Remote control apparatus for medical equipment

A remote control apparatus according to one or more embodiments includes a manipulator that supports surgical equipment; a display configured to display an image captured by an endoscopy; a display supporting arm that includes a joint and a locking mechanism and supports the display, the locking mechanism is configured to lock the joint; an operation handle that allows an operator to operate the manipulator; and an unlocking mechanism configured, in response to an operation by the operator, to unlock the locked joint of the display supporting arm.

BACKGROUND

The disclosure relates to a remote control apparatus for medical equipment.

In recent years, surgical robots have been used in various surgeries, and remote control apparatuses for surgical robots are expected to improve in operability. In order to improve the operator's immersive feeling to surgeries, most conventional remote control apparatuses are provided with a viewer that the operator looks into with his/her face affixed thereon, as described in Patent Literature 1.

SUMMARY

In the remote control apparatus of Patent Literature 1, the position of the display is adjustable. However, the position of the display can be adjusted just in a simple manner, by separately controlling the height, depth, and angle thereof. In addition, the adjustable range of the position of the display is limited, so that the position of the display cannot be moved enough for the operator to change his/her posture.

An object of an embodiment is to provide a remote control apparatus for medical equipment, which is able to easily change the position of a display and thereby allows an operator to freely take a desired posture even while viewing the display.

An aspect of the disclosure is a remote control apparatus for a surgery assisting system including a manipulator that supports surgical equipment. The remote control apparatus includes: a display configured to display an image captured by an endoscopy; a display supporting arm that includes a joint and a locking mechanism and supports the display, the locking mechanism is configured to lock the joint; an operation handle that allows an operator to operate the manipulator; and an unlocking mechanism configured, in response to an operation by the operator, to unlock the locked joint of the display supporting arm.

A second aspect of the disclosure is a remote control apparatus for a surgery assisting system including a manipulator that supports surgical equipment. The remote control apparatus according to the second aspect includes: a display that displays an image captured by an endoscope; a display supporting arm that includes joints and locking mechanisms and supports the display, the joints including a first joint rotating around a horizontal axis and a second joint rotating around a horizontal axis, the locking mechanisms being disposed for the respective joints and locking the corresponding joints; an operation handle that allows the operator to operate the manipulator; and an unlocking mechanism configured, in response to an operation by the operator, to unlock the joints of the display supporting arm which are locked by the locking mechanisms. The unlocking mechanism that is being operated by the operator unlocks the joints locked by the locking mechanisms.

According to at least one of the aspects, the operator of the remote control apparatus can freely move the display to a desired position even during a surgery, for example.

DETAILED DESCRIPTION

Embodiments are explained with reference to drawings hereinafter.

First Embodiment

[Configuration of Remote Control Apparatus]

The configuration of a remote control apparatus100according to a first embodiment is described with reference toFIGS. 1 to 11.

As illustrated inFIG. 1, the remote control apparatus100is provided for teleoperation of medical equipment included in a patient-side system200. When an operator O, as a surgeon, inputs an action mode instruction to be executed by the patient-side system200, to the remote control apparatus100, the remote control apparatus100transmits the action mode instruction to the patient-side system200through a controller206. In response to the action mode instruction transmitted from the remote control apparatus100, the patient-side system200operates medical equipment, such as surgical instruments and an endoscope, held by surgical manipulators201. This allows for minimally invasive surgery. A surgery assisting system includes the remote control apparatus100and the patient-side system200including the surgical manipulators201. The remote control apparatus100is an example of a remote control apparatus for medical equipment.

The patient-side system200constitutes an interface to perform a surgery for a patient P. The patient-side system200is placed beside an operation table300on which the patient P lies. The patient-side system200includes plural surgical manipulators201. One of the surgical manipulators201holds an endoscope201bwhile the others hold surgical instruments (instruments201a). The surgical manipulator201holding surgical instruments (instruments201a) function as instrument arms201A while the surgical manipulator201holding the endoscope201bfunctions as a camera arm201B. The instrument arms201A and camera arm201B are commonly supported by a platform203. Each of the surgical manipulators201includes plural joints. Each joint includes a driver including a servo-motor and a position detector such as an encoder. The surgical manipulators201are configured so that medical equipment attached to each surgical manipulator201is controlled by a driving signal given through the controller206, to perform a desired movement.

The platform203is supported by a positioner202placed on the floor of an operation room. The positioner202includes a column204and a base205. The column204includes an elevating shaft adjustable in the vertical direction. The base205includes wheels and is movable on the floor surface.

The instrument arms201A detachably hold the instruments201aas the medical equipment at the tips thereof. Each instrument201aincludes a housing and an end effector. The housing is attached to the instrument arm201A. The end effector is provided at the tip of an elongated shaft. The end effector is grasping forceps, a hook, scissors, a high-frequency knife, a snare wire, a clamp, or a stapler, for example. The end effector is not limited to those and can be various types of treatment tools. In surgeries using the patient-side system200, the instrument arms201A are introduced into the body of the patient P through a cannula (trocar) placed on the body surface of the patient P, and the end effector of each instrument201ais located near the surgery site.

To the tip of the camera arm201B, the endoscope201b(seeFIG. 4), as the medical equipment, is detachably attached. The endoscope201bcaptures an image within the body cavity of the patient P. The captured image is outputted to the remote control apparatus100. The endoscope201bis a 3D endoscope capable of capturing a three-dimensional image or a 2D endoscope. In surgeries using the patient-side system200, the camera arm201B is introduced into the body of the patient P through a trocar placed on the body surface of the patient P, and the endoscope201bis located near the surgery site. The endoscope201bis an example of an imaging section, or an imaging device.

The remote control apparatus100constitutes the interface with the operator O. The remote control apparatus100is an apparatus that allows the operator O to operate medical equipment held by the surgical manipulators201. Specifically, the remote control apparatus100is configured to transmit action mode instructions which are inputted by the operator O and are to be executed by the instruments201aand endoscope201b, to the patient-side system200through the controller206. The remote control apparatus100is installed beside the operation table300so that the operator O can see the state of the patient P very well while operating operation handles1, for example. The remote control apparatus100may be configured to transmit the action mode instructions wirelessly and installed in a room different from the operation room where the operation table300is installed.

The action modes to be executed by the instruments201ainclude a mode of actions to be taken by each instrument201a(a series of positions and postures) and actions to be executed by the function of each instrument201a. For the instrument201awhich is a pair of grasping forceps, for example, the action mode to be executed by the instrument201aincludes roll and pitch positions of the wrist of the end effector and the action to open or close the jaws. For the instrument201awhich is a high-frequency knife, the action mode to be executed by the instrument201aincludes vibration of the high-frequency knife, specifically, supply of current to the high-frequency knife. For the instrument201awhich is a snare wire, the action mode to be executed by the instrument201aincludes a capturing action and an action to release the captured object and moreover includes an action to supply current to a bipolar or monopolar instrument to burn off the surgery site.

The action mode to be executed by the endoscope201bincludes the position and posture of the tip of the endoscope201bor setting of the zoom magnification, for example.

