is cleaned and sterilized, and then reused within a limited number of times. In this way, the arm 3 can be replaced with a sterilized and clean one every time a surgery is performed. The arm 3 is therefore not covered with a sterile drape as is conventional, but may be exposed to a sterile field.

FIG. 11 is a plan view showing the connection structure between the platform 5 and the arm 3, and FIG. 12 is a sectional view taken along the line XII-XII in FIG. As shown in FIGS. 11 and 12, the base end part of the base 80 of the arm 3 has a cylindrical shape, and at least one interface part (hereinafter referred to as "I/F part 801") is provided on the periphery or the base end surface. have). Although the I/F section 801 according to the present embodiment is a protrusion formed on the outer peripheral surface of the base 80, the aspect of the I/F section 801 is not limited to this.

An IC tag 91 for attaching identification information to the arm 3 is embedded in the I/F section 801. The IC tag 91 includes an IC chip and an antenna, and the IC chip includes a microcomputer, EEPROM, RAM, etc. (all not shown). The IC tag 91 stores the individual identification information of the arm 3, the model number, the number of times of use, and the like.

The I/F section 801 is provided with one or more connectors 92. The one or more connectors 92 include connectors for electric wires that supply electricity to the arm 3, connectors for communication wiring that transmits and receives signals to and from the arm 3, and the like.

In this embodiment, since the four arms 3 are removably attached to the platform 5, the platform 5 is provided with at least four attachment ports 55. The platform 5 has a hexagonal shape in which two adjacent corners of a quadrangle are chamfered in a plan view, and three consecutive sides thereof have components oriented in the same direction. One attachment port 55 is provided on each of the three sides. In addition, a wall 59 facing the side is formed by partially cutting out the lower part of the platform 5, and this wall 59 also has the three mounting ports 55 on the lower tier, similar to the three mounting ports 55 on the upper tier. A port 55 is provided. In this embodiment, one of the three lower mounting ports 55 is used, and the remaining two are vacant. In this way, the platform 5 is provided with a plurality of attachment ports 55, and the attachment port 55 to be used for each surgery can be selected.

As described above, the I/F section 801 provided on the base 80 of the arm 3 and the attachment port 55 provided on the platform 5 constitute a coupling mechanism that connects the arm 3 and the platform 5. Then, the base 80 (namely, the arm 3) is attached to the platform 5 by fitting the I/F section 801 of the base 80 into the attachment port 55 of the platform 5.

A socket 56 is provided in the mounting port 55 of the platform 5 at a position corresponding to the connector 92 provided in the I/F section 801. As the I/F section 801 and the attachment port 55 are connected, the connector 92 and the socket 56 are automatically connected. Electric wires and/or communication wiring are connected to the socket 56 through the internal spaces of hollow elements (shafts, links, etc.) that constitute the platform 5 and the positioner 7. Note that although the connector 92 is exposed on the surface of the arm 3 and can be contacted with the socket 56, the connector 92 is embedded near the surface of the arm 3, and the socket 56 and the connector 92 are not in contact with each other due to electromagnetic induction or the like. An electrically connected configuration may also be adopted.

The platform 5 is provided with a reader/writer 93 that reads and writes (stores) information from the IC tag 91 embedded in the arm 3. This reader/writer 93 is provided corresponding to each attachment port 55 of the platform 5, and outputs information read from the IC tag 91 to the controller 6, which will be described later. This reader/writer 93 may read the IC tags 91 of each arm 3 attached to the platform 5 individually, or it may read the IC tags 91 of all the arms 3 attached to the platform 5 at once. There may be.

The platform 5 and the base 80 are provided with one or more sets of attachments that can lock (hold) and release the lock (release the hold) of the arm 3 attached to the platform 5 so that the base 80 does not fall off the platform 5. A locking mechanism 94 is provided. Note that "mounting lock" refers to fixing the I/F section 801 of the arm 3 attached to the mounting port 55 of the platform 5 to the mounting port 55, and "releasing the mounting lock" refers to releasing the fixation. say.

The attachment lock mechanism 94 is constructed by cooperation between a member provided at or near the attachment port 55 of the platform 5 and a member provided at or near the I/F section 801 of the arm 3. Such an attachment locking mechanism 94 includes, for example, a protrusion provided on one of the platform 5 and the base 80 and a lever with a latch provided on the other, a recess provided on one of the two, and a recess provided on the other. and a recess provided on one of the two and a ball plunger provided on the other. Alternatively, the attachment lock mechanism 94 may be any other known attachment lock mechanism. However, it is preferable that the attachment locking mechanism 94 is one that can lock/unlock the attachment with a one-touch operation, rather than using tools such as bolts and nuts to lock/unlock the attachment.

FIG. 13 is a block diagram showing a configuration for managing the arm 3 attached to the platform 5. As shown in FIG. 13, the controller 6 includes an arm management section (management device) 603 for managing the arm 3 attached to the platform 5. A reader/writer 93 is electrically connected to the arm management section 603. The controller 6 can communicate with the data center 201 via an in-facility network 202 or an external network 203.

