Patent Description:
Conventionally, a surgical robot is known. Such a surgical robot in <CIT>, for example.

<CIT> discloses a robot system (surgical robot) including an articulated probe, a surgical instrument, and a controller (hereinafter referred to as an arm).

The surgical instrument is provided at the tip end of the articulated probe. The arm is configured to operate (move) the articulated probe and the surgical instrument. The robot system further includes a joystick. When an operator operates the joystick, a signal for operating the surgical instrument is output to the arm. In addition, the displacement, speed, and acceleration of the surgical instrument are operated according to the displacement (a way to tilt) of the joystick. The joystick is arranged apart from the arm (the articulated probe and the surgical instrument). <CIT> discloses a hand guide system comprising a hand guide device and a control unit. The hand guide device has an operation panel equipped with an operation tool for inputting operation information concerning a hand tip part of the robot. The hand guide device is installed around an installed part which is so positioned at the robot arm or the hand tip part that the operation panel can be continuously turnable relatively to the hand tip part. Displacement information concerning turn of the operation panel relative to the hand tip part is detected by a turn displacement sensor. The control unit controls motion of the robot on the basis of the turn displacement information and operation information. <CIT> discloses a surgical manipulator for manipulating a surgical instrument and an energy applicator extending from the surgical instrument. The surgical manipulator including at least one controller configured to determine a commanded pose to which the energy applicator is advanced, wherein the commanded pose is determined based on a plurality of force and torque signals. However, in the robot system (surgical robot) as disclosed in <CIT>, at the time of surgery, the joystick arranged apart from the arm is operated such that the surgical instrument is operated. On the other hand, in the preparation stage before surgery, the arm is moved to move the surgical instrument to the vicinity of a patient. In this case, in the robot system as disclosed in <CIT>, the joystick is arranged apart from the arm, and thus it may be difficult to move the arm through the joystick so as to move the surgical instrument to the vicinity of the patient.

The present disclosure is intended to solve the above problem. The present disclosure aims to provide a surgical robot including an arm that can be easily operated through an operation tool. In order to attain the aforementioned object, a surgical robot according to an aspect of the present disclosure includes an arm, and an operation unit supported by the arm. The operation unit includes an enable switch configured to allow movement of the arm by being pressed, and an operation tool configured to control a moving direction of the arm, and the enable switch and the operation tool are arranged apart from each other within a range operable by fingers of one hand of an operator in the operation unit. In the surgical robot according to this aspect of the present disclosure, as described above, the operation unit is supported by the arm. Thus, the operator can operate the operation tool in the vicinity of the arm, and thus the arm can be easily operated through the operation tool.

When the operation unit is supported by the arm, movement of the operator may not be able to follow rapid movement of the arm when the arm moves at a relatively high speed (rapidly) due to the operation of the operation tool by the operator. Specifically, whereas the arm moves, the hand of the operator that grasps the operation tool cannot follow the movement of the arm and is stationary, or moves at a speed slower than the moving speed of the arm. In this case, the amount of operation on the operation tool changes against the intention of the operator, and the operating direction with respect to the arm changes against the intention of the operator. Consequently, the moving direction of the arm changes rapidly. On the contrary, even when the moving speed of the arm rapidly decreases, the operating direction with respect to the operation tool changes against the intention of the operator. When such a state continues, the arm operates so as to vibrate. Therefore, as described above, the operation unit includes the enable switch that allows movement of the arm by being pressed and the operation tool that controls the moving direction of the arm, and the enable switch and the operation tool are arranged apart from each other within the range operable by the fingers of one hand of the operator in the operation unit. Accordingly, the operation tool configured to operate the moving direction of the arm can be operated by the finger of the operator while the operator presses the enable switch, and thus a distance between the finger of the operator that operates the operation tool and the finger of the operator that presses the enable switch is maintained substantially constant. That is, even when the arm moves at a relatively high speed, distances between the fingers of the operator that grasp the operation unit and the finger of the operator that operates the operation unit are maintained substantially constant. Thus, even when the arm moves at a relatively high speed, the state of the fingers of the operator with respect to the operation unit is unlikely to change, and thus the operating direction of the arm due to the operation unit is unlikely to change. Consequently, even when the arm moves at a relatively high speed, vibrations of the arm due to the change in the operating direction of the operation tool can be significantly reduced or prevented.

According to the present disclosure, as described above, the arm can be easily operated through the operation tool.

An embodiment is hereinafter described with reference to the drawings.

The configuration of a surgical system <NUM> according to this embodiment is now described with reference to <FIG>. The surgical system <NUM> includes a medical manipulator <NUM> that is a patient P-side device and a remote operation device <NUM> that is an operator-side device configured to operate the medical manipulator <NUM>. The medical manipulator <NUM> includes a medical cart <NUM>, and is configured to be movable. The remote operation device <NUM> is arranged apart from the medical manipulator <NUM>, and the medical manipulator <NUM> is configured to be remotely operated by the remote operation device <NUM>. A surgeon inputs a command to the remote operation device <NUM> to cause the medical manipulator <NUM> to perform a desired operation. The remote operation device <NUM> transmits the input command to the medical manipulator <NUM>. The medical manipulator <NUM> operates based on the received command. The medical manipulator <NUM> is arranged in an operating room that is a sterilized sterile field. The medical manipulator <NUM> is an example of a "surgical robot" in the claims.