As illustrated inFIG. 1, the remote control apparatus100is provided with a cover101. The cover101covers the right and left sides of the remote control apparatus100(on X1 and X2 sides), the back side (on Y2 side), and the top side (on the Z1 side).FIGS. 2 to 11illustrate the remote control apparatus100with the cover101removed for convenience.

As illustrated inFIGS. 2 and 4, the remote control apparatus100includes operation handles1, an operation pedal section2, a display supporting arm4supporting a display3or a display device, an armrest5supporting the arms of the operator O, and a control apparatus6, and a base7. The remote control apparatus100further includes a positioning section8a, an operating section8b, and a supporting mechanism9. The supporting mechanism9supports the operation handles1and armrest5.

The operation handles1are provided in order to remotely operate medical equipment held by the surgical manipulators201. Specifically, the operation handles1accept operations by the operator O for operating medical equipment (the instruments201aand endoscope201b). The operation handles1include a pair of operation handles1arranged side by side in the X direction. The right operation handle1(on the X2 side) of the pair of operation handles1is operated by the right hand of the operator O while the left operation handle1(on the X1 side) is operated by the left hand of the operator O.

The operation handles1are attached to a supporting section91of the supporting mechanism9. The operation handles1extend from the back side (the Y2 side) of the remote operation apparatus100toward the front side (the Y1 side). Plural joints are provided between the supporting section91and each operation handle1so that the operation handles1move relative to the supporting section91in a predetermined three-dimensional operation range A (seeFIGS. 5 and 6). Specifically, the operation handles1are configured so as to move relative to the supporting section91, up and down (in the Z direction), right and left (in the X direction), and forward and backward (in the Y direction). Each joint between the supporting section91and operation handles1is provided with a not-illustrated position detector that detects the positional relationship between the joints. The position detector is an encoder, a resolver, or a potentiometer, for example. The position detector thereby detects the positions of the operation handles1relative to the supporting section91.

The remote control apparatus100and patient-side system200constitute a master-slave system in terms of controlling motion of the instrument arms201A and camera arm201B. The operation handles1constitute an operating section on the master side in the master-slave system, and the instrument arms201A grasping medical equipment and the camera arm201B constitute an operating section on the slave side. When the operator O operates the operation handles1, the motion of the instrument arms201A or camera arm201B is controlled so that the tips (the end effectors of the instruments201a) of the instrument arms201A and the tip (the endoscope201b) of the camera arm201B move following the movement of the operation handles1.

The patient-side system200controls the motion of the instrument arms201A in accordance with the set motion scaling ratio. When the motion scaling ratio is set to ½, for example, the end effectors of the instruments201amove ½ of the movement distance of the operation handles1. This allows for precise fine surgery. The operation handles1are attached to the base7and extend toward the operator O in the Y direction.

The operation pedal section2includes pedals operable by a foot of the operator O. Each pedal is assigned to a specific function. One of such functions is to input a switching instruction to change the target to be controlled by the operation handles1among the plural instrument arms201A and camera arm201B. In order to change the field of view during surgery, the operator O operates the operation pedal section2for switching the target to be controlled by the operation handles1from the instrument arm201A to the camera arm201B and then operates the operation handles1to move the endoscope201b. After moving the endoscope201b, the operator O operates the operation pedal section2to return the target to be controlled by the operation handles1from the camera arm201B to the instrument arm201A, continuing the surgery. The operation pedal section2is placed in lower part so as to be operable by feet. The operation pedal section2is movable in the Y direction.

Another function of the operation pedal section2is to input an instruction to perform an action of the instrument201aattached to the tip of each instrument arm201A. The operation pedal section2is able to input an action to cause an instrument201ato cut or coagulate a surgery site. Operating the operation pedal section2applies voltage for cutting or voltage for coagulation to the instrument201a.

The display3displays an image captured by the endoscope201b. The display3includes a scope type display3aor a non-scope type display3b(seeFIG. 12). The scope type display3ais a display that the operator O looks into. The non-scope type display3bis a concept including an open-type display that the operator O looks at without looking into and that has a flat screen, such as a normal personal computer display. The scope and non-scope type displays3aand3bare selectively attachable to the remote control apparatus100. In the example illustrated inFIG. 2, the scope type display3ais mounted on the remote control apparatus100. As illustrated inFIG. 2, the scope type display3aincludes a display31a, a grip section32, an attachment section33, a terminal34(seeFIG. 4), and an angle adjustment joint35. The non-scope type display3bincludes a display31b, a grip section32, an attachment section33, a terminal34(seeFIG. 4), and an angle adjustment joint35as illustrated inFIG. 12. The attachment section33of the scope and non-scope type display3aor3bis attachable to the mounting section41of the display supporting arm4of the remote control apparatus100. In other words, the scope or non-scope type display3aor3bmounted on the remote control apparatus100is configured to be supported by the display supporting arm4. This allows the remote control apparatus100to be used as either an immersive remote control apparatus or an open-type remote control apparatus. The remote control apparatus100is versatile in terms of the display3.

Surgery often takes several hours. Surgeons who work for a long time with an immersive remote control apparatus sometimes experience a sense of isolation. Switching the remote control apparatus100to an open-type remote control apparatus before or during surgery makes surgeons more likely to have a sense of performing the surgery within a team.

The display of the remote control apparatus is versatile and expandable. If the display is broken or damaged, it is therefore only necessary to repair the display, and it is unnecessary to replace the entire apparatus. Moreover, the display can be upgraded without replacing the entire apparatus each time a higher definition or a higher quality display is developed. The operator can select a display of a favorite maker and favorite specifications (size, shape, type of operation panel, and the like).

The terminal34includes a terminal capable of transmitting video, such as a serial digital interface (SDI) terminal, an analogue component terminal, a high-definition multimedia interface (HDMI, registered trademark) terminal, or a universal serial bus (USB) terminal. The terminal34is connected to the control apparatus6. By connecting connection wire to the terminal34, the display3receives image information transmitted from the control apparatus6. The display3is dismounted from the remote control apparatus100when the connection wire from the terminal34is disconnected.

When the scope type display3ais mounted, 3D image captured by the endoscope201bheld by the camera arm201B of the patient-side system200is displayed on the scope type display3a. When the non-scope type display3bis mounted, 3D image captured by the endoscope201bprovided to the patient-side system200is displayed on the non-scope type display3b. When the non-scope type display3bis mounted, 2D image captured by the endoscope201bprovided to the patient-side system200may be displayed on the non-scope type display3b.

The scope type display3ais a viewer that the operator O looks into. The scope type display3adisplays an image for the right eye of the operator O and an image for the left eye. The scope type display3ais a stereoscope, for example. The display31aincludes a display for the right eye and a display for the left eye. When the operator O is looking into the display31a, the display for the right eye cannot seen by the left eye while the display for the left cannot be seen by the right eye. The display31ais composed of a liquid crystal display, an organic EL display, or the like. The display31amay be a projection-type display.