The arm management unit 603 detects that the connector 92 and the socket 56 are connected based on the power supply from the platform 5 to the arm 3. Power supply from the platform 5 to the arm 3 can be detected, for example, based on a detection signal from a current detection sensor (detection sensor 57) provided on the electric wire or communication wiring up to the socket 56. The connection between the connector 92 and the socket 56 means that the I/F section 801 is normally attached to the attachment port 55. That is, the presence or absence of the arm 3 attached to the attachment port 55 can be detected based on the presence or absence of power being supplied from the platform 5 to the arm 3. In this way, the arm management unit 603 can detect that the arm 3 has been attached to each attachment port 55 that the platform 5 has.

However, in order to detect the presence or absence of the arm 3 attached to the attachment port 55, a contact or non-contact type object detection sensor (not shown) may be provided on the platform 5. In this case, the arm management unit 603 detects that the arm 3 is attached to the attachment port 55 based on the detection signal from this detection sensor.

When the arm management unit 603 detects that the arm 3 is attached to the attachment port 55, it causes the reader/writer 93 to perform a reading operation, and connects the arm 3 to the platform 5 based on the information read from the IC tag 91 by the reader/writer 93. The individual identification information, model number information (type), usage frequency information, etc. of each arm 3 are acquired. The arm management unit 603 temporarily stores each piece of acquired information in association with the mounting position information (namely, the mounting port 55) on the platform 5 to which the arm 3 is mounted. Note that each of the plurality of attachment ports 55 is identified. The IC tag 91 may be attached to the arm 3 and may store information regarding consumables of the endoscope assembly 41 and the instrument 42. For example, the IC tag 91 may store the usage time of the endoscope lamp in the endoscope assembly 41, the usage time of the forceps as the instrument 42, and the like.

The controller 6 transmits the information read from the IC tag 91 by the arm management section 603 to the data center 201. The controller 6 transmits, for example, individual identification information, model number information (type), and usage frequency information of each arm 3 to the data center 201. The controller 6 associates each of the individual identification information, model number information (type), and usage frequency information of each arm 3 with the identification information of the surgical operation system 100 and transmits them to the data center 201 . The controller 6 may transmit information regarding consumables of the endoscope assembly 41 and the instrument 42 to the data center 201. For example, the controller 6 transmits the usage time of the lamp of the endoscope assembly 41 and the usage time of the forceps, which is the instrument 42, to the data center 201.

Further, surgical information is input and set (stored) in advance in the controller 6 via the operating device 2. This surgical information includes combinations of a plurality of arms 3 used in the surgery.

The arm management unit 603 determines whether the combination of individual identification information included in the information acquired from the reader/writer 93 corresponds to that set as the surgical information. If the combination does not correspond to the surgical information set, the arm management unit 603 outputs a warning through the warning device 605 connected to the controller 6. Note that the warning device 605 warns the operator O using one or more of light, sound, and images. In this way, the arm management unit 603 manages the arms 3 attached to the platform 5 so that appropriate arms 3 are attached.

The surgical information may include information regarding a combination of the individual identification information of the arm 3 used in the surgery and the mounting position (i.e., the mounting port 55) of the platform 5 to which the arm 3 is to be mounted. .

In this case, the arm management unit 603 determines that the combination of the individual identification information included in the information acquired from the reader/writer 93 and the mounting position information on the platform 5 (i.e., the mounting port 55) stored in association with the individual identification information is It is determined whether the information corresponds to the surgical information set above. If the combination does not correspond to the surgical information set, the arm management unit 603 outputs a warning through the warning device 605 connected to the controller 6. In this way, the arm management unit 603 controls the arms to be attached to the platform 5 so that the arms 3 are attached to the appropriate positions on the platform 5 and so that each attachment port 55 is attached with an appropriate arm 3. I am managing 3.

The surgical information also includes information on the combination of the model number information of the arm 3 used in the surgery and the mounting position (i.e., the mounting port 55) on the platform 5 to which the arm 3 is to be mounted. Good too.

In this case, the arm management unit 603 determines that the combination of the model number information included in the information acquired from the reader/writer 93 and the mounting position (mounting port 55) associated therewith corresponds to that set as the surgical information. If the combination does not correspond to what is set as surgical information, a warning may be outputted through a warning device 605 connected to the controller 6.

The arm 3 differs in type (camera arm 3A, instrument arm 3B) and structure (link length, degree of freedom, etc.) depending on the model number. In the above, model number information is stored in the IC tag 91, but the storage device 604 includes a model number storage section in which model number information is stored in association with individual identification information, and the arm management section 603 stores model number information based on the individual identification information. Corresponding model number information may be read from the storage section, and this model number information may be used in place of the model number information read from the IC tag 91 in the above process.

The controller 6 may receive the surgical information from the data center 201. The controller 6 may perform the above-described control based on the surgical information received from the data center 201.