The remote operation device <NUM> is arranged inside or outside the operating room, for example. The remote operation device <NUM> includes operation manipulator arms <NUM>, operation pedals <NUM>, a touch panel <NUM>, a monitor <NUM>, a support arm <NUM>, and a support bar <NUM>. The operation manipulator arms <NUM> define operation handles for the surgeon to input commands. The monitor <NUM> is a scope-type display that displays an image captured by an endoscope. The support arm <NUM> supports the monitor <NUM> so as to align the height of the monitor <NUM> with the height of the surgeon's face. The touch panel <NUM> is arranged on the support bar <NUM>. The surgeon's head is detected by a sensor (not shown) provided in the vicinity of the monitor <NUM> such that the medical manipulator <NUM> can be operated by the remote operation device <NUM>. The surgeon operates the operation manipulator arms <NUM> and the operation pedals <NUM> while visually recognizing an affected area on the monitor <NUM>. Thus, a command is input to the remote operation device <NUM>. The command input to the remote operation device <NUM> is transmitted to the medical manipulator <NUM>.

The medical cart <NUM> includes a controller <NUM> that controls the operation of the medical manipulator <NUM> and a storage <NUM> that stores programs or the like to control the operation of the medical manipulator <NUM>. The controller <NUM> of the medical cart <NUM> controls the operation of the medical manipulator <NUM> based on the command input to the remote operation device <NUM>.

The medical cart <NUM> includes an input <NUM>. The input <NUM> is configured to receive operations to move a positioner <NUM>, an arm base <NUM>, and a plurality of arms <NUM> or change their postures mainly in order to prepare for surgery before the surgery.

As shown in <FIG> and <FIG>, the medical manipulator <NUM> is arranged in the operating room. The medical manipulator <NUM> includes the medical cart <NUM>, the positioner <NUM>, the arm base <NUM>, and the plurality of arms <NUM>. The arm base <NUM> is attached to the tip end of the positioner <NUM>. The arm base <NUM> has a relatively long rod shape (long shape). The bases of the plurality of arms <NUM> are attached to the arm base <NUM>. Each of the plurality of arms <NUM> is configured to be able to take a folded posture (stored posture). The arm base <NUM> and the plurality of arms <NUM> are covered with sterile drapes (not shown) and used.

The positioner <NUM> includes a <NUM>-axis articulated robot, for example. The positioner <NUM> is arranged on the medical cart <NUM>. The positioner <NUM> is configured to move the position of the arm base <NUM> three-dimensionally.

The positioner <NUM> includes a base <NUM> and a plurality of links <NUM> coupled to the base <NUM>. The plurality of links <NUM> are coupled to each other by joints <NUM>.

As shown in <FIG>, a medical device <NUM> is attached to the tip end of each of the plurality of arms <NUM>. The medical device <NUM> includes a replaceable instrument or an endoscope assembly (not shown), for example.

As shown in <FIG>, the instrument as the medical device <NUM> includes a driven unit 4a driven by a servomotor M2 provided in a holder <NUM> of each of the arms <NUM>. An end effector 4b is provided at the tip end of the instrument. The end effector 4b includes a pair of forceps, a pair of scissors, a grasper, a needle holder, a microdissector, a stable applier, a tacker, a suction cleaning tool, a snare wire, a clip applier, etc. as instruments having joints. The end effector 4b includes a cutting blade, a cautery probe, a washer, a catheter, a suction orifice, etc. as instruments having no joint. The medical device <NUM> includes a shaft 4c that connects the driven unit 4a to the end effector 4b. The driven unit 4a, the shaft 4c, and the end effector 4b are arranged along a Z direction. The configuration of the arms <NUM> is now described in detail. As shown in <FIG>, each of the arms <NUM> includes an arm portion <NUM> (a base <NUM>, links <NUM>, and joints <NUM>) and a translation mechanism <NUM> provided at the tip end of the arm portion <NUM>. The arms <NUM> are configured to three-dimensionally move the tip end sides with respect to the base sides (arm base <NUM>) of the arms <NUM>. The plurality of arms <NUM> have the same configuration as each other. In this embodiment, the medical device <NUM> is attached to the translation mechanism <NUM>, and the translation mechanism <NUM> is configured to translate the medical device <NUM> relative to the arm portion <NUM>. Specifically, the translation mechanism <NUM> includes the holder <NUM> configured to hold the medical device <NUM>. The servomotor M2 (see <FIG>) is housed in the holder <NUM>. The servomotor M2 is configured to rotate a rotating body provided in the driven unit 4a of the medical device <NUM>. The rotating body of the driven unit 4a is rotated such that the end effector 4b is operated.

The arms <NUM> are configured to be removable from the arm base <NUM>.

The arm portion <NUM> includes a <NUM>-axis articulated robot arm. The arm portion <NUM> includes the base <NUM> configured to attach the arm portion <NUM> to the arm base <NUM>, and a plurality of links <NUM> coupled to the base <NUM>. The plurality of links <NUM> are coupled to each other by the joints <NUM>.

