Medical system and medical system operation method

A medical system includes: a slave having at least one moving part; an operation device having at least one operation part; and a processor that controls operations of the slave based on a conversion table that associates operations of the moving part of the slave with inputs of the operation part of the operation device. The processor is programmed to execute: acquiring user identification information of a user of the slave, slave identification information of the slave, and operation device identification information of the operation device, and generating and proposing the conversion table based on the user identification information, the slave identification information, and the operation device identification information.

BACKGROUND

Technical Field

The present invention relates to a medical system including a robot arm and an operation method of a medical system including a robot arm.

Background Art

A treatment tool unit having a treating part such as a grasping forceps or an electric knife at a distal end of a robot arm having multiple degrees of freedom is used for medical treatment. An operator needs to control the operation of the treatment tool unit by operating a moving part such as a joint of the robot arm and a treatment tool of the treatment tool unit.

An operation device for the treatment tool unit has a plurality of operation parts in order to operate a plurality of moving parts of the treatment tool unit. The operation of the moving parts of the treatment tool unit is associated with the operation parts of the operation device.

During a medical procedure, an operator may perform treatment by exchanging different types of treatment tool units. Different types of treatment tool units have different configurations, and the types and number of moving parts are different. On the other hand, even when the treatment tool unit is replaced, the same operation device may be used. Therefore, every time the treatment tool unit is replaced, it is essential to associate the moving part of the treatment tool unit with the operation part of the operation device.

In addition, different operators may operate the same treatment tool unit. An operator may customize the association between the moving part of the treatment tool unit and the operation part of the operation device to be easy to use. The association between the moving part of the treatment tool unit and the operation part of the operation device may differ from one operator to another. Therefore, every time the operator changes, it is essential to associate the moving part of the treatment tool unit with the operation part of the operation device.

Japanese Unexamined Patent Application, First Publication No. 2016-002280 describes a medical system that associates a treatment tool unit and an operation device based on correspondence information. When the medical system has correspondence information for performing an association process, the treatment tool unit and the operation device are automatically associated with each other.

SUMMARY

A medical system includes a slave having at least one moving part; an operation device having at least one operation part; and a processor that controls operations of the slave based on a conversion table that associates operations of the moving part of the slave with inputs of the operation part of the operation device. The processor is programmed to execute: acquiring user identification information of a user of the slave, slave identification information of the slave, and operation device identification information of the operation device, and generating and proposing the conversion table based on the user identification information, the slave identification information, and the operation device identification information.

The processor may be programmed to execute: causing a memory to store the conversion table used by the user as a conversion table history together with the user identification information, the slave identification information, and the operation device identification information, when there is the conversion table history corresponding to the user identification information, the slave identification information, and the operation device identification information, proposing the corresponding conversion table history as a conversion table, and when there is no conversion table history corresponding to the user identification information, the slave identification information, and the operation device identification information, generating and proposing the conversion table by referring to the conversion table history.

The processor may be programmed to execute: causing a memory to store an operation history of the operation device operated by the user together with the user identification information, the slave identification information, and the operation device identification information, and generating and proposing the conversion table based on the operation history, so that a deviation in the number of operations in a plurality of operation parts is reduced or a total number of the operations is reduced.

The processor may be programmed to execute: when a period in which there is no operation input to the operation device exceeds a predetermined period, generating and proposing the conversion table again.

The medical system may further include an endoscope, and the processor may be programmed to execute: generating and proposing the conversion table referring to a relative positional relationship between the endoscope and the slave.

The medical system may further include: an endoscope; and a display part configured to display an image captured by the endoscope, and the processor may be programmed to execute: when a period in which there is no operation input to the operation device exceeds a predetermined period, causing the display part to display the image which superimposes an identification display of the operation part corresponding to the moving part of the imaged slave, on a position where the moving part is imaged.

The medical system may further include a display part configured to display an image, and the processor may be programmed to execute: when the conversion table is generated and proposed, causing the display part to display a pseudo image of the slave that operates based on the generated conversion table.

A medical system operation method includes: a conversion table storage process in which a conversion table associating an moving part of a slave with an operation part of an operation device that receives an operation of the slave is stored, together with user identification information of a user of the slave, slave identification information of the slave, and operation device identification information of the operation device, as a conversion table history; and a conversion table proposing process in which the conversion table is generated and proposed with reference to the conversion table history.

The medical system operation method may further include: an operation history storage process in which an operation history of the operation device operated by the user is stored together with the user identification information, the slave identification information, and the operation device identification information. In the conversion table proposing process, the conversion table may be proposed and generated based on the operation history, so that a deviation of the number of operations in a plurality of operation parts is reduced or a total number of the operations is reduced.

In the conversion table proposing process, the conversion table may be generated and proposed again when a period in which there is no operation input to the operation device exceeds a predetermined period.

In the conversion table proposing process, a relative positional relationship between the endoscope and the slave may be referred to, to generate and propose the conversion table.

The medical system operation method may further include: an association display process in which, when a period in which there is no operation input to the operation device exceeds a predetermined period, an identification display of the operation part corresponding to the moving part of the slave imaged by the endoscope is superimposed on a position where the moving part is imaged.

The medical system operation method may further include: an interactive display process in which a pseudo image of the slave that operates based on the generated conversion table is displayed on a display part when the conversion table is generated and proposed.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

First Embodiment

FIG. 1is a view showing an overall configuration of a medical system100according to the present embodiment. The medical system100includes an endoscope10configured to observe the inside of the patient P, a manipulator20having a treatment tool unit (slave device)40configured to perform treatment inside the patient P, and an overtube80through which the endoscope10and the manipulator20are inserted.

