WO2017125994A1

WO2017125994A1 - Manipulator system for medical use and operation method therefor

Info

Publication number: WO2017125994A1
Application number: PCT/JP2016/051228
Authority: WO
Inventors: 竜一頼本
Original assignee: オリンパス株式会社
Priority date: 2016-01-18
Filing date: 2016-01-18
Publication date: 2017-07-27

Abstract

The manipulator system for medical use according to the present invention is provided with a slave arm (13) that has one or more first joints (20) and has an end effector (21) on a distal end, a master arm (34) having one or more second joints (36) that is operated by an operator, a report unit (40) provided on the second joints (36) that reports a state of the first joints (20) corresponding to the second joints (36) or a state of the second joints (36) and a control unit (4) that controls the slave arm (13) and the master arm (34) and instructs the report unit (41) so as to report a state of the first joints (20) or a state of the second joints (36) on the basis of predetermined conditions.

Description

Medical manipulator system and method for operating the same

The present invention relates to a medical manipulator system and an operation method thereof.

Conventionally, a master-slave type medical manipulator system including a master arm having a joint structure operated by an operator and a slave arm having a joint structure that operates based on an operation input to the master arm is known.

For example, Patent Literature 1 below discloses a surgery support system including a master arm (operation input device) operated by an operator and a slave arm (surgical instrument) that is operated by the master arm and performs treatment on an affected area. It is disclosed.
The master arm and the slave arm have similar joint structures having the same degree of freedom. The slave arm is controlled so that the joints corresponding to the joints of the master arm operate in the directions corresponding to the joints of the master arm with the corresponding displacement amount.

The following Patent Document 2 discloses a medical device including an insertion slave device to be inserted into the body, and an insertion master unit that has a similar structure to the insertion slave device and operates the insertion slave device by an input operation from an operator. A system is disclosed.

As disclosed in

Patent Documents

1 and 2, a master-slave medical system in which a master arm and a slave arm are configured to be similar to each other, and the master arm and the slave arm are controlled to maintain a similar relationship to each other. According to the manipulator system for a slave, the slave arm can follow the movement of the master arm operated by the operator.
Therefore, the operator can remotely operate the slave arm while grasping the operation state (for example, shape) of the slave arm based on the operation state of the master arm.

Japanese Patent No. 3583777 International Publication No. 2010/055745

By the way, when the master arm and the slave arm are similar to each other, there is an advantage that it is easy to grasp the operation state of the slave arm as described above, but the master arm and the slave arm are free to be more articulated. The higher the degree, the more joints to operate.

Therefore, for example, when an operator is working, it is necessary to pay more attention to the state of each joint of both arms, and the operability is likely to deteriorate.
Therefore, for example, it becomes difficult to concentrate the operator's consciousness on the treatment work on the affected part by the slave arm. In addition, for example, when performing a shape synchronization operation that synchronizes the shapes of both arms as one of the setting operations, it is difficult to grasp how much and in which direction each joint of the master arm is optimally moved. turn into.

As described above, as the master arm and the slave arm have more joints, the above-described problems occur. Therefore, during the operator's work or in the setting work, for example, the operator or an assistant around the operator wants to intuitively understand the mutual relationship between each joint of the master arm and the corresponding joint of the slave arm. There is.

The present invention has been made in view of such circumstances, and its purpose is to easily and intuitively grasp the mutual relationship between each joint of the master arm and each joint of the slave arm corresponding thereto. It is to provide a medical manipulator system capable of performing the above and a method for operating the same.

(1) A medical manipulator system according to the present invention has one or more first joints, a slave arm having an end effector at a distal end, and one or more second joints, and is operated by an operator. A master arm, a notification unit that is provided at the second joint and notifies the state of the first joint corresponding to the second joint or the state of the second joint, and controls the master arm and the slave arm And a control unit that instructs the notification unit to notify the state of the first joint or the state of the second joint under a predetermined condition.

(2) The controller controls a first mode for controlling the slave arm according to the movement of the master arm and a second mode for controlling the state of the second joint to match the state of the first joint. You may have.

(3) In the first mode, the control unit issues an operation command to the first joint so that the state of the first joint corresponding to the second joint matches the state of the second joint. And the control unit determines whether or not the operation command is a command that falls within a predetermined movable range of the first joint, and the control unit determines the result of the determination as the first You may instruct | indicate to alert | report from the said alerting | reporting part of the said 2nd joint corresponding to a joint.

(4) In the second mode, the control unit calculates a difference between the state of the second joint corresponding to the first joint and the state of the first joint, and notifies the difference from the notification unit. You may instruct.

(5) The control unit may determine whether the difference is within a predetermined range, and may notify the notification unit when the difference is within the predetermined range.

(6) The control unit may determine whether the operability of the first joint is good or not based on the state of the first joint, and may notify the notification unit if the first joint is defective.

(7) The control unit may determine whether the operability of the second joint is good or not based on the state of the second joint, and may notify the notification unit if the second joint is defective.

(8) The notification unit may include a light emitting unit capable of emitting a plurality of colors.

(9) The operation method of the medical manipulator system according to the present invention includes one or more first joints, a slave arm having an end effector at a distal end, and one or more second joints. An operation method of a medical manipulator system comprising: a step of detecting a state of the first joint or a state of the second joint; and a predetermined condition on the second joint. And instructing a notifying unit provided in the second joint so as to notify the corresponding state of the first joint or the state of the second joint.

(10) It has a first mode for controlling the slave arm according to the movement of the master arm, and a second mode for controlling the state of the second joint to match the state of the first joint. May be.

(11) The first mode is a step of outputting an operation command to the first joint so that the state of the first joint corresponding to the second joint matches the state of the second joint; Determining whether the operation command is a command within a predetermined movable range of the first joint, and notifying the result of the determination of the second joint corresponding to the first joint And a step of instructing to notify from the section.

(12) In the second mode, a step of calculating a difference between the state of the second joint corresponding to the first joint and the state of the first joint, and instructing to notify the difference from the notification unit. You may have a process.

According to the present invention, the state of the first joint corresponding to the second joint and the state of the second joint can be notified (notified) to the surroundings from the notification unit provided in the second joint of the master arm.
Therefore, for example, when the operator remotely operates the slave arm via the master arm, or when performing a shape synchronization operation (setting operation) for synchronizing the shape of the master arm with the shape of the slave arm, the second joint in the master arm. The operator and the assistant can grasp the state (rotation angle, etc.) and the mutual relationship between the state of the second joint in the master arm and the state of the first joint in the slave arm corresponding to the second joint. .