The translation mechanism <NUM> is configured to translate the medical device <NUM> attached to the holder <NUM> along the Z direction (a direction in which the shaft 4c extends) by translating the holder <NUM> along the Z direction. Specifically, the translation mechanism <NUM> includes a base end side link <NUM> connected to the tip end of the arm portion <NUM>, a tip end side link <NUM>, and a coupling link <NUM> provided between the base end side link <NUM> and the tip end side link <NUM>. The holder <NUM> is provided on the tip end side link <NUM>.

The coupling link <NUM> of the translation mechanism <NUM> is configured as a double speed mechanism that moves the tip end side link <NUM> relative to the base end side link <NUM> along the Z direction. The tip end side link <NUM> is moved along the Z direction relative to the base end side link <NUM> such that the medical device <NUM> provided on the holder <NUM> is translated along the Z direction. The tip end of the arm portion <NUM> is connected to the base end side link <NUM> so as to rotate the base end side link <NUM> about a Y direction orthogonal to the Z direction.

In this embodiment, as shown in <FIG>, the medical manipulator <NUM> includes an operation unit <NUM> supported by each of the arms <NUM>. The operation unit <NUM> includes enable switches <NUM>, a joystick <NUM> configured to operate movement of the medical device <NUM> by the arm <NUM>, and switch units <NUM> configured to operate movement of the medical device <NUM> by the arm <NUM>. The enable switches <NUM> allow movement of the arm <NUM> through the joystick <NUM> and the switch units <NUM>, and get into a state of allowing movement of the arm <NUM> when the enable switches <NUM> are pressed. The joystick <NUM> controls (operates) the moving direction and moving speed of the arm <NUM>. The enable switches <NUM> and the joystick <NUM> are arranged apart from each other within a range operable by the fingers of one hand of an operator O (such as a nurse or a technician) in the operation unit <NUM>. The operation unit <NUM> is grasped and operated by the operator O. The operation unit <NUM> is configured to be operable by the finger of the operator O while the operator O grasps the operation unit <NUM> and presses the enable switches <NUM> to allow movement of the arm <NUM>. The joystick <NUM> and the switch units <NUM> are examples of "operation tool" in the claims. Specifically, the enable switches <NUM> are push-button switches pressed by the fingers of the operator O. The enable switches <NUM> are pressed such that it becomes possible to perform a control to energize servomotors M1 to M3 (see <FIG>) (perform a control to drive the servomotors M1 to M3). That is, it becomes possible to perform a control to move the arm <NUM> only while the enable switches <NUM> are pressed.

The operator O tilts the joystick <NUM> with their finger such that the joystick <NUM> is operated. The arm <NUM> is controlled to be moved according to a direction in which the joystick <NUM> is tilted and an angle at which the joystick <NUM> is tilted. The operator O brings their finger into contact with the tip end 82a of the joystick <NUM>, moves their finger, and tilts the joystick <NUM> to operate the joystick <NUM>. Only while the enable switches <NUM> are pressed, a signal input based on the operation of the joystick <NUM> is received. That is, when the enable switches <NUM> are not pressed, the arm <NUM> is not moved even when the joystick <NUM> is operated.

In this embodiment, the enable switches <NUM> are provided on the outer peripheral surface 80a of the operation unit <NUM>, and allow movement of the arm <NUM> when the operator O grasps the outer peripheral surface 80a of the operation unit <NUM> and presses the enable switches <NUM>. As shown in <FIG>, a pair of enable switches <NUM> are provided on opposite sides of the outer peripheral surface 80a of the operation unit <NUM>. Specifically, the cross-section of the operation unit <NUM> has a substantially rectangular shape, and the pair of enable switches <NUM> are provided on surfaces 80b of the operation unit <NUM> that face each other, respectively. More specifically, the operation unit <NUM> has a substantially prismatic shape, and the pair of enable switches <NUM> are provided on the side surfaces (the surfaces 80b along a longitudinal direction) of the substantially prismatic operation unit <NUM>. The operator O grasps the outer peripheral surface 80a of the operation unit <NUM> and presses at least one of the enable switches <NUM> provided on the opposite sides of the outer peripheral surface 80a of the operation unit <NUM> to allow movement of the arm <NUM>.

Thus, it is not necessary to press both of the enable switches <NUM> provided on the opposite sides of the outer peripheral surface 80a of the operation unit <NUM>, and thus the burden on the operator O can be reduced while the convenience of the operator O is improved.