The storage device 604 of the controller 6 includes a use limit storage section that stores the use limit associated with the individual identification information. Based on the individual identification information acquired from the IC tag 91, the arm management unit 603 reads out the corresponding usage limit from the storage device 604, and compares the usage limit with the acquired usage count information. The arm management unit 603 outputs a warning through the warning device 605 connected to the controller 6 if the usage count information exceeds the usage limit. In this way, the arm management unit 603 manages the number of times the arm is used so that the arm 3 is not used more than its limited number of uses. Note that the arm 3 is a consumable item, and the arm 3 is discarded after being used for the limited number of times.

The arm management unit 603 operates the reader/writer 93 to write new usage frequency information, which is obtained by adding 1 to the usage frequency information obtained from the IC tag 91, to the IC tag 91. As a result, the IC tag 91 of the arm 3 retains information regarding the number of times it has been used. Therefore, the arm 3 can be shared with other patient-side systems 1.

In the above, the arm 3 itself holds the information on the number of times the arm 3 is used, but the information on the number of times the arm 3 is used may be stored in the storage device 604 of the controller 6. In this case, a reader having only a reading function may be used instead of the reader/writer 93. Then, the arm management unit 603 may read out the corresponding usage frequency information from the storage device 604 based on the individual identification information read out from the IC tag 91 by the reader, and use it for the above processing.

Although a preferred embodiment of the connection structure between the platform 5 and the arm 3 has been described above, the above connection structure between the platform 5 and the arm 3 can be modified as follows, for example.

For example, in the embodiment described above, the platform 5 is provided with six attachment ports 55, and the arm 3 is connected to four of these attachment ports 55. In this way, there may be an empty attachment port 55 among the plurality of attachment ports 55. Further, the platform 5 may be provided with five or more attachment ports 55, and the attachment ports 55 at appropriate positions corresponding to the content of the surgery may be selectively used.

For example, in the above embodiment, the arm 3 is provided with an IC tag 91 in order to have the arm 3 itself hold information. However, the IC tag 91 is an example of information holding means provided on the arm 3, and other information holding means may be used instead of or in addition to the IC tag 91. For example, the arm 3 may be provided with a barcode and the platform 5 may be provided with a barcode reader. Further, for example, the arm 3 may be provided with shape symbols such as unevenness, and the platform 5 may be provided with a reader for reading the shape symbols.

In the above embodiment, the connector 92 is provided on the I/F section 801 of the base 80 of the arm 3, and the socket 56 is provided on the mounting port 55 of the platform 5, but the connector 92 and the socket 56 may be omitted. In this case, an electric wire for power supply and/or wiring for communication is connected to the arm 3 at a location other than the I/F section 801.

[Data center configuration example]
FIG. 14 shows a configuration example of the data center 201. Data center 201 includes a computer 210 and a database 213. Computer 210 includes a data management section 211 and a data analysis section 212. The data management unit 211 communicates with the surgical robot of the surgical system 100 via the in-facility network 202 or the external network 203. Computer 210 serves as a data analysis device.

The data management unit 211 stores data received from the surgical robot in the database 213. The data management unit 211 transmits the data read from the database 213 to the surgical robot.

The data analysis unit 212 monitors the operating surgical robot by statistically analyzing the data stored in the database 213. Details of the analysis operation will be described later. The data analysis unit 212 notifies the support center 205 of the monitoring results via the external network 203. The data analysis unit 212 may notify, for example, the operating device 2 of the monitoring results via the in-facility network 202.

The data analysis unit 212 may be programmed with countermeasures based on the knowledge of a robot engineer.

FIG. 15 shows an example of the format of data transmitted and received between the surgical robot and the data center 201.

In the example of FIG. 15A, the data format includes a system ID 220 that is identification information of the surgical robot in the surgical operation system 100, a component ID 221 that is identification information of the movable part of arm 3 or positioner 7, and arm 3 or positioner 7. It includes monitor data 222 regarding the movable part of , and a timestamp 223 corresponding to the time when the monitor data 222 was collected. As described above, the monitor data 222 includes encoded values, servo motor current values, and the like.

When multiple types of data are collected for one movable part, the data format may include a data ID 224 indicating the type of data, as shown in the example of FIG. 15(b).

FIG. 16 shows a data format when information collected from the IC tag 91 of the arm 3 is transmitted and received between the surgical robot and the data center 201.

The data format includes a system ID 220, individual identification information 230 of the arm 3, model number information 231 corresponding to the type of arm, number of times the arm 3 has been used 232, and an attachment port ID 233 indicating the attachment port 55 to which the arm 3 is attached.

[Example of data analysis (1)]
The data analysis unit 212 can use the data stored in the database 213 to perform data analysis for preventive measures against abnormalities, failures, etc. of the surgical operation system 100. The data analysis unit 212 can also perform data analysis for intraoperative backup support using data sequentially stored in the database 213 during surgery.

Preventative measures for abnormalities and failures are taken based on the information stored in the database 213, and are taken quickly when a possibility of failure is discovered, rather than after a failure is detected, to ensure a high level of safety. This is what we are trying to secure.

