WO2017104022A1

WO2017104022A1 - Operating method for medical manipulator

Info

Publication number: WO2017104022A1
Application number: PCT/JP2015/085229
Authority: WO
Inventors: 池田　浩; 克彦吉村
Original assignee: オリンパス株式会社
Priority date: 2015-12-16
Filing date: 2015-12-16
Publication date: 2017-06-22

Abstract

Provided is an operating method for a medical manipulator comprising a treatment tool, a manipulation unit having an input unit which is designed to be paired with the treatment tool so as to enable manipulation of the treatment tool, an observation means for acquiring a visual field image, and a control unit designed to be capable of driving the observation means and capable of driving the treatment tool on the basis of an output from the manipulation unit, wherein the method includes: a command reception step in which the control unit receives from the manipulation unit a command to pair the treatment tool and the input unit; a determination step in which the control unit determines whether a prescribed region of the treatment tool paired with the input unit is positioned within the visual field image; and an adjustment step in which, if the prescribed region is not positioned within the visual field image, the control unit adjusts the visual field image so that the prescribed region is positioned within the visual field image.

Description

Operating method of medical manipulator

The present invention relates to a method for operating a medical manipulator.

2. Description of the Related Art Conventionally, medical manipulators that are operated by an operator with an observation means and a plurality of treatment tools inserted into the body are known. The observation means functions as the eyes of the surgeon performing the treatment. The visual field image acquired by the observation means is displayed on a display or the like installed in the operating room.

In a medical manipulator, when one of a plurality of treatment tools is outside the visual field image, the surgeon can remove the distance and positional relationship between the treatment tool outside the visual field image and the treatment tool within the visual field image, and out of the visual field image. The situation around a treatment tool cannot be grasped. For this reason, it is not easy for the surgeon to move the treatment tool outside the visual field image to the site where treatment is currently being performed.

Regarding the above problem, Patent Document 1 discloses an invention in which a composite image of a tool outside the visual field is displayed on a display on which a surgical site image and an in-field tool are displayed in accordance with the direction with respect to the surgical site. According to the present invention, the operator can recognize the position of the tool outside the field of view from the composite image.

US Patent Application Publication No. 2014/0135792

In the invention described in Patent Document 1, it is possible to grasp in which direction the tool outside the field of view is located with respect to the field image, but it is not possible to grasp the situation around the tool outside the field of view. The situation around the tool, for example, the shape and position of the organ, always changes depending on the treatment situation and the change in posture of the patient. Therefore, if the tool outside the visual field is moved without grasping the surrounding situation, the tool may come into contact with an organ or tissue that is not related to the treatment.

In view of the above circumstances, an object of the present invention is to provide a method for operating a medical manipulator that can smoothly perform an operation of a treatment instrument positioned outside a visual field image.

According to the present invention, a treatment instrument, an operation unit having an input unit configured to be able to operate the treatment instrument by being associated with the treatment instrument, an observation unit that acquires a visual field image, and the observation unit can be driven. And an operation method of a medical manipulator including a control unit configured to drive the treatment tool based on an output of the operation unit, wherein the control unit is configured to transmit the treatment tool, the input unit, and the control unit from the operation unit. A command receiving step for receiving a command for associating the input device, a determination step for determining whether the predetermined portion of the treatment tool associated with the input unit is located in the visual field image, and the predetermined portion And an adjustment step in which the control unit adjusts the visual field image so that the predetermined part is positioned in the visual field image when not located in the visual field image. .

In the adjustment step, the control unit may adjust the visual field image by changing a visual field range of the observation unit.
At this time, in the adjustment step, the control unit may change the visual field range by driving the observation unit.

The control unit drives the observation unit so that the treatment instrument is always positioned within the visual field range of the observation unit, sets an image of a partial region within the visual field range as the visual field image, and the adjustment step The control unit may adjust the visual field image by resetting the partial area.

The medical manipulator includes a first observation unit and a second observation unit as the observation unit. In the adjustment step, the control unit switches the observation unit that acquires the visual field image. The visual field image may be adjusted.

According to the operation method of the medical manipulator of the present invention, it is possible to smoothly perform the operation of the treatment instrument located outside the visual field image.

It is a figure showing the whole medical manipulator composition concerning a first embodiment of the present invention. It is a figure which shows the functional block diagram of the medical manipulator. It is a flowchart which shows the flow of an update of information, such as a position in a treatment tool arm. It is a flowchart which shows the flow of a position etc. information in an observation arm, and the update of visual field range information. It is a flowchart which shows the flow of the operating method at the time of the operation target treatment tool change of the medical manipulator. It is a figure which shows an example of the positional relationship of a treatment tool and a visual field range. It is a flowchart which shows the content of step S20 in FIG. It is a figure which shows an example of the relationship between a visual field range and a visual field image in the medical manipulator which concerns on 2nd embodiment of this invention. It is a flowchart which shows the flow of the operating method at the time of the operation target treatment tool change of the medical manipulator. It is a flowchart which shows the content of step S40 in FIG.

A first embodiment of the present invention will be described with reference to FIGS.
FIG. 1 is a diagram showing an overall configuration of a medical manipulator 1 that is operated by an operation method (hereinafter simply referred to as “operation method”) of the medical manipulator of the present embodiment. The medical manipulator 1 includes a master unit (operation unit) 10 that is operated by the operator Op, and a slave unit 50 that performs a treatment on the patient P based on an operation from the master unit 10. The slave unit 50 includes four arms, ie, three treatment instrument arms, a first arm 51, a second arm 52, and a third arm 53 to which a treatment instrument is attached, and an observation arm 54 to which observation means such as a laparoscope is attached. It has. Each arm 51 to 54 has a plurality of joints. The slave unit 50 has a driving source such as a motor for driving the joint of each arm and the attached treatment instrument and observation means. By appropriately driving the joint, the treatment tool, and the observation means by operating the master unit 10, the treatment tool in the body can be moved or a desired treatment can be performed.
The master unit 10 includes a monitor 11 on which an image inside the patient P acquired by the observation means is displayed, and two master arms (input units) 12 operated by the operator Op. On the monitor 11, an image within the visual field range of the observation means is displayed as a visual field image.

FIG. 2 is a functional block diagram of the medical manipulator 1. The medical manipulator 1 includes a control unit 30 that controls the entire apparatus. The control unit 30 is connected to the master unit 10 including the master arm 12 so as to be able to transmit and receive, and operates the treatment tool and the observation means attached to each unit of the slave unit 50 and the slave unit based on the output from the master unit 10. An operation signal for generating the operation signal is generated. The control unit 30 is connected to a drive source for each unit of the slave unit 50 so as to be able to transmit and receive. The operation signal generated by the control unit 30 is transmitted to the slave unit 50, the joints of each arm, the treatment tool, and the observation means are driven based on the operation signal, and movement and treatment in the body are performed.
The basic configuration and basic operation of the above-described medical manipulator are known and disclosed in, for example, US Patent Application Publication No. 2014/0135792.

The medical manipulator 1 according to the present embodiment includes three treatment instrument arms, but includes only two master arms. For this reason, the surgeon Op operates the two treatment instrument arms selected from the three treatment instrument arms 51 to 53 in association with the two master arms 12. During the procedure, the treatment instrument arm to be operated is changed as necessary.

The operation at the time of use of the medical manipulator 1 configured as described above will be described using an example in which the procedure is performed in the abdominal cavity.
The operator Op or the assistant As determines the introduction position of the treatment tool and observation means for the patient P, and forms a treatment tool and observation means introduction port on the abdominal wall of the patient P.
Next, the

treatment tools

56, 57, and 58 are attached to the

treatment tool arms

51, 52, and 53, respectively. The observation means 59 is attached to the observation arm 54. Next, the treatment tools 56 to 58 and the observation means 59 are introduced into the abdominal cavity of the patient P from the associated ports.
The specific configuration of the treatment tools 56 to 58 and the performance of the observation means 59 are appropriately selected according to the procedure to be performed. The treatment tool and the observation means may be appropriately replaced during the procedure.

In the medical manipulator 1, the positions and postures of the joints of the arms 51 to 54 in the coordinate system with the desired position of the slave unit 50 as the origin are known to the control unit 30. Furthermore, the positions of the treatment tools 56 to 58 attached to each arm and the distal end portion of the observation means 59 in the coordinate system are also known based on the dimensions of the treatment tools. Therefore, at the start of use of the medical manipulator 1, initial information regarding the positions of the joints of the arms 51 to 54 and the distal end portions of the treatment tools 56 to 58, the observation means 59, and the like is input to the control unit 30. The

Information (position information, etc.) regarding the position of each part of the slave unit 50 is updated as needed during the operation of the medical manipulator 1.
FIG. 3 is a flowchart showing a flow of updating information such as position in the first arm 51.

In step S 101 of FIG. 3, the control unit 30 determines whether or not a drive command for the treatment tool 56 attached to the first arm 51 and / or the first arm 51 is received from the master unit 10. When the determination in step S101 is No, the process proceeds to step S103, and the control unit 30 maintains the content of information such as the current position for the first arm 51 and ends the process. If the determination in step S101 is Yes, the process proceeds to step S102.

In step S 102, the control unit 30 generates a drive signal for driving the first arm 51 and / or the treatment instrument 56 based on the drive command received from the master unit 10, and transmits the drive signal to the slave unit 50. As a result, the drive source of the slave unit 50 is driven to drive the first arm 51 and the treatment instrument 56 attached to the first arm 51 (hereinafter referred to as “first arm 51 etc.”). Thereafter, the process proceeds to step S104.

Each joint of the first arm 51 includes an encoder or the like (not shown) and can detect its own rotation angle. In step S 104, the control unit 30 receives information indicating the rotation angle from each joint, and calculates the position information after movement of each joint based on the position information before movement and the received information. The control unit 30 updates the information such as the position of the first arm 51 based on the calculation result, and ends the process.

Although the first arm 51 has been described as an example in FIG. 3, the same information such as position is updated for the other

treatment instrument arms

52 and 53.
Similar information such as position update is performed for each joint of the observation arm 54. In addition to this, in the observation arm, information on the visual field range (visual field range information) that is a coordinate range captured by the imaging means 59 is updated as needed.

FIG. 4 is a flowchart showing a flow of updating information such as position in the observation arm 54.
In step S 111 of FIG. 4, the control unit 30 determines whether a driving command for the observation arm 54 has been received from the master unit 10. If the determination in step S101 is No, the process proceeds to step S113. If the determination in step S111 is Yes, the process proceeds to step S112.

In step S112, the controller 30 drives the observation arm 54 and the observation means 59 attached to the observation arm 54 (hereinafter referred to as “observation arm 54 etc.”) in the same manner as in step S102. Thereafter, the process proceeds to step S113.

In step S 113, the control unit 30 determines whether a driving command for the observation unit 59 has been received from the master unit 10. If the determination in step S113 is No, the process proceeds to step S115.
If the determination in step S113 is Yes, the process proceeds to step S114. In step S 114, the control unit 30 generates a drive signal for driving the observation unit 59 based on the drive command received from the master unit 10 and transmits the drive signal to the slave unit 50. As a result, the observation means 59 is driven, and the imaging parameters such as the direction of the optical axis and the angle of view change in the observation means 59.

In step S115, the control unit 30 updates information such as the position of the observation arm 54 and the like in the same manner as in step S113. Subsequently, the control unit 30 calculates visual field range information after the operation of the observation arm 54 and the like, based on the updated position information and the imaging parameters of the observation unit 59. The control unit 30 updates the visual field range information of the observation arm 54 and the like based on the calculation result, and ends the process.
If the determination result is No in both step S111 and step S113, neither the position information nor the field-of-view range information is updated in step S115, and the current information is maintained.

The updating of the position information and the visual field range information described above is repeated every predetermined time (for example, several tens of milliseconds). As a result, in the medical manipulator 1, the control unit 30 maintains the state in which the information such as the position of the first arm 51 and the third arm 53 and the information such as the position of the observation arm 54 and the visual field range information are known. Is done.

In the medical manipulator 1, when the operator Op changes the treatment instrument arm operated by the master arm 12, the distal end portion of the treatment instrument attached to the treatment instrument arm newly associated with the master arm 12 is monitored. 11, the control unit 30 automatically drives the observation arm 54 and the like so as to be positioned in the field-of-view image displayed on the screen 11.
Hereinafter, in the state where the first arm 51 and the second arm 52 and the like are operated by the master arm 12, the operation target is changed from the first arm 51 and the like by associating one master arm with the third arm 53 and the like. Processing of the control unit 30 when changing to the three-arm 53 or the like will be described. This processing by the control unit 30 includes the operation method in the present embodiment.

FIG. 5 is a flowchart showing an operation method when the target associated with the master arm is changed from the first arm 51 or the like to the third arm 53 or the like.
First, the operator Op uses the master unit 10 to input a command to change the target associated with one master arm from the first arm 51 or the like to the third arm 53 or the like.
In step S11, the control unit 30 receives a command for associating one master arm with the third arm 53 and the treatment instrument 58 (command receiving step).
In subsequent step S12, the control unit 30 determines whether or not the third arm 53 or the like that is the target of the association command is in an operable state (active). When the determination in step S12 is Yes, the control unit 30 displays a message on the monitor 11 and the like, because the third arm 53 and the like are associated with the other master arm 12 and are already active. The operator Op is notified that correct association cannot be made (step S16). If the determination in step S12 is No, the process proceeds to step S13.

In step S13, the control unit 30 determines whether or not the distal end portion (predetermined portion) of the treatment instrument 58 attached to the third arm 53 is located in the visual field image (determination step). That is, the control unit 30 determines that the coordinates of the distal end portion of the treatment instrument 58 are within the visual field range of the observation means 59 based on the information such as the position of the third arm 53 and the like and the visual field range information of the observation arm 54 and the like at that time. The above determination is made by determining whether or not it is located in the position.

If the determination in step S13 is Yes, the process proceeds to step S14. In step S 14, the control unit 30 sets the first arm 51 and the like that are released from the association to an inactive state that cannot be operated.
In the subsequent step S15, the control unit 30 associates one master arm 12 associated with the first arm 51 and the like with the third arm 53 and the treatment instrument 58, and operates the third arm 53 and the like with the master arm 12. The state is made possible and the process is terminated. In step S15, before associating one master arm 12 with the third arm 53 or the like, it is determined whether or not the interlock of the master unit 10 has been released. The control unit 30 may be configured to perform attachment.

For example, as shown in FIG. 6, a case is considered in which treatment is performed on a target site Ts using a treatment tool 56 attached to the first arm 51 and a treatment tool 57 attached to the second arm 52. When the outer edge of the visual field range of the observation means 59 is a solid line L1, and the image of the visual field range R1 surrounded by the solid line L1 is displayed on the monitor 11 as a visual field image as it is, the treatment tool 58 attached to the third arm 53. Is outside the visual field range of the observation means 59 and is not reflected in the visual field image displayed on the monitor 11. In this case, the determination in step S13 is No, and the process proceeds to step S20.

In step S20, the control unit 30 drives the observation arm 54 and the like to change the position and size of the visual field range so that the distal end portion of the treatment instrument 58 is located within the visual field range of the observation means 59. The image is adjusted (adjustment process).
FIG. 7 is a flowchart showing the contents of step S20. In step S 21, the control unit 30 determines whether there is a treatment instrument arm or the like associated with the other master arm 12 that is not a target of the association command. Here, since the second arm 52 and the like are associated with the other master arm, the determination is Yes, and the process proceeds to step S22.

In step S22, the control unit 30 calculates a required drive amount for the observation arm 54 and the like. In step S22, since there are two treatment tools that are operated by the master unit 10 after the change, the control unit 30 causes the distal ends of the treatment tools attached to the two treatment tool arms (in this case, the treatment tool 57 and the treatment tool 57). The driving amount of the observation arm 54 and the like necessary for keeping the distal end of 58 within the visual field range of the observation means 59 is calculated as the required driving amount.
In subsequent step S 24, the control unit 30 generates a drive signal for the observation arm 54 and the like based on the calculated required drive amount, and transmits the drive signal to the slave unit 50. As a result, the observation arm 54 and the like are automatically driven by the control unit 30.

If the determination in step S21 is No, the process proceeds to step S23. In step S23, the control unit 30 calculates a required drive amount for the observation arm 54 and the like. In step S23, since only the treatment instrument arm 53 and the like are operated by the master unit 10 after the change, the control unit 30 is necessary for keeping the distal end portion of the treatment instrument 58 within the visual field range of the observation means 59. The driving amount of the observation arm 54 and the like is calculated as a necessary driving amount.
After calculating the required drive amount, the process proceeds to step S24, and the observation arm 54 and the like are automatically driven by the control unit 30.

After step S20, information such as the position of the observation arm 54 and the field of view range information are updated in step S25. The visual field range of the observation means 59 changes, for example, as a region R2 indicated by a broken line in FIG. 6, but the treatment instrument 58 may not be positioned in the visual field image even after the observation arm 54 or the like is automatically driven due to an error or the like. Therefore, after step S20 ends, the process proceeds to step S13 again. In step S 13, the control unit 30 determines again (confirms) whether or not the distal end portion of the treatment tool 58 is located in the visual field image. As a result of the determination, if the distal end portion of the treatment instrument 58 is not yet positioned in the field-of-view image, the process proceeds to step S20 again and is repeated until the determination in step S13 becomes Yes.

When the processing shown in FIG. 5 is completed, the distal end portion of the treatment instrument 58 attached to the third arm 58 is located within the visual field range of the observation means 59, and the visual field image displayed on the monitor 11 is also displayed. It is reflected. The operator Op can fully grasp the situation around the treatment tool 58 from the visual field image and can smoothly operate the third arm 53 and the like.

As described above, according to the operation method of the present embodiment, in the determination step, the control unit 30 determines whether or not the treatment tool 58 newly associated with the master arm 12 is located in the visual field image, In the adjustment step, when it is determined that the treatment tool 58 is located outside the field image, at least one of the observation arm 54 and the observation means 59 is automatically driven so that the treatment tool 58 is located within the field image, and the field image is displayed. Adjusted.
As a result, the operator Op can smoothly operate the third arm 53 and the like newly associated with the master arm 12 while confirming the visual field image displayed on the monitor 11 after driving the observation arm 54 and the like. it can. Thereby, the contact etc. to the structure | tissue etc. which the treatment tool 58 does not intend are prevented suitably.

In the present embodiment, the mode for calculating the required drive amount of the observation arm 54 and the like can be set as appropriate. For example, it is necessary under the condition that the distal end of the treatment instrument 58 is positioned in the field-of-view image by changing only one drive parameter, such as “only the angle of view” and “only the advance and retreat of the observation means 59 in the optical axis direction”. The controller 30 may be configured to try to calculate the driving amount and calculate the necessary driving amount again under the condition of changing a plurality of parameters after it is determined that the calculation is impossible. If it does in this way, the change of the visual field image before and behind an adjustment process can be made small, and the discomfort of the operator Op can be reduced.