In this embodiment, as shown in <FIG>, the joystick <NUM> is provided on an end face 80c of the operation unit <NUM> that intersects with the outer peripheral surface 80a. The joystick <NUM> is arranged at a position operable by the finger of the operator O while the operator O grasps the outer peripheral surface 80a of the operation unit <NUM> and presses the enable switches <NUM> to allow movement of the arm <NUM>. For example, as shown in <FIG>, the operator O operates the joystick <NUM> provided on the end face 80c of the operation unit <NUM> with their index finger or the like while pressing the pair of enable switches <NUM> provided on the outer peripheral surface 80a of the operation unit <NUM> with their thumb and middle finger or the like. Thus, substantially constant distances between the thumb and middle finger of the operator O that grasp the operation unit <NUM> and the index finger of the operator O that operates the joystick <NUM> can be easily maintained. Which fingers are used to operate the enable switches <NUM> and the joystick <NUM> is not limited to the above example. In this embodiment, the joystick <NUM> is configured to operate movement of the medical device <NUM> by the arm <NUM> such that the tip end 4d (see <FIG>) of the medical device <NUM> moves on a predetermined plane or the medical device <NUM> rotates about the tip end 4d of the medical device <NUM>. The operation unit <NUM> includes the switch units <NUM> configured to operate movement of the medical device <NUM> by the arm <NUM> such that the tip end 4d of the medical device <NUM> moves along the longitudinal direction of the medical device <NUM>. The predetermined plane on which the tip end 4d of the medical device <NUM> moves refers to a plane (an X-Y plane in <FIG>) parallel to the end face 80c of the operation unit <NUM>. The longitudinal direction of the medical device <NUM> refers to the Z direction orthogonal to the X-Y plane in <FIG>. Coordinates represented by an X-axis, a Y-axis, and a Z-axis in <FIG> are referred to as a tool coordinate system (or a base coordinate system). When the switch units <NUM> are pressed while the enable switches <NUM> are pressed (while movement of the medical device <NUM> by the arm <NUM> is allowed), the tip end 4d of the medical device <NUM> is moved along the longitudinal direction of the medical device <NUM>.

A pair of switch units <NUM> are provided on the opposite sides of the outer peripheral surface 80a of the operation portion <NUM>. The operator O grasps the outer peripheral surface 80a of the operation unit <NUM> and presses at least one of the switch units <NUM> provided on the opposite sides of the outer peripheral surface 80a of the operation unit <NUM> to cause the translation mechanism <NUM> to move the medical device <NUM>.

In this embodiment, the moving speed of the tip end 4d of the medical device <NUM> is changed according to the tilted state of the joystick <NUM>, and when the joystick <NUM> is maximally tilted, the moving speed of the tip end 4d of the medical device <NUM> on the predetermined plane is maximized. The time until the switch units <NUM> are pressed by the operator O and the moving speed of the tip end 4d of the medical device <NUM> along the longitudinal direction of the medical device <NUM> orthogonal to the predetermined plane is maximized is longer than the time until the joystick <NUM> is operated by the operator O and the moving speed of the tip end 4d of the medical device <NUM> is maximized. That is, the joystick <NUM> is operated such that the tip end 4d of the medical device <NUM> is moved at a relatively high speed. On the other hand, the switch units <NUM> are operated such that the tip end 4d of the medical device <NUM> is moved at a relatively low speed.

In this embodiment, each of the switch units <NUM> includes a switch 83a configured to move the tip end 4d of the medical device <NUM> in a direction in which the medical device <NUM> is inserted into the patient P, parallel to the longitudinal direction of the medical device <NUM>, and a switch 83b configured to move the tip end 4d of the medical device <NUM> in a direction opposite to the direction in which the medical device <NUM> is inserted into the patient P. Both the switch 83a and the switch 83b are push-button switches. Each of the switches 83a and 83b has a substantially circular shape.

Pivot buttons <NUM> are provided adjacent to the enable switches <NUM> on the surfaces 80b of the operation unit <NUM>. The pivot buttons <NUM> are configured to set a pivot point. The pivot point refers to a fulcrum on which the arm <NUM> operates. Adjustment buttons <NUM> for optimizing the position of the arm <NUM> are provided on the surfaces 80b of the operation unit <NUM>.

In this embodiment, when the switch units <NUM> are operated before a pivot position PP is set, the arm portion <NUM> is moved such that the tip end 4d of the medical device <NUM> is translated. When the switch units <NUM> are operated after the pivot position PP is set, the arm portion <NUM> is moved such that the tip end 4d of the medical device <NUM> is translated until the tip end 4d of the medical device <NUM> is moved by a predetermined distance from the pivot position PP. After the tip end 4d of the medical device <NUM> is moved by the predetermined distance from the pivot position PP, the translation mechanism <NUM> is moved such that the tip end 4d of the medical device <NUM> is translated.

That is, after the tip end 4d of the medical device <NUM> is moved by the predetermined distance from the pivot position PP, the arm portion <NUM> is not moved but only the translation mechanism <NUM> is moved.

In this embodiment, as shown in <FIG>, the operation unit <NUM> includes a mode switching button <NUM> configured to switch between a mode for translating the tip end 4d of the medical device <NUM> attached to the arm <NUM> in the predetermined plane (see <FIG>) and a mode for rotating the medical device <NUM> about the tip end 4d of the medical device <NUM> (see <FIG>). In the operation unit <NUM>, the mode switching button <NUM> is arranged in the vicinity of the joystick <NUM>. Specifically, on the end face 80c of the operation unit <NUM>, the mode switching button <NUM> is provided adjacent to the joystick <NUM>. The mode switching button <NUM> is a push-button switch. Furthermore, a mode indicator 84a is provided in the vicinity of the mode switching button <NUM>. The mode indicator 84a is turned on or off such that a current mode (translation mode or rotation mode) is indicated.