The data analysis unit 212 monitors the monitor data 222 of each component that is a movable part of the arm 3 or the positioner 7, and can detect abnormalities or signs of failure in the arm 3 or the positioner 7. The data analysis unit 212 monitors the following monitor data 222 regarding the arm 3 and positioner 7, for example.

・Position command value output to each servo control unit ・Drive command value (torque command value) output from each servo control unit
・Current value of the drive current supplied from the amplifier circuit ・Temperature collected by the temperature sensor placed on each servo motor ・Encoder value of the encoder corresponding to the drive current ・Voltage value of the backup battery for each encoder ・Each joint Electrical resistance value of the harness installed inside ・Image and video data from the endoscope assembly 41 (images of the state of internal equipment taken by the endoscope)
・Image and video data taken by the camera installed in the surgical operation system 100 ・Information about consumables (number of times used and usage time)
- Distance measured by a laser sensor The data analysis unit 212 determines that there is a sign of abnormality or failure in the arm 3 or positioner 7 when the deviation between the monitor data 222 of each component and the normal value exceeds a predetermined threshold. can. For example, the data analysis unit 212 compares the temperature data of the servo motor with a normal value, and if the deviation between the temperature data and the normal value exceeds a predetermined threshold, the data analysis unit 212 determines that there is an abnormality or a sign of failure in the arm 3. to decide.

The data analysis unit 212 can determine that there is an abnormality or a sign of failure in the arm 3 or the positioner 7 based on the number of times that the deviation between the monitor data 222 and the normal value of each component exceeds a predetermined threshold. The data analysis unit 212 determines that there is an abnormality or a sign of failure in the arm 3 or the positioner 7 when the number of times the deviation between the monitor data and the normal value of each component exceeds a predetermined threshold exceeds a predetermined number of times. can. For example, the data analysis unit 212 monitors the number of times the difference between the electrical resistance value of the harness and the normal value exceeds a predetermined threshold, and if the number of times exceeds a predetermined number, the arm 3 or positioner 7 has an abnormality. It is determined that there is a sign of failure.

The data analysis unit 212 can determine that there is an abnormality or a sign of failure in the arm 3 or the positioner 7 based on the period during which the deviation between the monitor data 222 of each component and the normal value exceeds a predetermined threshold value. The data analysis unit 212 uses the time stamps 223 stored in the database 213 to monitor the period during which the deviation between the monitor data of each component and the normal value exceeds a predetermined threshold. If the period during which the deviation between the monitor data and the normal value exceeds a predetermined threshold continues for a predetermined period or more, the data analysis unit 212 can determine that there is an abnormality or a sign of failure in the arm 3 or the positioner 7. For example, the data analysis unit 212 monitors the period in which the deviation between the current value of the servo motor and the normal value exceeds a predetermined threshold, and if the period continues for a predetermined period or longer, the arm 3 or the positioner 7 is abnormal. It can be determined that there are signs of failure.

The data analysis unit 212 can detect abnormalities or signs of failure in the arm 3 or the positioner 7 based on a plurality of monitor data 222 acquired for the same type of movable parts. The data analysis unit 212 monitors, for example, a current value of the servo motor and an encoder value corresponding to the current value. The data analysis unit 212 monitors the deviation between the encoder value (expected value) expected for the current value and the monitored encoder value. If the deviation exceeds a predetermined threshold, the data analysis unit 212 determines that there is a sign of abnormality or failure in the arm 3 or the positioner 7. The data analysis unit 212 may determine whether there is an abnormality or a sign of failure in the arm 3 or the positioner 7 based on the number of times the deviation exceeds a predetermined threshold, or the period during which the deviation exceeds a predetermined threshold.

The data analysis unit 212 can dynamically generate standards used for detecting signs of abnormality or failure in the arm 3 or the positioner 7 based on the plurality of monitor data 222. For example, the data analysis unit 212 changes the standard for detecting an abnormality in the current value supplied to the servo motor or a sign of failure, depending on the three-dimensional positions of the arm 3 and the positioner 7 calculated from the encoder values. For example, the data analysis unit 212 determines that when the arm 3 is positioned almost horizontally to the floor on which the operating table 111 is installed, the current value is lower than when the tip of the arm 3 is facing toward the floor. Set high standard values for detecting signs of abnormalities and failures.

The data analysis unit 212 can detect abnormalities or signs of failure in the arm 3 or the positioner 7 based on monitor data 222 acquired from a plurality of surgical robots.