The endoscope10is an apparatus for observing the inside of the patient P, and can be appropriately selected from various known configurations in consideration of performance, use, or the like.

FIG. 2is a view showing the configuration of the distal end of the overtube80.

As shown inFIG. 2, the overtube80has a first lumen81through which the endoscope10is inserted, and a second lumen82through which the treatment tool unit40is inserted. The overtube80can be appropriately selected from various known configurations in consideration of the size or the like. When an overtube having a curved portion on the distal end side is used, it easily reaches the target portion to be treated.

In the two treatment tool units40shown inFIG. 2, one is equipped with a grasping forceps49as the treating part41, and the other is equipped with an electric knife48as the treating part41.

The manipulator20includes a console21(master device) operated by the operator Op, and a treatment tool unit40(slave device) mounted on the console21. The treatment tool unit40having a treating part41such as the gripping forceps49and the electric knife48suitable for treatment is selected and mounted on the console21.

FIG. 3is a view showing the console21.

The console21includes an operation device30that is operated and input by the operator Op, a controller35that operates the treatment tool unit40based on an output from the operation device30, a motor unit38on which the treatment tool unit40is mounted, and a monitor (display part)22.

FIG. 4is a functional block diagram of the manipulator20in a state where the treatment tool unit40is mounted on the console21. InFIG. 4, the monitor22is omitted. InFIG. 4, a thick line connecting components represents a physical coupling capable of transmitting power, and a thin line connecting components represents a logical coupling capable of transmitting and receiving signals.

FIG. 5is a view schematically showing the treatment tool unit40.

The treatment tool unit40includes an arm portion43and a mounting portion45. A region between the arm portion43and the mounting portion45is a flexible connecting portion44having flexibility.

The arm portion43includes a treating part (moving part)41provided at the distal end, and an arm42on which the treating part41is mounted.

The mounting portion45is detachable from the motor unit38and is mounted on the motor unit38to transmit the drive of the motor unit38to drive the treating part41and the arm42.

The treating part (moving part)41is an apparatus that performs medical treatment such as the grasping forceps49and the electric knife48. The treatment tool unit40shown inFIG. 5is equipped with the grasping forceps49as the treating part41. A distal end of an operation wire for opening and closing the grasping forceps49is mounted on the grasping forceps49. The operation wire is inserted through the inside of the treatment tool unit40, and the proximal end of the operation wire is mounted on the mounting portion45.

The arm42has a plurality of joints (moving parts)42a(J3, J2, J1). Each joint42ais connected to a plurality of pulleys provided inside the mounting portion45via transmission members. As shown inFIG. 5, the joint42a(J3), the joint42a(J2), and the joint42a(J1) are arranged from the distal end side closest to the treating part41toward the proximal end side.

The pulley is connected to the output shaft of the motor unit38so as to rotate by the operation of the motor unit38. The rotation shaft of the pulley is supported by the mounting portion45. The transmission member is wound around the pulley. When the pulley rotates, the transmission member moves forward and backward so that the joints42aare driven.

FIG. 6is a view showing the movable directions of the joints42a.

The joint42a(J1) is a joint that rotates around the longitudinal axis of the arm42as shown inFIG. 6.

The joint42a(J2) is a joint that bends the arm42as shown inFIG. 6.

The joint42a(J3) is a joint that bends the arm42as shown inFIG. 6, and the bending direction is orthogonal to the direction in which the joint42a(J2) bends the arm42.

The treatment tool unit40has treatment tool identification information (slave identification information). The treatment tool identification information is, for example, a treatment tool number from which the type of the treatment tool unit40can be determined. In addition to the treatment tool number, various types of information can be included in the treatment tool identification information. For example, the treatment tool identification information may include a serial number or the like from which an individual tool can be identified even if the same type of treatment tool unit40is used. Moreover, information of the configuration of the moving part such as a joint may be included.

The treatment tool identification information is stored in a memory of an electric circuit provided in the treatment tool unit40. The treatment tool unit40can transmit treatment tool identification information by communication via the electric circuit or wireless communication.

Further, the treatment tool identification information may be a mechanical structure provided in a portion where the treatment tool unit40and the console21are mounted. The console21on which the treatment tool unit40is mounted can determine the type of the treatment tool unit40according to the mechanical structure.

FIG. 7is a view showing the operation device30of the console21.

The operation device30is a device that receives an operation input by the treatment tool unit40that is detachable from the console21. In the present embodiment, the operation device30is a joystick as shown inFIG. 7, and can be appropriately selected from various known configurations in consideration of performance, use, or the like. The operation device30can receive three types of inputs, that is, input1(In1), input2(In2), and input3(In3). Each input can receive an input amount in the plus direction (In1a, In2a, In3a) and the minus direction (In1b, In2b, In3b) from a reference position.

The operation device30is not limited to a joystick as shown inFIG. 7. For example, as shown inFIG. 8, an operation device30B that is a modification of the operation device30is configured with a touch panel. Similarly to the operation device30, the operation device30B can receive three types of inputs, that is, input1(In1), input2(In2), and input3(In3). Each input can receive an input amount in the plus direction (In1a, In2a, In3a) and the minus direction (In1b, In2b, In3b) from the reference position.

