Patent Description:
For example, as disclosed in Patent Document <NUM>, a surgical robot is known which is operated by a medical worker such as a doctor and actuated to perform treatments, such as suturing, ablation, and excision, for tissue of a patient. Hereinafter, the medical worker who operates the surgical robot is also referred to as "user". This surgical robot includes surgical instruments, such as forceps and electric scalpels to perform medical treatments, and multiple arms supporting the surgical instruments, such as the forceps and the electric scalpels to perform the medical treatments, at desired positions and in desired postures. Hereinafter, the surgical instruments, such as the forceps and the electric scalpels to perform the medical treatments, are also referred to as "surgical tools". The arms supporting the surgical tools and movable parts of the surgical tools are actuated according to the user's operation to perform the treatments for the tissue of the patient.

Patent Document <NUM> describes a master console including handles configured to control robotic surgical instruments of a slave robot, force/torque detectors configured to detect forces applied to the handles by an operator, a force compensator configured to generate force control signals that cancel out the forces applied to the handles by the operator, and a master controller configured to drive at least one joint of each of the handles in order to control motion of the handles based on motion control signals and the generated force control signals.

Some target sites where a treatment is performed using this surgical robot may include tissue easily damaged by an external force. Therefore, there has been a demand for a technology allowing a user to appropriately control a force received by the tissue of the target site from the actuated surgical tools and the arms.

The present disclosure discloses one example of a surgical robot that allows the user to precisely perceive the force received by the tissue of the target site due to actions of the surgical tools and arms of the surgical robot actuated according to the user's operation.

In order to achieve the above-described purposes, the present disclosure provides following means. A controller according to claim <NUM> and a surgical robot according to claim <NUM> are provided.

A surgical robot in one aspect of the present disclosure includes an operation part with which a user performs an operation; an action part performing an action according to the operation; a drive part supplying a driving force to the action part; a reaction force setter setting a magnitude of an operation reaction force that is a force in a direction opposite to an operation direction of the operation part operated by the user; and a reaction force applicator applying the operation reaction force having a magnitude set by the reaction force setter to the operation part, wherein when the action part performs an action according to the operation, the reaction force setter sets the operation reaction force based on change information about a change in the driving force supplied by the drive part and a conversion coefficient set in advance.

In the surgical robot configured in this way, the operation reaction force, which has a magnitude corresponding to the driving force supplied to the action part according to the user's operation, is applied to the operation part. Therefore, the user can operate the surgical robot while perceiving the magnitude of the force received by the tissue of the target site due to the operation.

In one aspect of the present disclosure, it is preferable that the surgical robot further includes an input section receiving an input of information to set the conversion coefficient, and that the reaction force setter sets the operation reaction force based on the change information and the conversion coefficient that is set based on the information received by the input section.

In the surgical robot configured in this way, the user can set the magnitude of the operation reaction force to a magnitude based on a desired rate set by the user. Therefore, for example, depending on the contents of the treatment, the site to be treated and others, the user can arbitrarily set the degree of easiness of perception of the force received by the tissue of the target site.

In one aspect of the present disclosure, it is preferable that the surgical robot includes multiple operation parts and multiple action parts respectively corresponding to the multiple operation parts, and that the reaction force setter sets a magnitude of the operation reaction force for each of the multiple operation parts.

In the surgical robot configured in this way, the user can set the operation reaction force applied to each operation part to have a magnitude based on a rate set for each operation part. Therefore, for example, depending on the contents of the treatment, the site to be treated and others, the user can set, for every operation part, the degree of easiness of perception to perceive the force received by the tissue of the target site.

The surgical robot further includes an external force detector detecting an external force applied to a specified part of the surgical robot, and the reaction force setter sets a magnitude of the operation reaction force based on the change information, the conversion coefficient, and a detection signal from the external force detector.

In the surgical robot configured in this way, the user can more accurately perceive the magnitude of the force received by the tissue of the target site due to the user's operation. Even when the surgical tool or other specified part is unintentionally brought into contact with the target site or another part of the patient and a force is applied thereto during the operation, the user can perceive such force.

In one aspect of the present disclosure, it is preferable that the drive part is a pneumatic actuator, and that the change information is information about a change in pressure of the pneumatic actuator.

In the surgical robot configured in this way, the user can accurately perceive the magnitude of the force, which is received by the tissue of the target site due to the operation, by the operation reaction force that is set depending on the characteristics of the drive part.

The surgical robot of the present disclosure has an effect that a user can operate the surgical robot while perceiving a magnitude of a force received by tissue of a target site due to the operation.

surgical robot, <NUM>, 2A. robot arm, <NUM>, 3A. controller, <NUM>. operation unit, <NUM>. surgical tool, <NUM>. trocar, <NUM>. arm, <NUM>. joint part, <NUM>. connector, 26a, 26b. drive part, 27a, 27b. change information obtainer, <NUM>. external force detector, <NUM>. drive controller, <NUM>, 32A. reaction force setter, <NUM>. conversion rate setter, <NUM>. input section, <NUM>. storage section, <NUM>. operation device, 51a. position operation part, 51b. grasp operation part, 52b. support body, 53a. grasp body, 53c. joint, 54a, 54b. operation controller (reaction force applicator), <NUM>. monitor, <NUM>. input device, <NUM>. setting screen, <NUM>. grasper, 72a, 72b. base, <NUM>. shaft, <NUM>. wrist, <NUM>.

Second embodiment described below is an example of an embodiment that falls within the technical scope of this Invention. That is, the technical scope of the present disclosure is not limited to the specific configurations, structures, and others shown in the embodiments described below.

Directional arrows, oblique lines, and others in each figure are described to facilitate understanding of the relationship between the figures, and the shape of each member or part. Thus, the technical contents of the present disclosure are not limited to the directions described in each figure. The figures with the oblique lines do not necessarily show sectional views.