In particular, since the notification unit provided in the second joint reports the state of the second joint and the state of the first joint corresponding to the second joint, the master arm and the slave arm have many joints. Even so, the operator and the assistant can easily and intuitively grasp the state of each second joint and the state of the first joint corresponding thereto.

Therefore, the operability of the master arm and the slave arm can be improved, and for example, the operator's consciousness can be concentrated on the treatment work on the affected area by the slave arm and the end effector. Furthermore, the shape synchronization operation for synchronizing the shape of the master arm with the shape of the slave arm can be performed easily and efficiently.

1 is an overall configuration diagram showing a first embodiment of a medical manipulator system according to the present invention. FIG. 2 is a perspective view around the distal end of the overtube shown in FIG. 1, showing the relationship between the overtube, the endoscope, and a slave arm. It is a schematic diagram of a master arm and a slave arm. It is a block diagram which shows the structure of the control system of the medical manipulator system shown in FIG. It is a flowchart which shows operation | movement of the 2nd mode in the medical manipulator system shown in FIG. It is a schematic diagram of a master arm and a slave arm, Comprising: It is a figure which shows the state from which the shape of a master arm does not correspond with the shape of a slave arm. It is a figure which shows the state which operated the master arm from the state shown in FIG. 6, and made the shape of a master arm correspond with the shape of a slave arm. It is a flowchart which shows operation | movement of the 1st mode in the medical manipulator system shown in FIG. It is a schematic diagram of a master arm and a slave arm, Comprising: It is a figure which shows the state which is performing operation which exceeds the movable range of the 1st joint of a slave arm to a master arm. It is a figure which shows 2nd Embodiment of the medical manipulator system which concerns on this invention, Comprising: It is a flowchart which shows operation | movement of a 2nd mode. It is a schematic diagram of a master arm and a slave arm, Comprising: It is a figure which shows the state from which the shape of a master arm does not correspond with the shape of a slave arm. It is a figure which shows 3rd Embodiment of the medical manipulator system which concerns on this invention, Comprising: It is a flowchart which shows operation | movement of a 1st mode. It is a schematic diagram of a master arm and a slave arm, and is a diagram showing the relationship between the stored shape of the slave arm and the current shape of the slave arm. The figure which shows the state which operated the master arm from the state shown in FIG. 13, and made the rotation angle of three 2nd joints in the present slave arm correspond with the stored rotation angle of the 2nd joint of the slave arm. is there. It is a figure which shows 4th Embodiment of the medical manipulator system which concerns on this invention, Comprising: It is a flowchart which shows operation | movement in the case of determining whether the malfunction of a joint has generate | occur | produced. It is a mimetic diagram of a master arm and a slave arm, and is a figure showing the state where trouble has occurred in one joint. It is a figure which shows 5th Embodiment of the medical manipulator system which concerns on this invention, Comprising: It is a flowchart which shows operation | movement in the case of performing the input test of a master arm. It is a schematic diagram of a master arm and a slave arm, and is a diagram showing a state where an input test is not completed for one first joint. It is a figure which shows the example which displayed the rotation angle range which the test was complete | finished about the 1st joint which is performing the input test on the display part.

(First embodiment)
Hereinafter, a first embodiment of a medical manipulator system and an operation method thereof according to the present invention will be described with reference to the drawings.

As shown in FIG. 1, a medical manipulator system 1 according to this embodiment includes a slave manipulator 2 that performs a treatment on a patient lying on an operating table, and a master manipulator 3 that is operated by an operator (operator). A control unit (control unit) 4 that comprehensively controls the slave manipulator 2 and the master manipulator 3 is provided.

(Slave manipulator)
As shown in FIGS. 1 and 2, the slave manipulator 2 is attached to an articulated robot arm 10 installed in the vicinity of the operating table and a mounting portion 11 provided at the tip of the robot arm 10, The medical overtube 12 inserted into the overtube 12, the slave arm 13 inserted into the overtube 12, and the motor unit 14 attached to the mounting portion 11.

The overtube 12 is a long and flexible tube, and the base end (proximal end) side is attached to the mounting portion 11.
In the present embodiment, the case where the overtube 12 is orally inserted into the patient's body will be described as an example. However, the present invention is not limited to this case, and the overtube 12 is inserted into the patient's body through the anus. May be.

As shown in FIG. 2, a first lumen 15 for inserting two slave arms 13 and an endoscope 5 are inserted through the overtube 12 from the proximal end to the distal end (distal end). A second lumen 16 is formed.
Note that the configuration of the overtube 12 is not limited to this case. For example, the slave arm 13 and the endoscope 5 may be attached to the tip of the overtube 12 so as to protrude further than the tip of the overtube 12. In this case, it is not necessary to form the first lumen 15 and the second lumen 16 in the overtube 12. Moreover, it is good also as the overtube 12 which can be bent according to operation from the outside of the body.

The two slave arms 13 are attached through the first lumen 15, and the tip (distal end) side protrudes from the tip of the overtube 12.
In the present embodiment, the dual-arm type slave manipulator 2 having two slave arms 13 will be described as an example, but the number of slave arms 13 may be one or three or more.

2 and 3, the slave arm 13 is a treatment tool having a joint structure having at least one or more first joints 20, and an end effector 21 is provided at the tip thereof.

The end effector 21 is a treatment unit that performs treatment on an affected part that is a treatment target site in the body, and is appropriately selected according to, for example, the state of the affected part, the content of surgery, and the like.
Specifically, the end effector 21 is for observing a treatment part for performing a surgical treatment on the affected part, such as a grasping forceps, an incision knife (including an incision by energization of a high-frequency current), an electrode, or the like. And a treatment section that performs optical or ultrasonic observation.

In the illustrated example, the end effector 21 is configured as a grasping forceps that can be opened and closed by an operation with the drive wire 22. The drive wire 22 extends to the motor unit 14 through the inside of the slave arm 13.

As shown in FIG. 3, the slave arm 13 includes a plurality of first joints 20 and a connecting portion 23 that connects the first joints 20 to each other. It is possible to be curved.
In FIG. 3, the configuration of the slave arm 13 is schematically shown, and a case where the four first joints 20 are provided is described as an example. However, the number of the first joints 20 is not limited to four, and may be two, three, or five or more.

As the first joint 20, for example, a roll joint that rotates about the roll axis along the central axis O of the slave arm 13, or a yaw that rotates about the yaw axis (or pitch axis) orthogonal to the central axis O of the slave arm 13. It is a joint (or pitch joint).
These roll joints and yaw joints (or pitch joints) are connected so as to be arranged in an arbitrary arrangement (for example, alternately arranged). Thereby, the slave arm 13 can be bent three-dimensionally.
Each of the first joints 20 can be rotated by an operation using the angle wire 24. The angle wire 24 extends to the motor unit 14 through the inside of the slave arm 13.