The non-scope type display3bis an open-type display that the operator O is able to see without looking into and is a direct-view-type display. The display31bof the non-scope type display3bincludes a flat or curved screen. The display31bcan be a display with a diagonal of 10 to 90 inches, for example. Considering the balance between sufficient visibility of the surgical field and easy replacement, the display31bpreferably has a diagonal of 15 to 30 inches. The display31bis composed of a liquid crystal display, an organic EL display, or the like. The display31bcan be a projection-type display. The non-scope type display3bmay employ a publicly-known stereoscopy in order for the operator O to stereoscopically view an image captured by the endoscope201b, such as a method using polarization glasses or a method using active shutter glasses.

The grip section32is gripped when the display3is mounted, dismounted, or moved. The grip section32can be gripped with one hand. The grip section32has a grip, recessed, or protrusion shape. The grip section32is provided on a lateral side or back side of the display3so as not to interfere with viewing the display31a(31b). The grip section32can be gripped with one hand, and the grip section32may include plural grip sections32. For example, the grip sections32may be provided on both sides of the display3as illustrated inFIG. 2, for example, so that the operator O sitting in front of the display3can grip any grip section32with either right or left hand. Each grip section32includes a trigger lever321. The trigger lever321is an example of an unlocking mechanism.

The attachment section33is attached to the mounting section41of the display supporting arm4. The mounting section41is detachably attached selectively to the scope or non-scope type display3aor3b, for example. The attachment section33includes an engagement section331as illustrated in a first example ofFIGS. 8A to 8C. The mounting section41includes a release button411and an engagement section412. As illustrated inFIG. 8A, in a fixed state, the engagement section331of the attachment section33is engaged with the engagement section412of the mounting section41, so that the attachment section33is locked with the mounting section41of the display supporting arm4. The display3is thereby fixed and supported by the display supporting arm4. In other words, the engagement sections331and412constitute a display engaging mechanism to fix the display3(the scope or non-scope type display3aor3b).

As illustrated inFIG. 8B, when the release button441is pressed down, the engagement section412moves and disengages from the engagement section331. The engagement section33is thereby unlocked from the mounting section41. The release button411functions as a disengaging mechanism that releases the engagement by the display engaging mechanism composed of the engagement sections331and412. The disengaging mechanism is configured to release the engagement by the display engaging mechanism, with an action of force downward in the vertical direction. The disengaging mechanism thereby easily releases the engagement by the display engaging mechanism.

As illustrated inFIG. 8C, the grip section32of the display3is operated upward in the vertical direction while the disengaging mechanism is acting downward in the vertical direction, so that the display3is dismounted from the remote control apparatus100. In such a manner, the display3is dismounted by performing the releasing operation downward in the vertical direction and the operation of raising the grip section upward in the vertical direction, that produce forces in the opposite directions. The display3is therefore dismounted stably and safely. The display3can be dismounted upward with space away from the display supporting arm4, not interfering with the operation handles1located underneath.

The display engaging mechanism and disengaging mechanism may have another configuration and may be configured as illustrated inFIGS. 9A to 9Cas a second example. The attachment section33includes an engagement section332as shown inFIGS. 9A to 9C. The mounting section41includes an engagement section413. As illustrated inFIG. 9A, in the fixed state, the engagement section332of the attachment section33is engaged with the engagement section413of the mounting section41, so that the attachment section33is locked with the mounting section41of the display supporting arm4. Specifically, the engagement section332sandwiches and grips the engagement section413. The display3is thereby fixed to and supported by the display supporting arm4. In other words, the engagement sections332and413constitute the display engaging mechanism to fix the display3(the scope or non-scope type display3aor3b).

As illustrated inFIG. 9B, when the engagement section332is pressed on both sides, the grip by the engagement section332is released, so that the engagement section332disengages from the engagement section413. The attachment section33is thereby unfixed (unlocked) from the mounting section41. As illustrated inFIG. 9C, the grip sections32is operated upward in the vertical direction while the attachment section33is unlocked. The display3is thereby dismounted from the remote operation apparatus100.

The display engaging mechanism and release mechanism may have still another configuration as illustrated inFIGS. 10A to 10Cas a third example. The attachment section33includes a notch333as shown inFIGS. 10A to 10C. The mounting section41includes a release button414, a fitting section415, and an engagement section416. As illustrated inFIG. 10A, the release button414is energized upward in the vertical direction by a spring or the like. The engagement section416is energized in a horizontal direction away from the fitting section415. The vertical movement of the release button414and the horizontal movement of the engagement section416work in conjunction with a gear and the like.

In the fixed state, the notch333of the attachment section33is engaged with the engagement section416of the mounting section41, so that the attachment section33is locked with the mounting section41of the display supporting arm4. The display3is thereby fixed to and supported by the display supporting arm4. In other words, the notch333and engagement section416constitute the display engaging mechanism to fix the display3(the scope or non-scope type display3aor3b).

As illustrated inFIG. 10B, when the release button414is pressed down, the fitting section415moves downward. The engagement section416then moves toward the fitting section415and fits into the fitting section415. The notch333thereby disengages from the engagement section416. The attachment section33is then unlocked from the mounting section41. In other words, the release button414functions as the disengaging mechanism to release the engagement by the display engaging mechanism composed of the notch333and engagement section416. The disengaging mechanism releases the engagement by the display engaging mechanism by an action of vertically downward force.

As illustrated inFIG. 10C, the grip section32of the display3is operated upward in the vertical direction while the attachment section33is unlocked. The display3is thereby dismounted from the remote operation apparatus100.

Having a lower-side length larger than an upper-side length, the engagement section416has a slope. When the attachment section33is pressed vertically downward against the mounting section41, the attachment section33comes into contact with the slope of the engagement section416and presses the engagement section416into the fitting section415in the horizontal direction. When the attachment section33moves to a predetermined position, the engagement section416fits into the notch333and is locked in the fixed state.

The display supporting arm4supports the display3as illustrated inFIG. 2. The display supporting arm4includes the mounting section41, an arm section42, plural joints43, and a parallel link mechanism44. At an end of the display supporting arm4, the mounting section41is provided. The other end thereof is supported by a column45. The column45is fixed to a supporting section91of the supporting mechanism9. The display3is thus supported by the supporting section91. The display supporting arm4is rotatable around rotation axes A1, A2, and A3, which extend vertically. The display supporting arm4is configured so that the mounting section41is moved up and down by the parallel link mechanism44. The mounting section41is thus supported with four degrees of freedom by the arm section42.

The display supporting arm4includes joints43a,43b, and43cas the joints43. The joints43ato43care respectively provided with electromagnetic brakes431a,431b, and431cas electromagnetic brakes431. The parallel link mechanism44includes an electromagnetic brake441aas an electromagnetic brake441. The joints43ato43cand parallel link mechanism44are examples of a joint, and the electromagnetic brakes431ato431cand441aare examples of a locking mechanism.

As illustrated inFIG. 2, the scope type display3ais attached to the display supporting arm4. In other words, the display supporting arm4supports the scope type display3a.