For example, the data analysis unit 212 monitors movable parts of the same type (for example, the torsion joint of the arm 3 of each surgical robot and the bending joint of the arm 3 of each surgical robot) acquired from a plurality of surgical robots. Based on the statistical analysis of the data 222, abnormalities or signs of failure in the arm 3 or positioner 7 can be detected. The data analysis unit 212 calculates the average value (M) and standard deviation (σ) of a group of monitor data 222 regarding movable parts of the same type. The data analysis unit 212 calculates the average value and standard deviation for each group of movable parts of the same type. The data analysis unit 212 uses, for example, the following equation as a standard for detecting an abnormality or a sign of failure in the arm 3 or positioner 7.

|X-M|>3σ

In the above formula, X is the monitor data 222 acquired from the arm 3 or the positioner 7 while it is moving. Based on the above formula, the data analysis unit 212 detects an abnormality in the arm 3 or positioner 7 corresponding to the monitor data 222 when the absolute value of the difference between the monitor data 222 and the average value (M) is greater than 3σ. It is determined that there are signs of failure. If the absolute value of the difference between the monitor data 222 and the average value (M) is larger than 2σ or 4σ, the data analysis unit 212 determines that there is a sign of abnormality or failure in the arm 3 or positioner 7 corresponding to the monitor data 222. It may be determined that there is. The data analysis unit 212 updates the criteria at a predetermined period, for example.

The data analysis unit 212 monitors the same movable parts (for example, the torsion joint J31 of the arm 3 of each surgical robot and the bending joint J33 of the arm 3 of each surgical robot) acquired from a plurality of surgical robots. The criteria may be calculated based on statistical analysis of data 222.

As described above, the data analysis unit 212 can dynamically generate criteria for detecting signs of abnormality or failure based on a large amount of monitor data 222 acquired from a plurality of surgical robots. Since abnormalities and signs of failure can be detected using standards generated based on a large number of monitor data 222, more precise judgments can be made than by monitoring the monitor data 222 of a single surgical robot.

The data analysis unit 212 may detect an abnormality or a sign of a failure in the arm 3 or the positioner 7 based on the correlation between different monitor data 222.

The data analysis unit 212 can detect abnormalities caused by interference between the arms 3. When the arms 3 interfere with each other, the arms 3 perform movements that are not based on instructions from the operating device 2. The surgical robot grasps the behavior of the arm 3 by comparing the encoded value based on the position command value from the operating device 2 with the origin position. An unexpected movement of the arm 3 caused by interference between the arms 3 is not reflected in the encoder value, and a difference occurs between the position of the arm 3 corresponding to the encoder value and the actual position of the arm 3. In this case, even if an attempt is made to return the arm 3 to the origin, the arm 3 cannot be returned to the correct origin position because there is a difference between the position of the arm 3 corresponding to the encoder value and the actual position of the arm 3. The data analysis unit 212 analyzes image and video data, understands the position of the arm 3 that has changed due to interference, and corrects the origin shift. For example, the data analysis unit 212 analyzes image and video data to understand the position of the arm 3 that has changed due to interference, and calculates the deviation from the position of the arm 3 corresponding to the encoder value. The data analysis unit 212 calculates an encoded value corresponding to the calculated deviation, and calculates a correction value for the origin deviation based on the calculated encoded value. The data analysis unit 212 notifies the support center 205 or the surgical robot of the calculated correction value.

When the data analysis unit 212 detects an abnormality or a sign of failure in the arm 3 or the positioner 7, it notifies the support center 205 of warning information. The notification of warning information from the data analysis unit 212 is displayed, for example, on the monitor of a terminal used by a service person at the support center 205. Based on the notification displayed on the monitor, the service personnel notifies the surgical robot of which an abnormality or a sign of failure has been detected, an alarm or an instruction to stop operation. The service personnel may provide telephone support to the user of the surgical robot or dispatch maintenance personnel based on the notification displayed on the monitor. The service personnel can connect the monitor of the terminal and the monitor 53 of the surgical robot to display the operation screen of the surgical robot on the monitor of the terminal. Service personnel can remotely control the surgical robot via the operation screen displayed on the terminal monitor.

The data analysis unit 212 may always transmit the monitoring results of the monitor data 222 to the support center 205. The monitoring results are sequentially displayed on the monitor of the terminal used by the service personnel at the support center 205. For example, the data analysis unit 212 constantly transmits to the support center 205 the deviation between the monitor data 222 acquired from the surgical robot during surgery and a normal value. The service personnel monitors the information transmitted from the data analysis unit 212 and determines whether there is any abnormality or sign of failure in the arm 3 or positioner 7. The service personnel can connect the monitor of the terminal and the monitor 53 of the surgical robot to display the operation screen of the surgical robot on the monitor of the terminal. Service personnel can remotely control the surgical system via the operation screen displayed on the terminal monitor.

When the data analysis unit 212 detects an abnormality or a sign of failure in the arm 3 or the positioner 7, it may directly notify the surgical robot of warning information without going through the support center 205. For example, the data analysis unit 212 notifies a surgical robot of which an abnormality or a sign of failure has been detected, an alarm or an operation stop instruction.

The data analysis unit 212 may present countermeasures on the monitor of the terminal used by the service personnel.

The data analysis unit 212 can acquire information regarding consumables (the number of times the arm 3 is used, the usage time of the lamp of the endoscope assembly 41, etc.) from the database 213. The data analysis unit 212 compares the reference value for consumables replacement with the information acquired from the database 213. For example, the data analysis unit 212 notifies the support center 205 that the number of times of use or the time of use obtained from the database 213 exceeds the reference value. Based on the notification, the service staff at the support center 205 notifies the surgical robot that the time to replace the consumables is approaching. Based on the notification, the service personnel may instruct maintenance personnel to replenish or replace consumables.