As shown in FIG. 1, the motor unit 14 is detachably mounted on the mounting portion 11 of the robot arm 10, for example.
As shown in FIG. 4, the motor unit 14 includes an effector actuator 25 that operates the end effector 21 by transmitting power to the end effector 21 via the drive wire 22, and each first joint 20 via the angle wire 24. And a joint actuator 26 that rotates each first joint 20 by transmitting power to each other.
The effector actuator 25 and the joint actuator 26 operate based on instructions from a slave control unit 51 described later.

Furthermore, the motor unit 14 includes a first encoder 27 that detects a rotation angle, which is one of indices indicating the state of each first joint 20. The first encoder 27 outputs the detection result (the rotation angle of the first joint 20) to the slave control unit 51.
The first encoder 27 may be provided in each first joint 20.

(Master manipulator)
As shown in FIG. 1, the master manipulator 3 includes an operation input device 30 operated by an operator and a display unit 31.

The operation input device 30 is attached, for example, to an operation table 33 attached to an operation table 32 installed on the floor so that the height can be adjusted. In the example shown in the figure, the operation table 33 is adjusted to a height at which the operator can place an elbow or arm while standing.

Two operation input devices 30 are provided corresponding to the slave arm 13 and are mounted on the operation table 33 at intervals in the shoulder width direction of the operator so that the operator can operate with both hands.
As shown in FIG. 3, the operation input device 30 includes a master arm 34 whose base end (proximal end) side is attached on the operation table 33, and a grip portion 35 attached to the tip of the master arm 34. I have.

The master arm 34 has at least one or more second joints 36 and is a joint structure operating tool operated by an operator.
As shown in FIG. 3, the master arm 34 includes a plurality of second joints 36 and a connecting portion 37 that connects the second joints 36 to each other. It is possible to be curved.

In addition, in FIG. 3, the structure of the master arm 34 is shown typically. The master arm 34 of the present embodiment is configured to have a joint structure similar to the joint structure of the slave arm 13. That is, four second joints 36 of the master arm 34 are provided similarly to the first joint 20 of the slave arm 13, and the structure thereof is similar to the first joint 20. The second joint 36 has the same degree of freedom as or more than that of the first joint 20.

Thus, since the master arm 34 and the slave arm 13 have similar structures, the second joints 36 of the master arm 34 and the first joints 20 of the slave arm 13 have a corresponding relationship. ing.

The grip part 35 is operated while being directly gripped by, for example, an operator's fingertip. The grip portion 35 is provided with an operation portion (for example, an operation button) 38 for operating the end effector 21, and the end effector 21 is operated via the effector actuator 25 by operating the operation portion 38. Is possible.
The operation unit 38 outputs a signal based on the input operation to the master control unit 50 described later.

Each second joint 36 of the master arm 34 is provided with a second encoder 39 that detects the rotation angle of the second joint 36. The second encoder 39 outputs the detection result (the rotation angle of the second joint 36) to the master control unit 50.

Further, each second joint 36 of the master arm 34 is provided with a notification unit 41 that notifies the surroundings of the state of the first joint 20 or the state of the second joint 36 under a predetermined condition. The notification unit 41 includes a light emitting unit 40, a fixing member (not shown) for attaching the light emitting unit 40 to the second joint 36, a circuit board (not shown) of the light emitting unit 40, and the like.
The light emitting unit 40 emits visible light to notify the surroundings of the state of the second joint 36 to which the light emitting unit 40 is attached and the state of the first joint 20 of the slave arm 13 corresponding to the second joint 36. .

The joint state includes the rotation angle, rotation direction, and the like of the joint, and indicates what shape and posture the joint is in. Thereby, based on the light emission by the light emitting unit 40, the operator and the assistant, for example, the current state of the second joint 36 in the master arm 34, the current state of the first joint 20 in the slave arm 13, Various information related to the state of the joint, such as the mutual relationship between the second joint 36 and the first joint 20 of the slave arm 13 corresponding thereto, can be grasped. This will be described in detail later.

The light emitting unit 40 has one or a plurality of light emitting diodes such as LEDs, and can emit light of a single color or a plurality of colors by various light emitting methods such as lighting or blinking. In addition, the light emission part 40 is controlled by the alerting | reporting control part 53 mentioned later.

As shown in FIG. 1, the display unit 31 is attached to the upper part of the operation table 32 and is disposed above the operation table 33. As a result, the operator can operate the operation input device 30 while confirming the screen of the display unit 31.
Based on the video signal output via the control unit 4, for example, an image captured by the endoscope 5, various information necessary for operating the medical manipulator system 1, and the like are displayed on the display unit 31. Is done.

(Controller unit)
As shown in FIG. 4, the control unit 4 includes a master control unit 50, a slave control unit 51, a mode control unit 52, a notification control unit 53, a display control unit 54, and a storage unit 55. .

Based on the operation input to the operation input device 30, the master control unit 50 outputs a predetermined operation command (operation signal) to the slave control unit 51 so that the slave arm 13 and the end effector 21 operate. . That is, the master control unit 50 generates a predetermined operation command based on the signal from the operation unit 38 and the detection result (detection signal) from the second encoder 39, and outputs it to the slave control unit 51.

The slave controller 51 controls the joint actuator 26 and the effector actuator 25 based on the operation command from the master controller 50, and controls the slave arm 13 and the end effector 21.

The mode control unit 52 adjusts the state of the second joint 36 of the master arm 34 to the first mode for controlling the slave arm 13 according to the movement of the master arm 34 and the state of the first joint 20 of the slave arm 13. The mode is switched between the second mode to be controlled.
However, the mode control unit 52 may not only include the first mode and the second mode, but may further include other modes and switch between a plurality of modes.

The first mode is a mode used mainly when the operator remotely operates the slave arm 13 by the master arm 34 and performs treatment on the affected part in the patient's body using the slave arm 13. Specifically, the first mode is a mode in which the slave arm 13 is controlled so that the slave arm 13 is similar to the master arm 34.
The second mode is a mode in which the posture of the slave arm 13 is maintained and the control of the slave arm 13 is stopped so as not to follow the input operation of the master arm 34, and shape synchronization is mainly one of setting operations. This mode is used when working. That is, the second mode is a mode for synchronizing the shape of the master arm 34 with the shape of the slave arm 13.