The joint43aconnects the mounting section41and a third link48so that the mounting section41and third link48rotate around the rotation axis A3. The joint43bconnects a second link47and a first link46so that the second and first links47and46rotate around the rotation axis A2. The joint43cconnects the first link46and column45so that the first link46and column45rotate around the rotation axis A1. As illustrated inFIG. 3, the parallel link mechanism44connects the third and second links48and47so as to rotate in B1direction around a horizontal rotation axis orthogonal to the rotation axes A1to A3.

The electromagnetic brakes431are configured to lock the joints43. Specifically, while not energized, each electromagnetic brake431presses at least one of two links connected at the corresponding rotation axis to prevent motion of the joint43into the locked state. While energized, magnetic force generated by the electromagnetic coil separates the electromagnetic brake431from the pressed link, thus unlocking the joint43. The electromagnetic brake431apresses the mounting section41at the rotation axis A3to lock the joint43a. The electromagnetic brake431bpresses the second link47at the rotation axis A2to lock the joint43b. The electromagnetic brake431cpresses the first link46at the rotation axis A1to lock the joint43c.

The electromagnetic brake441ais configured to lock the parallel link mechanism44. Specifically, while not energized, the electromagnetic brake441apresses the parallel link mechanism44to lock the same. While energized, the electromagnetic brake441aunlocks the parallel link mechanism44.

The grip section32of the display3is provided with the trigger lever321as the unlocking mechanism to release the lock of the electromagnetic brakes431and441. When the trigger lever321is pressed down, the corresponding electromagnetic brake431or441is energized to release the lock. The trigger lever321is operated by the operator O to unlock the corresponding joint (at least one of the joints43ato43cand parallel link mechanism44).

The trigger lever321includes two trigger levers321disposed on the right and left sides of the display3by way of example. As illustrated inFIG. 2, trigger levers321aare individually provided on the right and left side of the scope type display3a. As illustrated inFIG. 12, trigger levers321bare individually provided on the right and left sides of the non-scope type display3b. Each trigger lever321is gripped with the grip section32(pressing operation) for the unlocking operation. When both of the right and left trigger levers321are pressed, all the joints (the joints43ato43cand parallel link mechanism44) are unlocked. When either the right or left lever321is not pressed or any of the right and left levers321is not pressed, any joint is not unlocked. In such a configuration, the joints cannot be unlocked even if one of the trigger levers321is touched and is pressed accidentally. The joints43and parallel link mechanism44are prevented from being unlocked accidentally.

While any of the right and left trigger levers321is not pressed, all the joints of the display supporting arm4are locked. This prevents the position of the display3from shifting during operation of the operation handles1. When the operation for the operation handles1is stopped and both of the right and left trigger levers321are pressed, all the joints of the display supporting arm4are unlocked, so that the operator O can arbitrarily change the position of the display3. The operator O is able to change the display3to any position easily. Since the display3is supported by the display supporting arm4composed of plural joints and links as described above, the display3is adjustable in a wide range and can move to any place in a linear manner, compared with a mechanism just capable of adjusting the angle and the positions in the height and depth directions, of a display as described in Patent Literature 1. When the display3is the scope type display3a, that the operator O looks into, the operator O can press the both right and left trigger levers32aand move the scope type display3ato a desired position while looking into the scope type display3a. The remote control apparatus100therefore allows the operator O to change his/her posture sensuously and quickly compared with the case where the operator checks the posture with his/her face affixed on the display3each time the operator separately sets the angle, height, and depth of the display3.

As described above, with this remote control apparatus100, the operator can easily change the posture in a wide range of adjustment during long surgery. It is therefore possible to reduce the operator's feeling of fatigue and ill effects on the operator's health of remaining in the same posture.

The display supporting arm4is placed on the opposite side of the display3from the operator O. The display supporting arm4is placed in the back side (on the Y2 side) of the display3. This prevents the display supporting arm4and the operator O from interfering with each other, effectively increasing the freedom of movement of the display supporting arm4.

The parallel link mechanism44includes the electromagnetic brake441, links442aand442b, pivots443a,443b,443c, and443d, a spring444, and a base section445as illustrated inFIG. 3. The parallel link mechanism44is configured to translate the display3attached to the mounting section41up and down. In other words, the parallel link mechanism44is configured to move the display3up and down without changing the angle of the display screen of the display3.

To be specific, in the parallel link mechanism44, the link442ais rotatably connected to the pivots443aand443d. The link442bis rotatably connected to the pivots443band443c. The links442aand442bare placed parallel to each other. The pivots443aand443bare disposed one above the other on a line parallel to the vertical direction with a predetermined interval therebetween. The pivots443cand443dare disposed one above the other on a line parallel to the vertical direction with a predetermined interval therebetween. The pivots443ato443dare thus located on vertices of a parallelogram. In other words, the line connecting the pivots443aand443bis parallel to the line connecting the pivots443dand443c. The line connecting the pivots443dand443cis therefore always parallel to the vertical direction. When the mounting section41moves up and down, the angle of the mounting section41to the vertical direction is kept constant. The horizontal position of the mounting section41is slightly shifted when the mounting section41is moved up or down by the parallel link mechanism44.

The electromagnetic brake441is attached to the pivot443a. The electromagnetic brake441presses the second link47and parallel link mechanism44to lock the rotation of the pivot443a. When the rotation of the pivot443ais locked, the rotation of the pivots443bto443d, which are connected thereto by the links442aand442b, is also locked.

The spring444is provided to press the base section445of the second link47. The base section445has a protruding bow-like shape. When the end of the spring444on the second link47side presses the bow-like base section445, the end of the spring444tries to move upward along the bow-like base section445, generating a force to rotate upward the end of the parallel link mechanism44opposite to the second link47. Even if the display3needs to move against the gravity, therefore, the operator O is able to move upward easily.

The angle adjustment joint35is provided between the display supporting arm4and display3separately from the joints43and parallel link mechanism44of the display supporting arm4. The angle adjustment joint35adjusts the angle of the display screen of the display3. The angle adjustment joint35includes an angle adjustment joint35aand an angle adjustment joint35b. The angle adjustment joint35asupports the scope type display3aso that the scope type display3ais rotatable in a direction C1(seeFIG. 2). The angle adjustment joint35bsupports the non-scope type display3bso that the non-scope type display3bis rotatable in a direction C2(seeFIG. 12). The angle adjustment joint35is provided on the display3side when the display3is dismounted from the display supporting arm4. The angle of the display screen of the display3can be thereby changed independently. This facilitates adjustment of the angle of the display screen of the display3.

The positioning of the display supporting arm4may be changed manually by the operator O or others or may be changed under movement control by a driver including a motor, a position detector, such as an encoder, and a brake. The display supporting arm4can be manually moved or electrically moved. When the display3is manually moved with the brake released, the motor also operates following the motion of the display3manually operated, and the position of the display3can be stored by the position detector. In the case of electrically moving the display3, motions may be instructed with a handheld or the like. The handheld may be provided with a release button to release the brake. Alternatively, the brake may be released automatically by operating a movement direction instruction button. The handheld may be composed of a remote controller including plural buttons or a teaching pendant, for example. In addition, the position of the display3(the positioning of the display supporting arm4) may be stored for each surgeon. The position of the display3(the positioning of the display supporting arm4) may be changed in cooperation with transition between the standing position and sitting position.