At least one member or one part is provided for a member or a part at least described with a reference numeral, except when the member or the part is explicitly described as "one member" or the like. In other words, if there is no mention of "one member" or the like, two or more of such members may be provided. The surgical robot of the present disclosure includes components, such as members and parts at least described with reference numerals, and illustrated structural parts.

Hereinafter, a surgical robot not according to the invention will be described with reference to <FIG>. In this embodiment, hereinafter, a description will be made of an example in which the surgical robot of the present disclosure is used for endoscopic surgery. In the following description, directions of front-back, left-right, and up-down are directions shown in the figures unless otherwise specified.

As shown in <FIG>, a surgical robot <NUM> includes a first robot arm 2R, a second robot arm <NUM>, a controller <NUM>, an operation unit <NUM>, a first surgical tool 7R, and a second surgical tool <NUM>. The first surgical tool 7R is a surgical tool supported by the first robot arm 2R, and the second surgical tool <NUM> is a surgical tool supported by the second robot arm <NUM>.

In this embodiment, the first robot arm 2R and the second robot arm <NUM> have the same configuration. The first surgical tool 7R and the second surgical tool <NUM> have the same configuration. The first robot arm 2R and the second robot arm <NUM> may have different configurations. The first surgical tool 7R and the second surgical tool <NUM> may have different configurations.

In the following description, the first robot arm 2R and the first surgical tool 7R will be described. The descriptions of the second robot arm <NUM> and the second surgical tool <NUM>, and the illustrations of the second robot arm <NUM> and the second surgical tool <NUM> will be omitted. Hereinafter, unless otherwise specified, the first robot arm 2R is also referred to as "robot arm <NUM>", and the first surgical tool 7R is also referred to as "surgical tool <NUM>".

First, the surgical tool <NUM> will be described. The surgical tool <NUM> is an instrument having a tip side, a part of which is inserted into a body of a targeted person through a trocar <NUM> perforating in the abdomen or the like of the targeted person undergoing the surgery, thereby performing a treatment for tissue. Hereinafter, the targeted person undergoing the surgery is also referred to as "patient". In this embodiment, a description will be made of an example in which the surgical tool <NUM> is a pair of forceps commonly used in endoscopic surgery.

The surgical tool <NUM> is configured of a grasper <NUM>, a shaft <NUM> and an adapter <NUM>. The grasper <NUM> is a part inserted into the patient's body through the trocar <NUM> to perform a treatment such as grasping of tissue or the like, and the grasper <NUM> is provided on an end side of the shaft <NUM>. Hereinafter, the side of the shaft <NUM> where the grasper <NUM> is provided is also referred to as "tip side" of the shaft <NUM> or "tip side" of the surgical tool <NUM>.

The shaft <NUM> is an elongated cylindrical part having the adapter <NUM> on the opposite side of the grasper <NUM>. The shaft <NUM> includes a wrist <NUM> in an area near the grasper <NUM>, and the wrist <NUM> can be folded in a specified direction or bent in a specified direction around a specified axis. This wrist <NUM> is a part to change the orientation of the grasper <NUM> by being folded or bent in a specified direction.

The grasper <NUM> is configured of a jaw 72a, a jaw 72b corresponding to the jaw 72a, and a base 72c. The jaw 72a and the jaw 72b are supported by the base 72c so as to be movable closer together and apart from each other.

By the jaw 72a and the jaw 72b moving closer together, the grasper <NUM> performs an action of grasping the tissue or the like located between the jaw 72a and the jaw 72b. By the Jaw 72a and the jaw 72b moving apart from each other, the grasper <NUM> performs an action of releasing the grasped tissue or the like. Hereinafter, moving the jaw 72a and the jaw 72b closer together is also described as "closing" the grasper <NUM>, and moving the jaw 72a and the jaw 72b apart from each other is also described as "opening" the grasper <NUM>. The action of opening and closing the grasper <NUM> is also referred to as "open/close action".

Inside the cylindrical shaft <NUM>, unillustrated wires are provided to cause the grasper <NUM> and the wrist <NUM> to perform specified actions. In response that specified tension is applied to the wires, a corresponding part of the grasper <NUM> or the wrist <NUM> performs an action according to the tension. Hereinafter, the grasper <NUM>, the wrist <NUM>, and other parts of the surgical tool <NUM>, which are actuated when the specified tension or the like is applied to the wires, are also collectively referred to as "action part of the surgical tool <NUM>" or "action part <NUM>".

The robot arm <NUM> is an arm device actuated according to the user's operation to hold the surgical tool <NUM> in a posture and at a position according to the operation. In other words, the robot arm <NUM> holds the surgical tool <NUM> so that a tip portion of the surgical tool <NUM> is held at a position and in a posture desired by the user. In this embodiment, the grasper <NUM> is the tip portion of the surgical tool <NUM>.

That is, in response to the user's operation, the robot arm <NUM> is actuated so that the tip portion of the surgical tool <NUM>, i.e. the grasper <NUM> is moved in a direction according to the operation. Hereinafter, the direction in which the tip portion of the surgical tool <NUM> is moved according to the user's operation is also referred to as "direction of movement of the surgical tool <NUM>", or simply referred to as "direction of movement".

The robot arm <NUM> is configured of a link mechanism having multiple joint parts <NUM>. That is, the robot arm <NUM> is configured of multiple arms <NUM> connected at the joint parts <NUM> so that the multiple arms <NUM> are rotatable in specified directions.

The robot arm <NUM> includes a connector <NUM> detachably connecting the surgical tool <NUM>. The adapter <NUM> of the surgical tool <NUM> is connected to this connector <NUM>, whereby the surgical tool <NUM> is supported by the robot arm <NUM>.

As shown in <FIG>, the robot arm <NUM> includes multiple drive parts 26a to cause the arms <NUM> and/or the joint parts <NUM> to perform actions according to the user's operation. In <FIG>, one drive part 26a is described as an example and the descriptions of other drive parts 26a are omitted. The drive part 26a is a part performing physical movement in response to the user's operation to provide a specified driving force to the arm <NUM> and/or the joint part <NUM>.