The notification control unit 53 instructs the light emitting unit to notify the surroundings by light emission of the state of the first joint 20 or the state of the second joint 36 under a predetermined condition set in advance. As a result, the state of the first joint 20 corresponding to the second joint 36 or the state of the second joint 36 can be notified to the surroundings.
The notification control unit 53 receives the detection result (detection signal) of the second encoder 39 via the master control unit 50 and the detection result (detection signal) of the first encoder 27 via the slave control unit 51. Entered. Accordingly, the notification control unit 53 accurately grasps the state of the second joint 36 of the master arm 34 and the state of the first joint 20 of the slave arm 13 corresponding to the second joint 36 in real time.

And the alerting | reporting control part 53 shows the state of the 1st joint 20 corresponding to the state of the 2nd joint 36 and the 2nd joint 36 in the form of light emission, for example according to the operation condition of the master arm 34 and the slave arm 13. The light emitting unit 40 is controlled to notify the surroundings.
The control of the light emitting unit 40 by the notification control unit 53 will be described in detail later.

Furthermore, the notification control unit 53 has information regarding a movable range predetermined for each first joint 20 of the slave arm 13. The notification control unit 53 also displays information on joints including the state of the second joint 36 of the master arm 34 and the state of the first joint 20 of the slave arm 13 corresponding to the second joint 36 in the display control unit 54. Output.

The display control unit 54 causes the display unit 31 to display information transmitted from the notification control unit 53. In addition, the display control unit 54 displays information required by the operator and the assistant on the display unit 31 such as an image captured by the endoscope 5 and various types of information necessary for operating the medical manipulator system 1. Let
Thereby, the operator and the assistant can grasp desired information and images by visually recognizing the display unit 31.

The storage unit 55 stores the detection result of the first encoder 27 based on instructions from the operator and the assistant. Thereby, the state of the first joint 20 in the slave arm 13 can be stored at an arbitrary timing. That is, the shape of the slave arm 13 can be stored at an arbitrary timing.
Note that the number of times to be stored in the storage unit 55 is not limited to one, but may be stored a plurality of times.

(Operation of medical manipulator system)
Next, the case where the medical manipulator system 1 configured as described above is used will be described.

First, an outline of using a medical manipulator will be briefly described.
When performing a treatment on an affected part in a patient's body, as shown in FIG. 1, the operator operates the robot arm 10 while checking the image captured by the endoscope 5 on the display unit 31, for example. After the distal end of the tube 12 is moved to the vicinity of the affected area, the tube 12 is disposed at that position.
Subsequently, the operator remotely operates the slave arm 13 and the end effector 21 by operating the operation input device 30 while confirming the image by the endoscope 5 on the display unit 31, and performs appropriate treatment on the affected part. Apply.

When performing such treatment, the operator causes the mode control unit 52 to operate the control mode of the medical manipulator system 1 in the first mode.
As a result, the slave arm 13 can be controlled so that the slave arm 13 is similar to the master arm 34. That is, since the slave arm 13 can be controlled according to the movement of the master arm 34, a master-slave operation can be performed.
Therefore, the operator can perform an appropriate treatment for the affected part via the slave arm 13 by operating the master arm 34.

By the way, as described above, in order to control the slave arm 13 to be similar to the master arm 34, it is necessary that the shape of the master arm 34 and the shape of the slave arm 13 are synchronized. is there.

However, unlike the slave arm 13 in which the first joint 20 is operated by the joint actuator 26, the master arm 34 generally does not have an actuator that operates the second joint 36. Therefore, for example, when the treatment on the affected part is temporarily interrupted and the operator removes the hand from the operation input device 30, or at the start-up stage of the system, the shape of the master arm 34 changes due to the influence of its own weight, and the slave arm 13 The shape may be different.

In such a case, the operator uses the mode control unit 52 to control the control mode of the medical manipulator system 1 from the first mode so that the state of the second joint 36 matches the state of the first joint 20. The mode is switched to the second mode, and the shape synchronization operation for synchronizing the shape of the master arm 34 with the shape of the slave arm 13 is performed.

Hereinafter, the shape synchronization operation for synchronizing the shape of the master arm 34 with the shape of the slave arm 13 will be described in detail with reference to the flowchart shown in FIG.

In this case, the operator switches the control mode of the medical manipulator system 1 to the second mode via the mode control unit 52 (step S1 shown in FIG. 5). Thereby, for example, the mode control unit 52 invalidates the operation command from the master control unit 50 to the slave control unit 51, thereby stopping the control of the slave arm 13 so as not to follow the input operation of the master arm 34. Can do. That is, the master / slave operation can be terminated.

After switching to the second mode, the operator visually recognizes the shape of the slave arm 13 or confirms the shape of the slave arm 13 based on the image from the endoscope 5 displayed on the display unit 31. Then, the master arm 34 is operated to bring the shape of the master arm 34 closer to the shape of the slave arm 13 (step S2 shown in FIG. 5).

At this time, the notification control unit 53 detects the rotation angle of each second joint 36 of the master arm 34 (that is, the state of the second joint 36) detected by the second encoder 39 via the master control unit 50, and the slave control unit. The rotation angle of each first joint 20 of the slave arm 13 (that is, the state of the first joint 20) detected by the first encoder 27 via 51 is grasped.
Then, the notification control unit 53 compares the detected rotation angle of the first joint 20 of the slave arm 13 with the detected rotation angle of the second joint 36 of the master arm 34 to thereby detect the first joint 20. An angle difference (difference) between the rotation angle and the corresponding rotation angle of the second joint 36 is calculated (step S3 shown in FIG. 5).

Then, the notification control unit 53 determines whether or not this angle difference (difference) is within a predetermined angle range (within a predetermined range) (step S4 shown in FIG. 5).
As a result, when the angle difference is within a predetermined angle range, the notification control unit 53 causes the light emitting unit 40 provided in the second joint 36 to emit light, thereby notifying the surroundings. (Step S5 shown in FIG. 5).

Specifically, the notification control unit 53 controls the light emitting unit 40 to light up in blue. Thereby, the operator and the assistant can grasp that the rotation angle of the second joint 36 of the master arm 34 matches the rotation angle of the first joint 20 of the corresponding slave arm 13.
In particular, since each light emitting unit 40 is provided at each second joint 36 of the master arm 34, the light emitting unit 40 is lit in blue, so that the operator and the assistant are provided with the light emitting unit 40 that is lit. It can be easily and intuitively understood that the rotation angle of the second joint 36 matches the rotation angle of the first joint 20 of the corresponding slave arm 13.

Therefore, as shown in FIG. 6, the operator and the assistant agree with the first joint 20 of the slave arm 13 among the second joints 36 of the master arm 34 based on the presence or absence of light emission of the light emitting unit 40. It is possible to grasp the joints that are present and the joints that do not match.