[Example of data analysis (2)]
The data analysis unit 212 uses the data stored in the database 213 to perform analysis for preoperative inspection and setup of the surgical robot.

Preoperative inspection and setup support can automate the inspection of preoperative setup information to check the operation of each part of the surgical robot before use. This support allows surgical robots to be inspected remotely at the discretion of robot technicians.

The data analysis unit 212 can check the operation of the arm 3 and positioner 7. The data analysis unit 212 can also check the operation of the operating device 2, endoscope assembly 41, and instrument 42.

The data analysis unit 212 analyzes the deviation between the position command value output to each servo control unit and the encoder value corresponding to the position command value. The data analysis unit 212 analyzes, for example, the deviation between the encoder value (expected value) expected for the position command value and the actual encoder value. The data analysis unit 212 can, for example, analyze the deviation between the current value (expected value) expected for the position command value and the actual current value, and check the torque state of the arm 3 and the positioner 7. For example, the data analysis unit 212 can rotate the servo motor with the brake of the arm 3 turned on, analyze the current value at which the servo motor starts rotating, and check the brake torque.

The data analysis unit 212 notifies the support center 205 of the analysis results. The notification from the data analysis unit 212 is displayed, for example, on the monitor of a terminal used by a service person at the support center 205. The service personnel instructs the surgical robot to correct the deviation based on the notification displayed on the monitor. For example, a service person sends a correction value for correcting the deviation to the surgical robot.

The data analysis unit 212 may directly notify the surgical robot of the analysis results without going through the support center 205. The data analysis unit 212 may calculate a correction value for correcting the deviation and transmit the calculated correction value to the surgical robot.

The data analysis unit 212 can check the positioning accuracy of the arm 3 and the positioner 7 based on images and video data taken by a camera installed in the endoscope assembly 41 or the surgical operation system 100. The data analysis unit 212 analyzes image and video data to determine whether the arm 3 and positioner 7 are moving to a position corresponding to the position command value. The data analysis unit 212 virtually sets a position corresponding to the position command value on the image data, and analyzes whether the arm 3 or the positioner 7 has reached the position. The data analysis unit 212 calculates the amount of movement of the arm 3 and positioner 7 corresponding to the position command value. The data analysis unit 212 analyzes the image and video data and determines whether the arm 3 or the positioner 7 has moved by the calculated amount of movement. The data analysis unit 212 can also analyze image and video data and check the relative positions between the arms 3.

The data analysis unit 212 can check the backlash of the arm 3 and the positioner 7 based on images and video data taken by a camera installed in the endoscope assembly 41 or the surgical operation system 100. Backlash means a gap intentionally created between gears provided on the arm 3 and the positioner 7. It is assumed that backlash deviations occur due to gear wear and deterioration. The data analysis unit 212 can analyze backlash deviation.

When backlash deviation occurs, a time lag occurs between when a position command value is input and when the joints of arm 3 and positioner 7 operate. The data analysis unit 212 analyzes the video data and calculates the time lag between when the position command value is input and when the joints of the arm 3 and the positioner 7 operate.

The data analysis unit 212 notifies the support center 205 of the analysis results. The data analysis unit 212 notifies the support center 205 of image or video data representing the analysis results, or data representing the analysis results. The notification from the data analysis unit 212 is displayed, for example, on the monitor of a terminal used by a service person at the support center 205. The service personnel instructs the surgical robot to correct positioning deviations and backlash deviations based on the image and video data displayed on the monitor. For example, a service person sends a correction value for correcting the deviation to the surgical robot.

The data analysis unit 212 may directly notify the surgical robot of the analysis results without going through the support center 205. The data analysis unit 212 may calculate a correction value for correcting the deviation and transmit the calculated correction value to the surgical robot.

The data analysis unit 212 checks whether the operation pedal 52, endoscope assembly 41, instruments 42 (for example, electric scalpel (energy device), forceps, etc.), monitor 53, recorder, etc. are properly connected to the surgical robot. You can also check. The data analysis unit 212 can also check the operation of energy devices such as electric scalpels and bipolar devices. These checks can check, for example, if the equipment is bent. You can also check whether genuine products are used for each device. This check can be made possible by providing a sensor or the like at the attachment part of the surgical instrument. Checks for energy devices include checking the operation of bipolar devices (females with two tips: a high-frequency current is passed through one tip and collected from the other tip) (output failure, etc.).

The data analysis unit 212 can generate configuration information for the arm 3. The data analysis unit 212 can support the user of the surgical robot by notifying the surgical robot of the generated configuration information via the support center 205. The data analysis unit 212 may directly notify the surgical robot of the generated configuration information. The configuration information notified to the surgical robot is stored in the controller 6 of the arm 3 and positioner 7 as the above-mentioned surgical information. The data analysis unit 212 can also save configuration information in the database 213 and reuse the information.

FIG. 17 shows an example of configuration information generated by the data analysis unit 212. For example, the data analysis unit 212 generates configuration information suitable for the surgical procedure performed by the surgical robot. Information regarding the surgical procedure is notified to the data analysis unit 212 via the operating device 2 of the surgical robot, for example. The information regarding the surgical procedure includes, for example, the positional information of a sleeve (cannula sleeve) placed in the patient's body and the relative position between the patient and the bed. The data analysis unit 212 can also generate configuration information based on the characteristics (for example, height and sitting height) of the doctor who uses the surgical robot. The data analysis unit 212 may generate configuration information based on a combination of a surgical technique and a doctor's characteristics or other information.

For example, the configuration of the arm 3 and the configuration of the positioner 7 are set in the configuration information for each system ID 220.

The configuration of the arm 3 is set for each arm individual identification information 230. The configuration of the arm 3 includes, for example, a mounting port ID 233 and an operation command value 240 for each component ID 221.

The configuration of positioner 7 is similar to that of arm 3.

[Example of data analysis (3)]
The data analysis unit 212 can analyze the usage history of the endoscope assembly 41 and the instrument 42 and the usage status of consumables using the data stored in the database 213.

The database 213 can manage data for each customer based on information acquired from the surgical robot.

FIG. 18 shows an example of customer management data in the database 213. The customer management data includes information regarding each of the surgical robots that have been delivered to the customer, the arms 3 that have been delivered to the customer, and the consumables that have been delivered to the customer.

The database 213 manages a customer ID 250 for identifying a customer in association with a system ID 220 of a surgical robot already delivered to the customer. The database 213 manages information about the arm 3 and information about the consumables of the endoscope assembly 41 and the instrument 42 in association with the system ID 220.

The data analysis unit 212 refers to the customer management data illustrated in FIG. 18 and ascertains the number of times the arm 3 is used, the usage time of consumables, and the like. Further, the data analysis unit 212 can grasp the stock status of the arm 3 and consumables for each customer by referring to the customer management data illustrated in FIG. The data analysis unit 212 notifies the support center 205 of, for example, the number of times the arm 3 is used, the usage time of consumables, and their stock status.

The service staff at the support center 205 checks, for example, the limits on the number of uses and usage time, and the difference between the current number of uses and usage time. For example, when the number of arms 3 and consumables whose difference is greater than a predetermined value is greater than the stock amount, the service engineer instructs the maintenance engineer to replenish the arms 3 and consumables. If the difference is greater than a predetermined value and the number of Arm 3 and consumables is greater than the stock amount, the service engineer instructs the production base of Arm 3 and consumables to ship the Arm 3 and consumables. Good too.

The data analysis unit 212 may instruct maintenance personnel or the production site to replenish the arm 3 or consumables without going through the support center 205. The data analysis unit 212 checks the difference between the limit on the number of uses and usage time and the current number of uses and usage time. For example, when the number of arms 3 and consumables whose difference is greater than a predetermined value is greater than the stock amount, the data analysis unit 212 instructs maintenance personnel and the production base to replenish the arms 3 and consumables.

The service staff at the support center 205 can also accumulate data such as the operation time of the surgical robot, the operation time of the surgical robot, and the amount of operation, and propose efficient system operation methods.

[Example of data analysis (4)]
The data analysis unit 212 can create simulation data for the surgical robot based on data acquired from the surgical robot. The created simulation data is used, for example, for educating users of surgical robots and for research at medical institutions, universities, and the like.

The surgical robot sequentially transmits monitor data 222 regarding the operation of the arm 3 and positioner 7 during surgery to the data center 201. For example, the surgical robot transmits the monitor data 222 to the data center 201 in association with information indicating the surgical technique.

FIG. 19 shows an example of the data form of the database 213. The data management unit 211 of the data center 201 stores the data transmitted from the surgical robot (the data illustrated in FIG. 15) in the database 213 in association with the surgical technique ID 250 indicating the surgical technique.

The data management unit 211 stores the component ID 221, monitor data 222, and time stamp 223 in the database 213 for each system ID 220. The data analysis unit 212 can create simulation data of a specific surgical procedure performed by the surgical robot by arranging the retrieved data in chronological order using the surgical procedure ID 250 and the system ID 220 as keys. The data analysis unit 212 may create simulation data based only on data related to specific motions related to a certain surgical procedure.

The service staff at the support center 205 can educate the customer on how to use the surgical robot by installing simulation data on the surgical robot for customer education.

[Summary]
As described above, according to the system 200, support for the normal operation of a surgical robot can be provided remotely via a network at the discretion of a robot engineer.

Further, a large amount of data is collected in the data center 201, and by analyzing the big data, it is possible to analyze the frequency of abnormalities, failure trends, etc. due to combinations of operations of the surgical robot. Through this analysis, it is also possible to derive abnormalities, signs of failure, etc., and it becomes possible to derive countermeasures in advance.

In addition, in the above-described embodiment, an example was explained in which a service person provides support at the support center 205, but it is also possible to provide support using a program on the computer 210 of the data center 201 without the intervention of a service person, such as preventive support. The analysis and operation instructions for the data stored in the data center 201 include responses other than those sent through the support center 205.

Further, in the above-described embodiment, the surgical operation system 100 including a plurality of surgical robots was explained as an example, but the present invention is not limited to the surgical operation system 100 including a plurality of surgical robots, but includes a medical robot. It can be applied to all types of medical robot systems.

Further, the embodiments described above are merely examples, and various changes can be made without departing from the gist of the present invention, and the present invention is not limited to the embodiments described above.

100: Surgical operation system 1: Patient side system 2: Operating device 3: Patient side manipulator arm (arm: movable part)
3A: Camera arm 3B: Instrument arm 5: Platform (support body)
6: Controller 7: Positioner 9: Sterile drape 30: Arm body 35: Translation arm 36: Holder 41: Endoscope assembly 42: Instrument 55: Mounting port (an example of the manipulator arm mounting part)
56 : Socket 57 : Detection sensor 91 : IC tag (an example of information holding means)
92: Connector 93: Reader writer (reader)
94: Installation locking mechanism 95: Input shaft 96: Output shaft 97: Shaft coupling O: Operator P: Patient 200: System 201: Data center 202: In-facility network 203: External network 204: Facility 205: Support center 210: Computer 211: Data management section 212: Data analysis section 213: Database 220: System ID
221: Component ID
222: Monitor data 223: Time stamp 224: Data ID
230: Arm individual identification number 231: Arm model number information 232: Number of uses 233: Mounting port ID
240: Operation command value 250: Customer ID

Claims (14)

A system comprising a surgical operation system and a data analysis device capable of communicating with the surgical operation system via an external network,
The surgical system includes:
a patient-side system comprising a first manipulator arm to which an instrument is attached and a camera for photographing the first manipulator arm;
an operating device for remotely controlling the first manipulator arm;
a controller that transmits data including image data of the first manipulator arm photographed by the camera and a position command value generated by operating the operating device to the data analysis device via the external network; ,
The data analysis device analyzes the image data of the first manipulator arm transmitted from the controller to obtain position information of the first manipulator arm, and also obtains position information from the command position based on the position command value. A system that includes a data analysis unit that obtains the origin deviation, which is the positional deviation of the system. The system according to claim 1, wherein the data analysis unit obtains a positional deviation correction value from position information of the first manipulator arm and the command position. The system according to claim 2, wherein the data analysis unit transmits the correction value to a terminal. The system according to any one of claims 1 to 3, wherein the controller transmits the image data captured by the camera during surgery to the data analysis device. The system according to claim 3, wherein the data analysis unit transmits an image taken by the camera to the terminal. The patient-side system includes:
a platform to which the first manipulator arm is attached;
further comprising a positioner to which the platform is attached;
The system according to any one of claims 1 to 5, wherein the camera is capable of photographing the positioner. The system according to claim 6, wherein the data analysis unit analyzes the image data captured by the camera to obtain position information of the positioner. The patient-side system includes a second manipulator arm to which an endoscope assembly is attached;
The system according to claim 6 or 7, wherein the controller transmits image data taken by the endoscope assembly and image data taken by the camera to the data analysis unit. The system according to any one of claims 1 to 8, wherein the controller transmits information indicating conditions in the operating room to the data analysis device via the external network. The system according to any one of claims 1 to 9, wherein the controller sends the image data to the data analysis device in association with a time stamp. A data analysis device capable of communicating with a surgical operation system via an external network,
The surgical operation system includes a patient-side system including a first manipulator arm to which an instrument is attached, a camera for photographing the first manipulator arm, and an operation for remotely controlling the first manipulator arm. having a device;
Receive data including image data of the first manipulator arm captured by the camera and a position command value generated by operation of the operating device from the surgical operation system; a data analysis unit that analyzes the image data to obtain position information of the first manipulator arm and also obtains an origin deviation that is a position deviation from a commanded position based on the position command value. Device. The data analysis device according to claim 11, wherein the data analysis unit obtains a positional deviation correction value from position information of the first manipulator arm and the command position. A method for operating a data analysis device capable of communicating with the surgical system via an external network for monitoring the operating status of the surgical system, the method comprising:
The surgical operation system includes a patient-side system including a first manipulator arm to which an instrument is attached, a camera for photographing the first manipulator arm, and an operation for remotely controlling the first manipulator arm. having a device;
The data analysis device receives data including image data of the first manipulator arm photographed by the camera and a position command value generated by operation of the operating device from the surgical operation system, and An operating method comprising analyzing the image data of the first manipulator arm to obtain position information of the first manipulator arm and obtaining an origin deviation that is a positional deviation from a commanded position based on the position command value. . 14. The operating method according to claim 13, wherein the data analysis device obtains a positional deviation correction value from position information of the first manipulator arm and the command position.

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