As shown in <FIG>, in the translation mode for translating the tip end 4d of the medical device <NUM>, the arm <NUM> is moved through the joystick <NUM> such that the tip end 4d of the medical device <NUM> moves on the X-Y plane. As shown in <FIG>, in the rotation mode for rotating the tip end 4d of the medical device <NUM>, when the pivot position PP is not taught, the arm <NUM> is moved through the joystick <NUM> such that the medical device <NUM> rotates about the tip end 4d of the end effector 4b, and when the pivot position PP is taught, the arm <NUM> is moved through the joystick <NUM> such that the medical device <NUM> rotates about the pivot position PP as a fulcrum. After the pivot point (pivot position PP) is set, the translation mode cannot be set. When the shaft 4c of the medical device <NUM> is inserted into a trocar T, the medical device <NUM> is rotated while the shaft 4c is restrained with the pivot position PP as a fulcrum.

That is, the joystick <NUM> is configured to operate the arm in one of the translation mode in which the arm <NUM> moves the medical device <NUM> such that the tip end 4d of the medical device <NUM> attached to the arm <NUM> translates in the predetermined plane (see <FIG>) and the rotation mode in which the arm <NUM> moves the medical device <NUM> such that the medical device <NUM> rotates about the tip end 4d of the medical device <NUM> (see <FIG>).

In this embodiment, as shown in <FIG>, the operation unit <NUM> is provided on the translation mechanism <NUM>. The operation unit <NUM> is supported by the translation mechanism <NUM> so as to be adjacent to the medical device <NUM> attached to the translation mechanism <NUM>. Specifically, the operation unit <NUM> is attached to the tip end side link <NUM> of the translation mechanism <NUM>. The operation unit <NUM> is arranged adjacent to the driven unit 4a of the medical device <NUM>.

As shown in <FIG>, the arm <NUM> includes a plurality of servomotors M1, encoders E1, and speed reducers (not shown) so as to correspond to a plurality of joints <NUM> of the arm portion <NUM>. The encoders E1 are configured to detect the rotation angles of the servomotors M1. The speed reducers are configured to slow down rotation of the servomotors M1 to increase the torques.

As shown in <FIG>, the translation mechanism <NUM> includes the servomotor M2 configured to rotate the rotating body provided in the driven unit 4a of the medical device <NUM>, the servomotor M3 configured to translate the medical device <NUM>, encoders E2 and E3, and speed reducers (not shown). The encoders E2 and E3 are configured to detect the rotation angles of the servomotors M2 and M3, respectively. The speed reducers are configured to slow down rotation of the servomotors M2 and M3 to increase the torques.

The positioner <NUM> includes a plurality of servomotors M4, encoders E4, and speed reducers (not shown) so as to correspond to a plurality of joints <NUM> of the positioner <NUM>. The encoders E4 are configured to detect the rotation angles of the servomotors M4. The speed reducers are configured to slow down rotation of the servomotors M4 to increase the torques.

The medical cart <NUM> includes servomotors M5 configured to drive a plurality of front wheels (not shown) of the medical cart <NUM>, respectively, encoders E5, and speed reducers (not shown). The encoders E5 are configured to detect the rotation angles of the servomotors M5. The speed reducers are configured to slow down rotation of the servomotors M5 to increase the torques.

The controller <NUM> of the medical cart <NUM> includes an arm controller 31a that controls movement of the plurality of arms <NUM> based on commands, and a positioner controller 31b that controls movement of the positioner <NUM> and driving of the front wheels (not shown) of the medical cart <NUM> based on commands. Servo controllers C1 configured to control the servomotors M1 configured to drive the arm <NUM> are electrically connected to the arm controller 31a. The encoders E1 configured to detect the rotation angles of the servomotors M1 are electrically connected to the servo controllers C1.

A servo controller C2 configured to control the servomotor M2 configured to drive the medical device <NUM> is electrically connected to the arm controller 31a. The encoder E2 configured to detect the rotation angle of the servomotor M2 is electrically connected to the servo controller C2. A servo controller C3 configured to control the servomotor M3 configured to translate the translation mechanism <NUM> is electrically connected to the arm controller 31a. The encoder E3 configured to detect the rotation angle of the servomotor M3 is electrically connected to the servo controller C3.

An operation command input to the remote operation device <NUM> is input to the arm controller 31a. The arm controller 31a generates position commands based on the input operation command and the rotation angles detected by the encoders E1 (E2 or E3), and outputs the position commands to the servo controllers C1 (C2 or C3). The servo controllers C1 (C2 or C3) generate torque commands based on the position commands input from the arm controller 31a and the rotation angles detected by the encoders E1 (E2 or E3), and output the torque commands to the servomotors M1 (M2 or M3). Thus, the arm <NUM> is moved according to the operation command input to the remote operation device <NUM>.