The armrest5supports arms of the operator O. The armrest5includes an arm supporting section51and a pair of connecting sections52, and an operating section53. The arm supporting section51is located in front (on the Y1 side) of the operation handles1and is configured to support the arms of the operator O. This stabilizes the arms of the operator O, so that the operator O can stably operate the operation handles1. Even when the end effectors need to be moved finely, the operator O performs stabilized operation with elbows and the like on the arm rest5. The operator O feels less strain even in long surgery. The arm supporting section51extends in the X direction. The pair of connecting sections52are provided to both ends of the arm supporting section51so as to sandwich the arm supporting section51in the X direction. The connecting sections52support the arm supporting section51. The connecting sections52extend in the Y direction. The end of each connecting section52on the Y1 side is connected to the arm supporting section51. The ends of the connecting sections52on the Y2 side are connected to the supporting section91of the supporting mechanism9. The armrest5is thus supported by the supporting mechanism9. As illustrated inFIG. 2, the connecting sections52may be extended downward from the back side (the Y2 side) to the front side (the Y1 side). As illustrated inFIGS. 5 and 6, the connecting sections52may be extended upward from the back side (the Y2 side) to the front side (the Y1 side). Alternatively, the connecting sections52may be extended in the horizontal direction. The operating section53enables operation for settings of the remote control apparatus100. For example, the operating section53enables operation for positioning the remote control apparatus100. In this case, the operating section53functions as the positioning section8a. The operating section53may function as the operating section8b. The operating section53includes a touch panel, for example.

As illustrated inFIG. 4, the control apparatus6includes a controller61, a storage62, and an image controller63, for example. The controller61includes a calculator such as a CPU. The storage62includes a memory, such as a ROM and a RAM. The control apparatus6may be composed of a single controller performing centralized control or may be composed of plural controllers that perform decentralized control in cooperation with each other. The controller61determines whether the action mode instruction inputted by the operation handles1is to be executed by the instruments201aor to be executed by the endoscope201b, depending on the state of the operation pedal section2. When determining that the action mode instruction inputted by the operation handles1is to be executed by the instruments201a, the controller61transmits the action mode instruction to the instrument arm201A. The instrument arms201A are thereby driven for control of motions of the instruments201aattached to the instrument arms201A.

When determining that the action mode instruction inputted by the operation handles1is to be executed by the endoscope201b, the controller61transmits the action mode instruction to the camera arm201B. The camera arm201B is thereby driven for control of motions of the endoscope201battached to the camera arm201B.

The storage62stores control programs corresponding to the types of the instruments201a, for example. The controller61reads the stored control programs according to the types of the attached instruments201a. The action mode instructions from the operation handles1and/or the operation pedal section2of the remote control apparatus100thereby causes the respective instruments201ato perform proper motions.

The image controller63transmits an image acquired by the endoscope201bto the terminal34of the display3. The image controller63modifies the image if necessary.

The positioning section8areceives operations to move up and down the operation handles1, the display3supported by the display supporting arm4, and the arm rest5. The positioning section8aalso receives operations to transform the remote control apparatus100between a first configuration and a second configuration.

The positioning section8ais an operating section that receives a configuration change instruction to change the configuration of the remote control apparatus100to the standing position (the first configuration) or the sitting position (the second configuration). The positioning section8aincludes plural operation buttons.

The supporting mechanism9includes the supporting section91and the driver92. The supporting section91supports the operation handles1and armrest5. The supporting section91supports the display3through the display supporting arm4. The driver92is configured to move the supporting section91up and down. To be specific, the driver92includes a motor and an encoder, for example, and moves the supporting section91up and down under control by the control apparatus61. The supporting mechanism9may allow the operator O or others to manually change the positioning. In addition, the driver92of the supporting mechanism9may be driven pneumatically or hydraulically. The armrest5may be rotated relative to the supporting mechanism9for adjustment of the position. For example, the armrest5may be rotated around the rotation axis along the X direction.

The supporting mechanism9is configured to transition between a first mode and a second mode. In the first mode (seeFIG. 5), the operation handles1which are positioned at a neutral position A0of the operation range A are placed and held at a height position H1, which is 85 cm or more above the floor surface on which the remote control apparatus100is installed, for example. In the second mode (seeFIG. 6), the operation handles1which are positioned at the neutral position A0of the operation range A are placed and held at a height position H2, which is 48 cm or more below the height position H1. When the operation handles1which are positioned at the neutral position A0of the operation range A, are located at the height position H1(85 cm or more above the floor surface), the operator O is able to operate the operation handles1while standing up. When the operation handles1which are positioned at the neutral position A0of the operation range A are located at the height position H2(48 cm or more below the height position H1), the operator O is able to operate the operation handles1while sitting down. The operator O is thus able to operate the remote control apparatus100in a desired posture. In addition, since the operation handles1are supported by the supporting mechanism9, the operator O does not need to support the operation handles1. This prevents an increase in strain on the operator O. The armrest5supporting the arms of the operator O further reduces the strain on the operator O and stabilizes the arms of the operator O. The operator O is therefore able to stably operate the operation handles1.

The supporting mechanism9is configured to transition between the first mode (seeFIG. 5), in which the operation handles1are held so that the operation range A of the operation handles1is within a clean area set at a predetermined height position or more above the floor surface on which the remote control apparatus100is installed, and the second mode (seeFIG. 6), in which the operation handles1are held so that at least a part of the operation range A of the operation handles1is located below the clean area.

In operation rooms, clean technique is used in order to prevent surgical incision sites and medical equipment from being contaminated by pathogen, foreign matters, or the like. In the clean technique, a clean area and a contaminated area, which is other than the clean area, are defined. The area from the floor surface to a certain height position H where foreign matters including dust and grit are more likely to remain is treated as the contaminated area in principle and is eliminated from the clean area. This area lies from the floor surface to a height position of about 70 cm, for example. The clean area is therefore set to a height position of 70 cm or more above the floor surface on which the remote control apparatus100is installed, for example. Members of the surgical team including the operator O make sure that only sterile objects are placed in the clean area during surgery and perform sterilization for an object which is to be moved from the contaminated area to the clean area. Similarly, when the members of the surgical team including the operator O locate their hands in the contaminated area, the members sterilize their hands before directly touching objects located in the clean area. The operation handles1are treated as unclean objects. Even if the operation handles1are located in the clean area, the operator O never accesses the patient P without sterilization or use of drape while operating the operation handles1.

When the operation handles1are located so that the operation range A of the operation handles1is within the clean area set at the predetermined height or more above the floor surface, the operator O is able to operate the operation handles1while keeping his/her hands inside the clean area. If the operation handles1are cleaned, for example, the hands of the operator O is kept clean. When the operation handles1are held so that at least a part of the operation range A of the operation handles1is located below the clean area, the sitting operator O is able to operate the operation handles1at the low position. The operator O is thus able to operate the remote control apparatus100in a desired posture. In addition, the operation handles1are supported by the supporting mechanism9, and the operator O does not need to support the operation handles1. This can prevent an increase in strain on the operator O.

The supporting mechanism9is also configured to allow for transition between the first mode (seeFIG. 5), in which the operation handles1are held at the position suitable for the operator O to operate the operation handles1while standing up and the second mode (seeFIG. 6) in which the operation handles1are held at the position suitable for the operator O to operate the operation handles1while sitting down. When the remote operation apparatus100is set to the first mode, the operator O can operate the operation handles1while standing up. When the remote operation apparatus100is set to the second mode, the operator O is able to operate the operation handles1while sitting down. The operator O is thus able to operate the remote control apparatus100in a desired posture. In addition, the operation handles1are supported by the supporting mechanism9, and the operator O does not need to support the operation handles1. This can reduce an increase in strain on the operator O.

The supporting mechanism9is configured to move both the operation handles1and armrest5up and down at transition between the first and second modes. Specifically, the supporting mechanism9is configured to integrally move the operation handles1and armrest5up and down at transition between the first and second modes. This requires less components than that in the case where members for moving the operation handles1and armrest5up and down are separately provided. It is therefore possible to simplify the apparatus configuration and prevent an increase in size of the apparatus. In addition, the supporting mechanism9is configured to move the display3supported by the display supporting arm4up and down at transmission between the first and second modes. The supporting mechanism9thus integrally moves the operation handles1, armrest5, and display3up and down at transition between the first and second modes.

The supporting mechanism9supports the display3that displays an image captured by the endoscope201band supports the display3so that the position of the display3relative to the operation handles1is changeable in each of the first and second modes. To be specific, the position of the display3is moved relative to the operation handles1by the display supporting arm4supported by the supporting mechanism9. The position of the display3relative to the operation handles1can be therefore changed according to the physique and posture of the operator O. This can increase the versatility of the display3.

Operation for the patient-side system200by the operation handles1is disabled at transformation between the first and second modes. To be specific, during transformation between the first and second modes, operation by the operation handles1is disabled, or transmission of action mode instructions is disabled. In other words, during transformation between the first and second modes, the control apparatus61does not transmit an action mode instruction to the patient-side system200even if the action mode instruction is transmitted from the operation handles1. This prevents the patient-side system200from working when the operation handles1are operated accidentally during transformation between the first and second modes.

As illustrated inFIG. 5, when the remote control apparatus100is in the standing position (the first configuration), the operation handles1are positioned at a height suitable for the standing operator O to grip the operation handles1positioned at the neutral position A0with the arms bent at substantially right angles. The display3is positioned at a height suitable for the standing operator O to look at the display3. When the scope type display3ais mounted, for example, the scope type display3ais set at the same height as the eyes of the operator O.

When the area from the floor surface to a height position H of 70 cm is set to the contaminated area in a surgery room, the operation range A of the operation handles1is fully within the clean area 70 cm or more above the floor surface in the standing position mode (the first configuration) by designing based on a human model for ergonomics.

When the remote control apparatus100is in the standing position (the first configuration), the operation pedal section2is moved to a position P1in the front side (in the Y1 side) of the remote control apparatus100. In other words, the operation pedal section2is located to such a position that the standing operator O reaches the operation pedal section2with his/her foot while touching the operation handles1with his/her hands.

As illustrated inFIG. 6, when the remote control apparatus100is in the sitting position (the second configuration). The operation handles1are positioned at a height suitable for the operator O sitting in the chair to grip the operation handles1positioned at the neutral position A0with his/her arms bent at substantially right angles. In addition, the display3is positioned at a height position suitable for the operator O sitting in the chair to look at the display3. When the scope type display3ais mounted, for example, the scope type display3ais set at the same height as the eyes of the operator O. With the remote control apparatus100, the operator O can execute surgery while sitting down in a long surgery. This can reduce fatigue of the operator O.

When the area from the floor surface to the height position H of 70 cm is set to the contaminated area in a surgery room, at least a part of the operation range A of the operation handles1is in the contaminated area in the sitting position mode (the second configuration) by designing based on human models for ergonomics.

When the remote control apparatus100is in the sitting position (the second configuration), the operation pedal section2is located to a position P2in the back side (in the Y2e side) of the remote control apparatus100. In other words, the operation pedal section2is located to such a position that the sitting operator O reaches the operation pedal section2with his/her feet while touching the operation handles1with his/her hands. The operation pedal section2is movable forward and backward by 300 mm or more (in the Y direction), for example. Preferably, the operation pedal section2is movable forward and backward by 350 mm or more (in the Y direction). The operation pedal section2can be therefore easily located to the positions suitable for the first and second configurations.

Specific dimensions and the like of the remote control apparatus100are designed using measurement data described in “1988 ANTHROPOMETRIC SURVEY OF U. S. ARMY PERSONNEL: METHODS AND SUMMARY STATISTICS (1988)”.

The remote control apparatus100may be designed with reference to JIS standards. For example, “JIS Z8503-4: 2006 (ISO 11064-4: 2004), Ergonomic design of control centres, Part 4: Layout and dimensions of workstations” prescribes use of the 5th and 95th percentile human models.

The operation range A is defined as a region between 15 cm above and below the neutral position A0. The dimension of the operation range A in the height direction is defined as 30 cm. The operation range A is defined based on the dimensions of the motion range of surgical tools set to keep good operability of the surgical tools at laparoscopic surgery and the motion scaling ratio of the operation handles1. The set motion range of the surgical tools has a dimension of 30 cm in the height direction, and the motion scaling ratio of the operation handles1is ½. The dimension of the operation range A in the height direction is therefore 30 cm based on the dimension of the motion range of the surgical tools in the height direction and the motion scaling ratio of the operation handles1.

FIGS. 7A and 7Bare views illustrating models of operators O,FIG. 7Aillustrating a model of large operators O1, andFIG. 7Billustrating a model of small operators O2.

InFIG. 7A, the model of the large operators O1is based on body data of German men. When the fifth largest model among 100 German male models selected at random stands and grips the operation handles1positioned at the neutral position A0of the operation range A with his arms bent at right angles, the height position of the operation handles1is about 1176 mm, and the lower and upper limits of the height position of the operation range A are about 1026 mm and 1326 mm, respectively. On the other hand, when the fifth largest model sits down and grips the operation handles1positioned at the neutral position A0of the operation range A with his arms bent at right angles, the height position of the operation handles1is about 703 mm, and the lower and upper limits of the height position of the operation range A are about 553 mm and about 853 mm, respectively.

InFIG. 7B, the model of the small operators O2is based on body data of Japanese women. When the fifth smallest model among 100 Japanese female models selected at random stands and grips the operation handles1positioned at the neutral position A0of the operation range A with her arms bent at right angles, the height position of the operation handles1is about 992 mm, and the lower and upper limits of the height position of the operation range A are about 842 mm and about 1142 mm, respectively. On the other hand, when the fifth smallest model sits down and grips the operation handles1positioned at the neutral position A0of the operation range A with her arms bent at right angles, the height position of the operation handles1is about 643 mm, and the lower and upper limits of the height position of the operation range A are about 493 mm and about 793 mm, respectively.

Based on the aforementioned data, the height position of the operation handles1that allows plural operators O having different types of physique to take standing and sitting positions without any problem is as follows. First, the height position of the operation handles1positioned at the neutral position A0of the operation range A in the standing position mode (the first mode) is preferably set to about 99 cm or more corresponding to the standing model of the small operators O2. This allows most operators O to comfortably operate the operation handles1while standing. When the operation handles1are configured to move down by 15 cm from the neutral position A0, the lower limit of the height position of the operation range A of the operation handles1in the standing position mode is 84 cm or more as described above.

The height position of the operation handles1positioned at the neutral position A0in the standing position mode (the first mode) is preferably set to about 85 cm or more. When the operation handles1are configured to move down by 15 cm from the neutral position A0, the lower limit of the height position of the operation range A of the operation handles1in the standing position mode is higher than 70 cm, and the operation range A of the operation handles1is therefore within the clean area. Since the lower limit of the height position of the operation range A corresponding to the standing model of the small operators O2is about 84 cm, setting the lower limit of the height position of the operation range A to 70 cm allows more operators O having different types of physiques to comfortably operate the operation handles1while standing up.

Next, the height position of the operation handles1positioned at the neutral position A0of the operation range A in the sitting position mode (the second mode) is preferably set to about 64 cm or more corresponding to the sitting model of the small operators O2. This allows most operators O to comfortably operate the operation handles1while sitting down.

Next, the displacement (adjustment width) of the height position of the operation handles1at transition of the remote control apparatus100between the standing position mode and the sitting position mode is preferably set to about 35 cm or more. This is the difference between the height (about 99 cm) of the operation handles1positioned at the neutral position A0corresponding to the standing model of the small operators O2and the height (about 64 cm) of the operation handles1positioned at the neutral position A0corresponding to the sitting model of the small operators O2.

In addition, the displacement of the height position of the operation handles1at transition of the remote control apparatus100between the standing position mode and the sitting position mode is preferably set to about 48 cm or more. This is the difference between the height (about 118 cm, the maximum height of the operation handles1positioned at the neutral position A0in the standing position mode in this example) of the operation handles1positioned at the neutral position A0corresponding to the standing model of the large operators O1and the height (about 70 cm) of the operation handles1positioned at the neutral position A0corresponding to the sitting model of the large operators O1.

As described above, the adjustment width of the height position of the operation handles1at transition between the standing position mode and the sitting position mode is greater than the adjustment width desirably set so as to fit to the different types of physique of the operators O in the standing position mode (about 19 cm as the difference between the height position of the operation handles1positioned at the neutral position A0, corresponding to the model of the large operators O1and the height position of the operation handles1positioned at the neutral position A0, corresponding to the model of the small operators O2, for example) and the adjustment width desirably set so as to fit to the different types of physique of the operators O in the sitting position mode (about 6 cm as the difference between the height position of the operation handles1positioned at the neutral position A0corresponding to the model of the large operators O1and the height position of the operation handles1positioned at the neutral position A0corresponding to the model of the small operators O2, for example).

If the positions of the operation handles1are set higher than about 118 cm (the height position of the operation handles1positioned at the neutral position A0corresponding to the standing model of the large operators O1), the above-described adjustment width is further increased. It is then preferable that the adjustment width is 50 cm or more from the height position of the operation handles1in the standing position mode. Furthermore, the displacement of the height position of the operation handles1at transition of the remote control apparatus100between the standing position mode and the sitting position mode is preferably set to about 54 cm or more, which is the difference between the height (about 118 cm) of the operation handles1positioned at the neutral position A0corresponding to the standing model of the large operators O1and the height (about 64 cm) of the operation handles1positioned at the neutral position A0corresponding to the sitting model of the small operators O2. As for definition of the operation range A, the design of the operation range A may be modified by considering the size of the operation handles1and the like. Although the vertical width of the operation range A is assumed to be 30 cm, the vertical width thereof may be set to 20, 25, or 35 cm, for example.

Second Embodiment

Next, a second embodiment is described with reference toFIG. 12. In the second embodiment, description is given of an example of the configuration of a remote control apparatus including plural display supporting arms, which is different from the first embodiment in which the remote control apparatus includes one display supporting arm.

As illustrated inFIG. 12, a remote control apparatus400according to a second embodiment includes plural display supporting arms4. In the remote control apparatus400, the display supporting arms4include display supporting arms4aand4b. In the example illustrated inFIG. 12, the scope type display3aand non-scope type display3bas the displays3are attached to the display supporting arms4aand4bof the remote control apparatus400, respectively. The two displays3are placed right and left (side by side in the X direction). The display supporting arms4aand4bare examples of a first display supporting arm and a second display supporting arm, respectively.

In other words, the remote control apparatus400includes plural (two) mounting sections41. Specifically, the remote control apparatus400includes the two display supporting arms4(4a,4b). The mounting sections41are provided to the respective tips of the display supporting arms4aand4b. Both of the scope and non-scope type displays3aand3bcan be thereby mounted on the remote control apparatus400. This effectively increases the versatility of the displays3.

In a second embodiment, the non-scope type display3b, which is one of the displays3, displays at least one of a previously acquired image of the surgical site, information indicating the state of the surgery, and operation information. The non-scope type display3bdisplays X-ray images or magnetic resonance images previously captured. The other scope type or non-scope type displays a 3D or 2D image acquired from the endoscope201b. This further increases the versatility and expandability such that, for example, the operator O performs surgery by mainly looking at the endoscopic image on the other display, while viewing, as needed, at least one kind of auxiliary information among the image of the surgery site previously acquired, the information indicating the state of the surgery, and the operation information.

The remote control apparatus400according to a second embodiment is configured so that the scope or non-scope type display3aor3bis selectively mounted as the main display3. In addition, the non-scope type display3bis mounted on the remote control apparatus400as an auxiliary display. The operator O can therefore select one of the immersive remote control apparatus and the open-type remote control apparatus and look at the auxiliary information during surgery. Since the remote control apparatus400is provided with plural mounting sections, it is possible to freely select on which side the main display is installed.

The display supporting arm4aincludes joints43a,43b, and43cas the joints43. The display supporting arm4aincludes a parallel link mechanism44aas the parallel link mechanism44. The joints43ato43care respectively provided with electromagnetic brakes431a,431b, and431cas electromagnetic brakes431. The parallel link mechanism44ais provided with an electromagnetic brake441aas the electromagnetic brake441. The joints43ato43cand parallel link mechanism44aare examples of a joint and a first joint, respectively, and the electromagnetic brakes431ato431cand441aare examples of a locking mechanism and a first locking mechanism, respectively.

The display supporting arm4bincludes joints43d,43e, and43fas the joints43. The display supporting arm4bincludes a parallel link mechanism44bas the parallel link mechanism44. The joints43dto43fare respectively provided with electromagnetic brakes431d,431e, and431fas electromagnetic brakes431as illustrated inFIG. 3. The parallel link mechanism44bis provided with an electromagnetic brake441bas the electromagnetic brakes441. The joints43dto43fand parallel link mechanism44bare examples of a joint and a second joint, respectively, and the electromagnetic brakes431dto431fand441bare examples of a locking mechanism and a second locking mechanism, respectively.

The trigger levers321aare provided on the right and left sides of the scope type display3a. The trigger levers321bare provided on the right and left sides of the non-scope type display3b. The trigger levers321are gripped together with respective grip sections32for unlocking operation. Specifically, the trigger levers321aare configured to unlock the electromagnetic brakes431ato431cand441aof the display supporting arm4a. The trigger levers321bare configured to unlock the electromagnetic brakes431dto431fof the display supporting arm4b. The joints43ato43cand the parallel link mechanism44aof the display supporting arm4aand the joints43dto43fand the parallel link mechanism44bof the display supporting arm4bcan be therefore unlocked independently of each other. The trigger levers321aand321bare examples of a first unlocking mechanism and a second unlocking mechanism.

In the example ofFIG. 12, the scope type display3aand non-scope type display3bare attached to the two mounting sections41. However, the scope type display3amay be attached to each of the two mounting sections41, or the non-scope type display3bmay be attached to each of the two mounting sections41.

The other configurations of a second embodiment are the same as those of a first embodiment.

In the examples illustrated in the above embodiments, the joints (the joints43ato43cand the parallel link mechanism44) are unlocked by pressing both of the two trigger levers321on the right and left sides of the display3. However, the way of unlocking the locking mechanisms of the joints is not limited to these examples.

For example, the unlocking mechanism may be configured so that all the joints are unlocked with only one of the two trigger levers321on the right and left sides of the display3. In this case, the operator O is able to move the display3with one hand. The operator O therefore moves the display3more easily. The operator O is able to change the position of the display3with one hand regardless of whether the operator O is right-handed or left-handed.

Alternatively, the display3may be provided with only one trigger lever321. Such a configuration includes fewer physical mechanisms around the display3, reducing interferences with other portions. In this case, a display for left-handed operators or a display for right-handed operators may be provided as needed for use. When the remote control apparatus100includes a mounting section to which the display3is detachably attached, it is possible to select and use one from a display for right-handed operators and a display for left-handed operators as needed.

Moreover, the display3may be provided with three or more trigger levers321. For example, two of the trigger levers321are provided on the right and left sides of the display3while one trigger lever321is provided as one of the foot pedals, and the display3is configured to move only when the three trigger levers321are pressed. In this case, the position of the display3cannot be changed until the operator O absolutely intends to move the position of the display3.

When the display3is provided with plural trigger levers321, each trigger lever321may be configured to unlock different joints. When the two trigger levers321are provided on the right and left of the display3, for example, one of the right and left trigger levers321may be configured to unlock at least one (only the joint43a, for example) of the joints contributing to horizontal movement of the display3while the other trigger lever321is configured to unlock at least one (the parallel link mechanism44in the example ofFIG. 3) of the joints contributing to vertical movement of the display3. In such a configuration, in addition to the aforementioned advantages of provision of plural trigger levers, movement of the display3may be limited so that the display3mainly moves in a desired direction. Such a configuration moreover allows only necessary joints to be movable, reducing burden on the display supporting arm4in the process of moving the display3.

When each joint of the display supporting arm4includes a motor451and a position detector461(an encoder, for example), the range of movement of the display3can be limited. For example, the display3is translated along a certain plane. When the display3is supported by the display supporting arm4with the display screen parallel to a plane PL tilted by 10 degrees to the XZ plane around the X axis in the XYZ coordinates as illustrated inFIG. 11, for example, the control apparatus61may perform a control so as to translate the display3along only the plane PL. The plane PL may be determined by the state of the angle adjustment joints35, for example. The plane PL may be defined by the operation section8b. To be specific, the angle of the plane PL along which the display3is translated may be inputted from the operation section8b.

In order to change the position and angle of the display3more safely, the controller61may perform a control so that each joint is not unlocked while the operation handles1are being operated even if the pressing operation for the trigger levers321is detected. Whether the operation handles1are being operated can be detected with a motion sensor, for example. It is therefore possible to prohibit operating the operation handles1with one hand while operating the trigger lever321with the other hand, improving the safety as medical equipment.

It is preferable that the operation section8b(seeFIG. 4) is configured to set which to use among the above-described variations of the unlocking mechanism, that is, the condition to deactivate the locking mechanism of the joints by the trigger levers321as the unlocking mechanism. For example, the conditions are set as follows.

(1) Select one of the conditions: all the joints (the joints43and parallel link mechanism44) are unlocked when all the plural trigger levers321are subjected to unlocking operation or when at least any one of the plural trigger levers321is subjected to unlocking operation.
(2) When the trigger levers321are provided on the right and left of the display3with space therebetween, set which to use among the trigger levers321for unlocking all the joints (for example, the right-handed or left-handed trigger lever)
(3) When the remote control apparatus includes plural trigger levers321, set which joint to unlock by each trigger lever
(4) Set the range where the display3is movable (movable along only the plane parallel to the inclination of the display3, for example)
(5) When the remote control apparatus includes plural display supporting arms4, select a display3to be moved

It should be understood that the disclosed embodiments are shown by way of example in every respect and are not limitative. The scope of the invention is not determined by the aforementioned embodiments but is specified by Claims. The scope of the invention includes all alternations (modifications) within meanings and scope equivalent to the scope of Claims.

The aforementioned first embodiment discloses an example(s) of the configuration in which one display supporting arm supporting the display is provided. The aforementioned second embodiment discloses an example(s) of the configuration in which two display supporting arms supporting the displays are provided. However, the invention is not limited to this example. For example, the remote control apparatus may be provided with three or more display supporting arms supporting displays, or the remote control apparatus may be provided with three or more displays.

The aforementioned first and second embodiments disclose examples of the configurations in which each display supporting arm includes plural joints. However, the invention is not limited to this example. For example, the display supporting arm may include only one joint.

The aforementioned first and second embodiments disclose examples of the configurations in which the displays are detachably attached to the display supporting arms. The invention is not limited to these examples. For example, the display may be fixed to the display supporting arm.

The aforementioned second embodiment disclose examples of the configurations in which the remote control apparatus is provided with the scope and non-scope type displays. However, the invention is not limited to these examples. For example, the remote control apparatus may be provided with only one scope type display or may be provided with only one non-scope type display.

The aforementioned first and second embodiments disclose examples of the configurations in which the mounted display is connected to the remote control apparatus with a cable so as to exchange information with the same. The invention is not limited to these examples. For example, the mounted display may be connected to the remote control apparatus through wireless communication so as to exchange information.

The aforementioned first and second embodiments disclose examples of the configuration in which the supporting mechanism moves the operation handles and armrest up and down. However, the invention is not limited to these examples. For example, the supporting mechanism may move the operation handles and armrest in the horizontal direction in addition to up and down movements.