In response that the user performs a specified operation with the operation unit <NUM>, the drive part 26a corresponding to the user's operation is actuated to apply a driving force, which has a magnitude corresponding to the user's operation, to the corresponding arm <NUM> and/or joint part <NUM>. Then, the corresponding arm <NUM> is rotated around the joint part <NUM> or moved in a direction according to the user's operation. When the arm <NUM> and the joint part <NUM> are actuated in this way, the robot arm <NUM> is actuated according to the user's operation. Hereinafter, the arm <NUM> and the joint part <NUM> that are actuated by the driving force from the drive part 26a are also collectively referred to as "action part of the robot arm <NUM>" or "action part <NUM>". In <FIG>, for explanation purposes, the arm <NUM> and the joint part <NUM> corresponding to one drive part 26a are collectively described as an action part <NUM>, and the descriptions of other arms <NUM> and joint parts <NUM> are omitted.

As shown in <FIG>, the robot arm <NUM> also includes multiple drive parts 26b applying forces required to cause the grasper <NUM>, the wrist <NUM>, and/or other parts of the surgical tool <NUM> to perform specified actions. This drive part 26b is a part performing physical movement according to the user's operation to apply a driving force to a specified part of the adapter <NUM> of the surgical tool <NUM> to cause the grasper <NUM> and/or other parts to perform actions according to the user's operation. In <FIG>, for explanation purposes, one drive part 26b is described as an example and the descriptions of other drive parts 26a are omitted.

In this embodiment, the following description will be made of an example of a configuration in which the drive part 26a and drive part 26b each include a pneumatic actuator. That is, in the present embodiment, the drive part 26a and the drive part 26b are each configured of an unillustrated pneumatic cylinder, a pressure generator that supplies compressed air to the pneumatic cylinder, and a control electromagnetic valve. The drive part 26a and the drive part 26b are each configured of a force transmission mechanism or other mechanisms that transmits the movement of the pneumatic cylinder to a specified part. The above-described configurations of the drive part 26a and the drive part 26b are examples, and are not limited to the above-described configurations.

The drive part 26a and the drive part 26b respectively include change information obtainers 27a, 27b. The change information obtainers 27a, 27b are air pressure sensors and measure the pressure of the compressed air of the drive parts 26a, 26b respectively when the drive parts 26a, 26b, which are the pneumatic actuators, are actuated. In <FIG>, the change information obtainers 27a, 27b, which respectively correspond to the drive parts 26a, 26b illustrated as examples, are shown as examples, and the descriptions of other change information obtainers 27a, 27b are omitted.

Hereinafter, the drive parts 26a, 26b are also collectively referred to as "drive part <NUM>", and the change information obtainers 27a, 27b are also collectively referred to as "change information obtainer <NUM>".

As shown in <FIG>, a controller <NUM> is a part performing the control of the robot arm <NUM> and the operation unit <NUM>. The controller <NUM> includes a drive controller <NUM>, a reaction force setter <NUM>, a conversion rate setter <NUM>, an input/receiving section <NUM>, and a storage section <NUM>.

In this embodiment, the controller <NUM> is a computer system that has specialized software installed. That is, the specialized software and hardware cooperate to fulfill a function of each section, such as the drive controller <NUM> and the reaction force setter <NUM>. In the controller <NUM>, each section described below may be configured of specialized hardware fulfilling its function.

The drive controller <NUM> is a part controlling the drive part <NUM> according to an operation signal outputted from the operation unit <NUM> in response to the user's operation. The reaction force setter <NUM> is a part setting the magnitude of the operation reaction force that is a force received by the position operation part 51a and the grasp operation part 51b. The position operation part 51a, the grasp operation part 51b, and the operation reaction force will be described below in detail.

The conversion rate setter <NUM> is a part setting a conversion coefficient used for the setting of the operation reaction force. The input/receiving section <NUM> is a part receiving information inputted by the user using an input device <NUM> described below, and also serving as an interface with the input device <NUM>. The input/receiving section <NUM> is a part receiving information or the like inputted by the user to set a conversion coefficient. The input/receiving section <NUM> also receives input of information related to the user, the contents of the treatment, the patient, and the contents of the surgery performed by the surgical robot <NUM>, and other information. The input/receiving section <NUM> is one example of an input section.

The storage section <NUM> is a storage medium, such as a hard disk or a memory, and is a part storing a program necessary for a process by the controller <NUM> and storing information or the like related to the settings necessary for the operation of the surgical robot <NUM>.

As shown in <FIG>, the operation unit <NUM> is a part with which the user performs operations, and includes a monitor <NUM>, a first operation device 50R, a second operation device <NUM>, and an input device <NUM>.

Since the configurations, operation methods, and control of the first operation device 50R and the second operation device <NUM> are the same, hereinafter, the first operation device 50R will be described and the detailed description of the second operation device <NUM> and the illustration of the second operation device <NUM> will be omitted. Unless otherwise specified, the first operation device 50R is also referred to as "operation device <NUM>".

The monitor <NUM> is a monitor device displaying a setting screen for the settings necessary for the operation, an endoscope image of the patient, the states of the robot arm <NUM> and the surgical tool <NUM>, and/or the indications necessary for the operation of the robot arm <NUM> and the surgical tool <NUM>. The endoscope image is an image inside the body cavity of the patient, and the image is obtained by an unillustrated endoscope inserted into the body cavity of the patient through an unillustrated other trocar puncturing the abdomen or other part of the patient. This endoscope is held by another robot arm, another endoscope holder, or an endoscope holding apparatus. The above-described other robot arm, the endoscope holder, and the endoscope holding apparatus are not illustrated in <FIG>.

The input device <NUM> is an input device, such as an unillustrated keyboard, mouse, touch panel or foot switch.

The first operation device 50R is an operation device with which the user operates the first robot arm 2R and the first surgical tool 7R. In other words, the first operation device 50R is a part outputting an operation signal to cause the first robot arm 2R and the first surgical tool 7R to perform actions according to the user's operation.