In this embodiment, the controller <NUM> (arm controller 31a) is configured to operate the arm <NUM> based on an input signal from the joystick <NUM> of the operation unit <NUM>. Specifically, the arm controller 31a generates position commands based on the input signal (operation command) input from the joystick <NUM> and the rotation angles detected by the encoders E1, and outputs the position commands to the servo controllers C1. The servo controllers C1 generate torque commands based on the position commands input from the arm controller 31a and the rotation angles detected by the encoders E1, and output the torque commands to the servomotors M1. Thus, the arm <NUM> is moved according to the operation command input to the joystick <NUM>.

In this embodiment, the controller <NUM> (arm controller 31a) is configured to perform a control to reduce a change in the moving speed of the arm <NUM> by performing at least one of setting an upper limit for the input signal from the joystick <NUM> or smoothing the input signal from the joystick <NUM>. Specifically, the controller <NUM> controls movement of the arm <NUM> using the upper limit as the input signal when the upper limit is set for the input signal from the joystick <NUM>, and an input signal exceeding the upper limit is input. Furthermore, the controller <NUM> smooths the input signal from the joystick <NUM> by a low-pass filter (LPF), for example. In this embodiment, the controller <NUM> performs both of setting the upper limit for the input signal from the joystick <NUM> and smoothing the input signal from the joystick <NUM>.

The controller <NUM> (arm controller 31a) controls movement of the arm <NUM> based on an equation of motion for control shown in the following mathematical formula.

The controller <NUM> (arm controller 31a) controls movement of the arm <NUM> based on control blocks shown in <FIG>. That is, the controller <NUM> (arm controller 31a) subtracts the product of the speed (a first order differential of x) and the viscosity coefficient c from the input signal F(s) from the joystick <NUM>. Then, the subtracted value is multiplied by an inertia coefficient <NUM>/m. When the multiplied value (= <NUM>/m(F(s) - c × speed) = acceleration = second order differential of x) exceeds the upper limit, the acceleration is set to the upper limit. Then, the acceleration is integrated to calculate the speed (the first order differential of x), and the speed is integrated to calculate a position X(s).

Servo controllers C4 configured to control the servomotors M4 that move the positioner <NUM> are electrically connected to the positioner controller 31b. The encoders E4 configured to detect the rotation angles of the servomotors M4 are electrically connected to the servo controllers C4. Servo controllers C5 configured to control the servomotors M5 that drive the front wheels (not shown) of the medical cart <NUM> are electrically connected to the positioner controller 31b. The encoders E5 configured to detect the rotation angles of the servomotors M5 are electrically connected to the servo controllers C5.

An operation command regarding preparation position setting, for example, is input from the input <NUM> to the positioner controller 31b. The positioner controller 31b generates position commands based on the operation command input from the input <NUM> and the rotation angles detected by the encoders E4, and outputs the position commands to the servo controllers C4. The servo controllers C4 generate torque commands based on the position commands input from the positioner controller 31b and the rotation angles detected by the encoders E4, and output the torque commands to the servomotors M4. Thus, the positioner <NUM> is moved according to the operation command input to the input <NUM>. Similarly, the positioner controller 31b moves the medical cart <NUM> based on an operation command from the input <NUM>.

The procedure of surgery using the medical manipulator <NUM> is now described. In the surgery using the medical manipulator <NUM>, the medical cart <NUM> is first moved to a predetermined position in the operating room by the operator O. Next, the operator O operates a touch panel of the input <NUM> to operate the positioner <NUM> such that the arm base <NUM> and a surgical table <NUM> or the patient P have a desired positional relationship, and moves the base <NUM>. Furthermore, the arm <NUM> is moved such that a cannula sleeve (a working channel for inserting a surgical instrument or the like into the body cavity) arranged on the body surface of the patient P and the medical device <NUM> have a predetermined positional relationship. The joysticks <NUM> is operated by the operator O such that the plurality of arms <NUM> are moved to desired positions. Then, with the positioner <NUM> being stationary, the plurality of arms <NUM> and the medical devices <NUM> are operated based on commands from the remote operation device <NUM>. Thus, the surgery with the medical manipulator <NUM> is performed.

According to this embodiment, the following advantages are achieved. According to this embodiment, as described above, the operation unit <NUM> is supported by the arm <NUM>. Accordingly, the operator O can operate the joystick <NUM> and the switch units <NUM> in the vicinity of the arm <NUM>, and thus the arm <NUM> can be easily operated through the operation tool.

According to this embodiment, as described above, the operation unit <NUM> includes the enable switches <NUM> configured to allow movement of the arm <NUM> by being pressed and the joystick <NUM> configured to control (operate) the moving direction and moving speed of the arm <NUM>, and the enable switches <NUM> and the joystick <NUM> are arranged apart from each other within the range operable by the fingers of one hand of the operator O in the operation unit <NUM>. Accordingly, the joystick <NUM> configured to operate the moving direction and moving speed of the arm <NUM> can be operated by the finger of the operator O while the operator O presses the enable switches <NUM>, and thus the distances between the finger of the operator O that operates the joystick <NUM> and the fingers of the operator O that press the enable switches <NUM> are maintained substantially constant. That is, even when the arm <NUM> moves at a relatively high speed, the distances between the fingers of the operator O that grasp the operation unit <NUM> and the finger of the operator O that operates the operation unit <NUM> are maintained substantially constant. Thus, even when the arm <NUM> moves at a relatively high speed, the state of the fingers of the operator O with respect to the operation unit <NUM> is unlikely to change, and thus the direction of the arm <NUM> due to the operation unit <NUM> is unlikely to change. Consequently, even when the arm <NUM> moves at a relatively high speed, vibrations of the arm <NUM> due to the change in the direction of the joystick <NUM> can be significantly reduced or prevented.