In the illustrated example, among the second joints 36 of the master arm 34, the two second joints 36 on the hand side and the light emitting unit 40 provided in the second joint 36 closest to the grip part 35 are lit in blue (dots). Are hatched).
Therefore, the operator and the assistant can grasp that the rotation angle of the remaining second joint 36 does not coincide with the rotation angle of the corresponding first joint 20 of the slave arm 13.

Therefore, the operator can recognize that it is necessary to change the rotation angle of the remaining one second joint 36, and can quickly perform such an operation. As a result, as shown in FIG. 7, by confirming that all the light emitting units 40 are lit in blue (step S <b> 6 shown in FIG. 5), the shape of the master arm 34 is synchronized with the shape of the slave arm 13. The shape synchronization operation to be performed can be completed (step S7 shown in FIG. 5).

In this way, when performing the shape synchronization work, the mutual relationship between each second joint 36 of the master arm 34 and the corresponding first joint 20 of the slave arm 13 is determined based on whether or not the light emitting unit 40 emits light. Since it can be easily and intuitively grasped, the shape synchronization operation of matching the state of the second joint 36 with the state of the first joint 20 can be performed easily and efficiently.

After the above-described shape synchronization operation is completed, the operator performs an operation for treating the affected area as described above. Hereinafter, the case where the affected area is treated will be described in detail with reference to the flowchart shown in FIG.

In this case, the operator switches the control mode of the medical manipulator system 1 from the second mode to the first mode via the mode control unit 52 (step S10 shown in FIG. 8). Thereby, the slave control unit 51 shifts to a state controlled based on the operation command from the master control unit 50.
In addition, control of the light emission part 40 by the alerting | reporting control part 53 is reset by switching mode.

After shifting to the first mode, the operator operates the operation input device 30 while confirming the image by the endoscope 5 on the display unit 31, as shown in FIGS. 13 and the end effector 21 are remotely operated.
For example, when the operator operates the operation unit 38 provided in the grip unit 35, the master control unit 50 outputs an operation command corresponding to the operation input to the operation unit 38 to the slave control unit 51. Since the slave control unit 51 operates the effector actuator 25 based on this operation command, the end effector 21 can be operated (opening / closing operation) via the drive wire 22 and the end effector 21 can be remotely operated. .

When the operator operates the master arm 34 (step S11 shown in FIG. 8), each second joint 36 of the master arm 34 rotates according to the shape of the master arm 34. Therefore, the second encoder 39 provided in each second joint 36 outputs the rotation angle of each second joint 36 to the master control unit 50.
Then, the master control unit 50 operates so that the first joint 20 of the slave arm 13 corresponding to the second joint 36 matches the rotation angle of the second joint 36 based on the detection result from the second encoder 39. A command is generated and output to the slave control unit 51 (step S12 shown in FIG. 8).

The slave control unit 51 operates the joint actuator 26 based on the operation command from the master control unit 50, and rotates the first joint 20 of the slave arm 13 at the commanded rotation angle via the angle wire 24.
Accordingly, the rotation angle of the first joint 20 of the corresponding slave arm 13 can be matched with the rotation angle of the second joint 36 of the master arm 34, and the shape of the slave arm 13 can be made different from the shape of the master arm 34. It can be made similar to high precision.

As a result, the operator can remotely operate the slave arm 13 and the end effector 21 via the operation input device 30, and can appropriately treat the affected area.

By the way, during the master-slave operation, the notification control unit 53 accurately and accurately determines the state of the second joint 36 of the master arm 34 and the state of the first joint 20 of the slave arm 13 corresponding to the second joint 36. In addition to grasping in real time, each of the first joints 20 of the slave arm 13 has information related to a predetermined movable range.

Therefore, the notification control unit 53 determines whether the operation command output from the master control unit 50 to the slave control unit 51 is a command that falls within the movable range while performing the master-slave operation ( Step S13 shown in FIG.

As a result, when the operation command is within the movable range, the notification control unit 53 determines that the operation command is valid. Thereby, as described above, the slave control unit 51 controls the slave arm 13 based on the operation command (step S14 shown in FIG. 8). Thereby, the shape of the slave arm 13 can be made similar to the shape of the master arm 34 (step S15 shown in FIG. 8).

On the other hand, when the operation command exceeds the movable range, the notification control unit 53 determines that the operation command is invalid. In this case, the notification control unit 53 cancels the operation command so that the slave control unit 51 does not operate according to the operation command, and causes the light emitting unit 40 to emit a determination result indicating that the movable limit is exceeded. And informing the surroundings (step S16 shown in FIG. 8).

Specifically, the notification control unit 53 performs control so that the light emitting unit 40 provided in the second joint 36 corresponding to the first joint 20 of the slave arm 13 exceeding the movable limit is lit in red.
As a result, the operator and the assistant can stop or suppress the operation of the master arm 34 when the red light is lit, and the slave arm 13 can not move so as to exceed the movable limit of the first joint 20. Can be prevented from continuing to request.

For example, as shown in FIG. 9, when the master arm 34 is operated so as to move the grip portion 35 downward by rotating the second joint 36 closest to the grip portion 35, the second joint 36. When the light emitting unit 40 provided on the red light is lit in red (hatched with hatching), the operator and the assistant have exceeded the movable limit of the first joint 20 of the slave arm 13 corresponding to the second joint 36. Can be easily and intuitively understood.

Therefore, it is possible to suppress the operation of the master arm 34 from being forcibly continued, and promptly prompt the operator and the assistant that the slave arm 13 needs to be moved differently. .
In addition, since the operator can be prevented from operating the master arm 34 forcibly, it is possible to prevent, for example, an extra load from being applied to the master arm 34 and to prevent occurrence of a malfunction. Similarly, since the first joint 20 of the slave arm 13 can be appropriately rotated within the movable range, it is possible to prevent the slave arm 13 from malfunctioning.

As described above, according to the medical manipulator system 1 of the present embodiment, the notification control unit 53 is in the state of the second joint 36 in the master arm 34 in both cases of the first mode and the second mode. And the state of the 1st joint 20 in the slave arm 13 corresponding to it can be grasped | ascertained correctly and in real time, and can be alert | reported to the circumference | surroundings via the light emission part 40. FIG.
Therefore, the operator and the assistant can easily and intuitively grasp the mutual relationship between the second joint 36 of the master arm 34 and the corresponding first joint 20 of the slave arm 13.