The operation device30may be provided with a treatment operation part (operation part) for operating the treating part (operation part)41. The specific mode of the treatment operation part can be appropriately set according to the configuration of the treating part41or the like. For example, when the treating part41is the grasping forceps49, a structure having a button for opening and closing the grasping forceps49may be used. When the treating part41is the electric knife48that is energized to be used, a structure having a button for switching energization on and off may be used.

The console21can be used with the operation device30selected from various operation devices. It is also possible to mount a plurality of operation devices on the console at the same time and use them in combination.

The treatment operation part (operation part) may be a switch such as a foot switch provided separately from the operation device30or the like. The operator Op operates the treating part41and the joints42a(moving part) of the treatment tool unit40by combining the operation device30and the switch or the like.

The operation device30has operation device identification information. The operation device identification information is, for example, an operation device number from which the type of the operation device30can be determined. In addition to the operation device number, various types of information can be included in the operation device identification information. For example, a serial number or the like from which an individual device can be identified even in the same type of operation device30may be included in the operation device identification information. Moreover, information of the configuration of the operation part may be included.

The operation device identification information is stored in the memory of the electric circuit provided in the operation device30. The operation device30can transmit the operation device identification information by communication via the electric circuit or wireless communication.

The operation device identification information may be a mechanical structure provided in a portion where the operation device30and the console21are mounted. The console21on which the operation device30is mounted can determine the type of the operation device30from the mechanical structure.

The monitor22is a device that displays an image acquired by the endoscope10. The monitor22is configured by a known display device such as an LCD display.

The motor unit38is physically coupled to the arm portion43via the mounting portion45. The motor unit38has a plurality of drive sources such as a motor, and each joint42aof the arm42is connected to the corresponding drive source via a pulley of the mounting portion45and a transmission member.

The controller35is a device that controls the manipulator20, and includes a control part36and a treatment tool driving part37as shown inFIG. 4.

The control part36controls the manipulator20and the like. The control part36is configured by a device (computer) including hardware processor capable of executing a program such as a central processing unit (CPU) and a memory. The function of the control part36can be realized as a software function by the control part36reading and executing a program for controlling the CPU.

Note that some or all of the functions of the control part36may not be realized as software functions, but may be configured by a dedicated logic circuit or the like.

FIG. 9is a view showing an example of the overall configuration of the control part36.

As shown inFIG. 9, the control part36includes a CPU36a, a memory36bthat can read a program, a storage part36c, and an input/output control part36d. A program provided to the control part36for controlling the operation of the controller35is read into the memory36band executed by the CPU36a.

The storage part36cis a non-volatile recording medium that stores the above-described program and necessary data. The storage part36cis configured by, for example, a ROM or a hard disk. The program recorded in the storage part36cis read into the memory36band executed by the CPU36a.

The input/output control part36dreceives input data from the operation device30, the treatment tool unit40, and the like, and transmits the input data to a module such as the CPU36ainside the control part36. Further, the input/output control part36dgenerates a control signal or the like for the treatment tool driving part37or the like, based on an instruction from the CPU36a, when the CPU36acontrols the treatment tool driving part37or the like.

The control part36described above is not limited to a device provided in one piece of hardware. For example, the control part36may be configured by separating the CPU36a, the memory36b, the storage part36c, and the input/output control part36das separate hardware and connecting the hardware with a communication line. Alternatively, the control part36may achieve a cloud system by separating the storage part36cand similarly connecting it with a communication line.

The treatment tool driving part37controls the motor unit38according to the output of the control part36to drive the treatment tool unit40.

The treatment tool driving part37can drive each joint42aof the arm42by driving a driving source such as a motor provided in the motor unit38and rotating a pulley supported by the mounting portion45.

In addition, the treatment tool driving part37controls the treating part41. For example, when the electric knife48is mounted as the treating part41, it is possible to control whether electricity is supplied to the electric knife48. When the grasping forceps49is mounted as the treating part41, the opening/closing operation of the grasping forceps49can be controlled.

The control part36can read the treatment tool identification information from the treatment tool unit40mounted on the console21via the electric circuit. When the controller35further has a wireless communication function, the treatment tool identification information may be read from the treatment tool unit40by wireless communication.

The storage part36cstores a treatment tool database from which information such as the configuration of the moving part of the treatment tool can be extracted from the treatment tool number included in the treatment tool identification information. In the treatment tool database, the treatment tool number of the treatment tool unit40that can be mounted on the console21and the configuration of the moving part of the treatment tool are stored in advance. The treatment tool database can be updated at any time.

The control part36can read the operation device identification information from the operation device30mounted on the console21via the electric circuit. When the controller35further has a wireless communication function, the treatment tool identification information may be read from the operation device30by wireless communication.

The storage part36cstores an operation device database from which information such as the configuration of the operation part of the operation device30can be extracted from the operation device number included in the operation device identification information. In the operation device database, the operation device number of the operation device30that can be mounted on the console21and the configuration of the operation part of the operation device30are stored in advance. The operation device database can be updated at any time.

The control part36can acquire user identification information from an input device such as a keyboard provided separately from the operation device30. The user identification information is, for example, a user number from which an operator can be identified. The operator and the user number are associated with each other in advance. The control part36acquires the user number by allowing the operator to input the user number from an input device such as a keyboard. Further, the control part36may acquire the user number from the ID card held by the operator by wireless communication or the like.

The storage part36cstores a conversion table that associates the operation part of the treatment tool unit40with the operation part of the operation device30. The conversion table is newly generated under the control of the medical system100described below. The newly generated conversion table is stored in the storage part36ctogether with user identification information, treatment tool identification information, and operation device identification information, as a conversion table history. The conversion table corresponding to the operator Op is stored in the storage part36c.

FIG. 10is a view showing the conversion table corresponding to the treatment tool number “S01” and the operation device number “M01” of the operator “UesrA”. The conversion table shows the correspondence between the input (In1a, In2a, In3a, In1b, In2b, In3b) of the operation part of the operation device30and the moving parts (J1, J2, J3) of the treatment tool unit40. The numbers in the conversion table represent the ratio (gain) of the operation amount of the operation part to the input amount of the operation part. When the number is “2”, the operation amount is doubled when the input amount is the same as compared with the case where the number is “1”. A negative number indicates that the moving part operates in the opposite direction as compared with a positive number.

The operation of the medical system100configured as described above and the operation method of the medical system100will be described with reference toFIGS. 11 to 13.FIG. 11is a flowchart of control of the control part36.FIG. 12is a flowchart of control of “correspondence estimation process A” which is a subroutine in the flowchart of control of the control part36shown inFIG. 11.

As shown inFIG. 1, the medical system100is operated by at least two persons, that is, an operator Op who operates the console21and a scopist Sc who operates the overtube80and the endoscope10.

The operator Op selects the treatment tool unit40and the operation device30that are optimal for the treatment. The selected operation device30is mounted on the console21. As shown inFIG. 2, when two treatment tool units40are used, the operation devices30corresponding to the respective treatment tool units40are mounted on the console21.

As shown inFIG. 1, the scopist Sc inserts the endoscope10into the first lumen81of the overtube80. Further, the scopist Sc inserts the treatment tool unit40into the second lumen82of the overtube80.

The scopist Sc inserts the overtube80into which the endoscope10and the treatment tool unit40are inserted into the anus of the patient P. Subsequently, the scopist Sc advances the overtube80in the large intestine while observing the image acquired by the endoscope10and introduces the overtube80through which the endoscope10is inserted to the vicinity of the target portion.

Subsequently, the scopist Sc causes the endoscope10to protrude from the overtube80, performs a bending operation as necessary, and secures a visual field when performing treatment on the target portion. This completes the preparation process.

After completing the preparation process, the mounting portion45of the treatment tool unit40is mounted on the motor unit38of the console21. Hereinafter, the description will follow the flowchart of control of the “association process” of the control part36shown inFIG. 11.

As shown inFIG. 11, when the treatment tool unit40and the operation device30are mounted, the control part36starts control of the “association process” (step S10). Until the association is completed, the control part36invalidates the operation input of the operation device30, and the scopist cannot operate the treatment device unit40by operating the operation device30.

Next, the control part36performs step S11.

In step S11, as shown inFIG. 11, the control part36acquires the treatment tool identification information of the mounted treatment tool unit40and the operation device identification information of the mounted operation device30, by communication via the electric circuit or wireless communication.

In addition, the control part36displays a message prompting the operator to input the user identification information from the input device on the monitor22, and acquires the user identification information input by the operator from the input device. The user identification information may be acquired from an ID card held by the operator by wireless communication or the like.

Next, the control part36performs step S12.

In step S12, as shown inFIG. 11, the control part36reads the conversion table history for the treatment tool unit40and the operation device30to be used, corresponding to the operator Op, based on the user identification information, the treatment tool identification information, and the operation device identification information, from the storage part36c.

Next, the control part36performs step S13.

In step S13, as shown inFIG. 11, the control part36performs a “correspondence estimation process A” which is a subroutine. Hereinafter, the description will follow the flowchart of control of the control part36shown inFIG. 12.

In step S100, as shown inFIG. 12, the control part36starts the control of the correspondence estimation process A. Next, the control part36performs step S110.

In step S110, as shown inFIG. 12, the control part36determines whether the conversion table corresponding to the operator Op has been read from the storage part36cin step S12. When the operator Op has used the combination of the treatment tool unit40and the operation device30that have been previously mounted in the medical system100, the used conversion table is stored in the storage part36cas a conversion table history. The conversion table history is specified as a proposed conversion table. In this case, the control part36next performs step S111.

When the corresponding conversion table does not exist in the storage part36c, the control part36next performs step S120.

In step S111, as shown inFIG. 12, the control part36proposes to the operator Op the conversion table specified in step S110(conversion table proposal process). Proposals to the operator are made by displaying the conversion table on the monitor22as shown inFIG. 10. In addition, the control part36causes the monitor22to display a message that prompts the operator to input the approval of the operator Op for the proposed conversion table from the input device.

Next, the control part36performs step S112.

In the conversion table shown inFIG. 10, input1(In1) is associated with the joint42a(J1), input2(In2) is associated with the joint42a(J2), and input3(In3) is associated with the joint42a(J3).

In step S112, as shown inFIG. 12, when the control part36approves the conversion table proposed by the operator Op, the control part36next performs step S180. When the table is not approved, the control part36next performs step S120.

In step S120, as shown inFIG. 12, a conversion table corresponding to another user is read from the storage part36c, and it is determined whether there is a conversion table history corresponding to the combination of the mounted treatment tool unit40and the mounted operation device30. When there is a corresponding conversion table history, the control part36next performs step S121. When there is no corresponding conversion table history, the control part36next performs step S130.

In step S121, as shown inFIG. 12, the control part36proposes to the operator Op the conversion table specified in step S110. The proposal to the operator Op is the same as in step S112.

For example, when the conversion table of another user “UserB” shown inFIG. 13is in the storage part36c, this is proposed to the operator Op (UserA). In the conversion table shown inFIG. 13, input1(In1) is associated with the joint42a(J1), input2(In2) is associated with the joint42a(J3), and input3(In3) is associated with the joint42a(J2).

Next, the control part36performs step S122.

In step S122, as shown inFIG. 12, when the operator Op approves the proposed conversion table, the control part36next performs step S180. When the table is not approved, the control part36next performs step S130.

In step S130, as shown inFIG. 12, the control part36determines whether there is a conversion table history including one of the mounted treatment tool unit40or the mounted operation device30in the storage part36c. In this case, the conversion table history may correspond to the operator Op, or may correspond to another user. When there is a conversion table history including either one, the control part36next performs step S131. When there is no conversion table history including either one, the control part36next performs step S170.

In step S131, as shown inFIG. 12, the control part36specifies the conversion table with reference to the conversion table history including another treatment tool unit40or the operation device30having a similar configuration (number of degrees of freedom, operation direction) of the operation part or the moving part and a similar usage frequency, among the conversion table history including either the mounted treatment tool unit40or the mounted operation device30.

The control part36proposes the specified conversion table to the operator Op. The proposal to the operator Op is the same as in step S112.

Next, the control part36performs step S132.

In step S132, as shown inFIG. 12, when the control part36approves the conversion table proposed by the operator Op, the control part36next performs step S180. When the table is not approved, the control part36next performs step S170.

In step S170, as shown inFIG. 12, since there is no conversion table that can be proposed, the control part36displays a message on the monitor22prompting to input the conversion table from the input device, and acquires the conversion table input from the input device by the operator Op.

Next, the control part36performs step S180.

In step S180, as shown inFIG. 12, the control part36sets a conversion table approved or input by the operator Op as the conversion table, to be used for associating the moving part of the treatment tool unit40with the operation part of the operation device30. In addition, the control part36stores the conversion table approved or input by the operator Op in the storage part36cas the conversion table history together with the user identification information, the treatment tool identification information, and the operation device identification information (conversion table storage process).

Next, the control part36performs step S190.

In step S190, as shown inFIG. 12, the control part36ends the control of “correspondence estimation process A”, and then performs step S14shown inFIG. 11to end the “association process”.

After completing the “association process”, the operator Op can perform a desired treatment on the target portion by appropriately operating the operation device30while confirming the video of the target portion displayed on the monitor22. The operator Op operates the operation device30and the scopist Sc operates the endoscope10, so as to move the treating part41and the endoscope10to a place where the target portion can be treated.

(Effects of the First Embodiment)

According to the medical system100of the present embodiment, the user identification information of the user (operator Op) of the treatment tool unit40, the treatment tool identification information of the treatment tool unit40, and the operation device identification information of the operation device30are acquired, and a corresponding conversion table can be generated and proposed. The treatment tool unit40and the operation device30can be easily associated with each other.

According to the medical system100of the present embodiment, the conversion table used last by the operator Op can be proposed from the corresponding conversion table history. Even when there is no corresponding conversion table history, a conversion table can be proposed by referring to a conversion table history corresponding to another user, or another treatment tool unit40or operation device30with a similar configuration or usage frequency. By using the conversion table history, the treatment tool unit40and the operation device30can be easily associated with each other.

The first embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and design changes and the like within the scope of the present invention are included. In addition, the constituent elements shown in the above-described first embodiment and the modifications shown below can be combined as appropriate.

For example, in the above-described embodiment, the number of joints42a(moving parts) of the treatment tool unit40and the number of operation parts of the operation device30coincide. However, the aspect of the joints42a(operation parts) of the treatment tool unit40and the operation part of the operation device30is not limited to this. For example, an operation device30C that is a modification of the operation device30shown inFIG. 14has three push buttons and two direction buttons.FIG. 15is a conversion table associating the treatment tool unit40with the operation device30C. The operator Op can operate the joint42a(J1) by operating the direction button while pressing the push button1. Even when the number of joints42a(operation parts) of the treatment tool unit40and the number of operation parts of the operation device30do not coincide, the medical system100can perform association using the conversion table.

For example, the flowchart of control shown in the above embodiment may be one in which the flow order is appropriately changed. Moreover, the flowchart of control shown in the above embodiment may be changed in part.

Second Embodiment

A second embodiment of the present invention will be described with reference toFIG. 16. This embodiment is different from the first embodiment in that an operation history is stored. In the following description, components that are the same as those already described are assigned the same reference numerals and redundant description is omitted.

The overall configuration of the medical system200according to the present embodiment is the same as that of the medical system100according to the first embodiment. The control part36of the medical system200is different in that the operation history of the operation device30of the operator Op is stored together with the user identification information, the treatment tool identification information, and the operation device identification information.

The operation history stored by the control part36includes, for example, the number of uses of the joint42a(operation part) of the treatment tool unit40and the operation part of the operation device30, and the operation input tendency. The operation input tendency is, for example, the number of operations consecutively operated by the same operation part or the types of operation parts operated simultaneously. Additional information such as the type of procedure and the portion to be treated may be stored together. These operation histories are stored for each operator Op (operation history storage process).

Further, the medical system200controls the correspondence estimation process B, which is partly different from the correspondence estimation process A of the medical system100.

Hereinafter, flow of control of the control part36will be described with reference toFIG. 16.FIG. 16is a flowchart of control of the correspondence estimation process B by the control part36. The flowchart of control shown inFIG. 16differs from the flowchart of control shown inFIG. 10only in that it further includes step S113, step S114, and step S115. Since the other steps are the same, the description thereof is omitted.

In step S112, as shown inFIG. 16, when the control part36does not approve the conversion table proposed by the operator Op, the control part36next performs step S113.

In step S113, as shown inFIG. 16, the control part36determines whether an adjustment plan of the conversion table can be proposed from the stored operation history. Based on the user identification information, the treatment tool identification information, and the operation device identification information, the control part36reads out, from the storage part36c, the operation history of the operated operator Op about the treatment tool unit40and the operation device30to be used.

In step S110, the control part36has already read out the conversion table history for the treatment tool unit40and the operation device30to be used corresponding to the operator Op from the storage part36c, to specify the conversion table history as the conversion table to be proposed. In step S113, as shown inFIG. 16, the control part36estimates and generates the adjustment plan of the conversion table based on the conversion table.

For example, the control part36generates the adjustment plan of the conversion table as follows.

When there is a bias in the number of operations consecutively operated by the same operation part, the adjustment plan is generated so that the bias is reduced. The operation part that is operated consecutively is considered to have a small amount of operation output corresponding to the operation part. Therefore, the gain is adjusted to increase the operation amount of the operation output corresponding to the operation part. When there is an operation part that is used less frequently, the operation by the moving part corresponding to the operation part may be changed to a different operation. The bias in the number of operations can be reduced, and the operator Op can use the operation part efficiently.

Furthermore, the control part36may generate the adjustment plan of the conversion table so that the total number of operations of the operation device30is reduced. For example, when the operation history includes many operations in which the operations A and B are continuously operated, a new operation input that performs the operations A and B simultaneously or continuously may be assigned to the operation part. Since the total number of operations of the operation device30is reduced, the operator Op can use the operation part more efficiently.

In step S113, as shown inFIG. 16, when it is determined that the adjustment plan of the conversion table can be proposed, the control part36next performs step S114. When it is determined that the proposal cannot be made, the control part36next performs step S120.

In step S114, as shown inFIG. 16, the control part36proposes to the operator Op the conversion table to be proposed that has been specified in step S113. The proposal to the operator Op is made by displaying the conversion table on the monitor22. In addition, the control part36causes the monitor22to display a message that prompts the operator to input the approval of the operator Op for the proposed conversion table from the input device.

Next, the control part36performs step S115.

In step S115, as shown inFIG. 16, when the operator Op approves the proposed conversion table, the control part36next performs step S180. When the table is not approved, the control part36next performs step S120.

(Effect of the Second Embodiment)

According to the medical system200of the present embodiment, it is possible to propose the adjustment plan of the conversion table based on the conversion table used last by the operator Op, from the corresponding operation history. By estimating and generating a new conversion table so that the deviation of the number of operations in the plurality of operation parts is reduced or the total number of operations is reduced, the association between the treatment tool unit40and the operation device30can be easily performed and the operator Op can use the operation part more efficiently.

The second embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and design changes and the like within a scope not departing from the gist of the present invention are included. In addition, the constituent elements shown in the above-described second embodiment and the modified examples described below can be configured in appropriate combinations.

For example, in the above-described embodiment, the conversion table is proposed based on the type of the treatment tool unit40, but the proposal aspect is not limited to this. For example, when the treatment tool identification information includes a manufacturing number or the like from which an individual unit can be identified even in the same type of treatment tool unit40, the number of repeated uses of the moving part may be acquired from the operation history for each individual part, and an adjustment plan considering estimation of deterioration due to repeated use may be generated. For example, for an moving part having a large number of repeated uses, it may be assumed that the operation wire or the like has deteriorated, and the gain of the moving part may be set small in order to prevent damage to the operation wire or the like.

Third Embodiment

A third embodiment of the present invention will be described with reference toFIG. 17. This embodiment is different from the first embodiment and the second embodiment in that the correspondence estimation process is performed not only when the treatment tool unit40or the like is mounted, but also during the treatment. In the following description, components that are the same as those already described are assigned the same reference numerals and redundant description is omitted.

The overall configuration of the medical system300according to the present embodiment is the same as that of the medical system100according to the first embodiment. After completing the “association process”, the operator Op can perform a desired treatment on the target portion by appropriately operating the operation device30while confirming the video of the target portion displayed on the monitor22. Hereinafter, the description will follow the flowchart of control of an “in-treatment association process” by the control part36shown inFIG. 17.

In step S200, as shown inFIG. 16, the control part36starts control of the “in-treatment association process”. The control part36initializes a counter that counts a time (non-operation time) for which there is no operation input from the operation device30. Next, the control part36performs step S210.

In step S210, as shown inFIG. 17, the control part36prohibits changing the correspondence. It is possible to prevent an unexpected operation from occurring due to a change of the correspondence during the treatment. Next, the control part36performs step S220.

In step S220, as shown inFIG. 17, the control part36determines whether or not there is an operation input from the operation device30. When there is an operation input, the control part36next performs step S270. When there is no operation input, the control part36next performs step S230.

In step S230, as shown inFIG. 17, the control part36determines whether the non-operation time counted by the counter exceeds a certain time. When the predetermined time is exceeded, the control part36next performs step S250. When the predetermined time is not exceeded, the control part36next performs step S240.

In step S240, as shown inFIG. 17, the control part36counts up a counter of the non-operation time. Next, the control part36performs step S280.

In step S250, as shown inFIG. 17, the control part36determines that the non-operation time exceeds a certain time and the treatment is not interrupted even when the association process is performed, and validates the change of the correspondence. Thereby, the correspondence can be changed. Here, the operation input of the operation device30may be invalidated.

Next, the control part36performs step S251.

In step S251, as shown inFIG. 17, the control part36displays a message for inquiring whether or not changing of the correspondence is desired, and acquires the intention of changing the correspondence of the operator Op input by the operator Op from the input device. When the operator Op desires to change the correspondence, the control part36next performs step S260. When the operator Op does not desire to change the correspondence, the control part36next performs step S261.

In step S260, as shown inFIG. 17, the control part36performs a “correspondence estimation process”. The “correspondence estimation process” is the same process as that described as the correspondence estimation process A of the first embodiment or the correspondence estimation process B of the second embodiment. The conversion table is updated by the “correspondence estimation process”. Even when the “correspondence estimation process” is performed, there is a case in which the conversion table is not updated. Next, the control part36performs step S261.

In step S261, as shown inFIG. 17, the control part36waits for an operation input from the operation device30. When the operation input of the operation device30has been invalidated, the operation input of the operation device30is validated at this time.

When there is an operation input from the operation device30, the control part36next performs step S270.

In step S270, as shown inFIG. 17, the control part36resets a counter that counts non-operation time. Next, the control part36performs step S280.

In step S280, as shown inFIG. 17, the control part36confirms whether or not the operator Op ends the treatment. When the operator Op ends the treatment, the control part36next performs step S290and ends the control of the “in-treatment association process”. When the operator Op does not end the treatment, the control part36next performs step S210.

(Effect of the Third Embodiment)

According to the medical system300of the present embodiment, when the period in which there is no operation input to the operation device30exceeds a predetermined period, by generating and proposing a conversion table again, the operator Op can select and change the conversion table according to the treatment status during the treatment. Further, by limiting the proposal of the conversion table only when the period in which there is no operation input to the operation device30exceeds a predetermined period, the conversion table can be prohibited from being changed during the operation of the operation device30. Therefore, it is possible to prevent an unexpected motion caused by simultaneous operation input and conversion table change.

Fourth Embodiment

A fourth embodiment of the present invention will be described with reference toFIGS. 18 and 19. This embodiment is different from the third embodiment in the “correspondence estimation process” in the control of the “in-treatment association process”. In the following description, components that are the same as those already described are assigned the same reference numerals and redundant description is omitted.

The overall configuration of the medical system400according to the present embodiment is the same as the medical system300according to the third embodiment. Similarly to the medical system300according to the third embodiment, the control part36of the medical system400controls the “in-treatment association process” shown inFIG. 17. The control part36performs the correspondence estimation process C in the “in-treatment association process”. Hereinafter, the description will follow the flowchart of control of the correspondence estimation process C of the control part36shown inFIG. 18.

When the non-operation time exceeds a certain time during the treatment and the change of the correspondence is validated, the control part36starts the control of the correspondence estimation process C (step S300). Next, the control part36performs step S310.

In step S310, as shown inFIG. 18, the control part36determines whether or not the input operation direction of the treatment tool unit40in the visual field of the endoscope10needs to coincide with the operation direction of the operation device30. When the relative position between the endoscope10and the treatment tool unit40is changed, the relationship between the input operation direction of the treatment tool unit40and the operation direction of the operation device30in the visual field of the endoscope10may be different from when the “association process” is performed. In this case, the control part36determines that the input operation direction of the treatment tool unit40in the visual field of the endoscope10needs to coincide with the operation direction of the operation device30, and then performs step S320.

When the relationship between the input operation direction of the treatment tool unit40and the operation direction of the operation device30in the visual field of the endoscope10coincide as compared with the case when the “association process” was performed most recently, step S360is performed.

The relative position between the endoscope10and the treatment tool unit40may be determined by image processing of a captured image of the endoscope10. For calculating the relative position, control information of the treatment tool unit40, information on a sensor incorporated in the treatment tool unit40, or the like may be used.

In step S320, as shown inFIG. 18, the control part36proposes a conversion table in which the relationship between the input operation direction of the treatment tool unit40and the operation direction of the operation device30in the field of view of the endoscope10correspond as compared with the case when the “association process” was performed most recently.

It is assumed that the field of view of the endoscope10is rotated 90 degrees with respect to the treatment tool unit40as compared with the case when the “association process” was most recently performed. Further, it is assumed that the conversion table is set to the conversion table shown inFIG. 10by the “association process” performed most recently. In step S320, the control part36exchanges the operation parts (In2, In3) corresponding to the joint42a(J2) and the joint42a(J3) as in the conversion table shown inFIG. 19. The joint42a(J2) and the joint42a(J3) are joints whose bending directions are orthogonal to each other. When the field of view of the endoscope10is rotated 90 degrees, by replacing the operation parts corresponding to the joint42a(J2) and the joint42a(J3), the operator Op can obtain a feeling of operation similar to the feeling of operation of the treatment instrument unit40by the “association process” performed most recently.

In step S330, as shown inFIG. 18, when the control part36approves the conversion table proposed by the operator Op, the control part36next performs step S350. When the table is not approved, the control part36next performs step S335.

In step S335, as shown inFIG. 18, the control part36displays a message inquiring whether the operator Op desires to manually change the conversion table, and acquires the will of manual change of the operator Op input by the operator Op from the input device. When the operator Op desires manual change, the control part36next performs step S340. When the operator Op does not desire manual change, the control part36next performs step S360.

Step S340is the same as step S170, step S350is the same as step S180, and step S360is the same as step S190.

(Effect of the Fourth Embodiment)

According to the medical system400of the present embodiment, for example, when the field of view of the endoscope10changes 90 degrees during treatment, a conversion table that matches the input operation directions of up, down, left and right of the treatment instrument unit with the operation direction of the operation device30is proposed. That is, by referring to the relative positional relationship between the endoscope10and the treatment tool unit40and generating a conversion table to propose, the feeling of operation of the treatment tool unit40by the operation device30can be maintained even when the field of view of the endoscope10is changed. The operator Op can intuitively operate the treatment tool unit40even when the field of view of the endoscope10changes.

Fifth Embodiment

A fifth embodiment of the present invention will be described with reference toFIGS. 20 and 21. The present embodiment is different from the first embodiment to the fourth embodiment in that an “association display process” is performed together with the “association process” and “in-treatment association process”. In the following description, components that are the same as those already described are assigned the same reference numerals and redundant description is omitted.

The overall configuration of the medical system500according to the present embodiment is the same as that of the medical system100according to the first embodiment. Similarly to the medical system100according to the first embodiment and the medical system300according to the third embodiment, the control part36of the medical system500performs control of an “association process” and an “in-treatment association process” shown inFIG. 17and the like. In parallel with these processes, the control part36performs an “association display process”. Hereinafter, the description will follow a flowchart of control of “association display process” of the control part36shown inFIG. 20.

After completion of the “association process”, as shown inFIG. 20, the control part36starts the control of the “association display process” (step S400). The control part36initializes a counter that counts a time when there is no operation input from the operation device30(non-operation time). Next, the control part36performs step S410.

In step S410, as shown inFIG. 20, when the association display displayed in the “association display process” is displayed superimposed on the monitor22, the control part36deletes the association display. Next, the control part36performs step S420.

In step S420, as shown inFIG. 20, the control part36determines whether there is an operation input from the operation device30. When there is an operation input, the control part36next performs step S470. When there is no operation input, the control part36next performs step S430.

In step S430, as shown inFIG. 20, the control part36determines whether the non-operation time counted by the counter has exceeded a certain time. When the predetermined time is exceeded, the control part36next performs step S450. When the predetermined time is not exceeded, the control part36next performs step S440.

The fixed time used in step S430may be different from the fixed time used in step S230.

In step S440, as shown inFIG. 20, the control part36counts up a counter for non-operation time. Next, the control part36performs step S480.

In step S450, as shown inFIG. 20, the control part36acquires the correspondence between the current operation part and the moving part from the conversion table, and superimposes and displays the identification display of the operation part corresponding to the moving part of the treatment tool unit40imaged by the endoscope10at the position where the moving part is imaged, as shown inFIG. 21(association display process). Next, the control part36performs step S460.

In step S460, as shown inFIG. 20, the control part36waits for an operation input from the operation device30. When there is an operation input from the operation device30, the control part36next performs step S480.

Step S480is the same as step S280, and step S490is the same as step S290.

During the period in which the “association display process” described in the present embodiment is being executed, the “in-treatment association process” described in the third embodiment and the fourth embodiment may be performed in parallel.

(Effect of the Fifth Embodiment)

According to the medical system500of the present embodiment, the identification display of the operation part corresponding to the moving part of the treatment tool unit40imaged by the endoscope10is superimposed and displayed at the position where the moving part is imaged. Thus, the operator Op can confirm the correspondence between the moving part and the operation part, and can prevent the recognition error of the correspondence. In addition, since the superimposed display is performed only while the operation by the operator Op is interrupted, the operator Op can concentrate on the procedure during the operation input.

Sixth Embodiment

A sixth embodiment of the present invention will be described with reference toFIGS. 22 and 23. In the present embodiment, the “interactive display process” is performed when “the user manually performs association” in the “association process” or “in-treatment association process” from the first embodiment to the fifth embodiment.

The overall configuration of the medical system600according to the present embodiment is the same as the medical system100according to the first embodiment. In step S170in the correspondence estimation process A of the first embodiment and in step S340in the correspondence estimation process C of the fourth embodiment, the control part36does not have a conversion table that can be proposed, and a message prompting the user to input the conversion table from the input device is displayed on the monitor22. At this time, as shown inFIG. 22, the control part36displays a pseudo image P of the treatment tool unit40having the same configuration as the mounted treatment tool unit40, on the screen of the monitor22.

Further, one moving part is selected from the moving parts to be manually set, and one piece of operation content is selected from the operation content of the moving part. Further, a message prompting the user to operate the operation part of the operation device30is displayed on the screen of the monitor22so that the selected moving part performs the operation of the selected operation content. InFIG. 22, “joint42a(J3)” is selected as the moving part, and “right” is selected from the operation content of the joint42a(J3).

The operator Op selects and inputs the operation part that moves the “joint42a(J3)” to the “right”. It is assumed that the operator Op selects the input In3aas the operation part. As shown inFIG. 23, the control part36displays the pseudo image P with the joint42a(J3) bent to the right on the monitor22(interactive display step). After confirming the operation of the pseudo image P, the operator Op uses the input device or the like to determine whether to approve the association between the input In3aand the joint42a(J3).

(Effects of the Sixth Embodiment)

According to the medical system600of the present embodiment, the pseudo image P of the treatment tool unit40that operates based on the generated conversion table is displayed on the monitor22and interactive conversion table input can be performed. Thereby, the burden of manual setting of the conversion table of the operator Op can be reduced. Further, by displaying the pseudo image P on the monitor22, manual setting can be performed intuitively, and manual setting errors can be reduced.