According to this embodiment, as described above, the joystick <NUM> is configured to operate the moving direction and moving speed of the arm <NUM>. Accordingly, vibrations of the arm <NUM> due to a change in the direction of the joystick <NUM> and a change in the amount of operation can be significantly reduced or prevented.

According to this embodiment, as described above, the enable switches <NUM> are provided on the outer peripheral surface 80a of the operation unit <NUM>, and the operator O grasps the outer peripheral surface 80a of the operation unit <NUM> and presses the enable switches <NUM> to allow movement of the arm <NUM>. Accordingly, the operator O can easily press the enable switches <NUM> to allow movement of the arm <NUM> simply by grasping the outer peripheral surface 80a of the operation unit <NUM> so as to cover the same with their fingers.

According to this embodiment, as described above, the pair of enable switches <NUM> are provided on the opposite sides of the outer peripheral surface 80a of the operation unit <NUM>, and the operator O grasps the outer peripheral surface 80a of the operation unit <NUM> and presses at least one of the enable switches <NUM> to allow movement of the arm <NUM>. Accordingly, the enable switches <NUM> are provided on the opposite sides of the outer peripheral surface 80a of the operation unit <NUM>, and thus the operator O can be encouraged to cover and grasp the outer peripheral surface 80a of the operation unit <NUM> with their fingers. Furthermore, the arm is configured to be allowed to move by pressing only one of the enable switches <NUM> such that the operator O can perform an operation to move the arm <NUM> by pressing the enable switch <NUM> that is easier to press, and thus the convenience of the operation can be improved.

According to this embodiment, as described above, the cross-section of the operation unit <NUM> has a substantially rectangular shape, and the pair of enable switches <NUM> are provided on the surfaces 80b of the operation unit <NUM> that face each other, respectively. Accordingly, the pair of enable switches <NUM> are provided on the surfaces 80b of the operation unit <NUM> that face each other, respectively, and thus the operator O can easily press the enable switches <NUM> by grasping the operation unit <NUM> so as to sandwich the surfaces 80b that face each other.

According to this embodiment, as described above, the joystick <NUM> is arranged at the position operable by the finger of the operator O while the operator O grasps the outer peripheral surface 80a of the operation unit <NUM> and presses the enable switches <NUM>. Accordingly, the operator O can operate, with their index finger or the like, the joystick <NUM> provided on the end face 80c that intersects with the outer peripheral surface 80a of the operation unit <NUM> while pressing, with their thumb and middle finger or the like, the enable switches <NUM> provided on the outer peripheral surface 80a of the operation unit <NUM>, for example. Thus, the distances between the thumb and middle finger or the like of the operator O that grasp the operation unit <NUM> and the index finger of the operator O that operates the operation unit <NUM> can be easily maintained substantially constant. According to this embodiment, as described above, the arm <NUM> includes the arm portion <NUM> including a <NUM>-axis articulated robot arm and the translation mechanism <NUM> provided at the tip end of the arm portion <NUM>, configured to allow the medical device <NUM> to be attached thereto, and configured to translate the medical device <NUM> relative to the arm portion <NUM>. Accordingly, the operation unit <NUM> is arranged in the vicinity (the translation mechanism <NUM> to which the medical device <NUM> is attached) of the medical device <NUM>, and thus an operation to move the arm <NUM> so as to move the medical device <NUM> to a desired position can be easily performed by the operation unit <NUM>. According to this embodiment, as described above, the operation unit <NUM> is supported by the translation mechanism <NUM> so as to be adjacent to the medical device <NUM>. Accordingly, the operation unit <NUM> is reliably arranged in the vicinity of the medical device <NUM>, and thus an operation to move the arm <NUM> so as to move the medical device <NUM> to a desired position can be more easily performed by the operation unit <NUM>.

According to this embodiment, as described above, the operation unit <NUM> includes the joystick <NUM> configured to be operable by the finger of the operator O. Accordingly, the joystick <NUM> can be operated with a relatively small force, and thus the operator O can easily operate the joystick <NUM> with their finger while grasping the outer peripheral surface 80a of the operation unit <NUM> and pressing the enable switches <NUM> to allow movement of the arm <NUM>.

According to this embodiment, the operation unit <NUM> further includes the switch units <NUM> configured to operate the arm <NUM> such that the tip end 4d of the medical device <NUM> moves along the longitudinal direction of the medical device <NUM>. Accordingly, the joystick <NUM> and the switch units <NUM> are used together such that the arm <NUM> can be moved three-dimensionally.

According to this embodiment, as described above, the joystick <NUM> operates the moving direction and moving speed of the arm <NUM>, and the medical manipulator <NUM> includes the controller <NUM> that controls the arm <NUM> based on the input signal from the joystick <NUM>. Furthermore, the controller <NUM> is configured to perform a control to reduce a change in the moving speed of the arm <NUM> by performing at least one of setting the upper limit for the input signal from the joystick <NUM> or smoothing the input signal from the joystick <NUM>. Accordingly, even when the arm <NUM> moves at a higher speed and the amount of operation of the finger of the operator O on the operation unit <NUM> changes, at least one of setting the upper limit for the input signal from the joystick <NUM> or smoothing the input signal from the joystick <NUM> is performed by the controller <NUM> such that vibrations of the arm <NUM> due to the change in the amount of operation of the joystick <NUM> can be more effectively significantly reduced or prevented.

The embodiment disclosed this time must be considered as illustrative in all points and not restrictive. The scope of the present invention is not shown by the above description of the embodiment but by the scope of claims for patent, and all modifications (modified examples) within the meaning and scope equivalent to the scope of claims for patent are further included. For example, while the operation unit <NUM> includes the joystick <NUM> configured to be operable by the finger of the operator O in the aforementioned embodiment, the present invention is not limited to this. For example, the operation unit <NUM> may alternatively include an acceleration sensor configured to be operable by the finger of the operator O, and the arm <NUM> may alternatively be moved based on an input signal to the acceleration sensor. Alternatively, the operation unit <NUM> may include a force sensor configured to be operable by the finger of the operator O, and the arm <NUM> may be moved based on an input signal to the force sensor. As the force sensor, a strain gauge force sensor or a piezoelectric force sensor is used, for example. Furthermore, as the force sensor, a <NUM>-axis force sensor capable of detecting forces and moments in three directions or a <NUM>-axis force sensor capable of detecting forces and moments in six directions is used.

While one of the pair of enable switches <NUM> provided on the opposite sides of the outer peripheral surface 80a of the operation unit <NUM> is pressed such that movement of the arm <NUM> is allowed in the aforementioned embodiment, the present invention is not limited to this. For example, both of the pair of enable switches <NUM> provided on the opposite sides of the outer peripheral surface 80a of the operation unit <NUM> may alternatively be pressed such that movement of the arm <NUM> is allowed.

While the pair of enable switches <NUM> are provided on the opposite sides of the outer peripheral surface 80a of the operation unit <NUM> in the aforementioned embodiment, the present invention is not limited to this. For example, one enable switch <NUM> may alternatively be provided on one side of the outer peripheral surface 80a of the operation unit <NUM>.

While the cross-section of the operation unit <NUM> has a substantially rectangular shape (the operation unit <NUM> has a substantially prismatic shape) in the aforementioned embodiment, the present invention is not limited to this. For example, the operation unit <NUM> may alternatively have a substantially cylindrical shape.

While the joystick <NUM> is provided on the end face 80c that intersects with the outer peripheral surface 80a of the operation unit <NUM> in the aforementioned embodiment, the present invention is not limited to this. In the present invention, it is only necessary to provide the joystick <NUM> at the position operable by the finger of the operator O while the operator O grasps the operation unit <NUM> to press the enable switches <NUM>.

While the operation unit <NUM> is supported by the translation mechanism <NUM> in the aforementioned embodiment, the present invention is not limited to this. For example, the operation unit <NUM> may alternatively be supported by the arm portion <NUM>.

While the joystick <NUM> operates the arm <NUM> in the mode for translating the tip end 4d of the medical device <NUM> in the predetermined plane (see <FIG>) and the mode for rotating the medical device <NUM> about the tip end 4d of the medical device <NUM> (see <FIG>) in the aforementioned embodiment, the present invention is not limited to this. For example, the joystick <NUM> may alternatively be configured to operate the arm <NUM> such that the medical device <NUM> translates along the longitudinal direction of the medical device <NUM>. While the controller <NUM> performs both of setting the upper limit for the input signal from the joystick <NUM> and smoothing the input signal from the joystick <NUM> in the aforementioned embodiment, the present invention is not limited to this. For example, the controller <NUM> may alternatively perform only one of setting the upper limit for the input signal from the joystick <NUM> and smoothing the input signal from the joystick <NUM>.

While the four arms <NUM> are provided in the aforementioned embodiment, the present invention is not limited to this. The number of arms <NUM> may alternatively be three.

Claim 1:
A surgical robot (<NUM>) comprising:
an arm (<NUM>); and
an operation unit (<NUM>) supported by the arm; wherein
the operation unit includes an enable switch (<NUM>) configured to allow movement of the arm by being pressed, and an operation tool (<NUM>, <NUM>, <NUM><NUM>) configured to control a moving direction of the arm; and
the enable switch and the operation tool are arranged apart from each other within a range operable by fingers of one hand of an operator (O) in the operation unit,
the enable switch is provided on an outer peripheral surface (80a) of the operation unit, and is configured to allow the movement of the arm when the operator grasps the outer peripheral surface of the operation unit and presses the enable switch, and
the operation tool is provided on the outer peripheral surface of the operation unit or an end face (80c) of the operation unit that intersects with the outer peripheral surface of the operation unit.