As a result, in the first mode, the operability of the master arm 34 and the slave arm 13 can be improved, and the operator's consciousness can be concentrated on the treatment work on the affected area by the slave arm 13 and the end effector 21.
In the second mode, the shape synchronization operation for synchronizing the shape of the master arm 34 with the shape of the slave arm 13 can be performed easily and efficiently.

(Modification of the first embodiment)
In the said 1st Embodiment, although the light emission part 40 was lighted in blue, it is not limited to blue, You may set so that it may light with arbitrary colors. Further, the method of light emission is not limited to lighting, and may be blinking, for example.

In addition, as the angular difference between the rotation angle of the first joint 20 of the slave arm 13 and the rotation angle of the second joint 36 of the master arm 34 corresponding thereto decreases, the light emission intensity of the light emitting unit 40 increases. You may control. In this case, it is only necessary to rotate the second joint 36 in the direction in which the emission intensity increases, so that the shape synchronization operation can be performed more efficiently.

Furthermore, when the angle difference between the rotation angle of the first joint 20 of the slave arm 13 and the rotation angle of the second joint 36 of the master arm 34 corresponding thereto is within a predetermined angle range, the light emitting unit 40 is emitted in blue, but the light emitting unit 40 may emit light so as to notify the angle difference (difference). For example, the light emitting unit 40 may emit light so as to change the color and intensity of light emission according to the angle difference.

Even in this case, based on the light emitted by the light emitting unit 40, the operator or the assistant can set the rotation angle of the second joint 36 in the master arm 34 to the rotation angle of the first joint 20 in the corresponding slave arm 13. It is possible to grasp whether or not they match.
Therefore, the shape synchronization operation can be performed efficiently as well.

(Second Embodiment)
Next, a second embodiment of the medical manipulator system according to the present invention will be described with reference to the drawings. In the second embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

In the present embodiment, the content of the shape synchronization work when the mode is shifted to the second mode is different from that of the first embodiment. This will be described with reference to the flowchart shown in FIG.

The angle range (difference) between the rotation angle of the first joint 20 of the slave arm 13 and the rotation angle of the second joint 36 of the master arm 34 corresponding to the notification control unit 53 is determined in advance. Since it is the same as that of the first embodiment until it is determined whether it is within (predetermined range) (steps S1 to S4 shown in FIG. 10), the description thereof is omitted.

In the present embodiment, when the angle difference is within a predetermined angle range, the notification control unit 53 causes the light emitting unit 40 provided in the second joint 36 to emit light, thereby informing the surroundings. (Step S20 shown in FIG. 10).
Specifically, the notification control unit 53 controls the light emitting unit 40 to light up in blue. Thereby, the operator and the assistant can grasp that the rotation angle of the second joint 36 of the master arm 34 matches the rotation angle of the first joint 20 of the corresponding slave arm 13.

Accordingly, for example, as shown in FIG. 11, the operator and the assistant grasp that the second joint 36 at a position where the light emitting unit 40 is not lit in blue (hatched with dots) needs to be rotated. be able to.
Therefore, the operator operates the master arm 34 so as to rotate the second joint 36 at a position where the light emitting unit 40 is not lit.

At this time, the notification control unit 53 determines whether or not the angle difference is small and approaches a predetermined angle range (step S21 shown in FIG. 10).
As a result, when the angle difference is included in the predetermined angle range, the notification control unit 53 turns on the light emitting unit 40 that has not been turned on in blue (step S20 shown in FIG. 10).

On the other hand, when the angle difference is further increased and the notification control unit 53 is further away from the predetermined angle range, the notification control unit 53 changes the light emitting unit 40 that has not been lit to a color different from blue, for example, red. Lights up (step S22 shown in FIG. 10).

Therefore, when the operator rotates the second joint 36 at a position where the light emitting unit 40 is not lit, the operator rotates the second joint 36 in the correct direction for shape synchronization by the color that the light emitting unit 40 is subsequently lit. It can be grasped whether it is rotating in the wrong direction.

Thus, according to the present embodiment, not only can the second joint 36 of the master arm 34 to be rotated be specified, but also the direction in which the second joint 36 should be rotated can be grasped. Therefore, the shape synchronization operation can be performed more efficiently.

As a result, by confirming that all the light emitting units 40 are lit in blue (step S23 shown in FIG. 10), the shape synchronization operation for synchronizing the shape of the master arm 34 with the shape of the slave arm 13 is completed. (Step S24 shown in FIG. 10).

(Third embodiment)
Next, a third embodiment of the medical manipulator system according to the present invention will be described with reference to the drawings. In the third embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

In the present embodiment, in the first mode, the notification control unit 53 causes the rotation angle of the first joint 20 of the slave arm 13 stored in the storage unit 55 and the rotation angle of the second joint 36 of the current master arm 34 to be stored. Compare with. Hereinafter, a detailed description will be given with reference to the flowchart shown in FIG.

The master control unit 50 operates such that the first joint 20 of the slave arm 13 corresponding to the second joint 36 matches the rotation angle of the second joint 36 based on the detection result from the second encoder 39. Until the command is output to the slave control unit 51 (steps S10 to S12 shown in FIG. 12), the operation of the slave arm 13 is similar to the shape of the master arm 34 (master slave operation). Since it is the same as 1st Embodiment, description is abbreviate | omitted.

In the present embodiment, when the master-slave operation is performed, when the slave arm 13 repeats the same movement, the operator stores in the storage unit 55 the rotation angle of each first joint 20 of the slave arm 13 before the change. Perform the operation. This operation can be performed, for example, by pressing a memory button (not shown) provided in the operation table 33.
Thereby, the memory | storage part 55 memorize | stores the detection result (rotation angle of the 1st joint 20) from the 1st encoder 27 (step S30 shown in FIG. 12).

Thereafter, the master-slave operation is advanced, and after the shape of the slave arm 13 is changed, when the slave arm 13 is returned again to the shape before the change by the operation of the operation input device 30, the operator stores it in the storage unit 55. Perform operations that use information. This operation can be performed, for example, by pressing a support button (not shown) provided on the operation table 33.

Then, the notification control unit 53 stores the rotation angle of the first joint 20 of the slave arm 13 stored in the storage unit 55 and the current rotation angle of the second joint 36 of the master arm 34 detected by the second encoder 39. , To calculate the angular difference (difference) (step S31 shown in FIG. 12).

Then, the notification control unit 53 determines whether or not the angle difference (difference) is within a predetermined angle range (within a predetermined range) (step S32 shown in FIG. 12). As a result, when the angle difference is within a predetermined angle range, the notification control unit 53 causes the light emitting unit 40 provided in the second joint 36 to emit light, thereby notifying the surroundings. (Step S33 shown in FIG. 12).