In the above description, the example in which the distal end portion of the treatment tool attached to the treatment tool arm is positioned as a predetermined part in the visual field image has been described. However, the position and range of the predetermined part of the treatment tool to be positioned in the visual field image Is not limited to this, and may be set as appropriate. For example, the observation arm or the like may be automatically driven so that the entire treatment instrument attached to the treatment instrument arm is positioned within the visual field image.

Next, a second embodiment of the present invention will be described with reference to FIGS. In the following description, the same components as those already described are denoted by the same reference numerals, and redundant description is omitted.

In this embodiment, instead of the medical manipulator 1, an example in which the medical manipulator 1A is operated will be described. As shown in FIG. 2, the basic configuration of the medical manipulator 1A is the same as that of the medical manipulator 1 of the first embodiment. However, in the medical manipulator 1A, the control unit 30 controls the joints of the arms 51 to 54. I do not know the position and posture. Therefore, the positions of the distal end portions of the treatment tools 56 to 58 and the position of the distal end portion of the observation means 59 are not grasped.

As shown in FIG. 8, in the medical manipulator 1 A, identification markers 56 a, 57 a, and 58 a are provided at the distal ends of the three

treatment tools

56, 57, and 58 that are attached to the treatment tool arm. Each of the markers 56a, 57a, 58a is different from the other markers in at least one of color, shape, and size, and can be distinguished from the other markers.

As shown in FIG. 8, the control unit 30 automatically drives the observation arm 54 and the like so that all the markers 56a, 57a, and 58a are always located within the visual field range R1 of the observation means 59. Whether or not the marker is positioned in the visual field range R1 is determined by performing image processing on the image of the visual field range R1 and recognizing the marker by a known technique.

In the medical manipulator 1 of the first embodiment, the visual field range image is displayed as it is on the monitor 11 as the visual field image, but in the medical manipulator 1A, at least the master arm 12 is associated with the visual field range R1 image. An image of a partial area including the marker of the treatment tool attached to the treatment tool arm is displayed on the monitor 11 as a visual field image. For example, when the

treatment instrument arms

51 and 52 are associated with the master arm 12, the control unit 30 sets a rectangular region R3 including the treatment instrument markers 56a and 57a attached to the

treatment instrument arms

51 and 52. Then, the image of the rectangular region R3, the size of which has been adjusted, is displayed on the monitor 11 as a field image.

FIG. 9 is a flowchart showing a flow of an operation method when the operation target arm is changed in the medical manipulator 1A. Similarly to FIG. 5, an example in which the operation target of one master arm is changed from the first arm 51 to the third arm 53 in a state where the first arm 51 and the second arm 52 are operated by the master arm 12. Is used. In the following, the flow shown in FIG. 9 will be described focusing on differences from the first embodiment.

If the determination in step S12 is No, the process proceeds to step S33.
In step S33, the control unit 30 determines whether or not the treatment tool 58 is located in the field image by determining whether or not the marker 58a is present in the field image (determination step). If the determination in step S33 is Yes, the process proceeds to step S14.

If the determination in step S33 is No, the process proceeds to step S40.
In step S40, the control unit 30 resets the position and size of the rectangular region R3 that defines the visual field image range in the video of the visual field range R1, and adjusts the treatment tool 58 to be positioned in the visual field image ( Adjustment process). After step S40, the process returns to step S33.

FIG. 10 shows the contents of step S40. If the determination in step S21 is Yes, the process proceeds to step S41. In step S41, the control unit 30 changes the position and size of the rectangular region R3 and resets the visual field image range so that at least the treatment tool 57 and the treatment tool 58 are located in the visual field image.
If the determination in step S21 is No, the process proceeds to step S42. In step S42, the control unit 30 changes the position and size of the rectangular region R3 and resets the visual field image range so that at least the treatment tool 58 is positioned in the visual field image.

Also according to the operation method of the present embodiment, the operator Op can smoothly operate the newly associated treatment instrument arm or the like while confirming the visual field image, similarly to the operation method of the first embodiment. Thereby, the contact etc. to the structure | tissue etc. which the treatment tool does not intend are prevented suitably.

In the present embodiment, an example has been described in which the control unit 30 identifies each treatment tool with a marker. However, when the shape of the distal end portion of each treatment tool is different enough to be identified, each treatment is performed based on the shape of the distal end portion. A tool identification may be performed.

The embodiments of the present invention have been described above. However, the technical scope of the present invention is not limited to the above-described embodiments, and combinations of components or components may be changed without departing from the spirit of the present invention. It is possible to make various changes to or delete them.
For example, the processes shown in FIGS. 5 and 7 may be applied to the medical manipulator 1A, or the processes shown in FIGS. 9 and 10 may be applied to the medical manipulator 1.

Moreover, in the said embodiment, although the example of the medical manipulator provided with only one observation means was shown, the operating method of this invention is applicable also to the medical manipulator provided with two observation means. In this case, in the adjustment step, the visual field image may be adjusted by switching observation means for acquiring the visual field image.

When the medical manipulator includes two observation units, the second observation unit may be different from the first observation unit only in the angle of view. Further, the second observation means may be an observation means for bird's-eye view provided closer to the base end side than the first observation means. Further, the second observation unit may acquire an image in a direction different from that of the first observation unit such as a side. By combining these appropriately, the medical manipulator may be configured to include three or more observation means.

In the medical manipulator to which the operation method of the present invention is applied, the number of treatment tools and the number of input units are not particularly limited. The operating method of the present invention is most effective in a medical manipulator having a configuration in which the number of treatment tools is larger than the number of input units. However, even when the number of treatment tools and input units is the same, the operation method of the present invention is newly associated with a treatment tool not associated with one of the two input units, for example. Effective in cases. In addition, even when there is only one treatment instrument, the visual field image is automatically adjusted by the operation method of the present invention in a situation where the association with the input unit is performed after the treatment instrument is introduced into the body. There are benefits.

The present invention can be applied to a medical manipulator.

1, 1A Medical manipulator 10 Master unit (operation unit)
12 Master arm (input unit)
30

Control part

56,57,58 Treatment tool 59 Observation means

Claims

A treatment tool, an operation unit having an input unit configured to be operable with the treatment tool by being associated with the treatment tool, an observation unit that acquires a visual field image, the observation unit can be driven, and the operation An operation method of a medical manipulator comprising a control unit configured to be able to drive the treatment tool based on the output of the unit,
A command receiving step in which the control unit receives a command to associate the treatment tool and the input unit from the operation unit;
A determination step in which the control unit determines whether or not a predetermined part of the treatment tool associated with the input unit is located in the visual field image;
An adjustment step in which the control unit adjusts the visual field image so that the predetermined part is positioned in the visual field image when the predetermined part is not located in the visual field image;
Comprising
A method for operating a medical manipulator.
The operation method of the medical manipulator according to claim 1, wherein, in the adjustment step, the control unit adjusts the visual field image by changing a visual field range of the observation unit.
The operation method of the medical manipulator according to claim 1, wherein, in the adjustment step, the control unit changes the visual field range by driving the observation means.
The control unit drives the observation unit so that the treatment instrument is always located within the visual field range of the observation unit, sets an image of a partial region within the visual field range to the visual field image,
The operation method of the medical manipulator according to claim 1, wherein in the adjustment step, the control unit adjusts the visual field image by resetting the partial region.
The medical manipulator has a first observation means and a second observation means as the observation means,
The operation method of the medical manipulator according to claim 1, wherein, in the adjustment step, the control unit adjusts the visual field image by switching an observation unit that acquires the visual field image.