The second operation device <NUM> is an operation device by means of which the user operates the second robot arm <NUM> and the second surgical tool <NUM>. In other words, the second operation device <NUM> is a part outputting an operation signal to cause the second robot arm <NUM> and the second surgical tool <NUM> to perform actions according to the user's operation.

The operation device <NUM> includes the position operation part 51a and the grasp operation part 51b. The position operation part 51a is a part operated by the user to change the position of the tip side of the surgical tool <NUM>, or more specifically, the position of the grasper <NUM>. That is, in response that the position operation part 51a is operated, the robot arm <NUM> is controlled so that the grasper <NUM> moves in a direction according to the user's operation.

The grasp operation part 51b is a part operated by the user to cause the grasper <NUM> of the surgical tool <NUM> to perform an open/close action. That is, in response that the grasp operation part 51b is operated, the robot arm <NUM> is controlled to cause the grasper <NUM> to perform the open/close action according to the user's operation. The position operation part 51a or the grasp operation part 51b may be used to operate other parts such as the wrist <NUM> of the surgical tool <NUM> by a switching operation of the input device <NUM> such as a foot switch.

In this embodiment, the position operation part 51a is an operation device configured of a grip 53a supported by an unillustrated support part. The grip 53a is a part that is held by the user during the operation and that is moved in desired directions. As shown in <FIG>, the grip 53a is supported by a support part so as to be movable in an up-down direction, a front-rear direction, and a left-right direction, i.e. in an arbitrary three-dimensional direction. Thus, the user can hold the grip 53a and move the grip 53a in the arbitrary three-dimensional direction within a specified range. Hereinafter, with respect to directions in which the grip 53a moves, the up-down direction is referred to as "Y-direction", the left-right direction is referred to as "X-direction", and the front-rear direction is referred to as "Z-direction". Alternatively, the up-down direction in which the grip 53a moves is also referred to as "Y-axis direction", the left-right direction is also referred to as "X-axis direction", and the front-rear direction is also referred to as "Z-axis direction". The shape of the grip 53a shown in <FIG> is an example and the shape is not limited to the illustrated shape.

In this embodiment, the grip 53a is supported to be movable in the arbitrary three-dimensional direction by the unillustrated support part configured of a link mechanism. For the position operation part 51a, an operation device having a different configuration may be used as long as the device has a part movable in the arbitrary direction and is suitable for the operation of the robot arm <NUM>.

As shown in <FIG>, the grasp operation part 51b of the present embodiment is an operation device including a grasp body 53b and a support body 52b rotatably supporting the grasp body 53b. The grasp body 53b is supported, at a joint 53c provided to the support body 52b, so as to be rotatable relative to the support body 52b. The shape of the grasp operation part 51b shown in <FIG> is an example and the shape is not limited to the illustrated shape.

As shown in <FIG>, the grasp operation part 51b is held so that the grasp body 53b and the support body 52b are held between fingers, such as the thumb and the index finger, of the user to perform the operation of moving the grasp body 53b closer to and away from the support body 52b. For the grasp operation part 51b, an operation device having a different configuration may be used as long as the device has a part movable in a specified direction and the device is suitable for the operation of the grasper <NUM>.

In this embodiment, the grasp operation part 51b is provided in an area on a support part 52a side of the grip 53a, that is, in an area in which the user's fingers are placed when the user holds the grip 53a. The grasp operation part 51b may be provided in an area different from the above-described area as long as the user can operate the grasp operation part 51b.

Hereinafter, the position operation part 51a and the grasp operation part 51b are also collectively referred to as "operation part <NUM>". The directions in which the grip 53a and the grasp body 53b are moved by the user's operation are also referred to as "operation direction of the operation part <NUM>", or simply referred to as "operation direction". The grip 53a and the grasp body 53b are also collectively referred to as "movable part <NUM>".

The position operation part 51a is provided with unillustrated multiple sensors, such as encoders, to detect the position of the grip 53a. That is, when the grip 53a is moved by the user's operation, the position operation part 51a outputs operation signals corresponding to a direction of movement and a distance of movement of the grip 53a to the drive controller <NUM>.

The grasp operation part 51b is also provided with a sensor, such as an encoder, to detect an angle, a distance, or the like between the support body 52b and the grasp body 53b. Thus, when the user operates the grasp operation part 51b and changes the position of the grasp body 53b, the grasp operation part 51b outputs an operation signal corresponding to the movement of the grasp body 53b to the drive controller <NUM>.

The operation device <NUM> further includes operation controllers 54a, 54b controlling the movement of the grip 53a and the grasp body 53b. The operation controllers 54a, 54b are parts respectively applying operation reaction forces set by the reaction force setter <NUM> to the position operation part 51a and the grasp operation part 51b, thereby controlling the forces required to move the grip 53a and the grasp body 53b.

Specifically, the operation controller 54a includes an actuator outputting a force having a magnitude based on a signal from the reaction force setter <NUM>. The operation controller 54a also includes a force transmission mechanism to apply the force outputted from the actuator to the grip 53a in a direction opposite to the operation direction of the position operation part 51a. Similarly, the operation controller 54b includes an actuator outputting a force having a magnitude based on a signal from the reaction force setter <NUM>. The operation controller 54b also includes a force transmission mechanism to apply the force outputted from the actuator to the grasp body 53b in a direction opposite to the operation direction of the grasp operation part 51b.

In this embodiment, a description will be made of an example in which the operation controllers 54a, 54b each include a force transmission mechanism configured of a pneumatic actuator, a link, a wire, a pulley and other elements. The operation controllers 54a, 54b may each have a configuration in which an electric actuator, an electric motor, or another actuator is provided as the actuator. The operation controllers 54a, 54b may be each provided with a force transmission mechanism configured of a link mechanism or another mechanism. The operation controllers 54a, 54b are one example of a reaction force applicator.

Then, a description will be made of operation reaction forces that are forces applied by the operation controllers 54a, 54b to the position operation part 51a and the grasp operation part 51b.

In surgery using the surgical robot <NUM>, the surgical robot <NUM> is actuated according to the user's operation and a specified treatment is performed. This operation is made by the user by moving the movable part <NUM> in a desired direction and for a desired distance. According to this operation, the robot arm <NUM> and the surgical tool <NUM> move in a direction and for a distance corresponding to the direction of movement and the distance of movement of the movable part <NUM>.

Here, a force required of the user to apply to the movable part <NUM> for the operation is described as "operation force" to explain. If a force applied by the user to the movable part <NUM> is larger than the operation force, the movable part <NUM> moves in the operation direction. Then, the robot arm <NUM> and the surgical tool <NUM> are actuated according to the operation direction of the movable part <NUM>. If a force applied by the user to the movable part <NUM> is less than the operation force, the movable part <NUM> does not move. That is, the robot arm <NUM> and the surgical tool <NUM> are not actuated.

The operation force required of the user to move the movable part when the surgical tool or the like is not in contact with the tissue or the like of the patient is described as "operation force during movement" to furthermore explain. As long as the user applies the operation force slightly larger than the operation force during movement to the movable part <NUM>, the robot arm <NUM> and/or the surgical tool <NUM> is actuated in a direction corresponding to the operation direction. In other words, for example, even if the surgical tool <NUM> is already in contact with the tissue of the patient, the robot arm <NUM> and/or the surgical tool <NUM> continues to be actuated according to the user's operation unless the user stops the operation. If the robot arm <NUM> or the surgical tool <NUM> is actuated in this way, the surgical tool <NUM> or the like applies a force to the tissue of the patient in contact therewith.

If this applied force is excessive, there is a possibility that the tissue of the patient may be damaged, or the patient may suffer from an undesirable effect. Therefore, the surgical robot <NUM> of the present embodiment has a function to allow the user to perceive a magnitude of the applied force when the tip portion of the surgical tool <NUM> or the like applies a force to the tissue or the like of the patient. That is, the operation controller 54a or 54b functions to apply a force, which has a magnitude corresponding to the force applied by the surgical tool <NUM> or the like to the tissue or the like of the patient, to the movable part <NUM> of the operation part <NUM> in a direction opposite to the operation direction thereof. In this embodiment, the force that is applied by the operation controller 54a, 54b to the movable part <NUM> and that has the magnitude corresponding to the force applied by the surgical tool <NUM> or the like to the tissue or the like of the patient is referred to as "operation reaction force". In other words, the operation reaction force is a force applied by the operation controller 54a or 54b to the movable part <NUM> in the direction opposite to the operation direction of the movable part <NUM> as the driving force outputted from the drive part <NUM> increases.

More specifically, when the surgical tool <NUM> is moved and/or the grasper <NUM> is opened and closed in a state that the surgical tool <NUM> is not in contact with other parts, the drive part <NUM> outputs a certain driving force, whereby specified actions are performed. Hereinafter, the driving force in a state that the surgical tool <NUM> is not contact with other parts is also referred to as "driving force during movement".

On the other hand, when the surgical tool <NUM> is brought into contact with the patient or the grasper <NUM> is closed to grip tissue, the drive part <NUM> needs to output a force larger than the driving force during movement to cause the action part <NUM> and the action part <NUM> to perform such actions. Hereinafter, the driving force when the surgical tool <NUM> is in contact with the patient or the grasper <NUM> is closed to grip tissue is also referred to as "driving force during treatment".

In the surgical robot <NUM> of the present embodiment, when the drive part <NUM> is outputting the driving force during treatment, the surgical tool <NUM> is considered to be in contact with the tissue or the like of the patient, and the operation reaction force is applied to the corresponding movable part <NUM>. Specifically, the reaction force setter <NUM> sets the magnitude of the operation reaction force based on the amount of change in the driving force and a conversion coefficient set by the conversion rate setter <NUM>. Then, the operation controller 54a or 54b applies the force having the set magnitude to the movable part <NUM>. Here, the conversion coefficient is a coefficient used to set the operation reaction force, and is a coefficient related to the ratio between the force applied by the surgical tool <NUM> or the like to the tissue or the like of the patient and the operation reaction force.

Thus, when the drive part <NUM> is outputting the driving force during treatment, the user needs to apply a force at least larger than the operation force during movement to the movable part <NUM> when moving the movable part <NUM> for operation. This allows the user to perceive that the surgical tool <NUM> is in contact with the patient and/or that the grasper <NUM> is in contact with the target tissue and grasping the target tissue, while operating the operation part <NUM>. The user can also perceive the magnitude of the force applied by the surgical tool <NUM> or the like to the tissue or the like of the patient.

Then, with reference to <FIG> and <FIG>, the control of the surgical robot <NUM> will be described along a method for operating the surgical robot.

In response that the surgical robot <NUM> is powered on and a specified operation is performed, the surgical robot <NUM> starts up. At this time, the input/receiving section <NUM> receives information, such as user information about the user, information about a patient, and information about a site to be treated, which are inputted by the user according to a specified screen displayed on the monitor <NUM>.

Then, in response that the user further performs a specified operation, a setting screen <NUM> as shown in <FIG> is displayed on the monitor <NUM>. This setting screen <NUM> includes a first setting field 61R for the settings related to the first operation device 50R and a second setting field <NUM> for the settings related to the second operation device <NUM>.

The first setting field 61R and the second setting field <NUM> respectively include movement conversion coefficient setting fields 62R, <NUM> to set movement conversion coefficients related to the operation reaction forces applied to the position operation parts 51a, i.e. the grips 53a. The first setting field 61R and the second setting field <NUM> also respectively include grasp conversion coefficient setting fields 63R, <NUM> to set grasp conversion coefficients related to the operation reaction forces applied to the grasp operation parts 51b, i.e. the grasp bodies 53b.

In response that the user operates the input device <NUM> to input desired conversion coefficients in the movement conversion coefficient setting fields 62R, <NUM> and the grasp conversion coefficient setting fields 63R, <NUM>, the input/receiving section <NUM> receives the information. Then, the conversion rate setter <NUM> sets each conversion coefficient based on the information received by the input/receiving section <NUM> (S10).

In response that the user operates the operation device <NUM>, the robot arm <NUM> and the surgical tool <NUM> are actuated according to the operation. A description will be made of an example in which the user operates the first operation device <NUM>0R. In response that the user operates the position operation part 51a, the position operation part 51a outputs an operation signal corresponding to the direction of movement and the distance of movement of the grip 53a to the drive controller <NUM>.

Then, based on the operation signal, the drive controller <NUM> outputs a signal to the corresponding drive part 26a to output a movement driving force required to move the grasper <NUM> according to the operation signal (S30). That is, the drive controller <NUM> outputs a signal to increase the pressure of the drive part 26a, which is a pneumatic actuator, to cause it to output the movement driving force having a specified magnitude. The first robot arm 2R receives this movement driving force and is actuated according to the operation until the part such as the surgical tool <NUM> or the grasper <NUM> is brought into contact with the target tissue or the like.

In response that the user operates the grasp operation part 51b, the grasp operation part 51b outputs an operation signal according to the direction of movement of the grasp body 53b to the drive controller <NUM> (S20). Then, based on the operation signal, the drive controller <NUM> outputs a signal to the corresponding drive part 26b to cause it to output the driving force required to actuate the grasper <NUM> (S30).

That is, the drive controller <NUM> outputs a signal to increase the pressure of the drive part 26b, which is a pneumatic actuator, to cause it to output the driving force during movement having a specified magnitude. The grasper <NUM> is actuated by the movement driving force outputted from the drive controller <NUM> until the jaw 72a and the jaw 72b are brought into contact with the target tissue.

When the grasper <NUM> is moved and brought into contact with the target tissue, a driving force larger than the movement driving force is required to actuate the robot arm <NUM>. That is, the drive part 26a outputs a driving force larger than the movement driving force to cause the robot arm <NUM> to perform an action based on the operation signal. That is, additional compressed air is supplied from an unillustrated pressure generator, whereby the pressure of the drive part 26a is increased.

Alternatively, the drive part 26b outputs a driving force larger than the movement driving force to perform a grasping action when the jaw 72a and the jaw 72b are brought into contact with the target tissue. That is, additional compressed air is supplied from an unillustrated pressure generator, whereby the pressure of the drive part 26b is increased.

The reaction force setter <NUM> detects changes in pressure of the drive part 26a and the drive part 26b based on information from the change information obtainers 27a, 27b (S40). Specifically, the reaction force setter <NUM> detects an amount of change in pressure of each of the drive parts 26a and 26b when the pressures of the drive parts 26a and 26b are increased compared to the pressures of the drive parts 26a and 26b outputting the movement driving forces. The information about the changes in pressure of the drive parts 26a, 26b detected by the change information obtainers 27a, 27b is one example of change information.

In response that the reaction force setter <NUM> detects the changes of the drive parts 26a, 26b, i.e. increases in the pressure, the reaction force setter <NUM> performs an operation reaction force setting process (S50). Specifically, the reaction force setter <NUM> calculates the amount of change in pressure of each of the drive parts 26a, 26b based on the signals from the change information obtainers 27a, 27b. Then, this calculated amount of change is multiplied by the conversion coefficient set by the conversion rate setter <NUM>, thereby setting the resultant value as the operation reaction force.

Here, a specific description will be made of an example in which ΔPa, ΔPb are obtained as amounts of change of amounts of change in pressure of the drive parts 26a, 26b, k1 is set as a movement conversion coefficient, and k2 is set as a grasp conversion coefficient. In this case, the reaction force setter <NUM> sets a value obtained by multiplying ΔPa by k1 as the operation reaction force to apply to the position operation part 51a, i.e. the grip 53a. Hereinafter, the reaction force applied to the position operation part 51a is also referred to as "F<NUM>". The reaction force setter <NUM> also sets a value obtained by multiplying ΔPb by k2 as the operation reaction force applied to the grasp operation part 51b, i.e. the grasp body 53b. Hereinafter, the reaction force applied to the grasp operation part 51b is also referred to as "F<NUM>".

The reaction force setter <NUM> outputs signals to cause the corresponding operation controllers 54a, 54b to output operation reaction forces having the set magnitudes (S60). Upon receipt of the signals from the reaction force setter <NUM>, the operation controllers 54a, 54b apply the operation reaction forces having the set magnitudes to the grip 53a and the grasp body 53b in the directions opposite to the respective operation directions.

More specifically, as shown in <FIG>, the operation controller 54a applies the set operation reaction force F<NUM> to the grip 53a in a direction opposite to the operation direction. Also, as shown in <FIG>, the operation controller 54b applies the set operation reaction force F<NUM> to the grasp body 53b in a direction opposite to the operation direction.

In response that the user operates the grasper <NUM> to move the grasper <NUM> in a direction releasing the contact between the grasper <NUM> and the target tissue, the drive controller <NUM> controls the corresponding drive part 26a to cause it to stop outputting the driving force. That is, the drive controller <NUM> performs control to reduce the pressure of the drive part 26a.

Alternatively, in response that the user performs an operation to open the grasper <NUM> to release the grasped target tissue, the drive controller <NUM> controls the corresponding drive part 26b to cause it to stop outputting the driving force. That is, the drive controller <NUM> performs control to reduce the pressure of the drive part 26b. Then, the operation controllers 54a, 54b stop outputting the operation reaction forces.

When the above operation is repeated and the treatment is completed, the process is terminated according to a specified operation by the user.

In the surgical robot <NUM> of the above-described embodiment, according to the user's operation of the position operation part 51a, an operation reaction force having a magnitude corresponding to the increased amount of the driving force supplied from the drive part <NUM> is applied to the grip 53a. That is, an operation reaction force having a magnitude corresponding to the increased amount of the pressure of the drive part 26a is applied to the grip 53a. Similarly, according to the user's operation of the grasp operation part 51b, an operation reaction force having a magnitude corresponding to the increased amount of the driving force supplied from the drive part 26b to the grasper <NUM> is applied to the grasp body 53b. That is, the operation reaction force having a magnitude corresponding to the increased amount of the pressure of the drive part 26b is applied to the grasp body 53b.

Thus, the user can accurately perceive, while operating the surgical robot, the magnitude of the force received by the tissue or the like of the target site due to the user's operation. In other words, the user can perceive the magnitude of the force received by the tissue or the like of the target site through the user's own hands performing the operation. This allows the user to perform an operation in consideration of the magnitude of the force applied by the surgical part <NUM> or the like to the tissue or the like of the patient, and to appropriately perform a treatment depending on the site and the state of the target tissue to be treated.

Since the magnitude of the operation reaction force is set based on the amount of change in the air pressure of the pneumatic actuator, more accurate operation reaction force can be set. This allows the user to more accurately know the magnitude of the force received by the tissue or the like of the target site due to the operation. In other words, the user can perceive the magnitude of the force received by the tissue or the like of the target site through the user's own hands performing the operation. In addition, since the pneumatic actuators are used in the drive parts, the surgical robot can move more flexibly.

The conversion coefficient used to set the operation reaction force can be arbitrarily set by the user. Therefore, depending on the contents of the treatment and the site to be treated, for example, the user can arbitrarily set the magnitude of the operation reaction force, i.e. the degree of easiness of perceiving the force received by the tissue of the target site. For example, when a treatment is performed for an area having tissue that could be damaged by the slightest force acting thereon, the user can set large conversion coefficient values to more easily perceive the operation reaction forces. Alternatively, when a treatment is performed for an area that does not include tissue affected by the applied force, or when it is difficult to operate the grip 53a and the grasp body 53b with the operation reaction forces applied thereto, the user can set small conversion coefficient values to receive small operation reaction forces. That is, the operation reaction force can be set to suitable sensitivities depending on the contents of the treatment. This allows to perform a treatment suitable for the site and the state of the target tissue to be treated, and further allows to provide a surgical robot easy to work with depending on the contents of the treatment.

Furthermore, this conversion coefficient can be individually set for each of the first operation device 50R and the second operation device <NUM>, and can furthermore be set for each of the position operation parts 51a and the grasp operation parts 51b of the operation devices. Therefore, the conversion coefficient can be flexibly set depending on the site and the state of the target tissue to be treated and the contents of the treatment. For example, when the user uses the right hand to operate the first operation device 50R and the left hand to operate the second operation device <NUM>, the operation reaction force received by the right hand can be set larger and the operation reaction force received by the left hand can be set smaller, or vice-versa. Thus, for example, the operation reaction force may be set so that the user's dominant hand receives a larger force. Accordingly, settings may be made depending on the user's preference, usability, and circumstances of use.

Alternatively, suppose that, for example, the second robot arm <NUM> grasps the target tissue and the first robot arm 2R grasps a suturing needle to perform suturing and the like. The user needs to more accurately perceive, from the grasp operation part 51b operating the surgical tool <NUM> on a tissue-holding side, the force applied by the grasper <NUM> to the tissue. On the other hand, it may be unnecessary for the user to perceive the operation reaction force from the grasp operation part 51b operating the grasper <NUM> holding the suturing needle. In this case, for example, the user can set a larger conversion coefficient value for the grasp operation part 51b of the second operation device <NUM>, and set a smaller conversion coefficient value for the grasp operation part 51b of the first operation device 50R. That is, it is possible to make settings according to the purposes and contents of the treatment, the user's usability or the like.

Next, an embodiment according to the invention will be described with reference to <FIG>.

The basic structure of a surgical robot 1A of the present embodiment is similar to that of the first embodiment. However, the surgical robot 1A is different in that the magnitude of the operation reaction force is set in consideration of a signal from an external force detector <NUM> as well.

Thus, in this embodiment, differences will be described with reference to <FIG> and <FIG>, and the parts same as those of the first embodiment will be denoted by the same reference numerals, and the descriptions thereof will be omitted.

The robot arm 2A of the surgical robot 1A of the present embodiment includes, as shown in <FIG> and <FIG>, the external force detector <NUM> detecting an external force that is externally applied to the shaft <NUM> of the surgical tool <NUM>. Here, the external force means the force, which is applied to the shaft <NUM> because of a contact between a part of the surgical tool <NUM> and a part other than the surgical tool <NUM>. In this embodiment, the external force detector <NUM> is arranged in a region between the connector <NUM> and the adapter <NUM>. The external force detector <NUM> may be arranged in another region.

That is, the external force is the force received by the shaft <NUM> when, for example, the shaft <NUM> comes in contact with the trocar <NUM> or the like, or when the tip portion or another part of the shaft <NUM> comes in contact with the tissue or the like of the patient. Alternatively, the external force means the force received by the shaft <NUM> when another part of the surgical tool <NUM> comes in contact with the trocar <NUM>, the tissue of the patient, and/or other parts.

The external force detector <NUM> is a force sensor capable of detecting a magnitude and a direction of the applied force. As the external force detector <NUM>, a force torque sensor or the like detecting the magnitudes of force and torque can be used. However, other sensors may be used as long as these sensors are capable of detecting the external force applied to the shaft <NUM>.

The reaction force setter 32A of the present embodiment has a function to set an operation reaction force based on information from the change information obtainers 27a, 27b, conversion coefficients set by the conversion rate setter <NUM>, and furthermore, a detection signal from the external force detector <NUM>. That is, the reaction force setter 32A sets the operation reaction force based on the information about the amount of change in pressure of each of the drive parts 26a, 26b obtained by the change information obtainers 27a, 27b and information about the external force from the external force detector <NUM>.

Specifically, the reaction force setter 32A obtains a magnitude of force F<NUM> obtained based on the information about the amount of change in pressure of each of the drive parts 26a, 26b, and a magnitude of force F<NUM> in the direction corresponding to the operation direction of the external force, which is determined from the information about the external force obtained by the external force detector <NUM>. Then, a value obtained by adding the obtained two forces, i.e. F<NUM> + F<NUM> is multiplied by a conversion coefficient, whereby an operation reaction force is set. The reaction force setter 32A may set, as the operation reaction force, values obtained by multiplying respective forces, i.e. F<NUM> and F<NUM> by different conversion coefficients. Alternatively, the operation reaction force may be set by other methods based on the information about the amount of change in pressure of each of the drive parts 26a, 26b, the information about the external force from the external force detector <NUM>, and the conversion coefficient.

The reaction force setter 32A outputs signals to cause the operation controllers 54a, 54b to output the set operation reaction forces, and the operation controllers 54a, 54b respectively apply the corresponding operation reaction forces to the grip 53a and the grasp body 53b.

With the surgical robot 1A having the above-described configuration, the reaction force setter 32A sets the operation reaction force in consideration of the information from the external force detector <NUM> as well. Therefore, the user can more accurately know the force acting on the tissue of the target site due to the operation, i.e. the magnitude of the force that the surgical tool <NUM> or the like applies to the tissue or the like of the patient.

In addition, when performing an operation, even if the shaft <NUM> or the like of the surgical tool <NUM>, for example, comes in contact with the trocar <NUM> or the like and an unintentional force acts on the patient, the user can perceive such a state while performing the operation. Alternatively, if another part of the surgical tool <NUM> comes in contact with a part of the patient and an unintentional force acts on the patient, the user can perceive such a state when performing the operation. Still alternatively, even if another force that cannot be. calculated from the amount of change in pressure of each of the drive parts 26a, 26b is applied to the shaft <NUM>, the user can perceive such a state while performing the operation.

That is, the user can more accurately perceive the force acting on the shaft <NUM>, and thus, the user can more accurately perceive the magnitude of the force received by the target tissue and the patient. Therefore, the surgical robot allows to perform an appropriate treatment depending on the site of the target tissue to be treated and the state of the tissue. In a case where a part other than the tip portion of the surgical tool <NUM> unintentionally comes in contact with the patient, the user can quickly perceive such unnecessary contact, and can perform an operation to avoid such contact.

The technical scope of the present disclosure is not limited to the above embodiments, and various modifications can be made without departing from the gist of the disclosure. For example, in the above embodiments, a description has been made of a case where the drive part <NUM> is configured of a pneumatic actuator. However, the drive part <NUM> may have a configuration in which an electric actuator or an electric motor is used. For the change information obtainers 27a, 27b, power sensors, ammeters, or other devices detecting the power or current supplied to the electric motor may be used. A configuration may be adopted in which the reaction force setter <NUM> calculates the amount of change in the driving force outputted from the drive part <NUM> based on the amount of change in the electricity supplied to the drive part <NUM> and sets the operation reaction force based on the calculated value.

A configuration may also be adopted in which the external force detector <NUM> is arranged so as to detect the force acting on a part other than the shaft <NUM> of the surgical tool <NUM>. Alternatively, a configuration may also be adopted in which an external force detector <NUM> is further provided to detect the force acting on a specified part of the robot arm <NUM>. In this way, for example, in a case where other parts of the robot arm <NUM> and/or the surgical tool <NUM> come in contact with the patient or the like and apply unnecessary force to the patient or the like, the user can know such a state.

In the above-described embodiments, the description has been applied to an example in which the surgical tool <NUM> is a pair of forceps. However, the surgical tool <NUM> may be, for example, configured of an electric scalpel, a stapler, or another tool that is used in endoscopic surgery and that is arranged at the tip side of the shaft <NUM>.

In the above-described embodiments, the description has been made of an example in which the surgical robot <NUM> is used in endoscopic surgery. The surgical robot <NUM> may be used, for example, in other fields of surgery or treatment for patients, such as neurosurgery or cardiovascular surgery.

For example, for each field and/or site of surgery, for which the surgical robot <NUM> is used, corresponding conversion coefficients may be set in advance, and combinations of the conversion coefficients corresponding to the field and/or site of surgery may be stored in the storage section <NUM>. The conversion rate setter <NUM> may then refer to the storage section <NUM> based on the information about the field and/or site of surgery, which is received by the input/receiving section <NUM>, and acquire the corresponding conversion coefficients, thereby setting them as the conversion coefficients used to set the operation reaction forces. In this way, simply by, for example, selecting the site of surgery and the field of surgery, the conversion coefficients suitable for the site and the field of surgery can be set, making the surgical robot easy to set the conversion coefficients.

Claim 1:
A controller (3A) of a surgical robot (1A), the controller (3A) controlling the surgical robot (1A) having an operation part (51a, 51b), an action part (<NUM>, <NUM>) actuated according to an operation of the operation part (<NUM>1a, 51b) by a user, and a drive part (26a, 26b) supplying a driving force to the action part (<NUM>, <NUM>), the controller (3A) comprising:
a reaction force setter (32A) setting a magnitude of an operation reaction force that is a force in a direction opposite to an operation direction of the operation part (51a, 51b) operated by the user; and
a reaction force controller controlling a reaction force applicator (54a, 54b) applying the operation reaction force to the operation part (51a, 51b) to apply the operation reaction force having the magnitude set by the reaction force setter (32A) to the operation part (51a, 51b),
wherein when the action part (<NUM>, <NUM>) performs the action according to the operation, the reaction force setter (32A) sets the operation reaction force based on change information about a change in the driving force supplied to the action part (<NUM>, <NUM>) by the drive part (26a, 26b) and a conversion coefficient set in advance, characterized in that
the surgical robot (1A) further includes an external force detector (<NUM>) detecting an external force applied to a specified portion of the surgical robot (1A), and that
the reaction force setter (32A) sets a magnitude of the operation reaction force based on the change information, the conversion coefficient, and a detection signal from the external force detector (<NUM>).