Specifically, the notification control unit 53 controls the light emitting unit 40 to light up in blue. As a result, the operator and the assistant can make the rotation angle of the first joint 20 of the slave arm 13 corresponding to the second joint 36 with the light emitting unit 40 lit coincide with the rotation angle of the first joint 20 stored before the change. I can understand what happened.

Therefore, as shown in FIG. 13, the operator and the assistant can store the state before the change stored in the first joint 20 of the slave arm 13 based on whether or not the light emitting unit 40 emits light (dotted line in FIG. 13). It is possible to grasp the joint that coincides with the first joint 20 and the joint that does not coincide with each other.

In the example shown in the drawing, among the second joints 36 of the master arm 34, the light emitting unit 40 provided at the second joint 36 on the hand side is lit in blue (hatched with dots). Therefore, the operator and the assistant grasp that the rotation angle of the first joint 20 of the slave arm 13 corresponding to the remaining three second joints 36 does not match the stored rotation angle before the change. be able to.

Therefore, the operator can notice that it is necessary to change the rotation angles of the remaining three first joints 20, and can quickly perform such an operation. As a result, as shown in FIG. 14, the rotation angles of the two second joints 36 out of the remaining three can be quickly adjusted to match the stored rotation angle before the change. Similarly, by quickly adjusting the rotation angle of the last one second joint 36, all the light emitting units 40 are finally lit in blue (step S34 shown in FIG. 12). Thereby, the slave arm 13 can be made to correspond with the state before a change (step S35 shown in FIG. 12).

Thus, according to this embodiment, since the slave arm 13 can be quickly returned to the shape before change, the operability when the same movement is repeatedly performed on the slave arm 13 can be improved.
Therefore, it is particularly effective when, for example, the suture is repeatedly performed on the affected area.

(Fourth embodiment)
Next, a fourth embodiment of the medical manipulator system according to the present invention will be described with reference to the drawings. In the fourth embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

In the present embodiment, it is possible to grasp that a problem has occurred in the first joint 20 of the slave arm 13 or the second joint 36 of the master arm 34. This will be described in detail with reference to the flowchart shown in FIG.

As described above, the detection result of the second encoder 39 is input to the notification control unit 53 via the master control unit 50 and the detection result of the first encoder 27 is input to the notification control unit 53 via the slave control unit 51. Has been. Therefore, the notification control unit 53 accurately grasps the state of the second joint 36 of the master arm 34 and the state of the first joint 20 of the slave arm 13 corresponding to the second joint 36 in real time.

Therefore, the notification control unit 53 determines the current state of each first joint 20 of the slave arm 13 and the current master arm 34 based on the detection results of the first encoder 27 and the second encoder 39 regardless of the control mode. The operability of the state of each second joint 36 is determined (step S40 shown in FIG. 15).

For example, when a malfunction such as loosening or catching in the angle wire 24 for rotating each first joint 20 of the slave arm 13 or breaking of the angle wire 24 occurs, the master arm 34 is operated. Even if the operation command is output from the master control unit 50 to the slave control unit 51 and the joint actuator 26 is operated accordingly, it is difficult to appropriately rotate the first joint 20. *

Then, the notification control unit 53 can grasp from the detection result from the first encoder 27 that the first joint 20 is not operating properly. That is, the notification control unit 53 can grasp that an appropriate response is not made to the operation command. Thereby, the notification control unit 53 can determine that the first joint 20 is malfunctioning.

Thus, when it is judged that it is malfunctioning, the information control part 53 makes the light emission part 40 provided in the 2nd joint 36 of the master arm 34 corresponding to the 1st joint 20 judged to be malfunctioning emit light. Then, it informs the surroundings that it is malfunctioning (step S41 shown in FIG. 15).

For example, as shown in FIG. 16, among the second joints 36 of the master arm 34, the light emitting unit 40 provided at the second joint 36 that is the second from the hand side is lit red (hatched with hatching). To do. As a result, the operator and the assistant have a problem (failure) in the second joint 36 provided with the light emitting unit 40 or the corresponding first joint 20 because the light emitting unit 40 is lit red. I can grasp that.
Therefore, the operator and the assistant can appropriately take measures against the malfunction.

In addition, in this embodiment, it is not limited to the case where the light emission part 40 lights in red, You may set the light emission color and the light emission method freely. In addition, instead of always determining a failure, for example, when an operator or an assistant presses a determination button (not shown) provided on the operation table 33, the mode may be shifted to a mode for determining a failure.

Furthermore, even if the light emitting unit 40 is caused to emit light in different colors so that the case where the first joint 20 fails and the case where the second joint 36 corresponding to the first joint 20 fails can be easily distinguished. good. For example, when the first joint 20 fails, the light emitting unit 40 emits light in red, and when the second joint 36 corresponding to the first joint 20 fails, the light emitting unit 40 emits light in yellow. good.
By doing so, the operator and the assistant can determine whether the second joint 36 provided with the light emitting unit 40 has failed or the corresponding first joint 20 based on the color of the light emitting unit 40 lit. It is possible to easily grasp whether or not the device has failed.
Instead of distinguishing between colors, for example, the difference in light emission between lighting and flashing is used to determine whether the second joint 36 provided with the light emitting unit 40 has failed or the first joint 20 corresponding thereto has failed. It may be distinguished whether a failure has occurred.

(Fifth embodiment)
Next, a fifth embodiment of the medical manipulator system according to the present invention will be described with reference to the drawings. In the fifth embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

In the present embodiment, when testing each second joint 36 in the master arm 34, it is possible to grasp each second joint 36 for which the test has been completed. This will be described in detail with reference to the flowchart shown in FIG.

Generally, a test (operation check test) is performed to confirm that the master arm 34 operates properly at the time of start-up or periodic inspection. That is, each second joint 36 of the master arm 34 is rotated within the movable range, and it is confirmed that it operates properly.
This test is started when the operator presses a test button (not shown) provided on the operation table 33, for example.

In this embodiment, when the test button is pressed, the test mode is entered and an input test is started (step S50 shown in FIG. 17). Then, the operator operates the master arm 34 so as to sequentially rotate the second joints 36 one by one (step S51 shown in FIG. 15).
At this time, as described above, since the detection result of the second encoder 39 is input to the notification control unit 53 via the master control unit 50, the state of the second joint 36 of the master arm 34 is accurately determined. And grasp in real time.

Therefore, the notification control unit 53 can grasp the second joint 36 currently being tested based on the detection result of the second encoder 39. Therefore, the notification control unit 53 controls the light emitting unit 40 provided in the second joint 36 to light up in blue, for example, during the test or after the test is finished (step S52 shown in FIG. 15).

Accordingly, the operator and the assistant can easily and intuitively grasp the second joint 36 currently being tested and the second joint 36 that has already been tested.
For example, as shown in FIG. 18, when the three light emitting units 40 are lit in blue (hatched with dots), the operator and the caregiver are in the second joints 36 of the master arm 34. It is possible to grasp that the test has been completed for the three second joints 36 provided with the light emitting units 40 that are lit.

Therefore, since the operator and the assistant can grasp that the test of the remaining second joint 36 has not been completed, the input test can be performed reliably and efficiently. And all the light emission parts 40 light (step S53 shown in FIG. 17), and it can confirm that the input test was complete | finished appropriately.

In the input test, the state of the second joint 36 currently rotated may be displayed on the display unit 31.
For example, as shown in FIG. 19, the rotation angle range information indicating how far the second joint 36 currently being tested has been rotated with respect to a predetermined movable range (rotation angle range) is displayed in a bar. It may be displayed. In the example shown in the figure, a case where the tested angular range is displayed as a bar in the movable range is taken as an example.
Therefore, in this case, it is easy to reliably perform the test over the entire movable range.

Note that the technical scope of the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention.

For example, in the above-described embodiment, the light emitting unit 40 has been described as an example of the notification by the notification unit 41, but is not limited to this case, and the state of the second joint 36 of the master arm 34, and this. What is necessary is just to be able to alert | report the state of the 1st joint 20 of the slave arm 13 corresponding to these. For example, a sound generation unit that emits a sound with a different volume or scale, a notification unit including a sounding unit, and the like may be used to notify the surroundings using sound.

In the above embodiment, the case where the number of the first joints 20 of the slave arm 13 and the number of the second joints 36 of the master arm 34 are the same has been described as an example. However, the present invention is limited to this case. Instead, the number of the first joints 20 and the number of the second joints 36 may be different.
In such a case, for example, the first joint 20 of the slave arm 13 associated with the second joint 36 of the master arm 34 is set in advance, and the set first joint 20 is configured to rotate. Good.
In any case, even if the number of the first joints 20 and the number of the second joints 36 are different, it is only necessary to set the corresponding relationship in advance. Therefore, the present invention can be applied even in such a case.

In addition, although several embodiment of this invention was described, these embodiment is shown as an example and is not intending limiting the range of invention. These embodiments can be implemented in various other forms, and various omissions, replacements, changes, and combinations of the embodiments can be performed without departing from the spirit of the invention.

According to the present invention, it is possible to easily and intuitively grasp the mutual relationship between the second joint of the master arm and the corresponding first joint of the slave arm. Thereby, the operativity of a master arm and a slave arm can be improved, for example, an operator's consciousness can be concentrated on the treatment work to the affected part by a slave arm and an end effector. Furthermore, the shape synchronization operation for synchronizing the shape of the master arm with the shape of the slave arm can be performed easily and efficiently.

DESCRIPTION OF SYMBOLS 1 ... Medical manipulator system 4 ... Control unit (control part)
DESCRIPTION OF SYMBOLS 13 ... Slave arm 20 ... 1st joint 21 ... End effector 34 ... Master arm 36 ... 2nd joint 40 ... Light emission part 41 ... Notification part

Claims

A slave arm having one or more first joints and having an end effector at a distal end;
A master arm having one or more second joints and operated by an operator;
A notifying unit that is provided in the second joint and that reports the state of the first joint corresponding to the second joint or the state of the second joint;
A control unit for controlling the master arm and the slave arm and instructing the notification unit to notify the state of the first joint or the state of the second joint under a predetermined condition;
A medical manipulator system comprising:
The medical manipulator system according to claim 1,
The controller is
A first mode for controlling the slave arm according to the movement of the master arm;
A second mode for controlling to match the state of the second joint with the state of the first joint;
A medical manipulator system comprising:
The medical manipulator system according to claim 2,
In the first mode, the control unit outputs an operation command to the first joint so that the state of the first joint corresponding to the second joint matches the state of the second joint,
The control unit determines whether or not the operation command is a command that falls within a predetermined movable range of the first joint,
The said control part is a medical manipulator system which instruct | indicates to alert | report the result of the said judgment from the said alerting | reporting part of the said 2nd joint corresponding to a said 1st joint.
The medical manipulator system according to claim 2 or 3,
In the second mode, the control unit calculates a difference between the state of the second joint corresponding to the first joint and the state of the first joint, and instructs to notify the difference from the notification unit. Medical manipulator system.
The medical manipulator system according to claim 4,
The said control part is a medical manipulator system which judges whether the said difference is in a predetermined range, and makes it alert | report from the said alerting | reporting part when it is in a predetermined range.
The medical manipulator system according to any one of claims 2 to 5,
The control unit is a medical manipulator system that determines whether the operability of the first joint is good or not based on the state of the first joint, and notifies the notification from the notification unit in the case of failure.
The medical manipulator system according to any one of claims 2 to 6,
The control unit is a medical manipulator system that determines whether the operability of the second joint is good or not based on the state of the second joint, and notifies the information from the notification unit when the second joint is defective.
The medical manipulator system according to any one of claims 1 to 7,
The notification unit is a medical manipulator system having a light emitting unit capable of emitting a plurality of colors.
Actuation of a medical manipulator system comprising: a slave arm having one or more first joints and having an end effector at a distal end; and a master arm having one or more second joints and operated by an operator A method,
Detecting the state of the first joint or the state of the second joint;
Instructing a notification unit provided in the second joint to notify the state of the first joint corresponding to the second joint or the state of the second joint under a predetermined condition;
A method for operating a medical manipulator system comprising:
The operation method of the medical manipulator system according to claim 9,
A first mode for controlling the slave arm according to the movement of the master arm;
A second mode for controlling to match the state of the second joint with the state of the first joint;
A method for operating a medical manipulator system comprising:
The method of operating a medical manipulator system according to claim 10,
The first mode is:
Outputting an operation command to the first joint so that the state of the first joint corresponding to the second joint matches the state of the second joint;
Determining whether the operation command is a command that falls within a predetermined movable range of the first joint;
Instructing to notify the result of the determination from the notification unit of the second joint corresponding to the first joint;
A method for operating a medical manipulator system comprising:
The operation method of the medical manipulator system according to claim 10 or 11,
The second mode is:
Calculating a difference between the state of the second joint corresponding to the first joint and the state of the first joint;
Instructing to notify the difference from the notification unit;
A method for operating a medical manipulator system comprising: